GoFa-5/10/12

—
GoFa CRB 15000
Unboxing the cobot - Get Started Guide
Version 1.0
 01

Before you start

RobotAssist - Free smartphone app

To control, operate and program the cobot from the phone and for easy access
to product manuals, tutorials and more information, download our app here:

iOS: https://apps.apple.com/app/robot-assist/id1631106010

Android: https://play.google.com/store/apps/details?id=com.abb.robotassist

iOS Android

Robot Assist is also available in various application stores in China.

Free online video tutorials

For a detailed video guide on how to get started, access our online tutorial here:
https://to.abb/gGQaiskS

Product manual

You can also access product manuals for further information.

Please contact your local ABB sales team to set up your account.

GoFa Manipulator: https://to.abb/BLGHcyT-

OmniCore C30: https://to.abb/3mg-yMES

02 Step 1 | Preparation

Before you start

GoFa 10/12

Things to know before getting started

IMPORTANT- The manipulator:

Variants Weight

CRB 15000-5/0.95
‘GoFa-5’
28 kg

CRB 15000-10/1.52
‘GoFa-10’
51 kg

CRB 15000-12/1.27 ‘GoFa-12’ 48 kg

For safe installation, we recommend two trained persons

with knowledge of mechanical and electrical installation/
maintenance/repair work, assemble this robot.
 Step 1 | Preparation 03

Preparation

You may need

A mounting foundation/table with holes for securing

Robot base dimension (size: mm)
M10 screws and locating pin
A 0.4 mm (or smaller) slot screw driver (4
A wrench or a hex key fit for M10 screws (4) 2

Robot base and pin hole dimensions

Robot base dimension for GoFa-10/12 (1) & GoFa-5 (2

Pin hole dimension for GoFa-5/10/12 (3)

ABB Robotics webshop Robot base dimension (size: mm)

You can buy the required accessories from ABB webshop:

https://webshop.robotics.abb.com/us/accessories.html
3

Pin hole dimension

—

(size: mm)
Product specification and data sheet

View product specification & data sheet for more

4
information. Access the documentations here:

https://to.abb/GZIOZHZX https://to.abb/eLKx7hKS

04 Step 2 | Hardware set up

What’s inside the boxes?

+
—
—

01 GoFa-5/10/12
02 OmniCore C30 cobot controller

CRB 15000 Manipulator

+ FlexPendant

—
—

03 Accessories, incl. screws, cables 04 Documents and labels

Keep the printed documents and labels for further service.

 Step 2 | Hardware set up 05

Mounting the robot

Example: Table mounting

01 Lift the manipulator

IMPORTANT

GoFa-10/12

When lifting the robot from

the pallet packaging, attach

the round slings to the

robot as shown in the

figure. Make sure the round

slings do not rub against

any sharp edges.

Then unscrew the base of

the robot from the pallet.

GoFa-5

When lifting the robot from

the packaging, grasp the

robot at the foot and elbow,

as shown in the image.

06 Step 2 | Hardware set up

02 Transport the manipulator

Make sure the intended
mounting platform or
foundation is stable and
flat.
In case you want to
transport the robot in the
future, you can reuse the
packaging and adjust the
robot back to the shipping
position:

GoFa-5,
Axis 1 0° Axis 2 0°
Axis 3 +85° Axis 4 0°
Axis 5 0° Axis 6 0°
GoFa-10,
Axis 1 0° Axis 2 -15°
Axis 3 -225° Axis 4 0°
Axis 5 -30° Axis 6 0°
GoFa-12,
Axis 1 0° Axis 2 -10°
Axis 3 +85° Axis 4 0°
Axis 5 +15° Axis 6 0°

The robot is
mechanically unstable
if not secured to the
foundation.
 Step 2 | Hardware set up 07

03 Tighten the screws

You can find four screws
and two pins in the
controller packaging box.

You should use the pins to

position the robot more
precisely.

Insert the four screws at the

robot base. Tighten each
screw with recommended
torque of 32 Nm +/-10%.

04 Place the controller

Lift the controller from C30
box and place it on an
appropriate table.

Ensure the height, weight

and stability of the table.

Mount the covers if you

ordered the desktop
version. In this case, you
also need to plug in the
Ethernet, FlexPendant and
power cables on the front
side of the controller.

Insert the cable pins to a

connector and attach it to
X15 port. Connect the
FlexPendant cable to X4
port.

DESKTOP VERSION
Please refer to OmniCore C30 manual, https://to.abb/3mg-yMES for mounting the covers of the
desktop version.
08 Step 2 | Hardware set up

Connect cables

01 Controller

Connect the corresponding

cables to ports X1 and X0.

Connect the FlexPendant

power cable to the X4 port.

Please connect X4 port from the front if you have the destop version.

BOTTOM

02 X14 Connector

The X14 jumper connector

disables safety inputs to the

2 4 6 8 10 12 14 16 controller, used for fenced

installations.

You need to connect the

remaining 4 jumper

connectors to be able to use

the robot in automatic

mode later.

Connector article number:

X14: 3HAC079051-001 &

3HAC079124-001

FINAL STATE

In order to run a robot in automatic mode, a safety configuration must first be created,

using the SafeMove app in the FlexPendant. See page 16.

 Step 2 | Hardware set up 09

03 Manipulator

Connect the cable to the

manipulator, and rotate the
cable plug to tighten it. The
connector can be rotated
330° clockwise.

