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1.26k
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ABB_Operating_Manual_IRC5_Integrators_Guide
|
https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf
| 9
|
This page is intentionally left blank
Overview of this manual
About this manual
This manual contains advanced instructions for IRC5 based robot systems using
a FlexPendant.
The daily operations are described in Operating manual - IRC5 with FlexPendant .
This manual describes aspects for commissioning, as well as advanced instructions
that are not used by the operator during ordinary operation.
Note
It is the responsibility of the integrator to provide safety and user guides for the
robot system.
Usage
This manual should be used during commissioning and when making changes to
the robot system that are outside the scope of everyday operations. This manual
needs to be complemented with Operating manual - IRC5 with FlexPendant that
describes more common operations.
Note
Before any work on or with the robot is performed, the safety information in the
product manual for the controller and manipulator must be read.
Who should read this manual?
This manual is intended for:
•
integrators
•
product technicians
•
service technicians
•
robot programmers
Prerequisites
The reader should:
•
Be familiar with the concepts described in Operating manual - Getting started,
IRC5 and RobotStudio .
•
Be trained in robot operation.
References
3HAC050941-001
Operating manual - IRC5 with FlexPendant
3HAC027097-001
Operating manual - Getting started, IRC5 and RobotStudio
3HAC021313-001
Product manual - IRC5
IRC5 with main computer DSQC 639.
3HAC047136-001
Product manual - IRC5
IRC5 with main computer DSQC1000 or later.
Continues on next page
Operating manual - IRC5 Integrator's guide
9
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Overview of this manual
3HAC027707-001
Product manual - IRC5 Panel Mounted Controller
IRC5 with main computer DSQC 639.
3HAC047137-001
Product manual - IRC5 Panel Mounted Controller
IRC5 with main computer DSQC1000 or later.
3HAC035738-001
Product manual - IRC5 Compact
IRC5 with main computer DSQC 639.
3HAC047138-001
Product manual - IRC5 Compact
IRC5 with main computer DSQC1000 or later.
3HAC032104-001
Operating manual - RobotStudio
3HAC050944-001
Operating manual - Service Information System
3HAC020738-001
Operating manual - Troubleshooting IRC5
3HAC050948-001
Technical reference manual - System parameters
3HAC050947-001
Technical reference manual - RAPID Overview
3HAC050917-001
Technical reference manual - RAPID Instructions, Functions and Data
types
3HAC051016-001
Application manual - Additional axes and standalone controller
3HAC050961-001
Application manual - MultiMove
3HAC050798-001
Application manual - Controller software IRC5
3HAC050992-001
Application manual - DeviceNet Master/Slave
3HAC050993-001
Application manual - DeviceNet Anybus Slave
3HAC050997-001
Application manual - EtherNet/IP Anybus Adapter
3HAC050998-001
Application manual - EtherNet/IP Scanner/Adapter
3HAC050965-001
Application manual - PROFIBUS Anybus Device
3HAC050966-001
Application manual - PROFIBUS Controller
3HAC050967-001
Application manual - PROFIenergy Device
3HAC050968-001
Application manual - PROFINET Anybus Device
3HAC065546-001
Application manual - PROFINET Controller/Device
3HAC052610-001
Application manual - Functional safety and SafeMove2
3HAC16578-1
Operating manual - Calibration Pendulum
Revisions
Description
Revision
Released with RobotWare 6.03.
-
Released with RobotWare 6.04.
•
Added section Cybersecurity for IRC5 robot networks on page 211 .
A
Released with RobotWare 6.05.
•
Added the section Using the PayLoadsInWristCoords parameter
on page 86 .
•
Added the section RobotWare installation concept on page 143 .
•
Added the section Renaming a controller on page 118 .
•
Updated descriptions of stops.
B
Continues on next page
10
Operating manual - IRC5 Integrator's guide
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Overview of this manual
Continued
|
ABB_Operating_Manual_IRC5_Integrators_Guide
|
https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf
| 10
|
Overview of this manual
About this manual
This manual contains advanced instructions for IRC5 based robot systems using
a FlexPendant.
The daily operations are described in Operating manual - IRC5 with FlexPendant .
This manual describes aspects for commissioning, as well as advanced instructions
that are not used by the operator during ordinary operation.
Note
It is the responsibility of the integrator to provide safety and user guides for the
robot system.
Usage
This manual should be used during commissioning and when making changes to
the robot system that are outside the scope of everyday operations. This manual
needs to be complemented with Operating manual - IRC5 with FlexPendant that
describes more common operations.
Note
Before any work on or with the robot is performed, the safety information in the
product manual for the controller and manipulator must be read.
Who should read this manual?
This manual is intended for:
•
integrators
•
product technicians
•
service technicians
•
robot programmers
Prerequisites
The reader should:
•
Be familiar with the concepts described in Operating manual - Getting started,
IRC5 and RobotStudio .
•
Be trained in robot operation.
References
3HAC050941-001
Operating manual - IRC5 with FlexPendant
3HAC027097-001
Operating manual - Getting started, IRC5 and RobotStudio
3HAC021313-001
Product manual - IRC5
IRC5 with main computer DSQC 639.
3HAC047136-001
Product manual - IRC5
IRC5 with main computer DSQC1000 or later.
Continues on next page
Operating manual - IRC5 Integrator's guide
9
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Overview of this manual
3HAC027707-001
Product manual - IRC5 Panel Mounted Controller
IRC5 with main computer DSQC 639.
3HAC047137-001
Product manual - IRC5 Panel Mounted Controller
IRC5 with main computer DSQC1000 or later.
3HAC035738-001
Product manual - IRC5 Compact
IRC5 with main computer DSQC 639.
3HAC047138-001
Product manual - IRC5 Compact
IRC5 with main computer DSQC1000 or later.
3HAC032104-001
Operating manual - RobotStudio
3HAC050944-001
Operating manual - Service Information System
3HAC020738-001
Operating manual - Troubleshooting IRC5
3HAC050948-001
Technical reference manual - System parameters
3HAC050947-001
Technical reference manual - RAPID Overview
3HAC050917-001
Technical reference manual - RAPID Instructions, Functions and Data
types
3HAC051016-001
Application manual - Additional axes and standalone controller
3HAC050961-001
Application manual - MultiMove
3HAC050798-001
Application manual - Controller software IRC5
3HAC050992-001
Application manual - DeviceNet Master/Slave
3HAC050993-001
Application manual - DeviceNet Anybus Slave
3HAC050997-001
Application manual - EtherNet/IP Anybus Adapter
3HAC050998-001
Application manual - EtherNet/IP Scanner/Adapter
3HAC050965-001
Application manual - PROFIBUS Anybus Device
3HAC050966-001
Application manual - PROFIBUS Controller
3HAC050967-001
Application manual - PROFIenergy Device
3HAC050968-001
Application manual - PROFINET Anybus Device
3HAC065546-001
Application manual - PROFINET Controller/Device
3HAC052610-001
Application manual - Functional safety and SafeMove2
3HAC16578-1
Operating manual - Calibration Pendulum
Revisions
Description
Revision
Released with RobotWare 6.03.
-
Released with RobotWare 6.04.
•
Added section Cybersecurity for IRC5 robot networks on page 211 .
A
Released with RobotWare 6.05.
•
Added the section Using the PayLoadsInWristCoords parameter
on page 86 .
•
Added the section RobotWare installation concept on page 143 .
•
Added the section Renaming a controller on page 118 .
•
Updated descriptions of stops.
B
Continues on next page
10
Operating manual - IRC5 Integrator's guide
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Overview of this manual
Continued
Description
Revision
Released with RobotWare 6.06.
•
Updated the section Loading calibration data using the FlexPendant
on page 187 .
•
Updated the section Working with the repository on page 146 .
•
Updated the procedures in the section Installing a RobotWare system
using Boot Application on page 169 .
•
Updated the section Backup and restore systems on page 129 .
•
Updated the section 4 points XZ calibration on page 192 .
•
Added the new section RobotWare startup error on page 128 .
C
Released with RobotWare 6.07.
•
Updated the section When is backup possible? on page 134
•
Updated the section Procedure - If the Controller settings does not
matches with the settings in controller manifest file on page 175 .
•
Added information about Conveyor tracking module in the section,
Cybersecurity for IRC5 robot networks on page 211 .
•
Added SFTP to IRC5 application protocols on page 227 .
•
Safety section restructured.
•
Clarified the limitations for Isolated Lan 3 in the section Isolated LAN
3 or LAN 3 as part of the private network on page 232 .
D
Released with RobotWare 6.08.
•
Updated the section Create system using installation package in boot
server mode on page 159 .
•
Updated the section What is saved on backup? on page 129
•
Updated the section The recovery disk function on page181 with inform-
ation regarding the Write Disk function.
E
Released with RobotWare 6.09.
•
Section Handling of modules on page 55 updated. Screen shot for
saving a module removed.
•
Updated information about update packages, see Updating a Robot-
Ware system on page 178 .
F
Released with RobotWare 6.10.01.
G
"Cyber security" replaced by "Cybersecurity" in entire manual.
Released with RobotWare 6.11.
•
The safety information is moved to the product manuals for the con-
troller and the manipulator.
•
Updated information about queueing backups.
•
Information added regarding UdpUc in section IRC5 application proto-
cols on page 227 .
•
Updated NOTE regarding IP addresses in section Set up the network
connection on page 39 .
•
Information added regarding installation media for Add-Ins added in
section RobotWare installation concept on page 143 .
•
Section Creating an update package on page160 updated with inform-
ation regarding the downgrade option.
H
Released with RobotWare 6.12.
•
Minor corrections in section System start on page 42 .
•
Note regarding anonymous FTP added in section FTP on page 230 .
J
Released with RobotWare 6.13.02.
•
Added information regarding Integrated Vision in the section IRC5
application protocols on page 227 .
K
Continues on next page
Operating manual - IRC5 Integrator's guide
11
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Overview of this manual
Continued
|
ABB_Operating_Manual_IRC5_Integrators_Guide
|
https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf
| 11
|
3HAC027707-001
Product manual - IRC5 Panel Mounted Controller
IRC5 with main computer DSQC 639.
3HAC047137-001
Product manual - IRC5 Panel Mounted Controller
IRC5 with main computer DSQC1000 or later.
3HAC035738-001
Product manual - IRC5 Compact
IRC5 with main computer DSQC 639.
3HAC047138-001
Product manual - IRC5 Compact
IRC5 with main computer DSQC1000 or later.
3HAC032104-001
Operating manual - RobotStudio
3HAC050944-001
Operating manual - Service Information System
3HAC020738-001
Operating manual - Troubleshooting IRC5
3HAC050948-001
Technical reference manual - System parameters
3HAC050947-001
Technical reference manual - RAPID Overview
3HAC050917-001
Technical reference manual - RAPID Instructions, Functions and Data
types
3HAC051016-001
Application manual - Additional axes and standalone controller
3HAC050961-001
Application manual - MultiMove
3HAC050798-001
Application manual - Controller software IRC5
3HAC050992-001
Application manual - DeviceNet Master/Slave
3HAC050993-001
Application manual - DeviceNet Anybus Slave
3HAC050997-001
Application manual - EtherNet/IP Anybus Adapter
3HAC050998-001
Application manual - EtherNet/IP Scanner/Adapter
3HAC050965-001
Application manual - PROFIBUS Anybus Device
3HAC050966-001
Application manual - PROFIBUS Controller
3HAC050967-001
Application manual - PROFIenergy Device
3HAC050968-001
Application manual - PROFINET Anybus Device
3HAC065546-001
Application manual - PROFINET Controller/Device
3HAC052610-001
Application manual - Functional safety and SafeMove2
3HAC16578-1
Operating manual - Calibration Pendulum
Revisions
Description
Revision
Released with RobotWare 6.03.
-
Released with RobotWare 6.04.
•
Added section Cybersecurity for IRC5 robot networks on page 211 .
A
Released with RobotWare 6.05.
•
Added the section Using the PayLoadsInWristCoords parameter
on page 86 .
•
Added the section RobotWare installation concept on page 143 .
•
Added the section Renaming a controller on page 118 .
•
Updated descriptions of stops.
B
Continues on next page
10
Operating manual - IRC5 Integrator's guide
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Overview of this manual
Continued
Description
Revision
Released with RobotWare 6.06.
•
Updated the section Loading calibration data using the FlexPendant
on page 187 .
•
Updated the section Working with the repository on page 146 .
•
Updated the procedures in the section Installing a RobotWare system
using Boot Application on page 169 .
•
Updated the section Backup and restore systems on page 129 .
•
Updated the section 4 points XZ calibration on page 192 .
•
Added the new section RobotWare startup error on page 128 .
C
Released with RobotWare 6.07.
•
Updated the section When is backup possible? on page 134
•
Updated the section Procedure - If the Controller settings does not
matches with the settings in controller manifest file on page 175 .
•
Added information about Conveyor tracking module in the section,
Cybersecurity for IRC5 robot networks on page 211 .
•
Added SFTP to IRC5 application protocols on page 227 .
•
Safety section restructured.
•
Clarified the limitations for Isolated Lan 3 in the section Isolated LAN
3 or LAN 3 as part of the private network on page 232 .
D
Released with RobotWare 6.08.
•
Updated the section Create system using installation package in boot
server mode on page 159 .
•
Updated the section What is saved on backup? on page 129
•
Updated the section The recovery disk function on page181 with inform-
ation regarding the Write Disk function.
E
Released with RobotWare 6.09.
•
Section Handling of modules on page 55 updated. Screen shot for
saving a module removed.
•
Updated information about update packages, see Updating a Robot-
Ware system on page 178 .
F
Released with RobotWare 6.10.01.
G
"Cyber security" replaced by "Cybersecurity" in entire manual.
Released with RobotWare 6.11.
•
The safety information is moved to the product manuals for the con-
troller and the manipulator.
•
Updated information about queueing backups.
•
Information added regarding UdpUc in section IRC5 application proto-
cols on page 227 .
•
Updated NOTE regarding IP addresses in section Set up the network
connection on page 39 .
•
Information added regarding installation media for Add-Ins added in
section RobotWare installation concept on page 143 .
•
Section Creating an update package on page160 updated with inform-
ation regarding the downgrade option.
