ABB CRB 15000 Product Manual page 77

For more information about Wizard, see Application manual - Wizard.
Example of RAPID routine with MoveJ
Example of customized routine with the instruction MoveJ.
Example of RAPID routine with TPWrite
Example of customized routine with the instruction TPWrite.
Configuring the light ring
The arm-side interface has a light ring with LED lights that indicate status. The
configuration is shown on the FlexPendant.
The light will blink when a button is pressed on the arm-side interface.
Testing the FlexPendant connection
The ASI Setting application can be used to verify to which robot the FlexPendant
is connected.
Product manual - CRB 15000
3HAC077389-001 Revision: E
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;
MoveJ Target_30,v1000,z100,tool0\WObj:=wobj0;
MoveJ Target_20,v1000,z100,tool0\WObj:=wobj0;
MoveJ Target_30,v1000,z100,tool0\WObj:=wobj0;
ENDPROC
PROC ASI_Routine1()
MoveJ
[[0,0,0],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]],v100,z0,tool0;
TPWrite "Example 1";
ENDPROC
Note
In RobotWare 7.2, the light ring configuration cannot be changed, only disabled.
1 In the ASI Setting application, select Light indicator.
2 Toggle the Enabled switch to turn on or off the light ring on the robot.
3 Inspect on which robot the light ring is affected.
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3 Installation and commissioning
3.5.1 Configuring the arm-side interface
Continued
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