Simon Turner, Robotics Training, 2015

RobotWare 6.0
Programming and Operation
UK R752
Produced by Simon Turner
© ABB Group
November 28, 2023 | Slide 1
Site Map
Fire Assembly point
Fire
Assembly
Point

Visitors
Parking

Loading
Bay
Visitors
Parking Smoking
Employee Area
Parking
Employee parking

Smoking
Shelter

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© ABB Group
November 28, 2023 | Slide 2
Auriga House Ground Floor Plan

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 3
Facilities Guide

 Workshop Area
 Must be accompanied by a member of ABB staff
 Health & Safety / Customer confidentiality

 Phones, Faxes and Internet access

 Outgoing calls - Phone available in training area
 Faxes – Please ask reception to relay
 Internet access - password (Trainme2day6)
 Wifi - BTBusinessHub-ABB Password - ABB456mk
 Please put mobile phones on silent

 Smoking area
 Access via main entrance

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© ABB Group
November 28, 2023 | Slide 4
Current RW 6.0 Training course scheme

Programming
Operator &
Operation
2day 5 day

RobotStudio 6
Offline programming
Stage 1
3 day

RobotStudio 6
Offline programming
Stage2
2 day

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 5
 Course Objectives


Safety requirements for basic programming and operation

System warm start up, shut down and error recovery

Basic program operation

Basic production programming techniques

Editing program instructions to maximise efficiency

Create and use routines

Use input output instructions

Flexpendant communication instructions

Numerical data instructions

Saving and opening programs

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© ABB Group
November 28, 2023 | Slide 6
Safety

Safety

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© ABB Group
November 28, 2023 | Slide 7
Robot Safety during training course

 Keep fingers clear of gripper jaws when loading parts

 Stand clear of robot benches when running programs

 Test all program modifications in a manual mode first

 Full speed modes are permitted with instructors assistance

 Be cautious when releasing brakes

 When inside the robot cell, make sure you have control of Pendant

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 8
ABB Safety Solutions – an Overview

 Emergency stop
 Operating modes
 Production (Auto) Interlocked guarding
 Manual reduced speed (Teach)
 Jogging and program operation
 Maximum speed 250mm/sec
 Manual full speed (Test)
 Program operation only

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 9
Enabling Device (Dead Mans Grip)

 The enabling device is a press switch with three positions

 The switch must be in the middle position in order to
activate the motors
 All robot movement will immediately stop if the switch is
released or pressed to the bottom

Enabling device

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 10
Manual Full Speed (Optional)

Press and Hold down the play key, to run the program

Press and Hold down the FWD or BWD key to step

Releasing the pressed key to stops execution

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© ABB Group
November 28, 2023 | Slide 11
Safeguard Stops
 Your robot system can be equipped with a vast range of safeguards such as
door interlocks, safety light curtains, laser scanners and pressure mats etc.
 A safeguard prevents hazardous situations by stopping the manipulator in a
controlled manner when a mechanism such as a light curtain is activated
 The controller has three separate safeguarding mechanisms,
 General stop (GS) Always active regardless of operating mode
 Automatic stop (AS) Only active in auto mode
 Superior stop (SS). Always active regardless of operating mode

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 12
Working range of robot axis

 All Axis are software controlled to limit their rotational range

 The software stop should prevent collision at the end of axis
rotational travel
 Axis 1–3 can on larger robots, can be fitted with adjustable
mechanical stops
 Training robots axis are set to the default maximum range

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 13
Brakes Release

 The brakes on the robot motors can be manually released

 Make sure the weight of the robot axis and tooling are supported
 Brakes are reapplied when button is released

IRC5C controller
Produced by Simon Turner

© ABB Group brake release button

November 28, 2023 | Slide 14
Safety Regarding Grip Device

 All grip devices must be designed so the work piece will be held even on
power failure and other disturbances in the robot system
 There should be possibilities to loosen the work piece manually
 Familiarize yourself with operational buttons assigned to the gripper function

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 15
FlexPendant Overview
User defined keys
Status bar
Windows E-Stop
button

