ABB Feather Duster, Руководство по эксплуатации продукта

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4 Installation and commissioning
4.4.1. Introduction
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4.4 System start-up
4.4.1. Introduction
Introduction
This chapter contains the instructions for setting up the Feather Duster system once the
physical installation has been completed, and the robot and robot controller have been started
up.
To start the robot system up, refer to the controller and robot documentation. See References
on page 6 .
Safety information
Follow the procedure below when performing the first test run after a service activity (repair,
installation or maintenance):
Set the robot TCP
The Tool Center Point must be set as shown below:
Steps Action
1. Remove all service tools and foreign objects from the robot and its working area!
2. Install all safety equipment properly!
3. Make sure all personnel are standing at a safe distance from the robot, i.e. out of its reach
behind safety fences, etc.!
4. Pay special attention to the function of the part previously serviced!
Steps Action
1. Use the FTP software to connect the robot.
2. Download \HOME\robdata\robdata.sys. Before any modification, back the current file up.
3. Use the shopfloor editor or UE editor to open the file robdata.sys.
4. Add one line as below to define the TCP for the feather duster:
PERS tooldata Tool_Cleaner:
=[TRUE,[[0,0,900],[1,0,0,0]],[125.1,[7.1,3.8,319.5],[1,0,0,0],26.302,12.415,18.623]];
Save the file.
5. Download the modified file to the controller, replace the previous one.
6. Warm start the robot.