I. ABB Robot Safety Operation Code Operation guide
Due to the complexity and potential danger of robot systems, safety must be observed when performing any operations on the robot during practice. Entering the robot’s working range at any time can lead to serious injuries; only personnel with certified training are allowed to enter the area.
The following safety rules must be adhered to:
In the event of a fire, use a carbon dioxide fire extinguisher.
The emergency stop switch (E-Stop) must not be short-circuited.
When the robot is in automatic mode, no personnel are allowed to enter the area within its range of motion.
Under no circumstances should the robot’s original startup disk be used; use a duplicate disk.
When the ABB robot is stopped, no objects should be placed on the gripper; it must be empty.
The E-Stop button can be used to stop the robot in the event of an accident or abnormal operation.
Since the ABB robot, even at very low speeds in automatic mode, still has significant momentum, the robot must be placed in manual mode when performing programming, testing, and maintenance tasks.
The pressure in the air circuit can reach 0.6MP; any related repairs must cut off the air source.
When debugging the robot in manual mode, if there is no need to move the robot, the enabler (EnableDevice) must be released promptly.
When entering the robot’s working area for debugging, the teaching pendant must be carried at all times to prevent others from operating it incorrectly.
In the event of a power outage notice, the main power and air source of the robot should be turned off in advance.
After a sudden power outage, the main power switch of the robot should be turned off before power is restored, and the workpieces on the gripper should be removed promptly.
Maintenance personnel must keep the robot keys securely, and unauthorized personnel are strictly prohibited from entering the robot’s software system in manual mode to browse or modify programs and parameters at will.
Safety matters are detailed in the “User’s Guide” under Safety.
II. Robot Control Panel Functions Operation guide
1. ABB Robot Teaching Unit
2. Motor Power On Button (with indicator light):
The indicator light is on steadily when the robot is powered on and ready.
The indicator light flashes (1Hz) when the robot is not powered on.
The indicator light flashes rapidly (4Hz) when the robot is not synchronized.
3. Robot Emergency Stop Button:
4. Operation Mode Selector (with key):
(1) Automatic Mode: Used for formal production, editing program functions are locked.
(2) Limited Speed Mode: <250mm/s for robot programming testing.
(3) Manual Full Speed Mode: Only allowed for professionals to use when testing programs. This motion mode should generally be avoided. (Optional)
5. Robot Running Time Timer:
Displays the total time the manipulator motor is powered on and the brake is released. Provides data for robot maintenance and repair.
III. Teaching Pendant Functions Operation guide
1. Teaching Pendant Function Display
Emergencystopbutton(E-Stop): Emergency stop switch.
Enablingdevice: Enable device.
Joystick: Joystick.
Display: Display screen.
2. Window Keys: (Windowkeys)
Jogging – In manual mode, used to manipulate the robot. The display shows the robot’s relative position and current coordinate system.
Program- In manual mode, used for programming and testing. All programming work is completed in the programming window.
Input/Outputs- Displays the input/output signal table and its values. Manual assignment of output signal values is possible.
Misc.- Other windows: Including system parameters, service, production, and file management windows.
3. Navigation Keys: (Navigationkeys)
List – Toggle key to switch the cursor between several parts of the window. (Usually separated by double solid lines)
NextPage- Fast forward key to quickly move the cursor down.
PreviousPage- Fast backward key to quickly move the cursor up.
Uparrows- Cursor up key to move the cursor up one step.
Downarrows- Cursor down key to move the cursor down one step.
Leftarrows- Cursor left key to move the cursor left one step.
Rightarrows- Cursor right key to move the cursor right one step.
4. Motion Control Keys: (Motionkeys)
MotionUnit- Motion unit toggle key to switch between the robot itself and other mechanical devices (external axes) controlled by the machine in manual mode.
MotionType1- Motion mode toggle key 1 for linear and posture motion.
Linear motion refers to the robot TCP moving linearly along the X, Y, Z axes of the coordinate system.
Posture motion refers to the robot TCP maintaining the same X, Y, Z axis values in the coordinate system, only rotating along the X, Y, Z axes to change posture.
MotionType2- Motion mode toggle key 2 for single-axis motion selection.
First group: 1st, 2nd, 3rd axes
Second group: 4th, 5th, 6th axes
Incremental- Joystick control key
Activate or deactivate the joystick control function to control the speed of the robot when running manually.
5. Other Keys: (Otherkeys)
Stop- Stop key to stop the robot program operation.
Contrast- Brightness key to adjust the display contrast.
MenuKeys- Menu keys display drop-down menus (hotkeys), there are five menu keys displaying menus containing various commands.
Functionkeys- Function keys for direct selection of functions (hotkeys), there are five function keys for directly selecting various commands.