Enabling
device
3D
Joystick

Jogging
keys

Quickset menu
USB port
Produced by Simon Turner

Program execution keys

© ABB Group
November 28, 2023 | Slide 16
QuickSet menu overview

 With the QuickSet menu you can access some often used settings

Mechanical unit jogging mode (Not allowed in Auto)

Incremental jogging (Not allowed in Auto)

Running Mode Cycle or Continuous

Step Mode (In, Out, Over, Next move)

Override Speed (+/- 1%, 5%, 25%, 50%, 100%)

Tasks (task activation / deactivation)

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© ABB Group
November 28, 2023 | Slide 17
Basic Program Operation demonstration
 Manual reduced speed
 Enabling device
 Manual Full speed
 Enabling device and Hold-to-run
 Automatic
 Stepwise Operation
 Fwd Bwd and limitations
 E-Stop and recovery
 Override speeds
 25% etc
 Running mode

Produced by Simon Turner

© ABB Group
Cycle or Continuous
November 28, 2023 | Slide 18
Operational Exercise

Exercise
Program Operation

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© ABB Group
November 28, 2023 | Slide 19
Program Operation using Debug (Program Editor)

 Motion and Program pointers (MP / PP)

 Program reset (PP to Main / PP to routine…)
 Collision awareness
 Starting program from Cursor (PP to Cursor)

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 20
‘Auto Condition Reset’ parameter
If Reset parameter is set to YES then the following conditions are reset
when switching to auto:

• The Program Pointer is reset to the Main routine if the call-chain

does not originate from the Main routine.
• All tasks are enabled. (multimove and backround)
• All stopped background tasks are started.
• Simulation of all simulated I/O signals are removed.
• Override Speed is set to 100%.

Control panel – configuration – Controller – Auto condition Reset- All Debug Settings
Produced by Simon Turner
© ABB Group
November 28, 2023 | Slide 21
FlexPendant Windows Overview

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 22
Jogging the robot

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 23
6 Axis Robot

Axis 4

Axis 6

Axis 3 Axis 5

Axis 2 Axis 3

Axis 4
Axis 1 Axis 2

+
Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 24
4 Axis Robot (FlexPalletiser)

• A = Axis 1

• B = Axis 2

A • C = Axis 3

• D = Axis 6

+
Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 25
3 / 4 Axis Robot (FlexPicker)

2 3

Y 4

Z Base coordinate system

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 26
Jogging 6 axis robot

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 27
Jogging along Coordinate axis

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 28
Jogging Motion Keys

 Mechanical unit activation switch

 Linear / Reorient
 Group 1 / Group 2 Axis
 Activate / deactivate incremental jogging

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 29
Jogging External Axis Track

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 30
Jogging External Axis Positioner

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 31
Incremental Jogging

 Greater jogging control

 Small = 0.05mm 2

 Medium = 1mm

 Large 5mm

 User from 0 to 5mm

3

 Show values to edit User

1

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 32
Jogging collisions

 Disabling Jog supervision allows robot to be jogged after collision

 ‘Collision Detection’ Software option (613-1), required
 Path supervision is not effected only jog supervision
 Try before releasing brakes

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 33 Disabled
Jogging Override Speed

 Used when the default 100% value feels to sensitive

 Value can be set to a percentage of the default jog speed
 Reduce percentage will be slower and less sensitive
 Jog speed is still proportional to joystick deflection

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 34
The Jogging Window

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 35
Jogging demonstration
 Position the robot joints
 Major Axis
 Minor Axis
 Increments where required
 Position the tool using Linear relative to:
 World / Base coordinates
 Tool coordinates
 Work object coordinates
 Increments where required
 Position the tool using Orientation relative to:
 Tool / Base and Work object coordinates

Produced by Simon Turner

 Practice Tool Alignment
© ABB Group
November 28, 2023 | Slide 36
 Exercise
Jogging the Robot Arm

© ABB Group
November 28, 2023 | Slide 37
Programming Introduction

 Creating a program
 Introduction to basic move instructions and data
 Programming move instructions
 Modifying Instructions and data
 Programming demonstration
 Practical…
 Further demonstrations and Practice…

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 38
Creating a new Program
 Old program will be removed
 The new program is temporarily named ‘NewProgramName’
 A ‘main’ routine is created within a ‘MainModule’

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 39
Introduction to Joint & Linear Motion

Move L

Move J

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 40
Positional Movements Instructions (Common Picklist)

 MoveJ is used to move the robot quickly from point to point

 The movement will not be in a straight line.

