ABB Malaysia - 1 Jun 16, 2015

S4CPlus Robot
Basic Programming
Training

Syllabus

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1.1 System Overview

General

Manipulator

Controller

Teach Pendant

Safety

Syllabus (cont 1)

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1.2 Basic Operation

Starting the System

Working with Windows

Jogging the Robot Using Joystick

Working on Program

Automatic Mode

Error

I/O Signal

Syllabus (cont 2)

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2.1 Robot Coordinate System

Tool Coordinate System

Work Object Coordinate System

Creating TCP

Calibration and Counter Update

Backup & Restore

Syllabus (cont 3)

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2.2 Program Structure and Overview

Program

Program Memory

Module

System Module

Routine

Data

Path Programming

Instruction

Expression

Procedure and Functions

Syllabus (cont 4)
3.1 Programming

Basic Instruction

MoveL

MoveJ

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3.2 Intermidiate Instruction

MoveC

ProcCall

Move with Offset

WaitTime

Syllabus (cont 5)
3.3 I/O Signal Instruction

Set

Reset

Pulse

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3.4 Advance Instruction

Compact IF

IF-THEN

IF-THEN-ELSE

IF-THEN-ELSEIF-THEN-ELSE

WaitDI

WaitUntill

Syllabus (cont 6)

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3.4 Advance Instruction

WHILE-DO

FOR

TEST

GOTO

STOP AND EXIT

BREAK

Mathematic Instruction

TP Instruction

Comment

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General

Controller

Manipulator

A robot is a combination of two principal

parts: Controller and Manipulator

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The Manipulator

Manipulator,
IRB2400

Please observe each axes movement

direction of the manipulator.

The Manipulator
Definition of Robot Axes:

Joints
Degrees of Freedom

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Robot Axes:

Axis 1:
Axis 2:
Axis 3:

Base rotates 180

Axis 4:
Axis 5:
Axis 6:

Roll 300

Lower Arm 70
Upper Arm +105 -28
Pitch 120
Roll 300

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Teach Pendant and Operator Panel

Teach Pendant

Operator Panel

The teach pendant and operator panel are

used to communicate with the robot.

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The Controller

S4C Control System

The controller is consist of 4 principal

parts.

The Controller

KEY SWITCH

Control Description

AUTO (Production Mode)

MANUAL (Teach Mode)

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MANUAL 100% (Teach Full Speed)

Control Panel

S4C Controller

Operators Panel
AUTOMATIC MODE (Production Mode)
Used to run for Production.
Jogging robot is not-allow in this mode.

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MANUAL REDUCED SPEED MODE (Programming

mode)
Used to do programming, move to robot manually, and
parameter setting
Need to press the enabling device to activate the robots
motors.

Operators Panel
MANUAL FULL SPEED MODE
(Testing mode, Optional)

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Used to test run the robot program at full programmed

speed.
Need to press the enabling device and Hold-To-Run to
activate the robots motors.

Control Description

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MOTORS ON (an illuminated push-button) is used to start the

motors in AUTO mode. When lit, it indicates that the robot
motors are ON. When the button is flashing the motors are off.
This button is also used to reset Emergency Stop conditions.

Control Panel

S4C Controller

The Controller

Control Description
EMERGENCY STOP

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(push-button) immediately
stops robot operation regardless of previous states
and operational mode. No voltage is transmitted
to the motors in the Emergency Stop condition.

Control Panel

S4C Controller

The Controller

Control Description

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The HOUR METER is used to keep track of

operational hours that the robot has ran. This
meter is used for maintenance scheduling.

Control Panel

S4C Controller

Teach Pendant

Joystick

Hold-to-Run
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LCD Display

Enabling device
Emergency Stop

Teach Pendant
Emergency stop
The robot stops regardless of which state or
mode the system is in immediately the
emergency stop button is pressed.
Enabling device (for safe operation)

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Enabling device is a press switch with three positions

The switch must be in the middle in order to activated the

motors in manual mode

All robot movement will immediately stop if the switch is

released or pressed to the bottom

Teach Pendant (cont 2)

Joystick

The joystick is used to jog (move) the robot manually; e.g.

when programming the robot.

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Display

Display all information during programming, to change

programs.

Can accommodate 16 lines.

Each line can accommodate 40 characters..

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Teach Pendant (cont 3)

Teach Pendant Keys Overview

Teach Pendant (cont 4)

Windows Keys (to select a window to work with)

Jogging

Used to jog the robot.

Program

Used to program and test.

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Inputs/Outputs

Used to manually operate the input and output signals

connected to the robot.

Misc

Miscellaneous; other windows, i.e. the System Parameters,

Service, Production and File Manager windows.

Teach Pendant (cont 5)

Navigation Keys (to move the cursor)
List

Press to move the cursor from one part of window

to another.

Previous/Next Page

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Press to see the next/previous page.

Up and Down arrows

Press to move the cursor up or down.

Left and Right arrows

Press to move the cursor to the left or right.

Teach Pendant (cont 6)

Navigation Keys (to move the cursor)

Motion Unit

Press to jog the robot or other mechanical units

Motion Type

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Press to select how the robot should be jogged, reorientation

or linear.