H
Released with RobotWare 6.12.
•
Minor corrections in section System start on page 42 .
•
Note regarding anonymous FTP added in section FTP on page 230 .
J
Released with RobotWare 6.13.02.
•
Added information regarding Integrated Vision in the section IRC5
application protocols on page 227 .
K
Continues on next page
Operating manual - IRC5 Integrator's guide
11
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Overview of this manual
Continued
Description
Revision
Released with RobotWare 6.14.01.
•
Added information about a new version of the FlexPendant.
•
Removed information about T10.
L
Released with RobotWare 6.15.
•
Information about communication and application protocols updated
in section Network architecture and communication on page 213 and
IRC5 application protocols on page 227 .
M
Released with RobotWare 6.15.03.
•
Added information about TuneMaster in section Network architecture
and communication on page 213 .
N
Released with RobotWare 6.15.06.
•
Updated the section IRC5 application protocols on page 227 .
•
ABB Connected Services is the new name for the functionality previ-
ously known as ABB Ability. During a period of time, both names will
appear in and on our products.
P
Released with RobotWare 6.15.07.
•
Information about how to report security vulnerabilities is added in
Cybersecurity for IRC5 robot networks on page 211 .
Q
Released with RobotWare 6.15.08.
•
Minor corrections.
•
Added information for Pixel Paint in IRC5 application protocols on
page 227 .
R
Released with RobotWare 6.16.
•
Corrected the port numbers for DHCP, see IRC5 application protocols
on page 227 .
•
Port number for PROFINET Diag+ added in IRC5 application protocols
on page 227 .
S
12
Operating manual - IRC5 Integrator's guide
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Overview of this manual
Continued
|
ABB_Operating_Manual_IRC5_Integrators_Guide
|
https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf
| 12
|
Description
Revision
Released with RobotWare 6.06.
•
Updated the section Loading calibration data using the FlexPendant
on page 187 .
•
Updated the section Working with the repository on page 146 .
•
Updated the procedures in the section Installing a RobotWare system
using Boot Application on page 169 .
•
Updated the section Backup and restore systems on page 129 .
•
Updated the section 4 points XZ calibration on page 192 .
•
Added the new section RobotWare startup error on page 128 .
C
Released with RobotWare 6.07.
•
Updated the section When is backup possible? on page 134
•
Updated the section Procedure - If the Controller settings does not
matches with the settings in controller manifest file on page 175 .
•
Added information about Conveyor tracking module in the section,
Cybersecurity for IRC5 robot networks on page 211 .
•
Added SFTP to IRC5 application protocols on page 227 .
•
Safety section restructured.
•
Clarified the limitations for Isolated Lan 3 in the section Isolated LAN
3 or LAN 3 as part of the private network on page 232 .
D
Released with RobotWare 6.08.
•
Updated the section Create system using installation package in boot
server mode on page 159 .
•
Updated the section What is saved on backup? on page 129
•
Updated the section The recovery disk function on page181 with inform-
ation regarding the Write Disk function.
E
Released with RobotWare 6.09.
•
Section Handling of modules on page 55 updated. Screen shot for
saving a module removed.
•
Updated information about update packages, see Updating a Robot-
Ware system on page 178 .
F
Released with RobotWare 6.10.01.
G
"Cyber security" replaced by "Cybersecurity" in entire manual.
Released with RobotWare 6.11.
•
The safety information is moved to the product manuals for the con-
troller and the manipulator.
•
Updated information about queueing backups.
•
Information added regarding UdpUc in section IRC5 application proto-
cols on page 227 .
•
Updated NOTE regarding IP addresses in section Set up the network
connection on page 39 .
•
Information added regarding installation media for Add-Ins added in
section RobotWare installation concept on page 143 .
•
Section Creating an update package on page160 updated with inform-
ation regarding the downgrade option.
H
Released with RobotWare 6.12.
•
Minor corrections in section System start on page 42 .
•
Note regarding anonymous FTP added in section FTP on page 230 .
J
Released with RobotWare 6.13.02.
•
Added information regarding Integrated Vision in the section IRC5
application protocols on page 227 .
K
Continues on next page
Operating manual - IRC5 Integrator's guide
11
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Overview of this manual
Continued
Description
Revision
Released with RobotWare 6.14.01.
•
Added information about a new version of the FlexPendant.
•
Removed information about T10.
L
Released with RobotWare 6.15.
•
Information about communication and application protocols updated
in section Network architecture and communication on page 213 and
IRC5 application protocols on page 227 .
M
Released with RobotWare 6.15.03.
•
Added information about TuneMaster in section Network architecture
and communication on page 213 .
N
Released with RobotWare 6.15.06.
•
Updated the section IRC5 application protocols on page 227 .
•
ABB Connected Services is the new name for the functionality previ-
ously known as ABB Ability. During a period of time, both names will
appear in and on our products.
P
Released with RobotWare 6.15.07.
•
Information about how to report security vulnerabilities is added in
Cybersecurity for IRC5 robot networks on page 211 .
Q
Released with RobotWare 6.15.08.
•
Minor corrections.
•
Added information for Pixel Paint in IRC5 application protocols on
page 227 .
R
Released with RobotWare 6.16.
•
Corrected the port numbers for DHCP, see IRC5 application protocols
on page 227 .
•
Port number for PROFINET Diag+ added in IRC5 application protocols
on page 227 .
S
12
Operating manual - IRC5 Integrator's guide
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Overview of this manual
Continued
Network security
Network security
This product is designed to be connected to and to communicate information and
data via a network interface. It is your sole responsibility to provide, and
continuously ensure, a secure connection between the product and to your network
or any other network (as the case may be).
You shall establish and maintain any appropriate measures (such as, but not limited
to, the installation of firewalls, application of authentication measures, encryption
of data, installation of anti-virus programs, etc) to protect the product, the network,
its system and the interface against any kind of security breaches, unauthorized
access, interference, intrusion, leakage and/or theft of data or information. ABB
Ltd and its entities are not liable for damage and/or loss related to such security
breaches, any unauthorized access, interference, intrusion, leakage and/or theft
of data or information.
Operating manual - IRC5 Integrator's guide
13
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Network security
|
ABB_Operating_Manual_IRC5_Integrators_Guide
|
https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf
| 13
|
Description
Revision
Released with RobotWare 6.14.01.
•
Added information about a new version of the FlexPendant.
•
Removed information about T10.
L
Released with RobotWare 6.15.
•
Information about communication and application protocols updated
in section Network architecture and communication on page 213 and
IRC5 application protocols on page 227 .
M
Released with RobotWare 6.15.03.
•
Added information about TuneMaster in section Network architecture
and communication on page 213 .
N
Released with RobotWare 6.15.06.
•
Updated the section IRC5 application protocols on page 227 .
•
ABB Connected Services is the new name for the functionality previ-
ously known as ABB Ability. During a period of time, both names will
appear in and on our products.
P
Released with RobotWare 6.15.07.
•
Information about how to report security vulnerabilities is added in
Cybersecurity for IRC5 robot networks on page 211 .
Q
Released with RobotWare 6.15.08.
•
Minor corrections.
•
Added information for Pixel Paint in IRC5 application protocols on
page 227 .
R
Released with RobotWare 6.16.
•
Corrected the port numbers for DHCP, see IRC5 application protocols
on page 227 .
•
Port number for PROFINET Diag+ added in IRC5 application protocols
on page 227 .
S
12
Operating manual - IRC5 Integrator's guide
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Overview of this manual
Continued
Network security
Network security
This product is designed to be connected to and to communicate information and
data via a network interface. It is your sole responsibility to provide, and
continuously ensure, a secure connection between the product and to your network
or any other network (as the case may be).
You shall establish and maintain any appropriate measures (such as, but not limited
to, the installation of firewalls, application of authentication measures, encryption
of data, installation of anti-virus programs, etc) to protect the product, the network,
its system and the interface against any kind of security breaches, unauthorized
access, interference, intrusion, leakage and/or theft of data or information. ABB
Ltd and its entities are not liable for damage and/or loss related to such security
breaches, any unauthorized access, interference, intrusion, leakage and/or theft
of data or information.
Operating manual - IRC5 Integrator's guide
13
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Network security
Open source and 3rd party components
Open source and 3rd party components
ABB products use software provided by third parties, including open source
software. The following copyright statements and licenses apply to various
components that are distributed inside the ABB software. Each ABB product does
not necessarily use all of the listed third party software components. Licensee
must fully agree and comply with these license terms or the user is not entitled to
use the product. Start using the ABB software means accepting also referred
license terms. The third party license terms apply only to the respective software
to which the license pertains, and the third party license terms do not apply to ABB
products. With regard to programs provided under the GNU general public license
and the GNU lesser general public license licensor will provide licensee on demand,
a machine-readable copy of the corresponding source code. This offer is valid for
a period of three years after delivery of the product.
ABB software is licensed under the ABB end user license agreement, which is
provided separately.
RobotWare
For RobotWare, there is license information in the folder \licenses in the RobotWare
distribution package.
OpenSSL
This product includes software developed by the OpenSSL Project for use in the
OpenSSL Toolkit. (http://www.openssl.org/)
This product includes cryptographic software written by Eric Young
(eay@cryptsoft.com).
This product includes software written by Tim Hudson (tjh@cryptsoft.com).
CTM
For OleOS, the Linux based operating system used on the conveyor tracking
module (CTM), a list of copyright statements and licenses is available in the file
/etc/licenses.txt located on the CTM board and accessible via the console port or
by downloading the file over SFTP.
For the CTM application, a list of copyright statements and licenses is available in
the file /opt/ABB.com/ctm/licenses.txt located on the CTM board and accessible
via the console port or by downloading the file over SFTP.
14
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Open source and 3rd party components
|
ABB_Operating_Manual_IRC5_Integrators_Guide
|
https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf
| 14
|
Network security
Network security
This product is designed to be connected to and to communicate information and
data via a network interface. It is your sole responsibility to provide, and
continuously ensure, a secure connection between the product and to your network
or any other network (as the case may be).
You shall establish and maintain any appropriate measures (such as, but not limited
to, the installation of firewalls, application of authentication measures, encryption
of data, installation of anti-virus programs, etc) to protect the product, the network,
its system and the interface against any kind of security breaches, unauthorized
access, interference, intrusion, leakage and/or theft of data or information. ABB
Ltd and its entities are not liable for damage and/or loss related to such security
breaches, any unauthorized access, interference, intrusion, leakage and/or theft
of data or information.
Operating manual - IRC5 Integrator's guide
13
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Network security
Open source and 3rd party components
Open source and 3rd party components
ABB products use software provided by third parties, including open source
software. The following copyright statements and licenses apply to various
components that are distributed inside the ABB software. Each ABB product does
not necessarily use all of the listed third party software components. Licensee
must fully agree and comply with these license terms or the user is not entitled to
use the product. Start using the ABB software means accepting also referred
license terms. The third party license terms apply only to the respective software
to which the license pertains, and the third party license terms do not apply to ABB
products. With regard to programs provided under the GNU general public license
and the GNU lesser general public license licensor will provide licensee on demand,
a machine-readable copy of the corresponding source code. This offer is valid for
a period of three years after delivery of the product.
ABB software is licensed under the ABB end user license agreement, which is
provided separately.
RobotWare
For RobotWare, there is license information in the folder \licenses in the RobotWare
distribution package.
OpenSSL
This product includes software developed by the OpenSSL Project for use in the
OpenSSL Toolkit. (http://www.openssl.org/)
This product includes cryptographic software written by Eric Young
(eay@cryptsoft.com).
This product includes software written by Tim Hudson (tjh@cryptsoft.com).
CTM
For OleOS, the Linux based operating system used on the conveyor tracking
module (CTM), a list of copyright statements and licenses is available in the file
/etc/licenses.txt located on the CTM board and accessible via the console port or
by downloading the file over SFTP.
For the CTM application, a list of copyright statements and licenses is available in
the file /opt/ABB.com/ctm/licenses.txt located on the CTM board and accessible
via the console port or by downloading the file over SFTP.
14
Operating manual - IRC5 Integrator's guide
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Open source and 3rd party components
Product documentation
Categories for user documentation from ABB Robotics
The user documentation from ABB Robotics is divided into a number of categories.
This listing is based on the type of information in the documents, regardless of
whether the products are standard or optional.
Tip
All documents can be found via myABB Business Portal, www.abb.com/myABB .
Product manuals
Manipulators, controllers, DressPack, and most other hardware is delivered with
a Product manual that generally contains:
•
Safety information.
•
Installation and commissioning (descriptions of mechanical installation or
electrical connections).
•
Maintenance (descriptions of all required preventive maintenance procedures
including intervals and expected life time of parts).
•
Repair (descriptions of all recommended repair procedures including spare
parts).
•
Calibration.
•
Troubleshooting.
•
Decommissioning.
•
Reference information (safety standards, unit conversions, screw joints, lists
of tools).
•
Spare parts list with corresponding figures (or references to separate spare
parts lists).
•
References to circuit diagrams.
Technical reference manuals
The technical reference manuals describe reference information for robotics
products, for example lubrication, the RAPID language, and system parameters.
Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals . An application manual can describe one or several
applications.
An application manual generally contains information about:
•
The purpose of the application (what it does and when it is useful).
•
What is included (for example cables, I/O boards, RAPID instructions, system
parameters, software).
•
How to install included or required hardware.
•
How to use the application.
Continues on next page
Operating manual - IRC5 Integrator's guide
15
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Product documentation
|
ABB_Operating_Manual_IRC5_Integrators_Guide
|
https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf
| 15
|
Open source and 3rd party components
Open source and 3rd party components
ABB products use software provided by third parties, including open source
software. The following copyright statements and licenses apply to various
components that are distributed inside the ABB software. Each ABB product does
not necessarily use all of the listed third party software components. Licensee
must fully agree and comply with these license terms or the user is not entitled to
use the product. Start using the ABB software means accepting also referred
license terms. The third party license terms apply only to the respective software
to which the license pertains, and the third party license terms do not apply to ABB
products. With regard to programs provided under the GNU general public license
and the GNU lesser general public license licensor will provide licensee on demand,
a machine-readable copy of the corresponding source code. This offer is valid for
a period of three years after delivery of the product.