Robtarget Speed Zone Tool

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 41
 Zone
Zone data describes how close to the destination position
the axes must be before the next instruction can be executed.

Robot path during non stepwise motion Programmed

position
p2
p1

Zone size
MoveL p1, v100, z10,
tool0;
MoveL p2, v100, z10,
tool0;
MoveL p3, v100, z10,
Produced by Simon Turner
p3
tool0;
© ABB Group
November 28, 2023 | Slide 42
Positional Movements Instructions (Common Picklist)

 MoveL moves the TCP in a Linear direction or straight line.

Robtarget Speed Zone Tool

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 43
Exercise 1

Exercise
Programming movements

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© ABB Group
November 28, 2023 | Slide 44
Modify Position

 Select the instruction or target to be changed (Step is recommended)

 Jog robot to the desired position
 Press Modify Position

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 45
Program Edit Menu

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 46
Comment (‘Various’ Picklist)
 Comment - Inserts a line of text to make it easier to understand the program.
 Use ABC… in the Edit menu to add text after the exclamation mark

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 47
Tool Centre Points (TCP)

Tool Coordinate system

+Y

Wrist Coordinate system +Z

+X

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 48
Tool Centre Point theory

 The position & movement of the robot is always relative to the active TCP.

 TCP’s are defined as being somewhere at the end of the tool.

 Many TCP’s may be defined, but only one active at any one time.

 Can be programmed manually but only if accurate TCP values are known.

 Normally the robot is used to define its TCP.

 If tool is damaged or replaced, don’t modify program positions, just redefine the
tool.

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 49
Tool Centre Point Definition Methods
 Default Orientation (same direction as Wrist coordinate system)
 TCP & Z Just Z direction defined (X stays in same plane as wrist)
 TCP & Z, X both Z and X defined
 From 3 to 9 approach points

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 50
Example of TCP with default orient
 No rotational difference from the wrist coordinate system

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 51
Example of TCP with Z direction defined

 The TCP’s X&Z are in the same plane as the wrist

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 52
Example of TCP with Z&X directions defined

 The TCP’s X&Z directions are rotated differently to the wrist

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 53
TCP Definition – Default Orient

1
1
4
3
2 4

3 2
Plan view

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 54
TCP Definition – Z & X
Tool orientations are defined by the direction the tool is
positioned away from the datum point.
5
Z Elongator point Jog robot so the tool’s intended Z and
X directions, visually align to the base
coordinate’s Z and X axis.

Jog along Base coordinate Z Axis to

4 1
6 3 define tools Z direction
2
Jog along Base coordinate X Axis to
define tools X direction

X Elongator point
Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 55
Tool Centre Point Definition Method
 Menu
 Program data
 Select tooldata
 Show data
 New…
 Name tool
 Initial value or OK and then select tool in list and Edit Value
 Mass:= type in kg and Centre of Gravity
 Press OK
 Press Edit
 Select Define
 Select Method and number of Points
 Select Point 1, jog robot to calibration position and press Modify Position
 Repeat for remaining points
 Press OK
 You will need to activate your TCP in the jog window

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 56
Exercise 2

Exercise 2
Create a Tool Centre Point

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© ABB Group
November 28, 2023 | Slide 57
Logical Instructions (‘Common’ Picklist)

Set - turns ON a Digital Output.

Set doGripper;

Reset - turns OFF a Digital Output.

Reset doGripper;

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 58
Logical Instructions (‘I/O’ Picklist)

SetDO - changes the value of a Digital Output.

