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ABB ROBOT TRAINING

STANDARDIZE ROBOT PROGRAM

TRUONG DINH THAI
AUGUST-2023

© Copyright 2023 ABB. All rights reserved. Document ID.: Rev.:

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REVISION
Revision Description Date By

V1.0 Initial release 2021/05/24 Thai TD

V1.0 Review 2021/05/24 Dac NV

V1.1 Detail for Standard program 2023/08/17 Thai TD

August 17, 2023 Slide 2 Standardize robot program - Thai TD

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CONTENT

1. Standardize robot processes

2. Standardize robot targets

3. Standardize robot-PLC I/O mapping

4. Standardize robot program

5. Note

6. Exam

August 17, 2023 Slide 3 Standardize robot program - Thai TD

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1. Standardize robot processes
Processes standardization

1. Robot processes are arranged around robot and

are numbered clockwise.

2. Robot go to work at a process through 3 main

positions and move to order: Approach, Wait,
Work.

3. Robot can move from one Approach to other near

Approaches without colliding.

August 17, 2023 Slide 4 Standardize robot program - Thai TD

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2. Standardize robot targets
Robot targets

1. Robot targets are named after their process

groups “pP1_”.

2. Robot targets have 3 main types: pPx_Appr,

pPx_Wait, pPx_Work.

August 17, 2023 Slide 5 Standardize robot program - Thai TD

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3. Standardize robot-PLC I/O mapping
Robot-PLC I/O Mapping

1. Robot in a process will be controle by 2 main

types of signal: Condition, Permission.

2. Condition set -> Permit robot wort at the

process.

3. Permission set -> Permit robot work a mission in

the process.

August 17, 2023 Slide 6 Standardize robot program - Thai TD

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4. Standardize robot program
Standardize program Module

August 17, 2023 Slide 7 Standardize robot program - Thai TD

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4. Standardize robot program
M00_Data - Data module

August 17, 2023 Slide 8 Standardize robot program - Thai TD

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4. Standardize robot program
M01_Main - Main module / Loop

August 17, 2023 Slide 9 Standardize robot program - Thai TD

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4. Standardize robot program
M02_Function - Function module

M02_Function - Function module

The module contains the common Function that
use for all modules

August 17, 2023 Slide 10 Standardize robot program - Thai TD

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4. Standardize robot program
M03_Home - Home module

August 17, 2023 Slide 11 Standardize robot program - Thai TD

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4. Standardize robot program
M03_Home - Home module / Home for a Process

August 17, 2023 Slide 12 Standardize robot program - Thai TD

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4. Standardize robot program
M1x_Px - Process module

August 17, 2023 Slide 13 Standardize robot program - Thai TD

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4. Standardize robot program
M1x_Px - Process module / Go To Process (Function)

August 17, 2023 Slide 14 Standardize robot program - Thai TD

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5. Note
Robot Work Object

August 17, 2023 Slide 15 Standardize robot program - Thai TD

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6. Exam

Yêu cầu bài test Basic 2:

1. Viết chương trình tiêu chuẩn cho cả 4 process
2. Mô phỏng robot chạy về Home từ vị trí bất kỳ
3. Hàm Home cho P4 có work object riêng
4. Mô phỏng IO điều khiển robot làm việc từ P1 sang P4

August 17, 2023 Slide 16 Standardize robot program - Thai TD