ABB software is licensed under the ABB end user license agreement, which is
provided separately.
RobotWare
For RobotWare, there is license information in the folder \licenses in the RobotWare
distribution package.
OpenSSL
This product includes software developed by the OpenSSL Project for use in the
OpenSSL Toolkit. (http://www.openssl.org/)
This product includes cryptographic software written by Eric Young
(eay@cryptsoft.com).
This product includes software written by Tim Hudson (tjh@cryptsoft.com).
CTM
For OleOS, the Linux based operating system used on the conveyor tracking
module (CTM), a list of copyright statements and licenses is available in the file
/etc/licenses.txt located on the CTM board and accessible via the console port or
by downloading the file over SFTP.
For the CTM application, a list of copyright statements and licenses is available in
the file /opt/ABB.com/ctm/licenses.txt located on the CTM board and accessible
via the console port or by downloading the file over SFTP.
14
Operating manual - IRC5 Integrator's guide
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Open source and 3rd party components
Product documentation
Categories for user documentation from ABB Robotics
The user documentation from ABB Robotics is divided into a number of categories.
This listing is based on the type of information in the documents, regardless of
whether the products are standard or optional.
Tip
All documents can be found via myABB Business Portal, www.abb.com/myABB .
Product manuals
Manipulators, controllers, DressPack, and most other hardware is delivered with
a Product manual that generally contains:
•
Safety information.
•
Installation and commissioning (descriptions of mechanical installation or
electrical connections).
•
Maintenance (descriptions of all required preventive maintenance procedures
including intervals and expected life time of parts).
•
Repair (descriptions of all recommended repair procedures including spare
parts).
•
Calibration.
•
Troubleshooting.
•
Decommissioning.
•
Reference information (safety standards, unit conversions, screw joints, lists
of tools).
•
Spare parts list with corresponding figures (or references to separate spare
parts lists).
•
References to circuit diagrams.
Technical reference manuals
The technical reference manuals describe reference information for robotics
products, for example lubrication, the RAPID language, and system parameters.
Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals . An application manual can describe one or several
applications.
An application manual generally contains information about:
•
The purpose of the application (what it does and when it is useful).
•
What is included (for example cables, I/O boards, RAPID instructions, system
parameters, software).
•
How to install included or required hardware.
•
How to use the application.
Continues on next page
Operating manual - IRC5 Integrator's guide
15
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Product documentation
•
Examples of how to use the application.
Operating manuals
The operating manuals describe hands-on handling of the products. The manuals
are aimed at those having first-hand operational contact with the product, that is
production cell operators, programmers, and troubleshooters.
16
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3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Product documentation
Continued
|
ABB_Operating_Manual_IRC5_Integrators_Guide
|
https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf
| 16
|
Product documentation
Categories for user documentation from ABB Robotics
The user documentation from ABB Robotics is divided into a number of categories.
This listing is based on the type of information in the documents, regardless of
whether the products are standard or optional.
Tip
All documents can be found via myABB Business Portal, www.abb.com/myABB .
Product manuals
Manipulators, controllers, DressPack, and most other hardware is delivered with
a Product manual that generally contains:
•
Safety information.
•
Installation and commissioning (descriptions of mechanical installation or
electrical connections).
•
Maintenance (descriptions of all required preventive maintenance procedures
including intervals and expected life time of parts).
•
Repair (descriptions of all recommended repair procedures including spare
parts).
•
Calibration.
•
Troubleshooting.
•
Decommissioning.
•
Reference information (safety standards, unit conversions, screw joints, lists
of tools).
•
Spare parts list with corresponding figures (or references to separate spare
parts lists).
•
References to circuit diagrams.
Technical reference manuals
The technical reference manuals describe reference information for robotics
products, for example lubrication, the RAPID language, and system parameters.
Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals . An application manual can describe one or several
applications.
An application manual generally contains information about:
•
The purpose of the application (what it does and when it is useful).
•
What is included (for example cables, I/O boards, RAPID instructions, system
parameters, software).
•
How to install included or required hardware.
•
How to use the application.
Continues on next page
Operating manual - IRC5 Integrator's guide
15
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Product documentation
•
Examples of how to use the application.
Operating manuals
The operating manuals describe hands-on handling of the products. The manuals
are aimed at those having first-hand operational contact with the product, that is
production cell operators, programmers, and troubleshooters.
16
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3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Product documentation
Continued
1 Welcome to IRC5
1.1 About this section
Overview
This section presents an overview of the FlexPendant, the IRC5 controller, and
RobotStudio.
A robot consists of a robot controller, the FlexPendant, RobotStudio, and one or
several manipulators or other mechanical units.
This manual describes a robot without options, not a robot system. However, in a
few places, the manual gives an overview of how options are used or applied. Most
options are described in detail in their respective application manual.
Operating manual - IRC5 Integrator's guide
17
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.1 About this section
|
ABB_Operating_Manual_IRC5_Integrators_Guide
|
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| 17
|
•
Examples of how to use the application.
Operating manuals
The operating manuals describe hands-on handling of the products. The manuals
are aimed at those having first-hand operational contact with the product, that is
production cell operators, programmers, and troubleshooters.
16
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3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
Product documentation
Continued
1 Welcome to IRC5
1.1 About this section
Overview
This section presents an overview of the FlexPendant, the IRC5 controller, and
RobotStudio.
A robot consists of a robot controller, the FlexPendant, RobotStudio, and one or
several manipulators or other mechanical units.
This manual describes a robot without options, not a robot system. However, in a
few places, the manual gives an overview of how options are used or applied. Most
options are described in detail in their respective application manual.
Operating manual - IRC5 Integrator's guide
17
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.1 About this section
1.2 The IRC5 controller
The IRC5 controller
The IRC5 controller contains all functions needed to move and control the robot.
The standard IRC5 controller consists of a single cabinet. The controller is also
available in a compact version, IRC5 Compact , and it can also be integrated in an
external cabinet, Panel Mounted Controller .
When running more than one robot with one controller (MultiMove option), an extra
drive module must be added for each additional robot. However, a single control
module is used.
Related information
Product manual - IRC5 , IRC5 of design M2004.
Product manual - IRC5 , IRC5 of design 14.
Product manual - IRC5 Panel Mounted Controller , IRC5 of design M2004.
Product manual - IRC5 Panel Mounted Controller , IRC5 of design 14.
Product manual - IRC5 Compact , IRC5 of design M2004.
Product manual - IRC5 Compact , IRC5 of design 14.
Application manual - MultiMove .
18
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3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.2 The IRC5 controller
|
ABB_Operating_Manual_IRC5_Integrators_Guide
|
https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf
| 18
|
1 Welcome to IRC5
1.1 About this section
Overview
This section presents an overview of the FlexPendant, the IRC5 controller, and
RobotStudio.
A robot consists of a robot controller, the FlexPendant, RobotStudio, and one or
several manipulators or other mechanical units.
This manual describes a robot without options, not a robot system. However, in a
few places, the manual gives an overview of how options are used or applied. Most
options are described in detail in their respective application manual.
Operating manual - IRC5 Integrator's guide
17
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.1 About this section
1.2 The IRC5 controller
The IRC5 controller
The IRC5 controller contains all functions needed to move and control the robot.
The standard IRC5 controller consists of a single cabinet. The controller is also
available in a compact version, IRC5 Compact , and it can also be integrated in an
external cabinet, Panel Mounted Controller .
When running more than one robot with one controller (MultiMove option), an extra
drive module must be added for each additional robot. However, a single control
module is used.
Related information
Product manual - IRC5 , IRC5 of design M2004.
Product manual - IRC5 , IRC5 of design 14.
Product manual - IRC5 Panel Mounted Controller , IRC5 of design M2004.
Product manual - IRC5 Panel Mounted Controller , IRC5 of design 14.
Product manual - IRC5 Compact , IRC5 of design M2004.
Product manual - IRC5 Compact , IRC5 of design 14.
Application manual - MultiMove .
18
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3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.2 The IRC5 controller
1.3 The FlexPendant
Introduction to the FlexPendant
The FlexPendant is a hand held operator unit that is used for many of the tasks
when operating a robot: running programs, jogging the manipulator, modifying
programs, and so on.
The FlexPendant is designed for continuous operation in harsh industrial
environment. Its touchscreen is easy to clean and resistant to water, oil, and
accidental welding splashes.
The FlexPendant consists of both hardware and software and is a complete
computer in itself. It is connected to the robot controller by an integrated cable and
connector.
The hot plug button option makes it possible to disconnect the FlexPendant in
automatic mode and continue running without it.
The FlexPendant is available in different versions, as the hardware has been
updated over the years. The exact appearance on the graphics might therefore
differ slightly from reality.
Note
The FlexPendant for IRC5 is not compatible with OmniCore, and vice versa.
Note
If protective gloves are used, these must be compatible with touchscreens when
using the FlexPendant.
Continues on next page
Operating manual - IRC5 Integrator's guide
19
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.3 The FlexPendant
|
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|
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| 19
|
1.2 The IRC5 controller
The IRC5 controller
The IRC5 controller contains all functions needed to move and control the robot.
The standard IRC5 controller consists of a single cabinet. The controller is also
available in a compact version, IRC5 Compact , and it can also be integrated in an
external cabinet, Panel Mounted Controller .
When running more than one robot with one controller (MultiMove option), an extra
drive module must be added for each additional robot. However, a single control
module is used.
Related information
Product manual - IRC5 , IRC5 of design M2004.
Product manual - IRC5 , IRC5 of design 14.
Product manual - IRC5 Panel Mounted Controller , IRC5 of design M2004.
Product manual - IRC5 Panel Mounted Controller , IRC5 of design 14.
Product manual - IRC5 Compact , IRC5 of design M2004.
Product manual - IRC5 Compact , IRC5 of design 14.
Application manual - MultiMove .
18
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3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.2 The IRC5 controller
1.3 The FlexPendant
Introduction to the FlexPendant
The FlexPendant is a hand held operator unit that is used for many of the tasks
when operating a robot: running programs, jogging the manipulator, modifying
programs, and so on.
The FlexPendant is designed for continuous operation in harsh industrial
environment. Its touchscreen is easy to clean and resistant to water, oil, and
accidental welding splashes.
The FlexPendant consists of both hardware and software and is a complete
computer in itself. It is connected to the robot controller by an integrated cable and
connector.
The hot plug button option makes it possible to disconnect the FlexPendant in
automatic mode and continue running without it.
The FlexPendant is available in different versions, as the hardware has been
updated over the years. The exact appearance on the graphics might therefore
differ slightly from reality.
Note
The FlexPendant for IRC5 is not compatible with OmniCore, and vice versa.
Note
If protective gloves are used, these must be compatible with touchscreens when
using the FlexPendant.
Continues on next page
Operating manual - IRC5 Integrator's guide
19
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.3 The FlexPendant
Main parts
These are the main parts of the FlexPendant.
FlexPendant with emergency stop button
at the outer edge
FlexPendant with emergency stop button
at the connector
![Image]
xx1400001636
C
D
H
B
A
G
F
E
xx2200002054
Connector
A
Touchscreen
B
Emergency stop button
C
Joystick
D
Reset button
E
USB port
F
Three-position enabling device
G
Thumb button
H
(Not available on all versions of FlexPendant.)
Stylus pen
J
(Not available on all versions of FlexPendant.)
Continues on next page
20
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© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.3 The FlexPendant
Continued
|
ABB_Operating_Manual_IRC5_Integrators_Guide
|
https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf
| 20
|
1.3 The FlexPendant
Introduction to the FlexPendant
The FlexPendant is a hand held operator unit that is used for many of the tasks
when operating a robot: running programs, jogging the manipulator, modifying
programs, and so on.
The FlexPendant is designed for continuous operation in harsh industrial
environment. Its touchscreen is easy to clean and resistant to water, oil, and
accidental welding splashes.
The FlexPendant consists of both hardware and software and is a complete
computer in itself. It is connected to the robot controller by an integrated cable and
connector.
The hot plug button option makes it possible to disconnect the FlexPendant in
automatic mode and continue running without it.
The FlexPendant is available in different versions, as the hardware has been
updated over the years. The exact appearance on the graphics might therefore
differ slightly from reality.
Note
The FlexPendant for IRC5 is not compatible with OmniCore, and vice versa.
Note
If protective gloves are used, these must be compatible with touchscreens when
using the FlexPendant.
Continues on next page
Operating manual - IRC5 Integrator's guide
19
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.3 The FlexPendant
Main parts
These are the main parts of the FlexPendant.
FlexPendant with emergency stop button
at the outer edge
FlexPendant with emergency stop button
at the connector
![Image]
xx1400001636
C
D
H
B
A
G
F
E
xx2200002054
Connector
A
Touchscreen
B
Emergency stop button
C
Joystick
D
Reset button
E
USB port
F
Three-position enabling device
G
Thumb button
H
(Not available on all versions of FlexPendant.)
Stylus pen
J
(Not available on all versions of FlexPendant.)
Continues on next page
20
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3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.3 The FlexPendant
Continued
Joystick
Use the joystick to move the manipulator. This is called jogging the robot. There
are several settings for how the joystick will move the manipulator.
Reset button
If the FlexPendant freezes during operation, press the reset button to restart the
FlexPendant.
The reset button resets the FlexPendant, not the system on the controller.
USB port
Connect a USB memory to the USB port to read or save files. The USB memory
is displayed as drive /USB:Removable in dialogs and FlexPendant Explorer.
Note
Close the protective cap on the USB port when not used.
Stylus pen
The stylus pen included with the FlexPendant is located on the back. Pull the small
handle to release the pen.
Use the stylus pen to tap on the touch screen when using the FlexPendant. Do not
use screw drivers or other sharp objects.
(Not available on all versions of FlexPendant.)
Hard buttons
The following hard buttons are available on the FlexPendant.
Description
Button
Programmable keys, 1 - 4.
Select mechanical unit.
Toggle motion mode, reorient or linear.
Toggle motion mode, axis 1-3 or axis 4-6.
Toggle increments.
Step BACKWARD button. Executes one instruction backward as button
is pressed.
START button. Starts program execution.
Step FORWARD button. Executes one instruction forward as button is
pressed.
STOP button. Stops program execution.