Motion Type

Axis by axis movement. 1=axis1-3, 2=axis4-6

Incremental

Incremental Jogging on/off

Teach Pendant (cont 7)

Other Keys

Stop

Stops program execution.

Contrast

Adjusts the contrasts of the display.

Menu Keys

Press to display menus containing various commands.

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Function Keys

Press to select the various commands directly.

Delete

Deletes the data selected on the display.

Enter

Press to input data

Teach Pendant (cont 8)

Programmable Keys

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Functions to be defined by the user.

Safety

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Safety Functions

Emergency Stop.

Enabling Device

Safety Stop

Reduced Speed

Interlock

Hold-to-run-control

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Starting the System

Before switch the system on, make sure

that no one inside the safeguarded
space around the robot.

Switch the mains switch on. The robot is

then automatically checked.

After the system has been checked and

no errors are located, the welcome
message appears on the display.

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Mains Switch

Welcome Screen

Working with Windows

Accessing the Inputs/Outputs Window:

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1.

Press the Inputs/Outputs window key.

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Working with Windows

Windows for manual I/O handling

2.

The window for manual I/O is shown on the

display. When a digital output is selected, its
status can be changed using the function keys.

Working with Windows

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3.

You can move around the windows by pressing keys below:

Movement

Select

One line up

Arrow Up

One line down

Arrow Down

To the first line in the list

Goto top from the Edit menu

To the last line in the list

Goto bottom from the Edit menu

Next Page

Next page

Previous Page

Previous page

Select a specific line in the list Goto from the Edit menu; enter
the desired line number and
press OK

 ABB Basic Programming Training - 38 Jun 16, 2015

Working with Windows

A window with two parts.

4.

Windows are sometimes divided to 2 by a double line.

5.

Select an output, two function keys will be displayed.

6.

Turn On/Off the output by pressing the 0 / 1.

7.

Move to different windows by pressing Window Keys

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Working with Windows

The four window keys

8.

There are four window keys on the teach pendant.

9.

When you press a window key, the active window will be

hidden under the new window.

Jogging the Robot Using Joystick

Linear Jogging

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Robot

1.

Turn the operating mode selector to the

<250mm/s position.

2.

Check that the Robot motion Unit

and Linear motion Unit are selected.
With the Motion unit key, you can choose
between operating the robot or other
external unit connected to controller.

With Motion type key, you can choose

robot to move in:

Linear
a.

Linear movement

b.

Reorientation of particular end effector

c.

Axis-by-axis movement

Jogging the Robot Using Joystick

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Linear Jogging

The Robot Coordinate System

When linear type motion is selected, the robot will move as

shown in figure above.

Jogging the Robot Using Joystick

Linear Jogging

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The centre of the face plate: TCP 0

The Tool Center Point (TCP) 0, is the point that move

linearly, along the axes of the coordinate system.

The TCP0 is located at the front of the upper arm, in the

centre of the robots face plate.

Jogging the Robot Using Joystick

Linear Jogging

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Robot movements with different joystick deflections

3.

Push the enabling device halfway to switch the MOTORS ON.

4.

Jog the robot using the joystick. Standing in front of the robot,
the TCP0 will, depending on how the joystick is moved, move
linearly along the X-, Y- and Z-axes.
The robot can be moved in several directions
simultaneously.
The larger the joystick deflection, the faster robot moves.

Jogging The Robot

Motion Types

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Robot

Major Axes 1,2,3

Minor Axes 4,5,6

Linear / Reorientation

Base

World

Tool

Workobject

Can Jog the Robot in Incremental steps.

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Joystick Control
Linear Robot Motion

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Joystick Control
Reorienting the Tool

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Joystick Control
Axis by Axis Robot Motion

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Joystick Control

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Creating a New Program

Press the program key to open the program window

Choose File: New

If there already is an unsaved program, answer the

displayed dialog and press File: New again

Specify the new name for the program

Choose OK to confirm

A program with only one empty main routine is

created

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Loading an existing program

Press the program key to open the program window

Choose File: Open

Press Unit until the right mass memory unit is

displayed

Mark the desired program or directory with the cursor

and press Enter to select

Choose OK to confirm

The program will be loaded

ModPos
ModPos - Modifying the position in a positioning instruction
e.g. MoveL.
Move

robot to desired position

Select

the instruction to be changed

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press

the function key ModPos

Cutting
Cutting - Selecting one or more instructions, deleting them
and placing them in memory.
Move

cursor to instruction or use Mark to Select a

group of instructions

Choose

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Can

EDIT : Cut

then be pasted anywhere

Copying
Copying - Selecting one or more instructions, copying
them and placing them in memory.
Move

cursor to instruction or use Mark to Select a

group of instructions

Choose

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Can

EDIT : Copy

then be pasted anywhere

Pasting
Pasting - placing what ever instructions have been stored
in memory into the program.
Move

cursor to instruction where you wish to

place the instruction/s

Choose

EDIT : Paste

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Sometimes

asked if you want to paste before or

after an instruction, default is after

Marking
Marking - Selecting one or more instructions.
Move

cursor to top/bottom of the list of instructions

Choose

EDIT : Mark

Move

cursor up/down until all lines that are wanted

are selected

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Can

now Cut, Copy or Delete selection

Automatic Mode

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Automatic mode is used to execute ready made programs

Figure 33 Dialog box used to confirm a change from manual to automatic mode.

