ABB CRB 15000 Product Manual page 108

3 Installation and commissioning
3.5.1 Configuring the arm-side interface
Continued
For more information about Wizard, see Application manual - Wizard.
Gripper
There is a routine available for the up button that can open and close a gripper.
The function is toggled by each press of the button. To enable the gripper routine,
open the Wizard web app.
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. This can
be used to verify to which robot the FlexPendant is connected, see
FlexPendant connection on page
108
CAUTION
Protect users from falling workpieces.
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.
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110.
Product manual - CRB 15000
Testing the
3HAC077389-001 Revision: L