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
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ABB ProgrammingDay One, Segment 1
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The Robot System
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Panel Controls
• Mode Selection (key)
• Motors Engage
• Motors Stop
• Emergency Stop
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Six-Axis Manipulator
• Figure 3 shows the directions in which the various axes of the manipulator can move and what these are called.
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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.
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Joystick Control Cont.
Three modes of motion:•Linear•Re-Orient•Joint
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Top Buttons
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Right Side Buttons
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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
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Incremental Jogging
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The RAPID Language
Robot
Application
Programming
Interactive
Dialog
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Program Structure
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Opening A Program
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File Menu
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Enter and Arrow Keys
Use these or the keypad to select from the File Menu
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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
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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.
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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.
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Switching Off The Robot
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End of Day One, Segment 2