Automatic Mode
Press OK. You have now changed to automatic mode and

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the Production window appears on the display (see Figure

34).

Automatic Mode
Press the Motors On button on the operators panel.
Start the program with the Start function key.
Stop the program with the STOP button on the teach
pendant unit.

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Switch back to manual mode

Error Message

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If an error occurs, an error message will be displayed in plain

language on the teach pendant . If several errors occur
simultaneously, the error that occurred first will be selected.

An error message is displayed in plain language as soon as an error occurs

Languages & Messages

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ERROR MESSAGES

Press _______
Log
to return to previous page.

Languages & Messages

ERROR MESSAGES
There are 8 categories of errors:
Category
Error #
Description
Operational

1X,XXX Status Information

System 2X,XXX Safety Circuits

Hardware

3X,XXX Circuit Board Failure

Program

4X,XXX Program Execution Problem

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Motion 5X,XXX Movement Problems

Operator

6X,XXX Programming Unit Handling

I/O Comm.

7X,XXX Comm. Error to I/O Board

Internal

N/A

System Software Error

Languages & Messages

ERROR MESSAGES

A ________
of error messages is kept so you can look
LOG
at the last errors that the system has had.
The path that will take you to the ERROR LOGS is:

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MISC. : SERVICE : VIEW : LOG

To Save Error Log:
Misc: Service: View: Log:
File: Save all Logs as:

Languages & Messages

ERROR MESSAGES
You can also erase one or more of the logs. While the cursor
is highlighting one of the error categories in the log screen,
press;

SPECIAL: ERASE LOG OR ERASE ALL

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LOGS
To set system Date and Time:

Misc: Service: View:

2-Date and Time:

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Coordinate Systems
z

Wrist Frame
y
Tool Frame
y
z
z

x
x

Base Frame
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Programmed
position

y
World Frame

OBJE
CT

x
Work Object

USER

Coordinate systems
Z

Y
TOOL COORDINATES

Y
X

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BASE COORDINATES

OBJECT COORDINATES
Y

Y
USER COORDINATES

Y
WORLD COORDINATES
X

Coordinate Systems Benefits

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Tool Coordinate System

Defines the TCP and orientation of a tool

Necessary to run the robot (the TCP) in linear movements

The tooldata may be changed, reflecting a worn tool

Makes it possible to change tool, without changing the

program

Makes tool relative movements possible

Work Object Coordinate System

Defines the work place for the robot

Makes it possible to move the whole workplace (a fixture)

without changing the program

Makes it easy to use a program, made on one robot, in

another robot with different workplace. Change the
workobject, not the program.

A program for an object may be displaced with search

function, to find the current location

Tool Centre Point

Tool Mounting
Flange

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+Y

+X
Relative Directions X, Y & Z.

+Z

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Tool Centre Point

Position & movement of robot always related to TCP.

Defined as being somewhere at the end of the tool.

Many can be defined but only one active at any one time.

Can be programmed manually but only if accurate data.

Normally use robot to define TCP.

If tool is damaged or replaced, dont change program just redefine the

tool.

Tool Centre Point

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3 Methods of tool Definition

4 point TCP with 4 approach points.

5 point TCP & Z with 4 approach points and 1 elongator

point to define Z direction of tool.

6 point TCP& ZX with 4 approach points & 1 elongator for Z

direction & 1 for X direction .

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4 Point TCP

No rotation about X, Y or Z

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5 Point TCP

Z direction defined

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5 Point TCP Spray gun

Z direction defined

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6 Point TCP Welding gun

Both X and Z defined

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6 Point TCP - Water jet Application

TCP
.
Water jet

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TCP Definition - Simple

3
4
1
1

2
4

3
2

Plan view

TCP Definition - Complex

5

3
6
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X Elongator

Z Elongator

X
2

Y
Base
coordinate
direction

Tool Centre Point Definition Method

In The Program Window
Menu : View : Datatypes

Cursor to tooldata and press Enter ().

Press the Function Key New.

Press Enter () to name your tool and then press OK.

Press Decl, List Key (

Twice.

Menu : Special : Define Coordinates

Press Enter () to choose TCP method 4, 5 or 6 then OK.

List Key (
) down, you can now enter your positions by moving the robot and
pressing ModPos.

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) and move your cursor down to input mass in kg, then OK

Press OK and note the Mean and Max error, below 1 for each is preferable. Press OK.

In The Jogging Window.

Cursor to Tool, press Enter (), select your TCP and then
press OK to activate your TCP.

Defining TCP By Using The Robot

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Jog the robot to the fixed tip with four different

orientations and in different directions (not in same
plane as in fig):

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Defining TCP By Using The Robot

Open window by using View: Data Types

Select the type tooldata and press Enter

Choose Special: Define Coord

Modified
-

= Position defined

If error is acceptable press OK

= No Position defined

If error is too large, press Cancel

and redefine.

