abb programming- day 1

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ABB Programming Day One, Segment 1

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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

Page 1: ABB Programming- Day 1

ABB ProgrammingDay One, Segment 1

Page 2: ABB Programming- Day 1

The Robot System

Page 3: ABB Programming- Day 1

Panel Controls

• Mode Selection (key)

• Motors Engage

• Motors Stop

• Emergency Stop

Page 4: ABB Programming- Day 1

Six-Axis Manipulator

• Figure 3 shows the directions in which the various axes of the manipulator can move and what these are called.

Page 5: ABB Programming- Day 1

The Teach Pendant

*

*The enabling device is a three-position switch.The robot is enabled in the center position.

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Joystick Control Cont.

Page 8: ABB Programming- Day 1

Joystick Control Cont.

Three modes of motion:•Linear•Re-Orient•Joint

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Top Buttons

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Right Side Buttons

Page 12: ABB Programming- Day 1

Bottom Buttons

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The Other Keys

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Tool Center Point

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The Jogging WindowImportant Choice!

Coordinates System

•World

•Base

•Tool

•Work Object

Page 17: ABB Programming- Day 1

Incremental Jogging

Page 18: ABB Programming- Day 1

The RAPID Language

Robot

Application

Programming

Interactive

Dialog

Page 19: ABB Programming- Day 1

Program Structure

Page 20: ABB Programming- Day 1

Opening A Program

Page 21: ABB Programming- Day 1

File Menu

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Enter and Arrow Keys

Use these or the keypad to select from the File Menu

Page 23: ABB Programming- Day 1

File Menu Dialog

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Works anytime!

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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

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End of Day One, Segment 1

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Error Messages Layout

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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

Page 39: ABB Programming- Day 1

Error Logs

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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.

Page 41: ABB Programming- Day 1

Running A Program In Auto

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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.

Page 44: ABB Programming- Day 1

Switching Off The Robot

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End of Day One, Segment 2