Continues on next page
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21
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.3 The FlexPendant
Continued
|
ABB_Operating_Manual_IRC5_Integrators_Guide
|
https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf
| 21
|
Main parts
These are the main parts of the FlexPendant.
FlexPendant with emergency stop button
at the outer edge
FlexPendant with emergency stop button
at the connector
![Image]
xx1400001636
C
D
H
B
A
G
F
E
xx2200002054
Connector
A
Touchscreen
B
Emergency stop button
C
Joystick
D
Reset button
E
USB port
F
Three-position enabling device
G
Thumb button
H
(Not available on all versions of FlexPendant.)
Stylus pen
J
(Not available on all versions of FlexPendant.)
Continues on next page
20
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3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.3 The FlexPendant
Continued
Joystick
Use the joystick to move the manipulator. This is called jogging the robot. There
are several settings for how the joystick will move the manipulator.
Reset button
If the FlexPendant freezes during operation, press the reset button to restart the
FlexPendant.
The reset button resets the FlexPendant, not the system on the controller.
USB port
Connect a USB memory to the USB port to read or save files. The USB memory
is displayed as drive /USB:Removable in dialogs and FlexPendant Explorer.
Note
Close the protective cap on the USB port when not used.
Stylus pen
The stylus pen included with the FlexPendant is located on the back. Pull the small
handle to release the pen.
Use the stylus pen to tap on the touch screen when using the FlexPendant. Do not
use screw drivers or other sharp objects.
(Not available on all versions of FlexPendant.)
Hard buttons
The following hard buttons are available on the FlexPendant.
Description
Button
Programmable keys, 1 - 4.
Select mechanical unit.
Toggle motion mode, reorient or linear.
Toggle motion mode, axis 1-3 or axis 4-6.
Toggle increments.
Step BACKWARD button. Executes one instruction backward as button
is pressed.
START button. Starts program execution.
Step FORWARD button. Executes one instruction forward as button is
pressed.
STOP button. Stops program execution.
Continues on next page
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21
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.3 The FlexPendant
Continued
Three-position enabling device
CAUTION
The person using the three-position enabling device is responsible to observe
the safeguarded space for hazards due to robot motion and any other hazards
related to the robot.
The three-position enabling device is located on the FlexPendant. When
continuously held in center-enabled position, the three-position enabling device
will permit robot motion and any hazards controlled by the robot. Release of or
compression past the center-enabled position will stop the robot motion.
CAUTION
For safe use of the three-position enabling device, the following must be
implemented:
•
The three-position enabling device must never be rendered inoperational
in any way.
•
If there is a need to enter safeguarded space, always bring the FlexPendant.
This is to enforce single point of control.
Thumb button
The thumb button is only available on the FlexPendant with emergency stop located
at the connector.
The thumb button is used for hold-to-run.
Hold-to-run is described in Operating manual - IRC5 with FlexPendant .
Continues on next page
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1 Welcome to IRC5
1.3 The FlexPendant
Continued
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| 22
|
Joystick
Use the joystick to move the manipulator. This is called jogging the robot. There
are several settings for how the joystick will move the manipulator.
Reset button
If the FlexPendant freezes during operation, press the reset button to restart the
FlexPendant.
The reset button resets the FlexPendant, not the system on the controller.
USB port
Connect a USB memory to the USB port to read or save files. The USB memory
is displayed as drive /USB:Removable in dialogs and FlexPendant Explorer.
Note
Close the protective cap on the USB port when not used.
Stylus pen
The stylus pen included with the FlexPendant is located on the back. Pull the small
handle to release the pen.
Use the stylus pen to tap on the touch screen when using the FlexPendant. Do not
use screw drivers or other sharp objects.
(Not available on all versions of FlexPendant.)
Hard buttons
The following hard buttons are available on the FlexPendant.
Description
Button
Programmable keys, 1 - 4.
Select mechanical unit.
Toggle motion mode, reorient or linear.
Toggle motion mode, axis 1-3 or axis 4-6.
Toggle increments.
Step BACKWARD button. Executes one instruction backward as button
is pressed.
START button. Starts program execution.
Step FORWARD button. Executes one instruction forward as button is
pressed.
STOP button. Stops program execution.
Continues on next page
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© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.3 The FlexPendant
Continued
Three-position enabling device
CAUTION
The person using the three-position enabling device is responsible to observe
the safeguarded space for hazards due to robot motion and any other hazards
related to the robot.
The three-position enabling device is located on the FlexPendant. When
continuously held in center-enabled position, the three-position enabling device
will permit robot motion and any hazards controlled by the robot. Release of or
compression past the center-enabled position will stop the robot motion.
CAUTION
For safe use of the three-position enabling device, the following must be
implemented:
•
The three-position enabling device must never be rendered inoperational
in any way.
•
If there is a need to enter safeguarded space, always bring the FlexPendant.
This is to enforce single point of control.
Thumb button
The thumb button is only available on the FlexPendant with emergency stop located
at the connector.
The thumb button is used for hold-to-run.
Hold-to-run is described in Operating manual - IRC5 with FlexPendant .
Continues on next page
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© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.3 The FlexPendant
Continued
How to hold the FlexPendant
FlexPendant is typically operated while being held in the hand. The right-handed
users use their left-hand to support the FlexPendant while their right-hand performs
the operations on the touch screen. However, the left-handed users can easily
adapt FlexPendant for their use.
For more details, see Operating manual - IRC5 with FlexPendant .
FlexPendant with emergency stop button
at the outer edge
FlexPendant with emergency stop button
at the connector
en0400000913
xx1800000045
Touchscreen elements
The illustration shows important elements of the FlexPendant touchscreen.
![Image]
xx1400001446
Continues on next page
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1 Welcome to IRC5
1.3 The FlexPendant
Continued
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| 23
|
Three-position enabling device
CAUTION
The person using the three-position enabling device is responsible to observe
the safeguarded space for hazards due to robot motion and any other hazards
related to the robot.
The three-position enabling device is located on the FlexPendant. When
continuously held in center-enabled position, the three-position enabling device
will permit robot motion and any hazards controlled by the robot. Release of or
compression past the center-enabled position will stop the robot motion.
CAUTION
For safe use of the three-position enabling device, the following must be
implemented:
•
The three-position enabling device must never be rendered inoperational
in any way.
•
If there is a need to enter safeguarded space, always bring the FlexPendant.
This is to enforce single point of control.
Thumb button
The thumb button is only available on the FlexPendant with emergency stop located
at the connector.
The thumb button is used for hold-to-run.
Hold-to-run is described in Operating manual - IRC5 with FlexPendant .
Continues on next page
22
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3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.3 The FlexPendant
Continued
How to hold the FlexPendant
FlexPendant is typically operated while being held in the hand. The right-handed
users use their left-hand to support the FlexPendant while their right-hand performs
the operations on the touch screen. However, the left-handed users can easily
adapt FlexPendant for their use.
For more details, see Operating manual - IRC5 with FlexPendant .
FlexPendant with emergency stop button
at the outer edge
FlexPendant with emergency stop button
at the connector
en0400000913
xx1800000045
Touchscreen elements
The illustration shows important elements of the FlexPendant touchscreen.
![Image]
xx1400001446
Continues on next page
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23
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© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.3 The FlexPendant
Continued
Main menu
A
Operator window
B
Status bar
C
Close button
D
Task bar
E
Quickset menu
F
Main menu
The following items can be selected from the Main menu:
•
HotEdit
•
Inputs and Outputs
•
Jogging
•
Production Window
•
Program Editor
•
Program Data
•
Backup and Restore
•
Calibration
•
Control Panel
•
Event Log
•
FlexPendant Explorer
•
System Info
•
etc.
This is further described in section The ABB Menu in Operating manual - IRC5
with FlexPendant .
Operator window
The operator window displays messages from robot programs. This usually happens
when the program needs some kind of operator response in order to continue.
This is described in section Operator window in Operating manual - IRC5 with
FlexPendant .
Status bar
The status bar displays important information about system status, such as
operating mode, motors on/off, program state and so on. This is described in
section Status bar in Operating manual - IRC5 with FlexPendant .
Close button
Tapping the close button closes the presently active view or application.
Task bar
You can open several views from the Main menu, but only work with one at a time.
The task bar displays all open views and is used to switch between these.
Continues on next page
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1 Welcome to IRC5
1.3 The FlexPendant
Continued
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|
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| 24
|
How to hold the FlexPendant
FlexPendant is typically operated while being held in the hand. The right-handed
users use their left-hand to support the FlexPendant while their right-hand performs
the operations on the touch screen. However, the left-handed users can easily
adapt FlexPendant for their use.
For more details, see Operating manual - IRC5 with FlexPendant .
FlexPendant with emergency stop button
at the outer edge
FlexPendant with emergency stop button
at the connector
en0400000913
xx1800000045
Touchscreen elements
The illustration shows important elements of the FlexPendant touchscreen.
![Image]
xx1400001446
Continues on next page
Operating manual - IRC5 Integrator's guide
23
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© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.3 The FlexPendant
Continued
Main menu
A
Operator window
B
Status bar
C
Close button
D
Task bar
E
Quickset menu
F
Main menu
The following items can be selected from the Main menu:
•
HotEdit
•
Inputs and Outputs
•
Jogging
•
Production Window
•
Program Editor
•
Program Data
•
Backup and Restore
•
Calibration
•
Control Panel
•
Event Log
•
FlexPendant Explorer
•
System Info
•
etc.
This is further described in section The ABB Menu in Operating manual - IRC5
with FlexPendant .
Operator window
The operator window displays messages from robot programs. This usually happens
when the program needs some kind of operator response in order to continue.
This is described in section Operator window in Operating manual - IRC5 with
FlexPendant .
Status bar
The status bar displays important information about system status, such as
operating mode, motors on/off, program state and so on. This is described in
section Status bar in Operating manual - IRC5 with FlexPendant .
Close button
Tapping the close button closes the presently active view or application.
Task bar
You can open several views from the Main menu, but only work with one at a time.
The task bar displays all open views and is used to switch between these.
Continues on next page
24
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© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.3 The FlexPendant
Continued
Quickset menu
The quickset menu provides settings for jogging and program execution. This is
described in section T he Quickset menu in Operating manual - IRC5 with
FlexPendant .
Operating manual - IRC5 Integrator's guide
25
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1 Welcome to IRC5
1.3 The FlexPendant
Continued
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| 25
|
Main menu
A
Operator window
B
Status bar
C
Close button
D
Task bar
E
Quickset menu
F
Main menu
The following items can be selected from the Main menu:
•
HotEdit
•
Inputs and Outputs
•
Jogging
•
Production Window
•
Program Editor
•
Program Data
•
Backup and Restore
•
Calibration
•
Control Panel
•
Event Log
•
FlexPendant Explorer
•
System Info
•
etc.
This is further described in section The ABB Menu in Operating manual - IRC5
with FlexPendant .
Operator window
The operator window displays messages from robot programs. This usually happens
when the program needs some kind of operator response in order to continue.
This is described in section Operator window in Operating manual - IRC5 with
FlexPendant .
Status bar
The status bar displays important information about system status, such as
operating mode, motors on/off, program state and so on. This is described in
section Status bar in Operating manual - IRC5 with FlexPendant .
Close button
Tapping the close button closes the presently active view or application.
Task bar
You can open several views from the Main menu, but only work with one at a time.
The task bar displays all open views and is used to switch between these.
Continues on next page
24
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© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.3 The FlexPendant
Continued
Quickset menu
The quickset menu provides settings for jogging and program execution. This is
described in section T he Quickset menu in Operating manual - IRC5 with
FlexPendant .
Operating manual - IRC5 Integrator's guide
25
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.3 The FlexPendant
Continued
1.4 RobotStudio
Overview of RobotStudio
RobotStudio is an engineering tool for the configuration and programming of ABB
robots, both real robots on the shop floor and virtual robots in a PC. To achieve
true offline programming, RobotStudio utilizes ABB VirtualRobot™Technology.
RobotStudio has adopted the Microsoft Office Fluent User Interface. The Office
Fluent UI is also used in Microsoft Office. As in Office, the features of RobotStudio
are designed in a workflow-oriented way.
With add-ins, RobotStudio can be extended and customized to suit the specific
needs. Add-ins are developed using the RobotStudio SDK. With the SDK, it is also
possible to develop custom SmartComponents which exceed the functionality
provided by RobotStudio's base components.
For more information, see Operating manual - RobotStudio .
RobotStudio for real controllers
RobotStudio allows, for example, the following operations when connected to a
real controller:
•
Installing and modifying RobotWare systems on controllers, using the
Installation Manager 6 function.
•
Text-based programing and editing, using the RAPID Editor .
•
File manager for the controller.
•
Administrating the User Authorization System.
•
Configuring system parameters.
26
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3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.4 RobotStudio
|
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|
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| 26
|
Quickset menu
The quickset menu provides settings for jogging and program execution. This is
described in section T he Quickset menu in Operating manual - IRC5 with
FlexPendant .
Operating manual - IRC5 Integrator's guide
25
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.3 The FlexPendant
Continued
1.4 RobotStudio
Overview of RobotStudio
RobotStudio is an engineering tool for the configuration and programming of ABB
robots, both real robots on the shop floor and virtual robots in a PC. To achieve
true offline programming, RobotStudio utilizes ABB VirtualRobot™Technology.
RobotStudio has adopted the Microsoft Office Fluent User Interface. The Office
Fluent UI is also used in Microsoft Office. As in Office, the features of RobotStudio
are designed in a workflow-oriented way.
With add-ins, RobotStudio can be extended and customized to suit the specific
needs. Add-ins are developed using the RobotStudio SDK. With the SDK, it is also
possible to develop custom SmartComponents which exceed the functionality
provided by RobotStudio's base components.
For more information, see Operating manual - RobotStudio .
RobotStudio for real controllers
RobotStudio allows, for example, the following operations when connected to a
real controller:
•
Installing and modifying RobotWare systems on controllers, using the
Installation Manager 6 function.
•
Text-based programing and editing, using the RAPID Editor .
•
File manager for the controller.
•
Administrating the User Authorization System.
•
Configuring system parameters.