Work Object Coordinate System

All program positions are attached to a work object

Wobj0 is the default coordinate system
It is advisable to use custom work objects

z
p10

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y
Base
Wobj0

(0,0,0)

(900, 60, 500)

Work Objects

Custom Work Object

X1

Object
frame

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User
frame

World

Work Objects contain both User and Object Frames

Work Object Frames

p10
(200, 0, 450)
(400, 0, 50)

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World

User
(300, 60, 0)

Object

Work Objects and External Axis

Workobject disconnected from robot world
and attached to mechanical unit

Object frame may be transposed

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from its User frame

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Defining a Work Object frames

World
World

User and Object Coordinate Systems are usually both defined

at the same position.

1
bj

X
O
W

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Work Objects

O
W

Y
X
2
j
b

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Work Objects

WObjData is used to describe the area that the robot

welds, processes, moves within etc.

If position Data is entered manually, the values can be

taken from a drawing.

Programs can be reused quickly following changes in

the robot installation e.g. if a fixture is moved, just
redefine user coordinate system.

Variations in how the Work Object is attached can be

compensated for (using search and a sensor).

Robot can be jogged along the axes of the work object.

Work Object Definition Method

In The Program Window
View : Datatypes

Cursor to Wobjdata and press Return.

Press the Function Key New.

Press Return to name your work object and then press OK Twice.

Special : Define Coordinates

Move cursor up and down and press Return to choose 3 point method for User
and NoChange Object.

List Key down, you can now enter your positions by moving the robot and
pressing ModPos.

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Press OK.

In The Jogging Window.

Cursor to Wobj, press Return, select your work object and then press OK to
activate it.

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Robot Calibration

Robots delivered with all axis motor calibrated.

Motor resolver value is store in Manipulator system

parameter (Manipulator -> Motor Calibration)

It is recorded on Resolver value sticker on

manipulator

Two type of calibration procedure to robot which is

Fine Calibration and Revolution Counter Update

Calibration

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Fine Calibration
Calibrate when resolver value change by
Change/dismentle motor
Change gearbox/gear
Revolution Counter Update
Counter update when resolver value change by
Battery discharged
Resolver error
Resolver signal interrupt
Robot axis moved with control system
disconnected

 ABB Basic Programming Training - 92 Jun 16, 2015

Calibration I-Mark

Revolution Counter Update

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Press the Misc. Window key

Select Service in the dialog box shown on the display
Press Enter, and then choose View: Calibration
The robot will be in Unsychronized status if one of the
axis resolver counter is not updated
Choose Calib: Rev. Counter Update
Press function key All or Incl. to select not updated axis
Jog robot to calibration I-mark position (attached)
Confirming by pressing OK and press OK again to start
the update process
Check the calibration by using instruction MoveAbsJ

MoveAbsJ

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Create routine rCalib

Find the instruction in IPL2, Motion Adv
Insert instruction,
MoveAbsJ *, v1000, z50, tool0
Move the cursor to block the * and choose Edit: Value
Change all the joint axes data to Zero (0)
Press OK to confirm the changes
Switch to Test mode and move the PP to the above
instruction
Execute the instruction by press FWD
After robot go to it calibration position, check robot IMark

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What is a Program?

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A program consists of instructions

and data, programmed in the RAPID
programming language, which control
the robot and peripheral equipment in a
specified way.
The program is usually made up of three
different parts:
a main routine
several subroutines
program data.
In addition to this, the program
memory contains system modules.

Creating a new program

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Press Here!

Choose File: New.

If the robot is already loaded with

a program which has not been
saved, a dialog box appears and
you will be asked whether you
want to save it or not.

Specify the new name of the

program in the dialog box that
appears.

Choose OK to confirm.

A program with only one empty

main routine is created.

Loading an existing program

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Here!

Here!

Choose File: Open.

If necessary, change the mass

memory unit by pressing Unit
until the correct unit is displayed.

Select the desired program.

Move up or down in the directory
by using either .. (up), or the
desired directory (down) and
press Enter .

Choose OK to confirm.

Tip: If there is an error in the

program, this error will be
displayed if you choose File:
Check Program

What is a Module?
Program Memory
Program Module(s)

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Program Data
Main
Routine

Routines

System Module(s)
Program Data
Routines

What is a Module?
Program Memory
Program Module(s)

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Program Data
Main
Routine

Routines

Program Data
Routines

System Module(s)
Program Data
Routines

The Internal Structure of Modules

%%%
VERSION:1
LANGUAGE:ENGLISH
%%%
MODULE EX1
CONST robtarget p3:=[[1266.11,-44.68,379.91],[0.567059,0.054467,0.821577,0.022118],[0,0,CONST robtarget p2:=[[1270.77,-93.78,386.13],[0.567071,0.054457,0.82157,0.02211],[-1,0,CONST robtarget p1:=[[1312.4,-132.16,381.39],[0.567077,0.054431,0.821568,0.02209],[-1,0,-

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PROC main()
MoveL p1,v1000,fine,tool0;
MoveL p2,v1000,fine,tool0;
MoveL p3,v1000,fine,tool0;

ENDPROC

ENDMODULE

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Modules

A module is a group of routines and data.

A program module that contains a main routine is the main

program module, otherwise just a sub program module.

System modules are always present in memory and can be

used to save your default data and routines.

