ABB Robotic

Paint Robot Training

Jogging of Robot:
The Jogging window displays the current jog settings and position of the robot.

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Jogging of Robot:
Jogging is permitted in Manual Reduced Speed mode and Manual High Speed mode, providing that all conditions for
turning the motors on have been fulfilled.

Jogging is possible regardless of what view is displayed on the pendant. You can however not jog during program ex -
ecution or if connected to a work object that is currently moving.

The selected jog mode and coordinate system determine the way the robot moves when operating the joystick.

– In linear jog mode, the tool center point moves along straight lines parallel to the Axes of the selected co-
ordinate system. The axes positions are moved accordingly.

– In reorient jog mode, the tool center point is rotated around the axes of the selected Coordinate system.

– Axis-by-axis mode moves one robot axis at a time .

The Jog button provides a fast way to access the jog menu.

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 Jogging of Robot:
The jog-button will make a subset of the full jog-menu appear on the lower half of the display.
This way the jogging menu can be called upon in any context, e.g. the programming menu, with only one sin -
gle click of a button. To remove this menu, click the jog button once more, or use the x-button.

Jog Mode Icons: The selected mode is displayed in the status bar as

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Jogging of Robot:

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Teaching and Programming By TPU
Rapid Editor: Simple Rapid programs can be made on the TPU.
To start making Rapid programs, select the Edit Menu icon in the main
menu. By default you will be prompted to select current loaded module for edit-
ing. If this is OK, just press Enter. Otherwise, use the arrow keys to select a dif-
ferent module.

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Teaching and Programming By TPU

Other available options at this stage:

– Load a different Module
– Save current Module
– Create a New Module
– Unload current Module
– Delete current Module

Creating a New Module: If you select the ‘New’ soft-key, you will be prompted for a module
name/number. The index number will be used by the PLC for program selection.

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Teaching and Programming By TPU
Using the Editor: Inside the Rapid Editor, a picture like this appears:

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Teaching Instructions,
MoveL instruction

A simple move instruction can look like this:

MoveL p10, v1000, fine, tool0;
where:
• MoveL is an instruction that moves the robot linearly (in a strait line) from
its current position to the specified position.
• p10 specifies the position that the robot shall move to.
• v1000 specifies that the speed of the robot shall be 1000 mm/s.
• fine specifies that the robot shall go exactly to the specified position and
not cut any corners on its way to the next position.
• tool0 specifies that it is the mounting flange at the tip of the robot that
should move to the specified position.

Speed
The speed of the movement defined by a constant of data type speed data.
There are plenty of predefined values.

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Teaching Instructions,
Zone: Specifies a corner zone defined by a constant of data type zonedata.
There are many predefined values, such as:

The following RAPID instructions will result in the robot path shown below:
MoveL p10, v1000, z50, tool0;
MoveL p20, v1000, fine, tool0;

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Teaching Instructions,
Examples with MoveL

PERS tooldata tPen := [ TRUE, [[200, 0, 30], [1, 0, 0 ,0]], [0.8,[62, 0, 17], [1, 0, 0, 0], 0, 0, 0]];
CONST robtarget p10 := [ [600, -100, 800], [0.707170, 0, 0.707170,0], [0, 0, 0, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
CONST robtarget p20 := [ [600, 100, 800], [0.707170, 0, 0.707170,0], [0, 0, 0, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
CONST robtarget p30 := [ [800, 100, 800], [0.707170, 0, 0.707170,0], [0, 0, 0, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
CONST robtarget p40 := [ [800, -100, 800], [0.707170, 0, 0.707170,0], [0, 0, 0, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
PROC main()
MoveL p10, v200, fine, tPen;
MoveL p20, v200, fine, tPen;
MoveL p30, v200, fine, tPen;
MoveL p40, v200, fine, tPen;
MoveL p10, v200, fine, tPen;

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Teaching Instructions,
Draw with corner zones: Draw the same figure as in the previous example, but
with a corner zone of 20 mm at p20 and a corner zones of 50 mm at p40.

VAR tooldata tPen := ...

...
VAR robtarget p40 := ...
PROC main()
MoveL p10, v200, fine, tPen;
MoveL p20, v200, z20, tPen;
MoveL p30, v200, fine, tPen;
MoveL p40, v200, z50, tPen;
MoveL p10, v200, fine, tPen;
ENDPROC

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Teaching Instructions,
MoveJ
MoveJ is used to move the robot quickly from one point to another
when that movement does not have to be in a straight line. Use MoveJ to move
the robot to a point in the air close to where the robot will work. A MoveL in-
struction does not work if, for example, the robot base is between the current
position and the programmed position, or if the tool reorientation is too large.
MoveJ can always be used in these cases.

MoveC: MoveC is used to move the robot circularly in an arc.

Example
MoveL p10, v500, fine, tPen;
MoveC p20, p30, v500, fine, tPen;

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Paint Instructions
General: The PaintWare instructions are closely related to the paint application equipment.
There are two main groups; general PaintWare instructions and IPS instructions. The general
instructions are those most commonly used in PaintWare programs, concerning paint path
and trig events.

IPS Instructions: The IPS instructions communicate directly with the Integrated Paint Sys-
tem, and are more common during cleaning, color change etc. See the ‘Reference Manual,
IPS Structure’ for more information.

PaintC
Description PaintC, Painting with circular motion, is used to paint along a circular path. The
instruction controls and monitors the entire paint process as follows:

– The tool centre point is moved from current position along a circular path via the circle
point to the specified destination position.

– The paint process is monitored continuously.

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Paint Instructions
PaintL: PaintL, Painting with linear motion, is used to paint along a straight path. The in-
struction controls and monitors the entire paint process as follows:

– The tool centre point is moved linearly to the specified destination position.

– All phases of the paint process are controlled, such as start, change and top
painting due to trig plane events.

– The paint process is monitored continuously.

Arguments: PaintL ToPoint Speed [\T] Zone Tool [\WObj]

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Paint Instructions
Example
PaintL . . . .
SetBrush 1\x := 200; ! E1
SetBrush 2\x := 300; ! E2
SetBrush 1\x := 400; ! E3
SetBrush 2\x := 500; ! E4
PaintL p1, v1000, z50, ptool\WObj := pobj;
PaintL . . . .
This sequence paints along a straight path from current location towards point
p1, as illustrated below.

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Paint Instructions
SetBrush Instruction
SetBrush is used to set the reference values for selected brush. A brush value that
has been set will be active until a new brush value is set. This instruction is used to set up event
conditions for the PaintL instructions

Arguments: SetBrush BrushNumber [\X] [\Y] [\Z] [\App]

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