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ABB Yumi: Jogging Tutorial

Perform Approaching Motion

You can perform the jogging motions with or without being on the Jogging screen.

  1. Change to linear mode and using the joystick move the left arm horizontally (X and Y axes only) until the gripper is above the circular piece in the baseboard (move joystick left-right for motion along X axis and joystick up-down for motion along Y axis).
  2. Click on "Motion" mode and select "Axis 4-6" mode.
  3. Rotate the gripper (axis 6) so that the ABB sign is pointing up (twist joystick to rotate joint 6).

 

  1. Switch the Motion mode back to linear mode.
  2. Move the arm down (negative Z axis) until it is approximately 1 centimeter above the piece (rotate joystick clockwise-counterclockwise for motion along Z).
  3. Move the arm horizontally if necessary until the gripper is directly above the piece (move joystick left-right for motion along X axis and joystick up-down for motion along Y axis).

Perform Grabbing Motion

  1. Open the Smart Gripper screen from the open screen tabs at the bottom.
  2. Press Grip + (make sure the left gripper is the one selected).
  3. Move the arm down (by rotating the joystick clockwise) until the piece in centered between the fingers (jogging can also be done without the Jogging screen in the foreground).
  4. On the Smart Gripper screen press Grip -.
  5. Move the arm up (by rotating the joystick counter-clockwise) until it is approximately 10 centimeters away from the baseboard.

Perform Transition Motion

  1. Move the arm horizontally until it is above the other circular placeholder (blue baseboard) by moving the joystick to the left (move joystick left-right for motion along X axis and joystick up-down for motion along Y axis).
  2. Move the arm down so the circular piece is approximately 1 centimeter above the placeholder (rotate joystick clockwise-counterclockwise for motion along Z).
  3. On the Smart Gripper screen and press Grip +.

Move the remaining pieces

Repeat the above steps to transfer the remaining puzzle pieces from one baseboard to the other.

Get your work checked

  • Ask a tech to check your work and provide you with a final challenge.
  • Complete the challenge and get it checked by a tech.
  • Upon verification of your work, you will be issued the badge for this level.

Turn off the Yumi

  1. Make sure the arms are clear of any walkway and objects.
  2. Press the E-STOP button.
  3. Turn the power switch counterclockwise.