26
Operating manual - IRC5 Integrator's guide
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.4 RobotStudio
1.5 When to use different jogging devices
Overview
For operating and managing the robot, you can use any of the following:
•
FlexPendant: Optimized for handling robot motions and ordinary operation
•
RobotStudio: Optimized for configuration, programming and other tasks not
related to the daily operation.
•
RobotStudio Online Apps : Optimized for jogging, managing, working with
the frames, calibration methods and RAPID programs available in the robot
controller.
Start, restart and shut down the controller
Use...
To...
The power switch on the controller's front panel.
Start the controller
The FlexPendant, RobotStudio, RobotStudio Online Apps
or the power switch on the controller's front panel.
Restart the controller
The power switch on the controller's front panel or the
FlexPendant, tap Restart , then Advanced .
Shut down the controller
The FlexPendant.
Shut down the main computer
Run and control robot programs
Use...
To...
The FlexPendant.
Jog a robot
The FlexPendant, RobotStudio or RobotStudio Online Apps.
Start or stop a robot program
The FlexPendant, RobotStudio or RobotStudio Online Apps.
Start and stop background
tasks
Communicate with the controller
Use...
To...
The FlexPendant or RobotStudio Online
Apps.
Acknowledge events
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
View and save the controller's event logs
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
Back up the controller's software to files on
the PC or a server
The FlexPendant or RobotStudio Online
Apps.
Back up the controller's software to files on
the controller
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
Transfer files between the controller and net-
work drives
Continues on next page
Operating manual - IRC5 Integrator's guide
27
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.5 When to use different jogging devices
|
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|
https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf
| 27
|
1.4 RobotStudio
Overview of RobotStudio
RobotStudio is an engineering tool for the configuration and programming of ABB
robots, both real robots on the shop floor and virtual robots in a PC. To achieve
true offline programming, RobotStudio utilizes ABB VirtualRobot™Technology.
RobotStudio has adopted the Microsoft Office Fluent User Interface. The Office
Fluent UI is also used in Microsoft Office. As in Office, the features of RobotStudio
are designed in a workflow-oriented way.
With add-ins, RobotStudio can be extended and customized to suit the specific
needs. Add-ins are developed using the RobotStudio SDK. With the SDK, it is also
possible to develop custom SmartComponents which exceed the functionality
provided by RobotStudio's base components.
For more information, see Operating manual - RobotStudio .
RobotStudio for real controllers
RobotStudio allows, for example, the following operations when connected to a
real controller:
•
Installing and modifying RobotWare systems on controllers, using the
Installation Manager 6 function.
•
Text-based programing and editing, using the RAPID Editor .
•
File manager for the controller.
•
Administrating the User Authorization System.
•
Configuring system parameters.
26
Operating manual - IRC5 Integrator's guide
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.4 RobotStudio
1.5 When to use different jogging devices
Overview
For operating and managing the robot, you can use any of the following:
•
FlexPendant: Optimized for handling robot motions and ordinary operation
•
RobotStudio: Optimized for configuration, programming and other tasks not
related to the daily operation.
•
RobotStudio Online Apps : Optimized for jogging, managing, working with
the frames, calibration methods and RAPID programs available in the robot
controller.
Start, restart and shut down the controller
Use...
To...
The power switch on the controller's front panel.
Start the controller
The FlexPendant, RobotStudio, RobotStudio Online Apps
or the power switch on the controller's front panel.
Restart the controller
The power switch on the controller's front panel or the
FlexPendant, tap Restart , then Advanced .
Shut down the controller
The FlexPendant.
Shut down the main computer
Run and control robot programs
Use...
To...
The FlexPendant.
Jog a robot
The FlexPendant, RobotStudio or RobotStudio Online Apps.
Start or stop a robot program
The FlexPendant, RobotStudio or RobotStudio Online Apps.
Start and stop background
tasks
Communicate with the controller
Use...
To...
The FlexPendant or RobotStudio Online
Apps.
Acknowledge events
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
View and save the controller's event logs
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
Back up the controller's software to files on
the PC or a server
The FlexPendant or RobotStudio Online
Apps.
Back up the controller's software to files on
the controller
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
Transfer files between the controller and net-
work drives
Continues on next page
Operating manual - IRC5 Integrator's guide
27
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.5 When to use different jogging devices
Program a robot
Use...
To...
RobotStudio to create the program's structure and most of
the source code and the FlexPendant to store robot positions
and make final adjustments to the program.
Create or edit robot programs
in a flexible way. This is suit-
able for complex programs
with a lot of logic, I/O signals
or action instructions
When programming, RobotStudio provides the following
advantages:
•
A text editor optimized for RAPID code, with auto-text
and tool-tip information about instructions and para-
meters.
•
Program check with program error marking.
•
Close access to configuration and I/O editing.
The FlexPendant.
Create or edit a robot program
in a supportive way. This is
suitable for programs that
mostly consist of move instruc-
tions
When programming, the FlexPendant provides the following
advantages:
•
Instruction pick lists
•
Program check and debug while writing
•
Possibility to create robot positions while program-
ming
The FlexPendant with a combination of suitable RobotStudio
Online Apps.
Add or edit robot positions
The FlexPendant with a combination of suitable RobotStudio
Online Apps.
Modify robot positions
Configure the robot's system parameters
Use...
To...
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
Edit the system parameters of the running
system
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
Save the robot's system parameters as config-
uration files
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
Load system parameters from configuration
files to the running system
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
Load calibration data
Create, modify and install systems
Use...
To...
RobotStudio together with RobotWare and a valid Ro-
botWare Key for systems based on RobotWare 5.
Create or modify a system
RobotStudio together with RobotWare and license file
for systems based on RobotWare 6.
RobotStudio
Install a system on a controller
The FlexPendant.
Install a system on a controller from
a USB memory
Calibration
Use...
To...
The FlexPendant or the RobotStudio Online
Apps.
Calibrate base frame etc.
Continues on next page
28
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3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.5 When to use different jogging devices
Continued
|
ABB_Operating_Manual_IRC5_Integrators_Guide
|
https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf
| 28
|
1.5 When to use different jogging devices
Overview
For operating and managing the robot, you can use any of the following:
•
FlexPendant: Optimized for handling robot motions and ordinary operation
•
RobotStudio: Optimized for configuration, programming and other tasks not
related to the daily operation.
•
RobotStudio Online Apps : Optimized for jogging, managing, working with
the frames, calibration methods and RAPID programs available in the robot
controller.
Start, restart and shut down the controller
Use...
To...
The power switch on the controller's front panel.
Start the controller
The FlexPendant, RobotStudio, RobotStudio Online Apps
or the power switch on the controller's front panel.
Restart the controller
The power switch on the controller's front panel or the
FlexPendant, tap Restart , then Advanced .
Shut down the controller
The FlexPendant.
Shut down the main computer
Run and control robot programs
Use...
To...
The FlexPendant.
Jog a robot
The FlexPendant, RobotStudio or RobotStudio Online Apps.
Start or stop a robot program
The FlexPendant, RobotStudio or RobotStudio Online Apps.
Start and stop background
tasks
Communicate with the controller
Use...
To...
The FlexPendant or RobotStudio Online
Apps.
Acknowledge events
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
View and save the controller's event logs
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
Back up the controller's software to files on
the PC or a server
The FlexPendant or RobotStudio Online
Apps.
Back up the controller's software to files on
the controller
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
Transfer files between the controller and net-
work drives
Continues on next page
Operating manual - IRC5 Integrator's guide
27
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.5 When to use different jogging devices
Program a robot
Use...
To...
RobotStudio to create the program's structure and most of
the source code and the FlexPendant to store robot positions
and make final adjustments to the program.
Create or edit robot programs
in a flexible way. This is suit-
able for complex programs
with a lot of logic, I/O signals
or action instructions
When programming, RobotStudio provides the following
advantages:
•
A text editor optimized for RAPID code, with auto-text
and tool-tip information about instructions and para-
meters.
•
Program check with program error marking.
•
Close access to configuration and I/O editing.
The FlexPendant.
Create or edit a robot program
in a supportive way. This is
suitable for programs that
mostly consist of move instruc-
tions
When programming, the FlexPendant provides the following
advantages:
•
Instruction pick lists
•
Program check and debug while writing
•
Possibility to create robot positions while program-
ming
The FlexPendant with a combination of suitable RobotStudio
Online Apps.
Add or edit robot positions
The FlexPendant with a combination of suitable RobotStudio
Online Apps.
Modify robot positions
Configure the robot's system parameters
Use...
To...
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
Edit the system parameters of the running
system
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
Save the robot's system parameters as config-
uration files
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
Load system parameters from configuration
files to the running system
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
Load calibration data
Create, modify and install systems
Use...
To...
RobotStudio together with RobotWare and a valid Ro-
botWare Key for systems based on RobotWare 5.
Create or modify a system
RobotStudio together with RobotWare and license file
for systems based on RobotWare 6.
RobotStudio
Install a system on a controller
The FlexPendant.
Install a system on a controller from
a USB memory
Calibration
Use...
To...
The FlexPendant or the RobotStudio Online
Apps.
Calibrate base frame etc.
Continues on next page
28
Operating manual - IRC5 Integrator's guide
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.5 When to use different jogging devices
Continued
Use...
To...
The FlexPendant or the RobotStudio Online
Apps.
Calibrate tools, work objects etc.
Related information
The table below specifies which manuals to read, when performing the various
tasks referred to:
Document number
for details, see manual...
Recommended use...
3HAC050941-001
Operating manual - IRC5 with Flex-
Pendant
FlexPendant
3HAC032104-001
Operating manual - RobotStudio
RobotStudio
Operating manual - IRC5 Integrator's guide
29
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© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.5 When to use different jogging devices
Continued
|
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| 29
|
Program a robot
Use...
To...
RobotStudio to create the program's structure and most of
the source code and the FlexPendant to store robot positions
and make final adjustments to the program.
Create or edit robot programs
in a flexible way. This is suit-
able for complex programs
with a lot of logic, I/O signals
or action instructions
When programming, RobotStudio provides the following
advantages:
•
A text editor optimized for RAPID code, with auto-text
and tool-tip information about instructions and para-
meters.
•
Program check with program error marking.
•
Close access to configuration and I/O editing.
The FlexPendant.
Create or edit a robot program
in a supportive way. This is
suitable for programs that
mostly consist of move instruc-
tions
When programming, the FlexPendant provides the following
advantages:
•
Instruction pick lists
•
Program check and debug while writing
•
Possibility to create robot positions while program-
ming
The FlexPendant with a combination of suitable RobotStudio
Online Apps.
Add or edit robot positions
The FlexPendant with a combination of suitable RobotStudio
Online Apps.
Modify robot positions
Configure the robot's system parameters
Use...
To...
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
Edit the system parameters of the running
system
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
Save the robot's system parameters as config-
uration files
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
Load system parameters from configuration
files to the running system
RobotStudio, FlexPendant or the RobotStu-
dio Online Apps.
Load calibration data
Create, modify and install systems
Use...
To...
RobotStudio together with RobotWare and a valid Ro-
botWare Key for systems based on RobotWare 5.
Create or modify a system
RobotStudio together with RobotWare and license file
for systems based on RobotWare 6.
RobotStudio
Install a system on a controller
The FlexPendant.
Install a system on a controller from
a USB memory
Calibration
Use...
To...
The FlexPendant or the RobotStudio Online
Apps.
Calibrate base frame etc.
Continues on next page
28
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© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.5 When to use different jogging devices
Continued
Use...
To...
The FlexPendant or the RobotStudio Online
Apps.
Calibrate tools, work objects etc.
Related information
The table below specifies which manuals to read, when performing the various
tasks referred to:
Document number
for details, see manual...
Recommended use...
3HAC050941-001
Operating manual - IRC5 with Flex-
Pendant
FlexPendant
3HAC032104-001
Operating manual - RobotStudio
RobotStudio
Operating manual - IRC5 Integrator's guide
29
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.5 When to use different jogging devices
Continued
1.6 Buttons and ports on the controller
Buttons and ports on the controller
These are the buttons and ports on an IRC5 controller. Some buttons and ports
are options and might not be available on your controller. The buttons and ports
look the same but the placing can differ depending on the controller model (IRC5
Standard, IRC5 Compact, or IRC5 Panel Mounted Controller) and if there is an
external operator’s panel.
xx0600002782
Main switch
A
Emergency stop
B
Motors on
C
Mode switch
D
Safety chain LEDs (option)
E
Service port for PC (option)
G
Duty time counter (option)
H
Service outlet 115/230 V, 200 W (option)
J
Hot plug button (option)
K
Connector for FlexPendant
L
Related information
Product manual - IRC5 , IRC5 of design 14.
Continues on next page
30
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3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.6 Buttons and ports on the controller
|
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|
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| 30
|
Use...
To...
The FlexPendant or the RobotStudio Online
Apps.
Calibrate tools, work objects etc.
Related information
The table below specifies which manuals to read, when performing the various
tasks referred to:
Document number
for details, see manual...
Recommended use...
3HAC050941-001
Operating manual - IRC5 with Flex-
Pendant
FlexPendant
3HAC032104-001
Operating manual - RobotStudio
RobotStudio
Operating manual - IRC5 Integrator's guide
29
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.5 When to use different jogging devices
Continued
1.6 Buttons and ports on the controller
Buttons and ports on the controller
These are the buttons and ports on an IRC5 controller. Some buttons and ports
are options and might not be available on your controller. The buttons and ports
look the same but the placing can differ depending on the controller model (IRC5
Standard, IRC5 Compact, or IRC5 Panel Mounted Controller) and if there is an
external operator’s panel.
xx0600002782
Main switch
A
Emergency stop
B
Motors on
C
Mode switch
D
Safety chain LEDs (option)
E
Service port for PC (option)
G
Duty time counter (option)
H
Service outlet 115/230 V, 200 W (option)
J
Hot plug button (option)
K
Connector for FlexPendant
L
Related information
Product manual - IRC5 , IRC5 of design 14.
Continues on next page
30
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3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.6 Buttons and ports on the controller
Product manual - IRC5 Panel Mounted Controller , IRC5 of design 14.
Product manual - IRC5 Compact , IRC5 of design 14.
Operating manual - Troubleshooting IRC5 .
