Starting up

CONTENTS
Page

1 Switching on the Power Supply.............................................................................. 3

1.1 Errors on start-up ............................................................................................ 4
2 The Operator’s Panel .............................................................................................. 4
3 Selecting the Operating Mode ................................................................................ 4
3.1 Automatic mode (production mode) ............................................................... 4
3.2 Manual mode with reduced speed (programming mode) ............................... 5
3.3 Manual mode with full speed (testing mode).................................................. 5
4 Switching the Power Supply to the Motors On..................................................... 5
5 Emergency Stops...................................................................................................... 6
5.1 Activating the emergency stop button ............................................................ 6
5.2 Resetting after an emergency stop .................................................................. 6
6 The Teach Pendant .................................................................................................. 7
6.1 Entering text using the teach pendant ............................................................. 9

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Starting up

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 Starting up

Starting up

1 Switching on the Power Supply

Before switching on the power supply, check that no-one is in the safeguarded
space around the robot.
0
• Switch on the mains switch 1

The robot hardware is then automatically checked. When the check is complete and if no
errors have been detected, a message (see Figure 1) will be displayed on the teach pendant.

Welcome To IRB 6400-0000

BaseWare OS 4.0

ABB Robotics AB
(c) Copyright 1993

Figure 1 The welcome message after start-up.

In automatic mode, the Production window will appear after a few seconds.

The robot is started up with the same status as when the power was switched off. The
program pointer remains unchanged and all digital outputs are set to the value before
power off, or to the value specified in the system parameters. When the program is
restarted, this is considered to be a normal stop - start:

- The robot moves back slowly to the programmed path (if there is a deviation)
and then continues on the programmed path.
- Motion settings and data are automatically set to the same values as before
power off.
- The robot will continue to react on interrupts.
- The mechanical units that was active before power off will automatically be
activated at program start.
- The arc welding and spot welding processes are automatically restarted. But if
a change of weld data has just been executed, this new data will be activated
too early on the seam.

Limitations:

- All files and serial channels are closed (this can be handled by the user
program).
- All analogue outputs are set to 0 and the Soft servo/Tune servo is set to default
values (can be handled by the user program).
- WeldGuide cannot be restarted.
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Starting up

- Independent axes cannot be restarted.

- If the power failure occurs during a movement in an interrupt routine or error
handler, the restart of the path is not possible.
- If the program execution is in a part when the CPU is very busy, there is a small
chance that there is not enough time to make a proper close down at power fail-
ure. The robot will in this case tell the user that a restart is not possible.

1.1 Errors on start-up

During the entire start-up sequence, the robot functions are checked extensively. If an error
occurs, it is reported as a message in plain text on the teach pendant, and recorded in the
robot’s event log. For more information on troubleshooting, see the Product Manual.

2 The Operator’s Panel

The functions of the operator’s panel are described in Figure 2.

MOTORS ON button
and indicating lamp Operating mode selector

Emergency stop Duty time counter

If pressed in, pull to release Indicates the operating time for
the manipulator (released brakes)

MOTORS ON
Continuous light = Ready for program execution
Fast flashing light (4Hz) = The robot is not calibrated or the revolution counters are not updated
NB: The motors have been switched on
Slow flashing light (1 Hz) = One of the safeguarded space stops is active
NB: The motors have been switched off

Figure 2 The operator’s panel is located on the front of the cabinet.

3 Selecting the Operating Mode

The operating mode is selected using the operating mode selector.

3.1 Automatic mode (production mode)

When the robot is in the automatic operating mode, it is essential that nobody
enters the safeguarded space around it. Carelessness may cause personal injury.
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 Starting up

• Turn the key to

Automatic mode is used when running complete programs in production operation. In

this mode, the enabling device on the teach pendant is disconnected and the functions
used to edit programs are locked.

3.2 Manual mode with reduced speed (programming mode)

• Turn the operating mode selector to

If the hold-to-run function is active (the function is available by means of a system

parameter), program execution will stop as soon as you release the Hold-to-run key on
the teach pendant.

Manual mode with reduced speed is used when programming and when working in the
robot working space. In this mode, external units cannot be remotely controlled.

3.3 Manual mode with full speed (testing mode)

In Manual 100% mode, the robot moves at full speed. This operating mode may
only be used by trained personnel. Carelessness may cause personal injury.
100%
• Turn the operating mode selector to

The hold-to-run function is now active, i.e. program execution will stop as soon as you
release the Start key on the teach pendant.

Manual mode with full speed is only used when testing the robot program at full speed.
In this mode, external units cannot be remotely controlled.

4 Switching the Power Supply to the Motors On

Enabling • In automatic mode, press the Motors On button on the operator’s panel.
device
• In manual mode, turn to MOTORS ON mode by pressing the enabling device on the
teach pendant halfway in.

If the enabling device is released and pressed again within half a second, the robot
will not return to the MOTORS ON state. If this happens, first release the enabling
device, then push it halfway in again.

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Starting up

5 Emergency Stops

5.1 Activating the emergency stop button

Emergency stop buttons are located on the operator’s panel and on the teach pendant. There
are often other ways of activating an emergency stop, but these depend on the robot installa-
tion.

When the emergency stop button is activated, the power supply to the motors is shut off
and program execution stops.

5.2 Resetting after an emergency stop

• Fix the problem that caused the emergency stop.

• Reset the emergency stop state by pressing the MOTORS ON button (see Figure 3).

MOTORS ON button

Figure 3 The emergency stop must be reset before setting the robot in the MOTOR ON state.

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6 The Teach Pendant

The teach pendant is described below, see Figure 4.

Hold-to-run
Enabling
7 8 9 device
4 5 6
1 2 3 Joystick
Display 1 0
2

P1 P2

P3 Emergency
stop button

Figure 4 The teach pendant is used to operate the robot.

Jogging: Used to jog the robot.

Program: Used to program and test.

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.

Stop: Stops program execution.

Contrast: Adjusts the contrast of the display.

Menu keys: Press to display menus containing various commands.

Function keys: Press to select the various commands directly.

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Starting up

Motion Unit: Press to jog the robot or other mechanical units.

Motion Type: Press to select how the robot should be jogged,

reorientation or linear.

1 Motion Type: Axis by axis movement. 1 = axis 1-3, 2 = axis 4-6

2

Incremental: Incremental jogging on/off

List: Press to move the cursor from one part of the window to
another (normally separated by a double line).

Previous/Next page: Press to see the next/previous page.

Delete: Deletes the data selected on the display.

Enter: Press to input data.

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.

P1 User defined keys: How to define these, see Chapter 12, System
P2 P3 Parameters
(P4)
(P5)

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6.1 Entering text using the teach pendant

When naming files, routines, data, etc., text can be entered using the teach pendant. As
there is no character keyboard available, the numeric keyboard is used in a special way
(see Figure 5).

Selected characters
Expression
7 8 9
4 5 6
1 2 3
0
789 ABC MNO YZ+ :_
456 DEF PQR -<> [](
123 GHI STU */, ]{}
-0. JCL VWX ?=& %&"

A-a <- -> Cancel OK

Figure 5 The dialog box used for entering text.

The keys on the numeric keyboard correspond to the selected characters on the display.

• Select a group of characters by pressing the function key -> or <-.

• Press the corresponding key on the numeric keyboard. If the third group is selected
(as shown in Figure 5), 7 corresponds to M, 8 to N, 9 to O, etc.
• Move the cursor to the right or left using ArrowLeft or ArrowRight .
• Delete the character in front of the cursor by pressing Delete .
• Switch between upper and lower case letters by pressing A-a.
• When you have finished entering text, press OK.

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Starting up

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