Filename extensions are:

[Link]

= Program Module

[Link]

= Program Module (no MAIN)

[Link]

= System Module

Saving programs that use modules

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When a program is saved using FILE : Save Program, all program

modules in memory are saved with the main program module into
one amalgamated file.
(.PRG)

ABB

Program Module

(.MOD)

DrawSQ

Program Module

(.MOD)

DrawTri

Program Module

[Link]

Opening programs that use modules

When a program is opened using FILE : Open, any modules that have
originally been saved with the program are loaded in and separated out.
They can still be saved separately.
(.PRG) ABB

Program Module

(.MOD) DrawSQ

Program Module

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(.MOD) DrawTri Program Module

[Link]

Saving Modules
When a module is saved using FILE : Save Module, the selected module in
memory is saved as a single .MOD or .SYS module file.
(.PRG) ABB

Program Module

(.MOD) DrawSQ

Program Module

(.MOD) DrawTri Program Module

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(.SYS) User

System Module

[Link]

Programming
Adding in New Instructions

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If a new instruction is added, it is placed after the instruction that is

selected.

Select the place where

you want the new
instruction to be added.

Call up one of the

instruction pick lists by
choosing the appropriate
pick list from the IPL1 or
IPL2 menu.

If want to call up the

instruction pick list that
was used most recently,
choose Edit: Show IPL.

Programming (1)

ABB Basic Programming Training - 108 Jun 16, 2015

Moving and Copying Instructions

Select the instruction you wish to move or copy. To select

several instruction, choose Edit: Mark.

Choose Edit: Cut (move) or Edit: Copy.

Indicate where you wish to add the new instruction.

Choose Edit: Paste.

In the Program Instruction window, copy and paste can also

be selected using a function key.

Programming (2)
Procedures and Functions

ABB Basic Programming Training - 109 Jun 16, 2015

A procedure is a number of instructions, put together in a box

with a specific name
This box may be called from the main routine (or any), and the
content of instructions will be executed
The call of the procedure is like an instruction:
MoveL p100, v100, z10, tool1;
FetchPart;
MoveL p110, v100, z10, tool1;
A function is another box of instructions, used to calculate a
value:
reg1 := Dist (p110, p100);
Routine is the common term for both procedures and functions

Programming (3)
More readable program
Better structured program
The code can be reused in several different parts of the
program

ABB Basic Programming Training - 110 Jun 16, 2015

Program creation is easier, the different routines may be

created and tested separately
The robot may be customized by creating application
specific routines

Programming (4)
Program Structure
Procedure main
...
fetch_part
leave_in_machine
process_part
fetch_fr_machine
leave_part
...

procedure fetch_part
MoveJ *,vmax,z50,tool1;
MoveL *, v1000,z30,tool1;
MoveL *,v200,fine,tool1;
grip;
MoveL *,v200,z30,tool1;

grip

ABB Basic Programming Training - 111 Jun 16, 2015

Set gripper;
WaitTime 0.3;

release
Reset gripper;
WaitTime 0.3;

Programming (5)

A rapid routine can be:

ABB Basic Programming Training - 112 Jun 16, 2015

Procedure, ex:

fetch_part;

SpotL p100,vmax,spot10,gun7,tool7;

Function, ex:

reg1:=circ_rad(p1,p2,p3);

reg2:=max(a,b,c);

Programming (6)
Names - identifiers
Variables names must have:
- max. 16 characters
- first character must be a letter!
- only letters, digits and underscores

ABB Basic Programming Training - 113 Jun 16, 2015

RAPID keywords cannot be used as variable names.

It is absolutely desirable to use meaninful names suggestive of
the entity they represent.

Note! Not case sensitive, i.e foobar is equal to FoObAr

 ABB Basic Programming Training - 114 Jun 16, 2015

What is a Routines?
There are three types of routines
(subprograms): Procedures, Functions and
Trap:

ABB Basic Programming Training - 115 Jun 16, 2015

- Procedures do not return a value and

are used in the context of instructions.
- Functions return a value of a specific
type and are used in the context of
expressions.
- Trap routines provide a means of dealing
with interrupts.

 ABB Basic Programming Training - 116 Jun 16, 2015

What is a Routines? [1]

A routine can contain routine declarations (including parameters),

data, a body, a backward handler (only procedures) and an error
handler.

Routine declarations cannot be nested, i.e. it is not possible to

declare a routine within a routine.

What is a Routines? [2]

Procedure main

ABB Basic Programming Training - 117 Jun 16, 2015

...
fetch_part
leave_in_machine
process_part
fetch_fr_machine
leave_part
...

procedure fetch_part
MoveJ
*,vmax,z50,tool1;
procedure
leave_in_machine
MoveL *, v1000,z30,tool1;
MoveL *,v200,fine,tool1;
procedure process_part
grip;
procedure fetch_fr_machine
MoveL *,v200,z30,tool1;
procedure leave_part
MoveJ *,vmax,z50,tool1;
MoveL *, v1000,z30,tool1;
MoveL *,v200,fine,tool1;
release;
MoveL *,v200,z30,tool1;

grip
Set gripper;
WaitTime 0.3;

release
Reset gripper;
WaitTime 0.3;

Routines
Before you start to program, you should think out the structure first.
Repetitive instruction sequences that occur frequently in the program,
such as gripper handling, should form their own routines.