Operating manual - IRC5 Integrator's guide
31
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.6 Buttons and ports on the controller
Continued
|
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| 31
|
1.6 Buttons and ports on the controller
Buttons and ports on the controller
These are the buttons and ports on an IRC5 controller. Some buttons and ports
are options and might not be available on your controller. The buttons and ports
look the same but the placing can differ depending on the controller model (IRC5
Standard, IRC5 Compact, or IRC5 Panel Mounted Controller) and if there is an
external operator’s panel.
xx0600002782
Main switch
A
Emergency stop
B
Motors on
C
Mode switch
D
Safety chain LEDs (option)
E
Service port for PC (option)
G
Duty time counter (option)
H
Service outlet 115/230 V, 200 W (option)
J
Hot plug button (option)
K
Connector for FlexPendant
L
Related information
Product manual - IRC5 , IRC5 of design 14.
Continues on next page
30
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3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.6 Buttons and ports on the controller
Product manual - IRC5 Panel Mounted Controller , IRC5 of design 14.
Product manual - IRC5 Compact , IRC5 of design 14.
Operating manual - Troubleshooting IRC5 .
Operating manual - IRC5 Integrator's guide
31
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.6 Buttons and ports on the controller
Continued
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|
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| 32
|
Product manual - IRC5 Panel Mounted Controller , IRC5 of design 14.
Product manual - IRC5 Compact , IRC5 of design 14.
Operating manual - Troubleshooting IRC5 .
Operating manual - IRC5 Integrator's guide
31
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
1 Welcome to IRC5
1.6 Buttons and ports on the controller
Continued
This page is intentionally left blank
2 Get started
2.1 About this chapter
Overview
This chapter describes how to connect the FlexPendant to the controller and how
to set up network connections. It also presents a number of often performed work
tasks with the FlexPendant, described as action scenarios.
Operating manual - IRC5 Integrator's guide
33
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2 Get started
2.1 About this chapter
|
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|
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| 33
|
This page is intentionally left blank
2 Get started
2.1 About this chapter
Overview
This chapter describes how to connect the FlexPendant to the controller and how
to set up network connections. It also presents a number of often performed work
tasks with the FlexPendant, described as action scenarios.
Operating manual - IRC5 Integrator's guide
33
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
2 Get started
2.1 About this chapter
2.2 Connections
2.2.1 Connecting a FlexPendant
Location of FlexPendant connector
The FlexPendant connector is located on the operator’s panel on the controller,
or on an external operator’s panel. The Panel Mounted Controller has a connector
on the front.
Connecting a FlexPendant
CAUTION
Always inspect the connector for dirt or damage before connecting it to the
controller. Clean or replace any damaged parts.
Information
Action
The controller must be in manual mode. If
your system has the option Hot plug, then
you can also disconnect in auto mode. See
section Using the hot plug option on
page 36 .
Locate the FlexPendant socket connector
on the controller or operator’s panel.
1
The controller must be in manual mode.
Plug in the FlexPendant cable connector.
2
Screw the connector lock ring firmly by
turning it clockwise.
3
Updating the add-in FlexPendant SxTPU4
Software on page 34
The FlexPendant starts automatically when
connected and verifies that it has the cor-
rect software installed. If an update is
needed, this is shown.
4
Updating the add-in FlexPendant SxTPU4 Software
Note
The add-in is only available for the FlexPendant with the emergency stop located
at the connector. All other FlexPendant versions will automatically update their
software via the controller (if needed).
The FlexPendant with the emergency stop located at the connector has an add-in
that enables support for different RobotWare versions. This is the FlexPendant
SxTPU4 Software add-in. The version of the add-in is shown during start-up.
When connecting the FlexPendant, the add-in verifies that it has support for the
RobotWare version on the controller. If the RobotWare version is not supported
by default, then the add-in requires an update. There are two method to update
the FlexPendant add-in. The update is distributed as a software package.
•
The update can be installed using a USB drive.
•
If the update is available on the controller, then the FlexPendant will update
itself when connecting it to the controller.
Continues on next page
34
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3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
2 Get started
2.2.1 Connecting a FlexPendant
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|
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| 34
|
2 Get started
2.1 About this chapter
Overview
This chapter describes how to connect the FlexPendant to the controller and how
to set up network connections. It also presents a number of often performed work
tasks with the FlexPendant, described as action scenarios.
Operating manual - IRC5 Integrator's guide
33
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
2 Get started
2.1 About this chapter
2.2 Connections
2.2.1 Connecting a FlexPendant
Location of FlexPendant connector
The FlexPendant connector is located on the operator’s panel on the controller,
or on an external operator’s panel. The Panel Mounted Controller has a connector
on the front.
Connecting a FlexPendant
CAUTION
Always inspect the connector for dirt or damage before connecting it to the
controller. Clean or replace any damaged parts.
Information
Action
The controller must be in manual mode. If
your system has the option Hot plug, then
you can also disconnect in auto mode. See
section Using the hot plug option on
page 36 .
Locate the FlexPendant socket connector
on the controller or operator’s panel.
1
The controller must be in manual mode.
Plug in the FlexPendant cable connector.
2
Screw the connector lock ring firmly by
turning it clockwise.
3
Updating the add-in FlexPendant SxTPU4
Software on page 34
The FlexPendant starts automatically when
connected and verifies that it has the cor-
rect software installed. If an update is
needed, this is shown.
4
Updating the add-in FlexPendant SxTPU4 Software
Note
The add-in is only available for the FlexPendant with the emergency stop located
at the connector. All other FlexPendant versions will automatically update their
software via the controller (if needed).
The FlexPendant with the emergency stop located at the connector has an add-in
that enables support for different RobotWare versions. This is the FlexPendant
SxTPU4 Software add-in. The version of the add-in is shown during start-up.
When connecting the FlexPendant, the add-in verifies that it has support for the
RobotWare version on the controller. If the RobotWare version is not supported
by default, then the add-in requires an update. There are two method to update
the FlexPendant add-in. The update is distributed as a software package.
•
The update can be installed using a USB drive.
•
If the update is available on the controller, then the FlexPendant will update
itself when connecting it to the controller.
Continues on next page
34
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3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
2 Get started
2.2.1 Connecting a FlexPendant
Once the add-in is updated, the FlexPendant can be connected to other IRC5
controllers with the same RobotWare version without requiring additional updates.
Update using a USB drive
Use the following procedure to update the add-in using a USB drive.
1
Download the update from RobotStudio, in the tab Add-Ins .
2
Save the software package (.rspak) on a USB drive in the folder SxTPU4 ,
located in the root folder.
3
With the FlexPendant connected to the controller, reset the FlexPendant with
the USB drive connected.
4
The update starts automatically and takes approximately 3-4 minutes.
Update from the controller
Use the following procedure to update the add-in from the controller.
1
In RobotStudio, use Installation Manager 6 to create or update a system on
your controller. Add the product FlexPendantSxTPU4Software .
2
Connect the FlexPendant to the controller.
3
The update starts automatically and takes approximately 3-4 minutes.
Handling the FlexPendant cables
FlexPendant cables are allowed to be rolled up by hand with a minimum bending
radius of 10 times the cable diameter. This also applies to the extension cable. For
example, if the cable is 9.5 mm then it is allowed to roll it with a radius of 95 mm.
Extension cables are not allowed to be used in chains.
Operating manual - IRC5 Integrator's guide
35
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© Copyright 2025 ABB. All rights reserved.
2 Get started
2.2.1 Connecting a FlexPendant
Continued
|
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|
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| 35
|
2.2 Connections
2.2.1 Connecting a FlexPendant
Location of FlexPendant connector
The FlexPendant connector is located on the operator’s panel on the controller,
or on an external operator’s panel. The Panel Mounted Controller has a connector
on the front.
Connecting a FlexPendant
CAUTION
Always inspect the connector for dirt or damage before connecting it to the
controller. Clean or replace any damaged parts.
Information
Action
The controller must be in manual mode. If
your system has the option Hot plug, then
you can also disconnect in auto mode. See
section Using the hot plug option on
page 36 .
Locate the FlexPendant socket connector
on the controller or operator’s panel.
1
The controller must be in manual mode.
Plug in the FlexPendant cable connector.
2
Screw the connector lock ring firmly by
turning it clockwise.
3
Updating the add-in FlexPendant SxTPU4
Software on page 34
The FlexPendant starts automatically when
connected and verifies that it has the cor-
rect software installed. If an update is
needed, this is shown.
4
Updating the add-in FlexPendant SxTPU4 Software
Note
The add-in is only available for the FlexPendant with the emergency stop located
at the connector. All other FlexPendant versions will automatically update their
software via the controller (if needed).
The FlexPendant with the emergency stop located at the connector has an add-in
that enables support for different RobotWare versions. This is the FlexPendant
SxTPU4 Software add-in. The version of the add-in is shown during start-up.
When connecting the FlexPendant, the add-in verifies that it has support for the
RobotWare version on the controller. If the RobotWare version is not supported
by default, then the add-in requires an update. There are two method to update
the FlexPendant add-in. The update is distributed as a software package.
•
The update can be installed using a USB drive.
•
If the update is available on the controller, then the FlexPendant will update
itself when connecting it to the controller.
Continues on next page
34
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3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
2 Get started
2.2.1 Connecting a FlexPendant
Once the add-in is updated, the FlexPendant can be connected to other IRC5
controllers with the same RobotWare version without requiring additional updates.
Update using a USB drive
Use the following procedure to update the add-in using a USB drive.
1
Download the update from RobotStudio, in the tab Add-Ins .
2
Save the software package (.rspak) on a USB drive in the folder SxTPU4 ,
located in the root folder.
3
With the FlexPendant connected to the controller, reset the FlexPendant with
the USB drive connected.
4
The update starts automatically and takes approximately 3-4 minutes.
Update from the controller
Use the following procedure to update the add-in from the controller.
1
In RobotStudio, use Installation Manager 6 to create or update a system on
your controller. Add the product FlexPendantSxTPU4Software .
2
Connect the FlexPendant to the controller.
3
The update starts automatically and takes approximately 3-4 minutes.
Handling the FlexPendant cables
FlexPendant cables are allowed to be rolled up by hand with a minimum bending
radius of 10 times the cable diameter. This also applies to the extension cable. For
example, if the cable is 9.5 mm then it is allowed to roll it with a radius of 95 mm.
Extension cables are not allowed to be used in chains.
Operating manual - IRC5 Integrator's guide
35
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© Copyright 2025 ABB. All rights reserved.
2 Get started
2.2.1 Connecting a FlexPendant
Continued
2.2.2 Using the hot plug option
Hot plug option
The hot plug option makes it possible to:
•
Disconnect the FlexPendant from a system in automatic mode and thereby
run the system without a FlexPendant connected.
•
Temporarily connect and operate a FlexPendant without interrupting the
application running on the system.
WARNING
Pressing the hot plug button disables the emergency stop button on the
FlexPendant. Only press the hot plug button while connecting or disconnecting
the FlexPendant.
WARNING
A disconnected FlexPendant cannot initiate a protective or emergency stop. It
must be stored out of sight so that it cannot be mistaken for being in use.
Connect and disconnect the FlexPendant using the hot plug button
The following procedure describes how to connect or disconnect the FlexPendant
on a system in automatic mode using the hot plug button option.
Note
Do not switch to manual mode (or manual full speed mode) while the system is
running without the FlexPendant. The FlexPendant must be connected when
you switch to automatic mode otherwise you cannot confirm the mode change.
Information
Action
Make sure that the system is in automatic
mode.
1
A red lamp inside the button indicates when
pressed.
Press and hold the hot plug button.
2
Continues on next page
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2 Get started
2.2.2 Using the hot plug option
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| 36
|
Once the add-in is updated, the FlexPendant can be connected to other IRC5
controllers with the same RobotWare version without requiring additional updates.
Update using a USB drive
Use the following procedure to update the add-in using a USB drive.
1
Download the update from RobotStudio, in the tab Add-Ins .
2
Save the software package (.rspak) on a USB drive in the folder SxTPU4 ,
located in the root folder.
3
With the FlexPendant connected to the controller, reset the FlexPendant with
the USB drive connected.
4
The update starts automatically and takes approximately 3-4 minutes.
Update from the controller
Use the following procedure to update the add-in from the controller.
1
In RobotStudio, use Installation Manager 6 to create or update a system on
your controller. Add the product FlexPendantSxTPU4Software .
2
Connect the FlexPendant to the controller.
3
The update starts automatically and takes approximately 3-4 minutes.
Handling the FlexPendant cables
FlexPendant cables are allowed to be rolled up by hand with a minimum bending
radius of 10 times the cable diameter. This also applies to the extension cable. For
example, if the cable is 9.5 mm then it is allowed to roll it with a radius of 95 mm.
Extension cables are not allowed to be used in chains.
Operating manual - IRC5 Integrator's guide
35
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
2 Get started
2.2.1 Connecting a FlexPendant
Continued
2.2.2 Using the hot plug option
Hot plug option
The hot plug option makes it possible to:
•
Disconnect the FlexPendant from a system in automatic mode and thereby
run the system without a FlexPendant connected.
•
Temporarily connect and operate a FlexPendant without interrupting the
application running on the system.
WARNING
Pressing the hot plug button disables the emergency stop button on the
FlexPendant. Only press the hot plug button while connecting or disconnecting
the FlexPendant.
WARNING
A disconnected FlexPendant cannot initiate a protective or emergency stop. It
must be stored out of sight so that it cannot be mistaken for being in use.
Connect and disconnect the FlexPendant using the hot plug button
The following procedure describes how to connect or disconnect the FlexPendant
on a system in automatic mode using the hot plug button option.
Note
Do not switch to manual mode (or manual full speed mode) while the system is
running without the FlexPendant. The FlexPendant must be connected when
you switch to automatic mode otherwise you cannot confirm the mode change.
Information
Action
Make sure that the system is in automatic
mode.
1
A red lamp inside the button indicates when
pressed.
Press and hold the hot plug button.
2
Continues on next page
36
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© Copyright 2025 ABB. All rights reserved.
2 Get started
2.2.2 Using the hot plug option
Information
Action
xx0600002784
Keep pressing the hot plug button and at
the same time, switch the jumper plug with
the FlexPendant plug.
3
A: Hot plug button
B: FlexPendant connector
xx0600002796
Jumper plug
Make sure that the button is not stuck in
the actuated position since this disables
the FlexPendant emergency stop button.
