abb programming- day 1
DESCRIPTION
A slide presentation of the first day of training for ABB robotic systems based on the S4 controller and IRB 4400 series manipulator.TRANSCRIPT
ABB ProgrammingDay One, Segment 1
The Robot System
Panel Controls
• Mode Selection (key)
• Motors Engage
• Motors Stop
• Emergency Stop
Six-Axis Manipulator
• Figure 3 shows the directions in which the various axes of the manipulator can move and what these are called.
The Teach Pendant
*
*The enabling device is a three-position switch.The robot is enabled in the center position.
Joystick Control Cont.
Joystick Control Cont.
Three modes of motion:•Linear•Re-Orient•Joint
Top Buttons
Right Side Buttons
Bottom Buttons
The Other Keys
Tool Center Point
The Jogging WindowImportant Choice!
Coordinates System
•World
•Base
•Tool
•Work Object
Incremental Jogging
The RAPID Language
Robot
Application
Programming
Interactive
Dialog
Program Structure
Opening A Program
File Menu
Enter and Arrow Keys
Use these or the keypad to select from the File Menu
File Menu Dialog
Works anytime!
Summary
• System of controller and manipulator
• Axis have specific angles and limits
• Right Hand Rule of Robotic Orientation
• Teach Pendant controls
• File Menu and program access
End of Day One, Segment 1
Error Messages Layout
Error Message Information
1. Operational
2. System
3. Hardware
4. Program
5. Motion
6. Operator
7. I/O Com
8. Internal
1x,xxx
2x,xxx
3x,xxx
4x,xxx
5x,xxx
6x,xxx
7x,xxx
N/A
Status Info
Safety Circuits Panel Unit
Board Failure
Program Execution
Movement Problems
Program Unit Handling
I/O Comm. Error
System Software Error
Category Error Code Description
Error Logs
Running A Program In Auto
• Use the key switch to enter Auto-mode.
• Note: The Auto-mode run chain must be fully engaged or the robot controller will report an error.
Running A Program In Auto
Engage The Motors
Note: This is the typical method of running in Auto. It is also possible to do so using remote control circuits and programming.
Switching Off The Robot
End of Day One, Segment 2