ABB ROBOT STUDIO: PICK AND PLACE ROBOT

 Open ABB Robot

Studio software
 Select Solution with
Station and Virtual
Controller
 Select Robot Ware:
6.14.01.00
 Select Robot Model:
IRB 1600 6 kg 1.45m
 Click Create
 Select Library for
IRB1600_5_145_01
 Click Ok

 Select Import Library

 Select Equipment
 Select ABB Smart
Gripper
 Select Variant: Servo,
Fingers
 Click Ok
 Right click on Smart_
Gripper_Servo_Fingers
 Select Attach to
IRB1600_5_145_01
 Click Yes

 Select Modeling toolbar

 Select Solid to create a
cylinder
 Select Cylinder
 Create cylinder 1 with
base center points of X,
Y and Z at 500, 500 and
0 in mm respectively.
 Diameter: 200 mm
 Length: 500 mm
 Click Create
 Repeat the step to
create cylinder 2 with
base center points of X,
Y and Z as 500, -350
and 0 in mm
respectively.
 Select Modeling toolbar
 Select Solid to create an
object
 Select Box
 Select the midpoint of
cylinder 1 to place the
object
 Length: 20 mm
 Width: 20 mm
 Height: 50 mm
 Click Create

 Right click on Smart_

Gripper_Servo_Fingers
 Select disconnect library
 Right click on Smart_
Gripper_Servo_Fingers
 Select modify
mechanism
 Double tap on sync pose
 Select the joint values of
10 mm to lock the
gripper at 10 mm width
 Click Ok
 Double tap on home
pose
 Select the joint values of
25 mm to open the
gripper at 25 mm width
 Click Ok and Close
 Right click on Smart_
Gripper_Servo_Fingers
 Select Save as library
 Click Save

 Select Home toolbar

 Select Target to create a
new target
 Select Paths and Targets
 Select Teach target
 Click Yes
 Select Target
 Turn on snap center
 Select the midpoint of
the object and the X, Y
and Z positions in mm
are automatically created
 Rename Target 10 to
Home
 Rename Target 20 to
Pick_Position
 Right click on Pick_
Position
 Select View tool at target
 Turn on Smart_Gripper_
Servo_ Fingers

 Right click on Pick_

Position
 Select Modify target
 Select Rotate
 Select Y axis and rotate
to an angle of 180°
 Click Apply
 Select Z axis and rotate to
an angle of 90°
 Click Apply
 Copy Pick_Position and
paste it on wobj0_of
 Right Click Pick_
position_2
 Select Modify target
 Select Offset position
 Translate the Z base
center point to -300 mm
 Click Apply and Close
 Copy Pick_Position_2
and paste it on wobj0_of
 Rename
Pick_Position_2_2 as
Pick_Position_3
 Right Click Pick_
position_3
 Select Modify target
 Select Offset position
 Translate the X base
center point to -850 mm
 Click Apply and Close
 Copy Pick_Position_3
and paste it on wobj0_of
 Rename
Pick_Position_3_2 as
Pick_Position_4
 Right Click Pick_
position_4
 Select Modify target
 Select Offset position
 Translate the Z base
center point to 300 mm
 Click Apply and Close

 Right click on Paths and

Procedures
 Select Create path to
create Path 10
 Select Home,
Pick_Position,
Pick_Position_2,
Pick_Position_3,
Pick_Position_4 and drag
it to the Path 10
 Select Controller toolbar
 Select Configuration
 Select I/O System
 Right click on Signal to
create a new signal
 Name: Gripper
 Type of Signal: Digital
Output
 Access Level: All and Ok
 Click Restart and Ok
 Select Simulation toolbar
 Select event manager of
configure
 Click Add and Next
 Select Gripper and Signal
is true (1)
 Set Action type to Move
mechanism to pose
 Click Next
 Set Mechanism to
Smart_Gripper_Servo_Fi
ngers
 Set pose to Sync pose
 Click Finish

 Click Add and Next

 Select Gripper and Signal
is False (0)
 Set Action type to Move
mechanism to pose
 Click Next
 Set Mechanism to
Smart_Gripper_Servo_Fi
ngers
 Set pose to Home pose
 Click Finish
 Select Home pose
 Click Add action
 Select Detach object
 Detach object: Any object
 Detach from: Smart_
Gripper_Servo_Fingers
 Click Close
 Select Sync pose
 Click Add action
 Select Attach object
 Attach object: Find
closest object
 Attach to:
Smart_Gripper_Servo_Fi
ngers
 Select Keep position
 Click Ok

 Open Paths and Targets

 Right click on Path_10
 Select Insert Action
Instructions
 Under Instruction
Templates
 Select Set gripper and
click create
 Select Reset gripper and
click create (2 times)
 Select Wait time ( \InPos:
Enabled; Time: 2 secs)
and click create (2 times)
  Realign Path10 as follows
 Reset Gripper
 MoveL Home
 MoveL Pick_Position_2
 MoveL Pick_Position
 Wait Time \InPos.2
 Set Gripper
 MoveL Pick_Position_2
 MoveL Pick_Position_3
 MoveL Pick_Position_4
 Wait Time \InPos.2
 Reset Gripper
 MoveL Pick_Position_3
 MoveL Home

By performing simulation, the robot picks and places the object from one place to another place