Release the hot plug button.
4
The three-position enabling device and
emergency stop button are active even if
the add-in dialog is shown.
If the connected FlexPendant does not
have support for the RobotWare version
running on the controller, then a dialog is
shown that the add-in must be updated.
See Updating the add-in FlexPendant Sx-
TPU4 Software on page 34 .
5
Note
When the FlexPendant is disconnected, the jumper plug must be connected in
its place.
Note
If the hot plug button is released while neither the jumper plug, nor the
FlexPendant is connected, the robot movements will be stopped since the
emergency stop chains are opened.
Limitations for messages on the FlexPendant
When using the hot plug option, the following limitations apply to messages on
the FlexPendant:
Continues on next page
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2 Get started
2.2.2 Using the hot plug option
Continued
|
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| 37
|
2.2.2 Using the hot plug option
Hot plug option
The hot plug option makes it possible to:
•
Disconnect the FlexPendant from a system in automatic mode and thereby
run the system without a FlexPendant connected.
•
Temporarily connect and operate a FlexPendant without interrupting the
application running on the system.
WARNING
Pressing the hot plug button disables the emergency stop button on the
FlexPendant. Only press the hot plug button while connecting or disconnecting
the FlexPendant.
WARNING
A disconnected FlexPendant cannot initiate a protective or emergency stop. It
must be stored out of sight so that it cannot be mistaken for being in use.
Connect and disconnect the FlexPendant using the hot plug button
The following procedure describes how to connect or disconnect the FlexPendant
on a system in automatic mode using the hot plug button option.
Note
Do not switch to manual mode (or manual full speed mode) while the system is
running without the FlexPendant. The FlexPendant must be connected when
you switch to automatic mode otherwise you cannot confirm the mode change.
Information
Action
Make sure that the system is in automatic
mode.
1
A red lamp inside the button indicates when
pressed.
Press and hold the hot plug button.
2
Continues on next page
36
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© Copyright 2025 ABB. All rights reserved.
2 Get started
2.2.2 Using the hot plug option
Information
Action
xx0600002784
Keep pressing the hot plug button and at
the same time, switch the jumper plug with
the FlexPendant plug.
3
A: Hot plug button
B: FlexPendant connector
xx0600002796
Jumper plug
Make sure that the button is not stuck in
the actuated position since this disables
the FlexPendant emergency stop button.
Release the hot plug button.
4
The three-position enabling device and
emergency stop button are active even if
the add-in dialog is shown.
If the connected FlexPendant does not
have support for the RobotWare version
running on the controller, then a dialog is
shown that the add-in must be updated.
See Updating the add-in FlexPendant Sx-
TPU4 Software on page 34 .
5
Note
When the FlexPendant is disconnected, the jumper plug must be connected in
its place.
Note
If the hot plug button is released while neither the jumper plug, nor the
FlexPendant is connected, the robot movements will be stopped since the
emergency stop chains are opened.
Limitations for messages on the FlexPendant
When using the hot plug option, the following limitations apply to messages on
the FlexPendant:
Continues on next page
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2 Get started
2.2.2 Using the hot plug option
Continued
Operator messages
Some applications may require input from the operator by using the FlexPendant
(e.g. applications using RAPID instructions TPReadNum , UIMsgBox , etc.). If the
application encounters such an operator message, program execution will wait.
After connecting the FlexPendant you must then stop and start the program
execution to be able to see and respond to these messages. They are not displayed
automatically by just connecting the FlexPendant.
If possible, avoid using these types of instructions when programming systems
that are using the hot plug button option.
Event log messages
When connecting the FlexPendant, event log messages can be viewed also for
the period when the FlexPendant was disconnected, since these are stored on the
controller.
38
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2 Get started
2.2.2 Using the hot plug option
Continued
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Information
Action
xx0600002784
Keep pressing the hot plug button and at
the same time, switch the jumper plug with
the FlexPendant plug.
3
A: Hot plug button
B: FlexPendant connector
xx0600002796
Jumper plug
Make sure that the button is not stuck in
the actuated position since this disables
the FlexPendant emergency stop button.
Release the hot plug button.
4
The three-position enabling device and
emergency stop button are active even if
the add-in dialog is shown.
If the connected FlexPendant does not
have support for the RobotWare version
running on the controller, then a dialog is
shown that the add-in must be updated.
See Updating the add-in FlexPendant Sx-
TPU4 Software on page 34 .
5
Note
When the FlexPendant is disconnected, the jumper plug must be connected in
its place.
Note
If the hot plug button is released while neither the jumper plug, nor the
FlexPendant is connected, the robot movements will be stopped since the
emergency stop chains are opened.
Limitations for messages on the FlexPendant
When using the hot plug option, the following limitations apply to messages on
the FlexPendant:
Continues on next page
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37
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2 Get started
2.2.2 Using the hot plug option
Continued
Operator messages
Some applications may require input from the operator by using the FlexPendant
(e.g. applications using RAPID instructions TPReadNum , UIMsgBox , etc.). If the
application encounters such an operator message, program execution will wait.
After connecting the FlexPendant you must then stop and start the program
execution to be able to see and respond to these messages. They are not displayed
automatically by just connecting the FlexPendant.
If possible, avoid using these types of instructions when programming systems
that are using the hot plug button option.
Event log messages
When connecting the FlexPendant, event log messages can be viewed also for
the period when the FlexPendant was disconnected, since these are stored on the
controller.
38
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2 Get started
2.2.2 Using the hot plug option
Continued
2.2.3 Set up the network connection
When do I need to setup the network connection?
You need to setup the controller’s network connection when the controller is
connected to a network for the first time or when the network addressing scheme
changes.
Preparations
If an IP address is to be obtained automatically, make sure there is a server running
that supplies the network with IP addresses (a DHCP server). Otherwise you will
not be able to access the controller via the controller network.
It is still possible to access the controller via the service PC connection.
Network connection dialog box
The illustration shows the network connection dialog box.
![Image]
en0400000902
Set up the network connection
Regardless of how you choose to set up the network connections, the first steps
are common:
Information
Action
Start Boot Application is described in
section Restart and start boot application
on page 121 .
Perform a restart and select the option
Start Boot Application .
1
In the Boot Application, tap Settings .
2
The network connection dialog is dis-
played.
In some cases it can be useful to discon-
nect the controller from the network,
without disconnecting the network cable.
Without IP address the controller cannot
be accessed from other equipment on the
same network.
If you choose to use no IP address, then
tap Use no IP address . Otherwise, proceed
below!
3
Continues on next page
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2 Get started
2.2.3 Set up the network connection
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| 39
|
Operator messages
Some applications may require input from the operator by using the FlexPendant
(e.g. applications using RAPID instructions TPReadNum , UIMsgBox , etc.). If the
application encounters such an operator message, program execution will wait.
After connecting the FlexPendant you must then stop and start the program
execution to be able to see and respond to these messages. They are not displayed
automatically by just connecting the FlexPendant.
If possible, avoid using these types of instructions when programming systems
that are using the hot plug button option.
Event log messages
When connecting the FlexPendant, event log messages can be viewed also for
the period when the FlexPendant was disconnected, since these are stored on the
controller.
38
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2 Get started
2.2.2 Using the hot plug option
Continued
2.2.3 Set up the network connection
When do I need to setup the network connection?
You need to setup the controller’s network connection when the controller is
connected to a network for the first time or when the network addressing scheme
changes.
Preparations
If an IP address is to be obtained automatically, make sure there is a server running
that supplies the network with IP addresses (a DHCP server). Otherwise you will
not be able to access the controller via the controller network.
It is still possible to access the controller via the service PC connection.
Network connection dialog box
The illustration shows the network connection dialog box.
![Image]
en0400000902
Set up the network connection
Regardless of how you choose to set up the network connections, the first steps
are common:
Information
Action
Start Boot Application is described in
section Restart and start boot application
on page 121 .
Perform a restart and select the option
Start Boot Application .
1
In the Boot Application, tap Settings .
2
The network connection dialog is dis-
played.
In some cases it can be useful to discon-
nect the controller from the network,
without disconnecting the network cable.
Without IP address the controller cannot
be accessed from other equipment on the
same network.
If you choose to use no IP address, then
tap Use no IP address . Otherwise, proceed
below!
3
Continues on next page
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39
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2 Get started
2.2.3 Set up the network connection
Information
Action
If you choose to obtain an IP address
automatically, then tap Obtain an IP ad-
dress automatically . Otherwise, proceed
below!
4
Note
Make sure a valid address is used so there
are no conflicts in the network. A conflict
may cause other controllers to malfunction
If you choose to use a fixed IP address,
tap Use the following IP address .
Enter the IP address, subnet mask, and
default gateway.
5
Note
It is not recommended using leading zeros
in dot-decimal notation of IP addresses.
The numbers may wrongly be interpreted
as octal numbers. Different behaviors on
virtual and real controllers may be experi-
enced.
Tap OK to save the new setting.
6
How to select a system is detailed in sec-
tion Selecting a system on page 118 .
In the Boot Application, tap Select System
and select the system to restart.
7
Note
You can verify the new settings by tapping
ABB -> System Info -> Controller proper-
ties -> Network connections -> LAN
In the Boot Application, tap Restart Con-
troller and tap OK to restart the controller
with new settings.
8
40
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2 Get started
2.2.3 Set up the network connection
Continued
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| 40
|
2.2.3 Set up the network connection
When do I need to setup the network connection?
You need to setup the controller’s network connection when the controller is
connected to a network for the first time or when the network addressing scheme
changes.
Preparations
If an IP address is to be obtained automatically, make sure there is a server running
that supplies the network with IP addresses (a DHCP server). Otherwise you will
not be able to access the controller via the controller network.
It is still possible to access the controller via the service PC connection.
Network connection dialog box
The illustration shows the network connection dialog box.
![Image]
en0400000902
Set up the network connection
Regardless of how you choose to set up the network connections, the first steps
are common:
Information
Action
Start Boot Application is described in
section Restart and start boot application
on page 121 .
Perform a restart and select the option
Start Boot Application .
1
In the Boot Application, tap Settings .
2
The network connection dialog is dis-
played.
In some cases it can be useful to discon-
nect the controller from the network,
without disconnecting the network cable.
Without IP address the controller cannot
be accessed from other equipment on the
same network.
If you choose to use no IP address, then
tap Use no IP address . Otherwise, proceed
below!
3
Continues on next page
Operating manual - IRC5 Integrator's guide
39
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2 Get started
2.2.3 Set up the network connection
Information
Action
If you choose to obtain an IP address
automatically, then tap Obtain an IP ad-
dress automatically . Otherwise, proceed
below!
4
Note
Make sure a valid address is used so there
are no conflicts in the network. A conflict
may cause other controllers to malfunction
If you choose to use a fixed IP address,
tap Use the following IP address .
Enter the IP address, subnet mask, and
default gateway.
5
Note
It is not recommended using leading zeros
in dot-decimal notation of IP addresses.
The numbers may wrongly be interpreted
as octal numbers. Different behaviors on
virtual and real controllers may be experi-
enced.
Tap OK to save the new setting.
6
How to select a system is detailed in sec-
tion Selecting a system on page 118 .
In the Boot Application, tap Select System
and select the system to restart.
7
Note
You can verify the new settings by tapping
ABB -> System Info -> Controller proper-
ties -> Network connections -> LAN
In the Boot Application, tap Restart Con-
troller and tap OK to restart the controller
with new settings.
8
40
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2 Get started
2.2.3 Set up the network connection
Continued
2.3 Action scenarios
2.3.1 About action scenarios
Overview
This chapter presents brief procedures, detailing a number of typical actions a
typical user may perform. It also includes references to detailed information about
the same topics.
The brief information given, is intended to be used directly by experienced users,
while the references may be more adequate for novices and for training purposes.
Related information
Note that there may be more information available than the one referred to in the
procedures.
Information about:
•
a specific menu is described in Operating manual - IRC5 with FlexPendant .
•
a specific button on the FlexPendant is described in The FlexPendant on
page 19 .
•
a specific button is described in the product manual for the controller, for
tasks performed using the controls on the controller cabinet.
•
how to perform a specific task is described in Operating manual - IRC5 with
FlexPendant , for example programming or running in production.
Related information can also be found in other manuals:
•
Operating manual - RobotStudio
•
Product manual for the controller
Operating manual - IRC5 Integrator's guide
41
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2 Get started
2.3.1 About action scenarios
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| 41
|
Information
Action
If you choose to obtain an IP address
automatically, then tap Obtain an IP ad-
dress automatically . Otherwise, proceed
below!
4
Note
Make sure a valid address is used so there
are no conflicts in the network. A conflict
may cause other controllers to malfunction
If you choose to use a fixed IP address,
tap Use the following IP address .
Enter the IP address, subnet mask, and
default gateway.
5
Note
It is not recommended using leading zeros
in dot-decimal notation of IP addresses.
The numbers may wrongly be interpreted
as octal numbers. Different behaviors on
virtual and real controllers may be experi-
enced.
Tap OK to save the new setting.
6
How to select a system is detailed in sec-
tion Selecting a system on page 118 .
In the Boot Application, tap Select System
and select the system to restart.
7
Note
You can verify the new settings by tapping
ABB -> System Info -> Controller proper-
ties -> Network connections -> LAN
In the Boot Application, tap Restart Con-
troller and tap OK to restart the controller
with new settings.
8
40
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2 Get started
2.2.3 Set up the network connection
Continued
2.3 Action scenarios
2.3.1 About action scenarios
Overview
This chapter presents brief procedures, detailing a number of typical actions a
typical user may perform. It also includes references to detailed information about
the same topics.
The brief information given, is intended to be used directly by experienced users,
while the references may be more adequate for novices and for training purposes.
Related information
Note that there may be more information available than the one referred to in the
procedures.
Information about:
•
a specific menu is described in Operating manual - IRC5 with FlexPendant .
•
a specific button on the FlexPendant is described in The FlexPendant on
page 19 .
•
a specific button is described in the product manual for the controller, for
tasks performed using the controls on the controller cabinet.
•
how to perform a specific task is described in Operating manual - IRC5 with
FlexPendant , for example programming or running in production.
