How to connect to the CRB15000 without Robot Studio

• Turn on the robot by pressing the power button on the control box. The FlexPendant should light up.

• Connect the control box to the computer through the MGMT port.

• On your computer make sure the IP address of your connected network is ...

• Go to VS code and start the docker containers by:

  • Running Docker images: Run the docker image for the robot control docker/ros-systems/virtual_controller/docker-compose.yml via
    • right-click on the file Compose-up or
    • type docker-compose up -d in the Terminal (cd to folder) to start it.
    • when ending, don't forget to stop the image via docker-compose down -d

• In Rhino open the file crb15000_env.3dm and crb15000_control.ghx. Make sure to load the robot model.

• On the FlexPendant go to "Operate". While holding the enabling button on the side of the FlexPendant, press and hold the play button. "Connected." message should appear.

• In the Grasshopper file connect to the ros client and then the abb client. "" message should appear on the FlexPendant.

Congrats, now you are connected to the ABB GoFa!

P.S. Don't forget that you can always stop the robot with the emergency stop button on the FlexPendant!