ABB Basic Programming Training - 118 Jun 16, 2015

Routines separate the program into smaller more easily understood

parts that can then be called anywhere in the program.
You have Max 16 characters allowed for naming a routine so you
should give them meaningful names such as DrawCircle, CutSquare
and PickPart

The Program Routines Window

Choose View: Routines to

open the window.

The window displays all the

routines in your system and, if
there is a function present, also
the type of data returned for that
function.

ABB Basic Programming Training - 119 Jun 16, 2015

Here!

Creating New Routine

ABB Basic Programming Training - 120 Jun 16, 2015

Here!

Here!

Here!

Choose View: Routines to

open the window.

Press function key New.

Change the name by pressing

Enter and specify a new name

If you want a normal subroutine

(procedure) without any
parameters, you should finish
here by pressing OK. In cases,
the characteristics of the routine
must be defined.

 ABB Basic Programming Training - 121 Jun 16, 2015

Creating New Routine (1)

Here!

In cases, the characteristics of

the routine must be defined.

Press the function key Decl_.

Change the characteristics of the

routine by selecting the
appropriate filed.

Routines
Main

ABB Basic Programming Training - 122 Jun 16, 2015

MoveJ *,v5,z1,tcp;
Square;
MoveJ *,v5,z1,tcp;
MoveL *,v5,z1,tcp;
MoveJ *,v5,z1,tcp;
MoveJ *,v5,z1,tcp;
Square;

Main routine

Square

Circle

MoveJ *,v5,z1,tcp;
MoveL *,v5,fine,tcp;
MoveL *,v5,z1,tcp;
MoveL *,v5,z1,tcp;
MoveL *,v5,z1,tcp;
Circle;
MoveL *,v5,z1,tcp;
MoveJ *,v5,z1,tcp;

MoveJ *,v100,z1,tcp;
MoveL *,v5,fine,tcp;
MoveC *,*,v5,z1,tcp;
MoveC *,*,v5,fine,tcp;
MoveL *,v5,z1,tcp;
MoveJ *,v100,z1,tcp;

Sub routines

Duplicating a routines
Here!

Choose View: Routines.

Select the routine to be

duplicated.

Press the function key Dupl.

Change the name by pressing
Enter and specify a new
name

ABB Basic Programming Training - 123 Jun 16, 2015

Here!

Choose OK to be confirm the

duplication.

Path Following Exercise

Start / Finish

Start / Finish

ABB Basic Programming Training - 124 Jun 16, 2015

Path Following Exercise

Start / Finish
Direction

Path Following Exercise

ABB Basic Programming Training - 125 Jun 16, 2015

Main Routine

MoveJ pHome;

Home Position

MoveJ pSafe;

Safe position

Outside;

Routine to seal outside edge

Oval;

Routine to seal oval shape

Circle;

Routine to seal circle shape

MoveJ pSafe;

Safe position

MoveJ pHome;

Home Position

Data
Data

ABB Basic Programming Training - 126 Jun 16, 2015

There are three kinds of data:

Variables

Constants

Persistents

Data
Variables - VAR

A variable is an entity used by the program to store values in

the computation.

A variable can be assigned a new value during program

execution.

ABB Basic Programming Training - 127 Jun 16, 2015

Example:
VAR num mint;
VAR num cherry := 100;

Data
Constants - CONST

A constant is an entity whose value does not change during

program execution.

All constant declarations must have an initial value.

Example:

ABB Basic Programming Training - 128 Jun 16, 2015

CONST string str:=ABB Robotics;

Data
Persistent - PERS

A persistent can be described as a persistent variable.

ABB Basic Programming Training - 129 Jun 16, 2015

An update of the value of a persistent automatically cause

the
initialisation value of the persistent declaration to be
updated.
When the program is saved the initialisation value of any
persistent
declaration reflects the current value of the persistent.

All persistent declarations must have an initial value.

Example:
PERS bool dirty:=FALSE;
Note! A persistent may only be declared as module data.

Data
Changing of data
System
Event ->

ABB Basic Programming Training - 130 Jun 16, 2015

Data
V
Constant

Warmstart

Open
Start
program Program
(MoveP
P
to Rout)
Unchang Initiated Initiated
ed

Start
Program
(After
Cycle)

Start
Program
(After
Stop)

Start
ModPos
Program
(MoveP
Pto
cursr)
Unchang Unchang Unchang Changed
ed
ed
ed

Assign- Change
ment in in Data
program Window

Changed Changed
(not Init (also Init
value)
value
can be
changed)
-

Not
Changed
possible
to
change
Unchang Unchang Unchang Unchang Changed Changed Changed
ed
ed
ed
ed

Persistent

Unchang Initiated
ed

Variable

Unchang Initiated
ed

Initiated

Unchang Unchang Unchang Not

ed
ed
ed
possible
to
change

Interrupt
definition

Unchang deleted
ed

deleted

Unchang Unchang Unchang ed

ed
ed

Data
Speed Data

Speed data is used to specify the velocity at which

both the robot and the external axes move.

It defines the velocity:

ABB Basic Programming Training - 131 Jun 16, 2015

At which the tool centre point moves.

Of the reorientation of the tool.

At which linear or rotating external move.

Example :

V100 = 100 mm/s

Data

ABB Basic Programming Training - 132 Jun 16, 2015

Zone Data

Zone data is used to specify how a position is to be

terminated, i.e. How close to the programmed
position the axes must be before moving towards
the next position.

