ABB CRB 15000, Product Manual, Page: 108 / 1096

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.
CAUTION
Protect users from falling workpieces.
Example of RAPID routine with
MoveJ
Example of customized routine with the instruction
MoveJ
.
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
Example of RAPID routine with
TPWrite
Example of customized routine with the instruction
TPWrite
.
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
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
Testing the
FlexPendant connection on page 110 .
Note
In RobotWare 7.2, the light ring configuration cannot be changed, only disabled.
108 Product manual - CRB 15000
3HAC077389-001 Revision: L
© Copyright 2021 - 2023 ABB. All rights reserved.
3 Installation and commissioning
3.5.1 Configuring the arm-side interface
Continued