Cable article number:

3HAC073212-002

(connected to X1)

330
°

Safety
You need to know this before switching on the robot

01 Emergency stop button

Press the emergency stop

button on the FlexPendant
immediately if a person is at
risk in the working area of
the robot, or if the robot
causes harm to the
equipment.

IMPORTANT- Emergency
stop button should not be
used for stopping the robot
in normal use, as this can
cause excessive wear on the
brakes.
10 Step 2 | Hardware set up

Switch on the robot

01 Press the power button

02 FlexPendant

Follow the instruction on

the FlexPendant screens,

and press the enabling

device. See page 14.

 Step 2 | Hardware set up 11

Move the robot

01 Move the robot

When you turn on the robot

for the first time it is in

Manual mode. You need to

press and hold the enabling

button to the middle stage

to turn on the robot’s

motors and move it. When

the motors are on you can

either jog the robot or use

lead-through to move the

robot.

Move the robot to a suitable

position for mounting

grippers and tools.

02 Enable Lead-through

Use FlexPendant, click on

the three dots menu (1) on

the top right and open the

Lead-through interface (2).

You need to switch Lead-

through button (3) On if

1 needed.

Set lead-through functions

as required.

2
You can also press the

thumb button and the

enabling button on the

FlexPendant, at the same

time to enable Lead-

through.

IMPORTANT: Switch off

Lead-through after you are

done moving the robot.

Lead-through can also be activated using ASI buttons. See page 18

12 Step 2 | Hardware set up

Mount external tools

Example: Gripper

01 Mount the gripper

Follow the instructions of your gripper manual to

mount the gripper.

You may need to prepare M6 screws for mounting.

IMPORTANT: Switch off the robot for this step.

Make sure you install the Software for your gripper or

create a new appropriate tool configuration before

you swith on Lead-through next time.

 Step 2 | Hardware set up 13

02 Connect to controller
Connect the tool signal
cable to the X2 port.

You may also need to

connect I/O signals, and
get 24V power supply from
the X19 port.

03 Connect to the flange

Follow the instructions of
your gripper manual for this
step. You may also need to
build the cable by yourself.

CP
ABB offers two female
connectors on the flange:
3-pin connector is for
customer power (CP), (two
pins for use, one pin is
spare), and the 4-pin
connector is for customer
CS
Customer Signal
Customer Power
signal (CS).

(CS) (CP) Both CP and CS connectors

with M8, 200mm wire,
straight.

Learn more about the connectors and pin specifications in the product manual.
14 Step 2 | Hardware set up

Get started with FlexPendant

—

b 01 Hard buttons
a - Emergency stop

b - Thumb button
(enable/disable
c
lead-through)

c - Shortcut buttons

d - Joystick

e - Shortcut buttons

a d g f - USB port and reset

button.

g - Enabling device
e

1 2 3 1 - Mechanical unit

2 - Linear / Reorient

4 5 6 3 - Axis 123 / Axis 456

4 - User shortcut #1

5 - Quick settings

6 - User shortcut #2

7 - User shortcut #3

8 - Start program

9 - User shortcut #4

7 8 9 10 - Step to previous

11 - Stop program

10 11 12 12 - Step to next
 Step 3 | Software set up 15

Get started with FlexPendant

User interface
1 2 3
1 - Operator messages

2 - Event log

3 - Status & Quick settings

4 - Applications

4
5 - Home button

6 - Open applications

5 6

7 - Control panel

8 - Quick settings

9 - Automatic mode

10
10 - Manual mode

7 8
16 Step 3 | Software set up

FlexPendant Apps

SafeMove

A correct safety

configuration is mandatory

and essential for a safe

experience and to enable full

functionality of the robot.

To edit the safety settings,

you need to log in to the

FlexPendant as admin user

with the following

credentials:

Account: Admin

Password: robotics

You can load the safety

template, to get started

quickly. To do this click on

Edit, and then there will be a

dialog box as shown in the

picture, and select, Yes, Use

Template Configuration.

Check if the template has

suitable safety

configurations and then click

write to controller to finalize.

A safety configuration is

required in order to run the

robot in automatic mode.

For more information on

safety configuration, refer to

the online tutorial or product

manual. Refer to the links on

page 01.

Step 3 | Software set up 17

Sychronization
You may need to
synchronize the safety
controller when editing the
safety settings.

Access the synchronization

function via Settings >
Safety controller.

The robot must be in

manual mode to do this.

You must jog the robot to

the sync positions to
synchronize the robot. Make
sure the logged-in user has
safety user grants.

Wizard Easy Programming

You can program your

application using Wizard.

The intuitive user interface

enables you to program the
robot without prior
knowledge or experience.

Find more information

in online tutorials.
https://to.abb/k2AoUvpa

Wizard
18 Step 3 | Software set up

ASI setting
The ASI (arm-side interface)
on the sixth axis are two
user-programmable
buttons and a light ring. It is
designed to make it easier
to program the robot.

If you want to use the ASI

buttons in Automatic mode
be sure the check the box.

Calibration
The Calibration app allows
you to define your own tools
and work objects.

You could also use the

prepared files of a supplier
to add a gripper.

Calibration
Step 3 | Software set up 19

Add-In Installer

The Add-In Installer app

allows to install Add-Ins
provided by different
ecosystem suppliers like
gripper, camera, etc.

This feature is available from

RobotWare 7.7.

Add-In Installer
20

More information
—

Learn more about ABB cobots

For the latest updates and information about our cobots,
visit our website: https://solutions.abb/cobots

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