Category Archives: Robotics

Trigging signals on the move, ABB Robots

If you want to trigg signals on the move without having multitasking on your ABB robot, triggLIOs would help you. This signal would help you to set values to different types of signals (up to 50). One could set Digital Output / Analog Ouput / String Output or Group Output signals with help of this command. This commands also allows one the choice to trigger signals based on distance / time after the start or distance to the end of the movement.

ABB Robots Family

ABB Robots Family

See below examples from RAPID (ABB robots programming language) reference manual:

TriggLIOs [\Conc] ToPoint [\ID] Speed [\T] [\TriggData1] [\TriggData2] [\TriggData3] Zone [\Inpos] Tool [\WObj] [\Corr] [\TLoad]

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Notepad++ Plugin for ABB RAPID

If you cant think of programming without Notepad++ and you would like to write your ABB RAPID codes in Notepad++, then you are in the right page. Thanks to the chinese website whose link also follows (as source), I have found an XML file (plugin) that would add the ABB RAPID syntax highlighting to Notepad++. Download the XML file from the download link and follow the instruction with screenshots down here.

XML file download link.

View - User Defined Dialogue

View – User Defined Dialogue

User Defined Dialogue - Import - Select XML file

User Defined Dialogue – Import – Select XML file

Notepad++ with ABB RAPID highlighting

Notepad++ with ABB RAPID highlighting

Source : http://www.brucebot.com/2010/07/rapid-for-notepad/

Reading input from ABB flexpendant

On ABB robots, one have access to a syntax in RAPID programming language called TPRead. TPRead allows the programmer to read live values from the user (operator) while your code is being run.

TPReadNum reg1,”Text”;

Code Example:
PROC readJNumFromPendant()
TPErase;
TPReadNum reg1,”Enter Input Number?”;
readValue := reg1;
TPWrite “Read Value is: ” + ValToStr(testRead);
ENDPROC

RAPID_refer4.0

Flame Detector Sensor, Arduino | – Programming Tutorial

This is a sample code to show how this cheap component from DealExtreme works with Ardunio (2.5$ with free shipping). These are very useful sensors for building [b]firefighting robots[/b] :D Look at the sample code for more info.

Sensor detecting match flame

Sensor detecting match flame

purchase link:

http://www.dealextreme.com/p/arduino-flame-sensor-for-temperature-detection-blue-dc-3-3-5v-118075

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My ABB Robotstudio lectures at University of Oslo

This week I hold my first course in ABB Robotstudio for a course at university of Oslo (INF3480, introduction to robotics). I was a guest lecture and hold a 2 hours lecture about offline visual programming and simulation for industrial manipulators (with focus on ABB robots with Robotstudio). I would be also holding a course (introduction to ABB Robotstudio) for Robotica Osloensis at university of Oslo on Friday 27.04.12 which would be much more practical for senior university students who are entering the job market.

The lecture notes(in PDF format) could be downloaded from here.

Robotstudio course at UiO

Robotstudio lecture at Introduction to Robotics course

Robotstudio

Robotstudio Environment

Robotstudio workshop at Robotica Osloensis

Robotstudio workshop at Robotica Osloensis, UiO

Stop [ \NoRegain ], ABB RAPID

MoveL point_1, v1000, z10, tool1;
TPWrite “Jog the robot to the position for pallet corner 1”;
Stop \NoRegain;
p1_read := CRobT();
MoveL point_2, v500, z50, tool1;

Program execution stops with the robot at point_1. The operator jogs the robot to p1_read. For the next program start, the robot does not regain to point_1, so the position p1_read can be stored in the program