SetDO do15, 1;
or
SetDO \SDelay := 0.2, do15, 1;

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 59
Logical Instructions (‘Common’ Picklist)

WaitTime - Waits a set amount of time.

WaitTime 0.5;
(Waits 0.5 seconds)

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 60
Routines and program flow example

 The Main Procedure controls the flow of the entire program

 Sub Procedure routines do the jobs

 The ProCall Instruction is used to program the call of the routines

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© ABB Group
November 28, 2023 | Slide 61
Routines Summary

 Repetitive instruction sequences, that occur frequently in the program, should

form their own routines.

 Routines separate the program into smaller more easily understood parts,
these can then be called anywhere in the program using the ProcCall
instruction.

 A Max of 16 characters are allowed for naming routines, meaningful names

will make the program easier to follow and operate.

 Routines can be tested by moving the Program Pointer to a routine. (Debug)

 Routines are called within the program using the instruction ‘Procall’

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 62
Routines Exercise

 Create a new routine called PickPen

 Activate your TCP

 Program the robot to pick up the pen

 Test this routine (debug ‘PP to routine’)

 Copy this routine and edit the output instruction to put the pen down

 Test the duplicated routine (debug ‘PP to routine’)

 Call these routines within your main routine (ProCall instruction)

 Test your Main Routine (debug ‘PP to main’)

 Save your program as ‘Exercise_3’

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 63
Routines Exercise

Exercise 3
Create Routines
to pick and place the pen

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© ABB Group
November 28, 2023 | Slide 64
Work Object Coordinate Systems

 All program positions are attached to a workobject coordinate system

 Wobj0 is the default coordinate system and connected to the robot World

 Its advisable to use custom work objects as wobj0 can not be moved

pSafe

TCP

wobjBox

World / wobj0

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 65
Work Objects

Work Object data contains both User and Object Frames

User Object

World

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 66
Work Objects and External Axis

 Positioners base frame is defined relative to the world coordinate system

 Work object is connected to, and moved by the positioner

 Object frame locates the tooling fixture relative to the user frame / faceplate

User frame

Object frame

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 67
Calibrating Work Object frames

 Both User and Object frames can be defined with calibration points

 An active TCP is jogged to each point during the calibration

Y1
Y1

X1 X1
X2

X2

World

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 68
Work Object Definition Methods

 Selecting ‘No Change’ will not change the current value

 Its common practice for the Object frame to be located directly on top
of its User frame.

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 69
Jogging along axis of active workobject

Produced by Simon Turner

© ABB Group
X Y Z
November 28, 2023 | Slide 70
Work Objects Summary

 WObjData allows robtargets to be connected to a work piece coordinate system.

 Workobjects can be static in the world coordinate or moved by a mechanical unit.

 Many work object data’s may be defined, but only one can be active at a time.

 Programs can be reused quickly following changes in the robot installation,

e.g. if a fixture is moved, just recalibrate its coordinate system.

 Accuracy is maintained when loading programs created in RobotStudio.

 Robot can be jogged along the axes of the work objects, object frame.

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 71
 Work Object Definition Method (page 76 in pocket guide)

 In the jogging window activate the TCP that you will use to define Workobject
 Menu
 Program data
 Select wobjdata and tap Show Data
 Select New…
 Name work object
 Press OK
 Press Edit
 Select Define
 Select ‘3 points’ for user frame and ‘No Change’ for Object frame definition
 Jog the tool to the User X1 point select and Modify Position
 Repeat for User X2 and User Y1
 Press OK and view the calculated result
 Press OK to close
 You will need to activate your workobject in the Jogging window in order to program or jog
relative to it.
Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 72
Exercise 4

Exercise 4
Create a Work Object

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 73
Moving Circular (‘Common’ Picklist)

MoveC - moves the TCP in a Circular direction

using the mid & end point of a semicircle

MoveL *, v100, fine, tPen \WObj:=wobj1;