A position can be terminated either in the form of

a stop point or a fly-by-point.

Path Programing

STOP POINT

ABB Basic Programming Training - 133 Jun 16, 2015

Means that the robot and external axes must reach

the specified position (stand still) before program
execution continues with the next instruction.

FLY-BY- POINT

Means that the programmed position is never attained.

The direction of the motion is charged before the position

is reached

 ABB Basic Programming Training - 134 Jun 16, 2015

Path Programing

What is an instruction?

ABB Basic Programming Training - 135 Jun 16, 2015

An instruction defines a specific task that is to be carried out

when instruction is executed, for example

Moving the robot

Setting an output

Changing data

Jumping within the program

Instructions comprise an instruction name and a number of arguments.

The name specifies the principal task of the instruction and the
arguments specify the characteristics.

Example:

MoveL p1,v500,fine,tool1

Moves the TCP linearly to the position p1. The arguments, v500, fine and tool1,
specify the current speed, position accuracy and tool.

What is an instruction? (1)

Getting more information about an instruction

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Selecting the desired instruction and press Enter

MoveJ - Moves the robot by joint movement

ABB Basic Programming Training - 137 Jun 16, 2015

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.

MoveJ - Moves the robot by joint movement

Type of path
- J = Joint

Speed specified in speed data

v100=100mm/s

Tool (TCP)

ABB Basic Programming Training - 138 Jun 16, 2015

MoveJ p10, v100, z10, tool1

Destination position
- *
= stored in instruction
- P10 = stored in position data p10

Zone size specified in zone data z10 = 10mm

 ABB Basic Programming Training - 139 Jun 16, 2015

MoveC - Moves the robot circularly

MoveC is used to move the tool centre point

(TCP) circularly to a given destination.

During the movement, the orientation normally

remains unchanged relative to the circle.

MoveC - Moves the robot circularly

Type of path
C = circular

Circle position
- *
= stored in instruction
- P20 = stored in position data p20

ABB Basic Programming Training - 140 Jun 16, 2015

MoveC p20, p30, v100, z10, tool1

Destination position
- *
= stored in instruction
- P30 = stored in position data p30

 ABB Basic Programming Training - 141 Jun 16, 2015

MoveAbsJ - Moves the robot to an absolute joint

position

MoveAbsJ (Move Absolute Joint) is used to move the robot

to an absolute position, defined in axes positions.

The final position of the robot, during a movement with

MoveAbsJ, is neither affected by the given tool and work
object, nor by active program displacement.

However, the robot uses these data to calculating the load,

TCP velocity, and the corner path.

The robot and external axes move to the destination

position along a non-linear path.

All axes reach the destination position at the same time.

MoveAbsJ - Moves the robot to an absolute joint

position
Type of path
- J = Joint

Speed specified in speed data

v1000=1000mm/s

Tool (TCP)

ABB Basic Programming Training - 142 Jun 16, 2015

MoveAbsJ p10, v1000, z10, tool1

Destination position
- *
= stored in instruction
- P10 = stored in position data p10

Zone size specified in zone data z10 = 10mm

 ABB Basic Programming Training - 143 Jun 16, 2015

ProcCall - Calls a new procedure

A procedure call is used to transfer program execution to

another procedure.

When the procedure has been fully executed, program

execution continues with the instruction following the
procedure call.

ProcCall - Calls a new procedure [1]

Procedure main
...
fetch_part
leave_in_machine
process_part
fetch_fr_machine
leave_part
...

procedure fetch_part
MoveJ *,vmax,z50,tool1;
MoveL *, v1000,z30,tool1;
MoveL *,v200,fine,tool1;
grip;
MoveL *,v200,z30,tool1;

grip

ABB Basic Programming Training - 144 Jun 16, 2015

Set gripper;
WaitTime 0.3;

release
Reset gripper;
WaitTime 0.3;

Comment

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Comments are used to make the program easier

to understand
Comments have no influence on the program
execution

! This is a comment

 ABB Basic Programming Training - 146 Jun 16, 2015

 ABB Basic Programming Training - 147 Jun 16, 2015

 ABB Basic Programming Training - 148 Jun 16, 2015

Exercise 1

Start up the robot system under consideration of the safety procedures

Choose the JOG window on the teach pendant

Choose the following settings

Coordinate System

Base

Tool

tool0

Work object

workobj0

Move each joint of the robot in joint mode

Move one axis all the way to the limit of the working limit. Confirm the error
message and move in the opposite direction

Move the robot in linear motion mode

Change the speed of the movement by selecting incremental

Move the robot by selecting reorientation mode

Exercise 2
1. Select the Program Editor, choose Task and Program.
2. Select File and choose New Program. (Refer to page 151)
3. Write the name of the program on the numerical keyboard, EX2 and press
OK
4. Press the menu key Add Instruction.

