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IRC5

Introduction to IRC5 and ABB robots

RobotWare d6
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Goal

After this chapter you should be able to:

 Describe the mechanics of an ABB Robot
 Describe and switch between the different operating modes
 Navigate in the FlexPendant’s user interface (Quickset menu)
 Explain each function of the FlexPendant’s physical controls/buttons
 Change motion mode and jog the robot
 Load and test run a program
 Modify a position
 Open I/O window and set/reset an existing digital output signal

July 1, 2024 Slide 2 Introduction to IRC5 and ABB Robots

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Manipulator
The robot axes

July 1, 2024 Slide 3 Introduction to IRC5 and ABB Robots

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IRC5 Controller
Different types

Compact controller Single controller 3x Drive module Panel mounted controller

July 1, 2024 Slide 4 Introduction to IRC5 and ABB Robots

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IRC5 Controller
Control panel

Main Switch
– Turn on/off main power to controller
Emergency stop
– Stops all robot movement
Motors on
– Resets emergency stop
– Sets motors on (if safety is ok and auto mode active)
Operating mode switch
– Sets the operating mode of the controller

July 1, 2024 Slide 5 Introduction to IRC5 and ABB Robots

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IRC5 Controller
Control panel

USB port (option)

– Connect a usb drive to the controller for backing up files
Hot plug button (option)
– Lets you disconnect the FlexPendant without triggering Emergency
stop
Service port
– Connect to controller via service network
FlexPendant port
– Connects the FlexPendant to the controller
Duty time counter (option)
– Measures the duty time
Service outlet
– 115/220V Max 200W (option)

July 1, 2024 Slide 6 Introduction to IRC5 and ABB Robots

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IRC5 Controller
Operating modes

Manual mode reduced speed Automatic mode Manual mode full speed

July 1, 2024 Slide 7 Introduction to IRC5 and ABB Robots

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IRC5 Controller
Tools for editing program and configure parameters

FlexPendant RobotStudio

July 1, 2024 Slide 8 Introduction to IRC5 and ABB Robots

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FlexPendant
Buttons

Emergency stop
– Stops all robot movement

July 1, 2024 Slide 9 Introduction to IRC5 and ABB Robots

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FlexPendant
Buttons

Programmable keys
– Configure to call different functions
– Save time on frequently used functions
– Example: Open and close grip tool

July 1, 2024 Slide 10 Introduction to IRC5 and ABB Robots

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FlexPendant
Buttons

Jogging options
From top to bottom:
– Switch between mechanical units
– Switch to/between Linear and Reoriented jogging
– Switch to to/between Axis group 1 and 2
– Toggle incremented jogging on/off

July 1, 2024 Slide 11 Introduction to IRC5 and ABB Robots

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FlexPendant
Buttons

Program control
From top to bottom:
– Start program
– Run program stepwise forward/backward
– Stop the program

July 1, 2024 Slide 12 Introduction to IRC5 and ABB Robots

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FlexPendant
Buttons

Joystick
3-axis joystick for jogging the robot

July 1, 2024 Slide 13 Introduction to IRC5 and ABB Robots

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FlexPendant
ABB-menu

July 1, 2024 Slide 14 Introduction to IRC5 and ABB Robots

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FlexPendant
Statusbar

Status of the system

A B C D – A. Operator window
E F
– B. Operating mode
– C. Controller state
– D. Selected mech. Unit
– E. System name
(Controller name)
– F. Program state
(Program speed)

July 1, 2024 Slide 15 Introduction to IRC5 and ABB Robots

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FlexPendant
Quickset Menu

– Provides easy access

to frequently used
functions such as:
• Jogging
• Program run mode
• Program speed
• Tasks
• Keyless mode
switch(option)

July 1, 2024 Slide 16 Introduction to IRC5 and ABB Robots

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FlexPendant
Quickset Menu

Jogging menu
Quick access to change
the jogging settings

July 1, 2024 Slide 17 Introduction to IRC5 and ABB Robots

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FlexPendant
Quickset Menu

Jogging menu – Show details

July 1, 2024 Slide 18 Introduction to IRC5 and ABB Robots

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FlexPendant
Quickset Menu

Increments
Change size and turn
on/off incremental jogging

July 1, 2024 Slide 19 Introduction to IRC5 and ABB Robots

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FlexPendant
Quickset Menu

Increments – Show Values

July 1, 2024 Slide 20 Introduction to IRC5 and ABB Robots

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FlexPendant
Quickset Menu

Run mode
Change the way the
program behaves when a
cycle is finished

July 1, 2024 Slide 21 Introduction to IRC5 and ABB Robots

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FlexPendant
Quickset Menu

Step mode
Change the behavior of
the stepwise buttons

July 1, 2024 Slide 22 Introduction to IRC5 and ABB Robots

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FlexPendant
Quickset Menu

Speed
Change the speed of the
robot during
programexecution
(Does not affect jogging)

July 1, 2024 Slide 23 Introduction to IRC5 and ABB Robots

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FlexPendant
Quickset Menu

Task panel
Select which tasks should
be started with the start
button

July 1, 2024 Slide 24 Introduction to IRC5 and ABB Robots

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FlexPendant
Quickset Menu

Keyless Mode selector (Option)

The menu to change
between robot operating
modes (option)

July 1, 2024 Slide 25 Introduction to IRC5 and ABB Robots

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FlexPendant
Jogging window

Axis-by-axis jogging

July 1, 2024 Slide 26 Introduction to IRC5 and ABB Robots

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FlexPendant
Jogging window

Linear jogging

July 1, 2024 Slide 27 Introduction to IRC5 and ABB Robots

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FlexPendant
I/O window

Most Common-list
– I/O Window opens in
Most Common-list
– Configurable to contain
any signals in any order

July 1, 2024 Slide 28 Introduction to IRC5 and ABB Robots

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FlexPendant
I/O window

Lists
Available lists

July 1, 2024 Slide 29 Introduction to IRC5 and ABB Robots

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FlexPendant
I/O window

Digital Inputs
– Shows all Digital Inputs
– Can be simulated
depending on access
level

July 1, 2024 Slide 30 Introduction to IRC5 and ABB Robots

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FlexPendant
I/O window

Digital Outputs
– Shows all digital
outputs
– Can be set/reset
depending on access
level

July 1, 2024 Slide 31 Introduction to IRC5 and ABB Robots

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FlexPendant
Program Editor

Testing and Debugging

– Create new program
– Load program
– Save program
– Save modules
– Edit program
– Modify positions
– Test/Debug program
– Start program from
Motion Pointer main
Program Pointer
Cursor (the blue selection)

July 1, 2024 Slide 32 Introduction to IRC5 and ABB Robots

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FlexPendant
Production Window

Normal production
– Default window in auto
mode
– Load programs
– Restart program from
main

July 1, 2024 Slide 33 Introduction to IRC5 and ABB Robots

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FlexPendant
Taskbar

Switch between open windows

– Shows all open
windows
– Maximum 6

July 1, 2024 Slide 34 Introduction to IRC5 and ABB Robots