MoveC *, *, v100, z10, tPen \WObj:=wobj1;

mid
end

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 74
Programming MoveC (‘Common’ Picklist)

p1
Pick MoveC here

p4 p2

p3
ModPos End target here

MoveL p1, v100, fine, tPen \WObj:=wobj1;

MoveC p2, p3, v100, z1, tPen \WObj:=wobj1;
Produced by Simon Turner MoveC p4, p1, v100, fine, tPen \WObj:=wobj1;
© ABB Group
November 28, 2023 | Slide 75
Path Following Exercise

Start / Finish Start / Finish

Path Following Exercise

Start / Finish

Direction

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 76
Exercise 5

Exercise 5
Programming with Routines

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 77
Introduction to Modules

 What is a module

 Robot Task memory

 Types of modules

 Saving and Loading programs

 Creating, loading saving and deleting modules

Produced by Simon Turner

© ABB Group
 Backup and Restore
November 28, 2023 | Slide 78
Internal Structure of Module

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 79
Program Task Structure

Program Modules.mod System Modules.sys

Program Data Program Data

Main
Routines Routines
Routine

<?xml version="1.0" encoding="ISO-8859-1" ?>

<Program>
<Module>MainModule.mod</Module>
</Program>

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 80
Program Task Structure

Program Modules.mod System Modules.sys

Program Data Program Data Program Data

Main
Routines Routines Routines
Routine

<?xml version="1.0" encoding="ISO-8859-1" ?>

<Program>
<Module>MainModule.mod</Module>
<Module>ModuleA.mod</Module>
<Module>ModuleB.mod</Module>
</Program>

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 81
Modules Summary
 A module contains routines and data’s.
 The module that contains the main routine is the MainModule
 System modules are always present in memory and can be used to save your
default data
 Filename extensions are

 XXXXX.mod Program Module

 XXXXX.sys System Module
 XXXXX.pgf Program File

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 82
Creating and Loading programs
 New Programs can be created in the Program Editor
 Program names can not start with a number
 If a program allready exists, it will be overwritten
 New programs are temporaraly called ’NewProgramName’

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 83
Saving the program in IRC5

 A folder with the same name as the program is created

 This folder contains the MainModule, all Sub modules and a program file
 The program file (.pgf), is an extensible mark-up language file, that lists all
program modules in the task
 System Modules are NOT saved

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 84
The Modules view
 Select the modules tab from the Program Editor
 Use the file menu to create, load, save or delete individual modules

2
Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 85
Backup Structure

Copy of
Systems
‘home’
folder

TASKS

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 86
Backup and Restore Exercise

Exercise 6
Backup and Restore System

Produced by Simon Turner

© ABB Group
November 28, 2023 | Slide 87
Logical Instructions (‘Common’ Picklist)

WaitDI - Waits until a Digital Input is set to either high or low.

© ABB Group
November 28, 2023 | Slide 88
Logical Instructions (‘Common’ Picklist)

WaitUntil - Waits until one or several Inputs have been set.

WaitUntil di1=1;

WaitUntil di1=1 AND di2=1;

AND, OR, XOR, NOT

© ABB Group
November 28, 2023 | Slide 89
Exercise 7

Exercise 7
Waiting for Inputs and Time

© ABB Group
November 28, 2023 | Slide 90
Communication Instructions (‘Communicate’ Picklist)

TPWrite - writes Text/Data to FlexPendant’s Operator Log window.

TPWrite “Executing Program”;
TPWrite “Num of produced parts = ” \Num:= reg1;
TPWrite String [\Num] | [\Bool] | [\Pos] | [\Orient ] | [\Dnum]

Num = 8388608
Dnum = 4503599627370496
© ABB Group
November 28, 2023 | Slide 91
Communication Instructions (‘Communicate’ Picklist)

TPErase - is used to clear the display of the FlexPendant.

© ABB Group
November 28, 2023 | Slide 92
Communication Instructions (‘Communicate’ Picklist)
TPShow - is used to switch the window on the FlexPendant.

