ABB Yumi: Jogging Tutorial

1. The power switch is located on the right side of the robot, turning it clockwise will the power the Yumi and the FlexPendant.

2. The FlexPendant will turn on and start to initialize. Wait about two minutes until it has finished booting. The FlexPendant screen should looks like this:

3. Uncheck the E-STOP button by twisting it clockwise.

4. Go to the operator panel on the quickset menu > click on Motor to turn it on.

1. Grab the stylus pen located on the back of the FlexPendant. Use it when tapping on the FlexPendant's touch screen.

   

2. Tap the main menu icon located at the top left corner of the main screen.

   

3. Without closing the Jogging screen, tap the main menu icon and select Smart Gripper

Select Left Hand from the Smart Gripper initial screen.

The following screen, to control the left gripper, will open:

1. Tap and hold Jog- until the fingers are fully closed.
2. Tap on Calibrate.

Without closing the Smart Gripper tab, select Jogging from the main menu.

Tap on:

1. Mechanical unit and select ROB_L.
2. Motion mode and select Linear.
3. Coordinate system and select Base.
4. Tool and select Servo.
5. Work Object and select wobj0.
6. Payload and select load0.

The increments setting allows the Yumi to jog in precise movement sizes. 

There are three ways to select the increment size:

• Using the Toggle increments button
• Using the Jogging window on the ABB menu
• Using the Quickset menu Increments

In the quickset menu the values of movement is shown for each increment type:

Move both arms to their home position (we will only be moving the left arm, but we need to move the right so that it is not in the way). To do this:

1. Switch  to the Jogging screen by tapping on Jogging at the bottom of the screen (only if the Jogging screen hasn't been closed) or by selecting Jogging from the Main Menu
2. Select the axis by axis mode and move the joints to the following positions:

Left Arm:

Right Arm:

The two placeholders should be set up in front of the robot.

• The placeholders should be about  23cm from the foot of the robot and 5cm apart from each other.