ABB Basic Programming Training - 149 Jun 16, 2015

5. Choose Move instruction according to the program example (next page)

6. The positions p10 - p50 shall be programmed so that when executing the
program, the pencil moves linearly on the table except from p50 to p10.
7. Select QuickSet Menu and set the speed adjustment (-%) to 10%. Run the
program in Manual mode (<250 mm/s), first step-by-step forwards (FWD)
and then continuously (Start)

PROC main()

MoveJ p10, v500, fine, tool0

MoveL p20, v500, fine, tool0
MoveL p30, v500, fine, tool0
MoveL p40, v500, fine, tool0
MoveL p50, v500, fine, tool0

p40
p50

ENDPROC
ABB Basic Programming Training - 150 Jun 16, 2015

p10

p30

p20

Exercise 3
1. Continue from the EX2
2. Create and define a tool called tool1 - using 4 point definition (Refer to page 128
134)
3. Exchange all tool0 arguments in the program to tool1 and run the program
What happened and why?

...

ABB Basic Programming Training - 151 Jun 16, 2015

4. Reprogram all the positions to the right place by using the key Modify Position and
test run the program again
5. Increase the speed (+%) by steps to 50% while running the program in continuous
mode. To reach a higher speed the Operating Mode Selector has to changed to 100%
Observe the robot behavior (the speed) at the positions programmed
.
.

Exercise 3 [1]
6. Change the zone argument from fine to z30 for positions p20, p30 and p40.
Set the speed correction (-%) to 10% and run the program, first step-bystep (FWD) and then in continuous mode (Start)
Observe the difference in movement at the z30 positions
..
7. Change the speed for position p30 to v300 and for p40 to v1000

ABB Basic Programming Training - 152 Jun 16, 2015

Run the program with different speed correction settings and check the path
performance at the fly-by positions.
Is there a difference?
.
8. Insert a time of waiting for 5 seconds (WaitTime) after the instruction for p40.
Run the program and notice the robot position when the waiting is executed

Exercise 3 [2]
9. Remove the instructions for the waiting and p50 from the program.
Run the program again and notice the new behavior.
10. Change the instructions for p20 and p30 from MoveL to MoveJ
Observe the movement change when executing the program

ABB Basic Programming Training - 153 Jun 16, 2015

.
11. Insert the position p50 again and put an obstacle between p30 and p40,
which the robot has to pass in a proper way, by programming four new
instructions (MoveL) with suitable speed and zone size. (p60, p70, p80,
p90)
Run the program and notice the robot position when the activation of the
output starts.

Exercise 3 [3]
12. Change the zone argument for p30 to fine
Run the program again and watch the difference compared to item 12
.
13. Perform a backward execution of the program (BWD), watching the
movements and what is happening at the logical instruction.
..

ABB Basic Programming Training - 154 Jun 16, 2015

14. Save the program with the new name of EX3

Exercise 4
1. Which group of coordinate systems are available in the robot system?
A)
B)
C)
D)
E) ...
2. Re-open program EX2

ABB Basic Programming Training - 155 Jun 16, 2015

3. Create and define a workobject called wobj2 (in PERS datatype)

(User coordsys = Base coordsys)
4. Modify the program so that it is uses the workobject wobj2 in the Move
instruction (re-teach the point)
5. Create another workobject wobj3 (with location show in next page)

 ABB Basic Programming Training - 156 Jun 16, 2015

Exercise 4 [1]

wobj3
wobj2

+x
+x

+y
+y

Exercise 4 [2]
6. Change the Workobject in Move instruction from wobj2 to wobj3
Observe the movement change when executing the program
.

ABB Basic Programming Training - 157 Jun 16, 2015

7. Save the program with the new name of EX4

Exercise 5
1. Create a routine according to the flowchart below and call EX5
2. Add an instruction to the routine.
3. Complete the program by putting in another routine.

ABB Basic Programming Training - 158 Jun 16, 2015

4. Add a position (phome) at the beginning of the program.

Triangle
Routine

Square
Routine

Circle
Routine

Exercise 5 [1]
PROC Square()
MoveJ pHome, v500, z20, tool0;

MoveJ pHome, v500,z20,tool0;

MoveL sq1, v150, fine, tool0;

MoveL c1, v500, z20, tool0;

MoveL sq2, v150, fine, tool0;

MoveC c2,c3, v200, fine, tool0;

MoveL sq3, v150, fine, tool0;

MoveL sq4, v150, fine, tool0;
MoveL sq1, v150, fine, tool0;
MoveJ pHome, v500, z20, tool0;
ENDPROC
PROC Triangle()
MoveJ pHome, v500,z20,tool0;
ABB Basic Programming Training - 159 Jun 16, 2015

PROC Cricle()

MoveJ tri1, v500, z20, tool0;

MoveL tri2, v200, fine, tool0;
MoveL tri3,v200,fine,tool0;
MoveL tri1, v200, z20, tool0;
MoveJ pHome, v500,z20,tool0;
ENDPROC

MoveC c4,c1,v200,fine,tool0;
MoveJ pHome, v500,z20,tool0;
ENDPROC

Exercise 6
1. Continue the EX5.
2. Using the procall method to link all the routine.

Main
procedure

ABB Basic Programming Training - 160 Jun 16, 2015

Triangle
procedure

Square
procedure

Circle
procedure

Exercise 6 [1]
PROC main()
Circle;
Square;
Triangle;

ABB Basic Programming Training - 161 Jun 16, 2015

ENDPROC

 ABB Basic Programming Training - 162 Jun 16, 2015

Q&A