The objective of this tutorial is to introduce the basic functionality of the ABB robot teaching pendant. This covers the general graphical user interface, viewing the digital signals, jogging the machine and understanding the various position and rotation representations, loading and executing offline programs.
Graphical User Interface Overview
Digital Inputs and Outputs
The units have a maximum of 16 digital inputs and 16 digital outputs. ABB setup the machine according to some conventions we requested.
- The signals are named DO00 to DO15 and DI00 to DI15 (as in Digital Output 00 to 15 and Digital Input 00 to 15) such that they appear in proper lexicographical order in the graphical user interface.
- The first eight digital outputs (DO00 to DO07) are reserved for connecting an external programmable control logic (PLC) unit that transforms the signals from digital 24VDC to analog 0-10VDC using pulse width modulation (PWM).
- The upper three inputs and outputs (DO13, DO14, DO15 and DI13, DI14, DI15) are reserved for use with the pneumatic grippers being connected to solenoid valves.
- For project applications either use DO08 to DO12 and DI00 to DI12 or if you need more signals buy a Pheonix Contact adapted for easy cable management and sharing.
- All digital signals are operating at industrial standard 24VDC. There are available VCC and GND ports in the controller for plugging external devices (sensors and actuators). It is recommended you don’t mess with electrical circuits unless you know what you are doing and have performed external testing before plugging into the controller!
Jogging is performed using the joystick and shortcut buttons. The jogging panel is just for viewing the current robot configuration. Unfortunately it is not possible to change the position and orientation numerically (only through writing code). This is a bizarre omission for sure but we will have to live with it unless you want to make pendant app.
Loading and Running External Programs
The following section demonstrates how to load programs without the need to use either the Robot Studio application bundled with the robot or the Jeneratiff library functionality. We will revisit this in a different section. The objective here is to understand the high level program structure and be able to take direct control of the controllers file system. Some rules for preventing making the file system a junkyard:
- In every robot’s hard drive there is a predefined HOME folder by ABB under which there should be a Users folder created by us. This is similar to how Windows manages multi user systems.
- Create a folder with your name in the Users folder and store your data there. If the drive starts getting full or there is need for full system restore we may need to purge old folders so it is a good idea to keep backups in your local machine.
- Do not mess with other peoples files/folders and do not edit or delete any of the system files/folders as this may cause disruptions for one or more people.
Project File: jeneratiff.pgf
<?xml version="1.0" encoding="ISO-8859-1" ?> <Program> <Module>jeneratiff.mod</Module> </Program>
Module File: jeneratiff.mod
module jeneratiff proc Main( ) TPWrite "Hello World"; endproc endmodule