ABB CRB 15000 Product Manual page 69

Configuring the buttons
The buttons on the arm-side interface are configured with RAPID routines in the
module GOFA_ASI_Procedures, located in the task T_ROB1.
On delivery, a number of pre-configured routines are available. These can be
customized as needed, and more routines can be added. All routine names must
start with ASI_
To change what routine to run when pressing a button, use the FlexPendant app
ASI Setting.
xx2100000080
For more information on RAPID, see Technical reference manual - RAPID
Instructions, Functions and Data types and Technical reference manual - RAPID
Overview.
For more information about Wizard, see Application manual - Wizard.
Example of RAPID routine with MoveJ
Example of customized routine with the instruction MoveJ.
Product manual - CRB 15000
3HAC077389-001 Revision: A
Note
The buttons are deactivated until there is a valid safety configuration in the robot
controller.
PROC ASI_MoveRobot()
TPWrite "The robot will move along path";
MoveJ Target_10,v1000,z100,tool0\WObj:=wobj0;
MoveJ Target_20,v1000,z100,tool0\WObj:=wobj0;
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3 Installation and commissioning
3.5.1 Configuring the arm-side interface
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