TPShow TP_PROGRAM;
The Production Window will be active if the system is in AUTO mode.
Or
The Program Editor will be active if the system is in MAN mode.

TPShow TP_LATEST;
Show the previous FlexPendant Window before the current one.

© ABB Group
November 28, 2023 | Slide 93
Exercise 8

Exercise 8
Operators Log Messages

© ABB Group
November 28, 2023 | Slide 94
Logical Instructions (‘Common’ Picklist)

Compact IF – A single instruction is executed depending on whether a condition is

met or not.

IF di1 = HIGH WaitTime 0.5;

IF reg1 >= 10 Set doPalletFull;

IF bAtHome = TRUE TPWrite “Robot in Home Position”;

IF diPartPresent = HIGH PickPart;

The instruction may be a ProcCall which calls a routine

© ABB Group
November 28, 2023 | Slide 95
Logical Instructions (‘Common’ Picklist)

IF - where different instructions are executed depending on

whether a condition is met or not.

IF di1 = HIGH THEN IF di1 = HIGH THEN

Circle; Circle;
Oval; ELSEIF di2 = HIGH THEN
ENDIF
Outside;
ELSE
Oval;
ENDIF
© ABB Group
November 28, 2023 | Slide 96
Exercise 9

Exercise 9
Decision making with ‘IF’

© ABB Group
November 28, 2023 | Slide 97
Communication Instructions (‘Communicate’ Picklist)

 TPReadNum - Is used to read a number from the FlexPendant.

 Program execution waits until a number has been input from the numeric keyboard.
 The entered number is stored in a register.
TPReadNum reg1, “How many Circles should be produced?…”;

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November 28, 2023 | Slide 98
Logical Instructions (‘Common’ Picklist)

While - is used when a number of instructions are to be

repeated as long as a given condition is met.

WHILE reg1> 0 DO
rCircle;
Decr reg1;
ENDWHILE
Repeats the instructions in the WHILE loop as long as
reg1 > 0
WHILE Condition DO... ENDWHILE
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November 28, 2023 | Slide 99
Exercise 10

Exercise 10
While

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November 28, 2023 | Slide 100
 Cycle Timing Instructions (‘System & Time’ Picklist)

 A clock functions like a stopwatch and is used for timing.

 Clock data stores a time measurement and has a resolution of 0.001 second.
 The maximum time that can be stored is 4,294,967 seconds (49 days)

ClkReset is used to reset a clock to 0.

ClkReset clock1;

ClkStart - is used to start a clock.

ClkStart clock1;

ClkStop - is used to stop a clock.

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ClkStop clock1;
November 28, 2023 | Slide 101
ClkRead()

ClkRead() - is a function that reads a timing clock and

returns its value.

ClkReset clock1;
ClkStart clock1;
MoveJ *, v1000, fine, tool0;
ClkStop clock1;
TPWrite “Cycle Time = ”\Num:=ClkRead(clock1);

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November 28, 2023 | Slide 102
TPReadFK (‘Communicate’ Picklist)
 TPReadFK - Writes text on the functions keys and records the selected key
 Program execution waits until one of the function keys is pressed
 A numeric value 1..5 is returned to a register

TPReadFK nFKpress, “Choose?…”, “Outsides”, “Circles”, “Ovals” ,“”,“”;

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November 28, 2023 | Slide 103
TEST (‘Prog.Flow’ Picklist)

TEST - where different instructions are executed depending on the

value of an expression or data.
TEST nFKpress
CASE 1:
rOutside;
CASE 2:
rCircle;
CASE 3:
rOval;
DEFAULT:
! Incorrect value found in nFKpress
Stop;
ENDTEST

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November 28, 2023 | Slide 104
Course Objectives


Safety requirements for basic programming and operation

System warm start up, shut down and error recovery

Basic program operation

Basic production programming techniques

Editing program instructions to maximise efficiency

Create and use routines

Use input output instructions

Flexpendant communication instructions

Numerical data instructions

Saving and opening programs

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November 28, 2023 | Slide 105
© ABB Group
November 28, 2023 | Slide 106