Delete- Delete key to delete the selected data on the display, used to delete any data, files, directories, etc., during robot operation.
Enter- Enter key to enter the data indicated by the cursor.
6. Customizable Keys: (Programmablekeys)
P1-P5 The functions of these five customizable keys can be defined by the programmer, each key can control an analog input signal or an output signal and its port.
IV. Manual Operation of the Robot Operation guide
1. Manipulation Window Switching:
Place the robot operation mode selector in manual speed limit mode.
Switch to the manipulation window.
2. Motion Control Keys:
(1) Motion Unit Toggle Key:
ExternalUnit- External axis motion unit Robot- Robot
With the cursor pointing to the robot, the joystick controls the movement of the robot itself.
With the cursor pointing to the external axis, the joystick controls the external axis, with one robot able to control up to six external axes.
(2) Motion Mode Toggle Key:
Linear- Linear motion
The robot tool posture remains unchanged, and the robot TCP moves linearly along the coordinate axis.
Selecting different coordinate systems will change the direction of the robot’s movement.
Reorientation- Posture motion
The robot TCP position remains unchanged, and the robot tool rotates along the coordinate axis, changing posture.
Axes- Single-axis motion
Axes1,2,3- First, second, and third axes
3. Coordinate System Settings:
(1) Types of Coordinate Systems:
(2) Coordinate System Selection:
After entering the manipulation window, use the cursor movement keys to move the cursor to the option Coord, at which point the display will show four options: World, Base, Tool, Wobj. Press the corresponding function key to select the coordinate system.
(3) Tool Selection:
After entering the manipulation window, use the cursor movement keys to move the cursor to the option Tool, press the Enter key, at which point the display will show a list of tools within the robot system. Use the cursor movement keys to move the cursor to the corresponding tool and select it with the OK function key.
(4) Workpiece Coordinate System Selection:
Move the cursor to the option Wobj, press the Enter key, the display will show a list of workpiece coordinate systems, move the cursor to the corresponding workpiece coordinate system, and select it with the OK function key. This selection only takes effect when the robot coordinate system Coord is selected as Wobj.
4. Joystick Lock Selection:
After entering the manipulation window, use the cursor movement keys to move the cursor to the option Joysticklock, at which point the display will show four options: None and three arrows. Press the corresponding function key to select the lock for the robot joystick front, back, left, right, and rotation.
5. Joystick Speed Selection:
Use the cursor movement keys to move the cursor to the option Incremental, the display will show four options: None, SmallMedium, Large, and User. Press the corresponding function key to select the corresponding speed. The joystick control key can quickly control the opening or closing of the jog speed. When the robot is in the jog state, each movement of the joystick causes the robot to move one step. After the joystick is tilted for more than 1 second, the robot moves continuously at a speed of 10 steps per second until the joystick is reset.
No(Normal) Normal state, continuous movement.
Small Small, each unit moves 0.05mm or 0.005 degrees.
Medium Medium, each unit moves 1mm or 0.02 degrees.
Large Large, each unit moves 5mm or 0.2 degrees.
User User-defined jog speed.
6. Display of the Robot’s Current Position:
After entering the manipulation window, the display on the right side of the screen, Robotpos, will show the robot’s current position.
When the robot’s motion mode is linear or posture motion, the display shows the robot’s current X, Y, Z coordinate values and spatial posture values Q1, Q2, Q3, Q4. Depending on the choice of the base coordinate system, robot tool TCP, or workpiece coordinate system, the values will change.
When the robot’s motion mode is single-axis motion, the display shows the angular deviation of each axis of the robot.
7.Enabler:
In automatic mode, the enabler is ineffective.
In manual mode, the enabler has three positions.
Starting at “0”, the robot motor is not powered.
Intermediate at “1”, the robot motor is powered.
Final at “0”, the robot motor is not powered, and it must return to the starting state to power the motor again.
8.Linear Motion:
Motion mode settings:
(1) Manipulate the robot to move in the direction of the Base coordinate system:
(2) Manipulate the robot to move in the direction of the Tool coordinate system:
(3) Manipulate the robot to move in the direction of the Wobj coordinate system:
(4) Manipulate the robot to move in the direction of the World coordinate system:
9.Posture Motion:
Motion mode settings:
The robot will rotate around the center point (TCP) of the selected tool as shown in the illustration.
10.Single-axis Motion:
11.External Axis Motion:
Motion mode settings:
Enter the manipulation window and press the motion unit toggle key to switch to external axis motion; the display will show all controllable external axis names at the function key area. Press the function key to select the external axis unit to be manipulated. If the system has more than five external axes, press the Enter key to display additional external axes. Generally, external axes use single-axis motion mode.