Related information can also be found in other manuals:
•
Operating manual - RobotStudio
•
Product manual for the controller
Operating manual - IRC5 Integrator's guide
41
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
2 Get started
2.3.1 About action scenarios
2.3.2 System start
Prerequisites before start
This procedure details the main steps required to start the system when the power
has been switched off.
All information is based on the assumption that working system software has
already been installed on the robot controller, as the case would be at first start
directly after delivery.
Note that there may be more information available than the one referred to in the
procedure.
System start
This procedure details all required steps to start the system for the first time. For
everyday start, step 4 is normally the only required step.
Information
Action
Mechanical installation and electrical connections
between manipulator and controller is described in
the Product manual of the robot and controller respect-
ively.
Install the robot equipment.
1
How to connect the safety circuits is detailed in the
robot’s Product manual .
Make sure the safety circuits of
the system are properly connec-
ted to the robot cell or have
jumper connections installed (if
required).
2
The FlexPendant and its major parts and functions
are detailed in section The FlexPendant on page 19
Connect the FlexPendant to the
controller.
3
How to connect the FlexPendant to the controller is
detailed in section Connecting a FlexPendant on
page 34
Use the main switch on the controller.
Switch the power on.
4
Normally, only the revolution counters require updat-
ing, which is to be performed as detailed in the
product manual for the robot.
If the controller or manipulator
have been replaced with spare
parts, make sure the calibration
values, revolution counters and
serial numbers are updated
correctly.
5
If required, transfer the calibration data from the
serial measurement board as detailed in Serial
measurement board memory on page189 for systems
without the Absolute Accuracy option.
If required, enter the calibration data as detailed in
Loading calibration data using the FlexPendant on
page 187 for systems with the Absolute Accuracy op-
tion.
Described in section Restart and start boot application
on page 121 .
This step is only required if the
robot system will be connected
to a network.
6
Perform a restart and start the
boot application.
The Boot Application is started.
Continues on next page
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2 Get started
2.3.2 System start
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| 42
|
2.3 Action scenarios
2.3.1 About action scenarios
Overview
This chapter presents brief procedures, detailing a number of typical actions a
typical user may perform. It also includes references to detailed information about
the same topics.
The brief information given, is intended to be used directly by experienced users,
while the references may be more adequate for novices and for training purposes.
Related information
Note that there may be more information available than the one referred to in the
procedures.
Information about:
•
a specific menu is described in Operating manual - IRC5 with FlexPendant .
•
a specific button on the FlexPendant is described in The FlexPendant on
page 19 .
•
a specific button is described in the product manual for the controller, for
tasks performed using the controls on the controller cabinet.
•
how to perform a specific task is described in Operating manual - IRC5 with
FlexPendant , for example programming or running in production.
Related information can also be found in other manuals:
•
Operating manual - RobotStudio
•
Product manual for the controller
Operating manual - IRC5 Integrator's guide
41
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
2 Get started
2.3.1 About action scenarios
2.3.2 System start
Prerequisites before start
This procedure details the main steps required to start the system when the power
has been switched off.
All information is based on the assumption that working system software has
already been installed on the robot controller, as the case would be at first start
directly after delivery.
Note that there may be more information available than the one referred to in the
procedure.
System start
This procedure details all required steps to start the system for the first time. For
everyday start, step 4 is normally the only required step.
Information
Action
Mechanical installation and electrical connections
between manipulator and controller is described in
the Product manual of the robot and controller respect-
ively.
Install the robot equipment.
1
How to connect the safety circuits is detailed in the
robot’s Product manual .
Make sure the safety circuits of
the system are properly connec-
ted to the robot cell or have
jumper connections installed (if
required).
2
The FlexPendant and its major parts and functions
are detailed in section The FlexPendant on page 19
Connect the FlexPendant to the
controller.
3
How to connect the FlexPendant to the controller is
detailed in section Connecting a FlexPendant on
page 34
Use the main switch on the controller.
Switch the power on.
4
Normally, only the revolution counters require updat-
ing, which is to be performed as detailed in the
product manual for the robot.
If the controller or manipulator
have been replaced with spare
parts, make sure the calibration
values, revolution counters and
serial numbers are updated
correctly.
5
If required, transfer the calibration data from the
serial measurement board as detailed in Serial
measurement board memory on page189 for systems
without the Absolute Accuracy option.
If required, enter the calibration data as detailed in
Loading calibration data using the FlexPendant on
page 187 for systems with the Absolute Accuracy op-
tion.
Described in section Restart and start boot application
on page 121 .
This step is only required if the
robot system will be connected
to a network.
6
Perform a restart and start the
boot application.
The Boot Application is started.
Continues on next page
42
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2 Get started
2.3.2 System start
Information
Action
How to use the Boot Application is detailed in section
Using the Boot Application on page 116 .
This step is only required if the
robot system will be connected
to a network.
7
At this point, a single system is available.
Use the Boot Application to:
•
set the IP address of the
controller cabinet
•
set the network connec-
tions
•
select the system
•
restart the system
The system is restarted.
Proceed as detailed in Operating manual - RobotStu-
dio .
Install RobotStudio on a PC.
8
RobotStudio is used to create a system to run on the
controller, but at this point (prior to the first start) a
system is already installed by the manufacturer.
Proceed as detailed in section Connecting a PC to
the controller in Operating manual - RobotStudio .
Connect the controller to a PC
(through the service port) or to
the network (if used).
9
Also see section Set up the network connection on
page 39 .
Proceed as detailed in Operating manual - RobotStu-
dio .
Start RobotStudio on the PC.
10
Restart the controller.
11
The robot system is now ready
for operation.
12
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2 Get started
2.3.2 System start
Continued
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| 43
|
2.3.2 System start
Prerequisites before start
This procedure details the main steps required to start the system when the power
has been switched off.
All information is based on the assumption that working system software has
already been installed on the robot controller, as the case would be at first start
directly after delivery.
Note that there may be more information available than the one referred to in the
procedure.
System start
This procedure details all required steps to start the system for the first time. For
everyday start, step 4 is normally the only required step.
Information
Action
Mechanical installation and electrical connections
between manipulator and controller is described in
the Product manual of the robot and controller respect-
ively.
Install the robot equipment.
1
How to connect the safety circuits is detailed in the
robot’s Product manual .
Make sure the safety circuits of
the system are properly connec-
ted to the robot cell or have
jumper connections installed (if
required).
2
The FlexPendant and its major parts and functions
are detailed in section The FlexPendant on page 19
Connect the FlexPendant to the
controller.
3
How to connect the FlexPendant to the controller is
detailed in section Connecting a FlexPendant on
page 34
Use the main switch on the controller.
Switch the power on.
4
Normally, only the revolution counters require updat-
ing, which is to be performed as detailed in the
product manual for the robot.
If the controller or manipulator
have been replaced with spare
parts, make sure the calibration
values, revolution counters and
serial numbers are updated
correctly.
5
If required, transfer the calibration data from the
serial measurement board as detailed in Serial
measurement board memory on page189 for systems
without the Absolute Accuracy option.
If required, enter the calibration data as detailed in
Loading calibration data using the FlexPendant on
page 187 for systems with the Absolute Accuracy op-
tion.
Described in section Restart and start boot application
on page 121 .
This step is only required if the
robot system will be connected
to a network.
6
Perform a restart and start the
boot application.
The Boot Application is started.
Continues on next page
42
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2 Get started
2.3.2 System start
Information
Action
How to use the Boot Application is detailed in section
Using the Boot Application on page 116 .
This step is only required if the
robot system will be connected
to a network.
7
At this point, a single system is available.
Use the Boot Application to:
•
set the IP address of the
controller cabinet
•
set the network connec-
tions
•
select the system
•
restart the system
The system is restarted.
Proceed as detailed in Operating manual - RobotStu-
dio .
Install RobotStudio on a PC.
8
RobotStudio is used to create a system to run on the
controller, but at this point (prior to the first start) a
system is already installed by the manufacturer.
Proceed as detailed in section Connecting a PC to
the controller in Operating manual - RobotStudio .
Connect the controller to a PC
(through the service port) or to
the network (if used).
9
Also see section Set up the network connection on
page 39 .
Proceed as detailed in Operating manual - RobotStu-
dio .
Start RobotStudio on the PC.
10
Restart the controller.
11
The robot system is now ready
for operation.
12
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2 Get started
2.3.2 System start
Continued
2.3.3 Working with inputs and outputs
Working with inputs and outputs
This procedure details the main steps required to set outputs, read inputs and
configure I/O devices.
For more information about I/O, see section Handling inputs and outputs, I/O on
page 101 .
Information
Action
I/O signals are created using system paramet-
ers.
Create a new I/O.
1
Configuring the system is done when creating
the system. How to do this is described in
Operating manual - RobotStudio .
Before using any input or output, the
system must be configured to enable
the I/O functions.
2
Described in in section Simulating and chan-
ging signal values in Operating manual - IRC5
with FlexPendant .
Set a value to a specific digital output ,
analog output , digital input or analog
input .
3
Signal explanation is detailed in Safety I/O
signals on page 105
Set safety signals.
4
Described in in section Simulating and chan-
ging signal values in Operating manual - IRC5
with FlexPendant .
Edit an I/O.
5
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2.3.3 Working with inputs and outputs
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Information
Action
How to use the Boot Application is detailed in section
Using the Boot Application on page 116 .
This step is only required if the
robot system will be connected
to a network.
7
At this point, a single system is available.
Use the Boot Application to:
•
set the IP address of the
controller cabinet
•
set the network connec-
tions
•
select the system
•
restart the system
The system is restarted.
Proceed as detailed in Operating manual - RobotStu-
dio .
Install RobotStudio on a PC.
8
RobotStudio is used to create a system to run on the
controller, but at this point (prior to the first start) a
system is already installed by the manufacturer.
Proceed as detailed in section Connecting a PC to
the controller in Operating manual - RobotStudio .
Connect the controller to a PC
(through the service port) or to
the network (if used).
9
Also see section Set up the network connection on
page 39 .
Proceed as detailed in Operating manual - RobotStu-
dio .
Start RobotStudio on the PC.
10
Restart the controller.
11
The robot system is now ready
for operation.
12
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2 Get started
2.3.2 System start
Continued
2.3.3 Working with inputs and outputs
Working with inputs and outputs
This procedure details the main steps required to set outputs, read inputs and
configure I/O devices.
For more information about I/O, see section Handling inputs and outputs, I/O on
page 101 .
Information
Action
I/O signals are created using system paramet-
ers.
Create a new I/O.
1
Configuring the system is done when creating
the system. How to do this is described in
Operating manual - RobotStudio .
Before using any input or output, the
system must be configured to enable
the I/O functions.
2
Described in in section Simulating and chan-
ging signal values in Operating manual - IRC5
with FlexPendant .
Set a value to a specific digital output ,
analog output , digital input or analog
input .
3
Signal explanation is detailed in Safety I/O
signals on page 105
Set safety signals.
4
Described in in section Simulating and chan-
ging signal values in Operating manual - IRC5
with FlexPendant .
Edit an I/O.
5
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2.3.3 Working with inputs and outputs
2.3.4 Backup and restore
Backup and restore
How to perform the backup is described in section Backup the system on page132 .
Re-introducing the previously saved memory contents from the backup into the
robot controller is called performing a restore . How to perform the restore is
described in section Restore the system on page 136 .
Note that there may be more information available than the one referred to above.
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2.3.4 Backup and restore
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2.3.3 Working with inputs and outputs
Working with inputs and outputs
This procedure details the main steps required to set outputs, read inputs and
configure I/O devices.
For more information about I/O, see section Handling inputs and outputs, I/O on
page 101 .
Information
Action
I/O signals are created using system paramet-
ers.
Create a new I/O.
1
Configuring the system is done when creating
the system. How to do this is described in
Operating manual - RobotStudio .
Before using any input or output, the
system must be configured to enable
the I/O functions.
2
Described in in section Simulating and chan-
ging signal values in Operating manual - IRC5
with FlexPendant .
Set a value to a specific digital output ,
analog output , digital input or analog
input .
3
Signal explanation is detailed in Safety I/O
signals on page 105
Set safety signals.
4
Described in in section Simulating and chan-
ging signal values in Operating manual - IRC5
with FlexPendant .
Edit an I/O.
5
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2 Get started
2.3.3 Working with inputs and outputs
2.3.4 Backup and restore
Backup and restore
How to perform the backup is described in section Backup the system on page132 .
Re-introducing the previously saved memory contents from the backup into the
robot controller is called performing a restore . How to perform the restore is
described in section Restore the system on page 136 .
Note that there may be more information available than the one referred to above.
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2 Get started
2.3.4 Backup and restore
2.3.5 Upgrading
Upgrading
This procedure details the main steps required to correctly upgrade the system.
By upgrading we mean changing hardware, such as replacing circuit board with
newer versions, as well as loading software with later releases.
Note that there may be more information available than the one referred to in the
procedure.
Information
Type of upgrade
When replacing circuit boards such as buses,
I/O boards, etc., with newer versions, the
system will automatically reflash the unit.
xx0100000003
During reflashing, the system may restart
several times, and it is vital not to shut down
the system, or in any other way interrupt the
automatic process.
When upgrading the robot or controller
mechanically, fitting instructions are normally
delivered with the kit.
If no such instruction are provided, useful
information may be found in the Repair sec-
tion of the Product Manual of the equipment
in question.
How to modify an existing system is detailed
in section How to Modify a System in the
Operating manual - RobotStudio .
When upgrading the system software, the
system must be changed in order to reflect
the additions.
How to create a new system is detailed in
section Creating a new system in the Operat-
ing manual - RobotStudio .
A new license key may be required.
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2.3.5 Upgrading
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2.3.4 Backup and restore
Backup and restore
How to perform the backup is described in section Backup the system on page132 .
Re-introducing the previously saved memory contents from the backup into the
robot controller is called performing a restore . How to perform the restore is
described in section Restore the system on page 136 .
Note that there may be more information available than the one referred to above.
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2 Get started
2.3.4 Backup and restore
2.3.5 Upgrading
Upgrading
This procedure details the main steps required to correctly upgrade the system.
By upgrading we mean changing hardware, such as replacing circuit board with
newer versions, as well as loading software with later releases.
Note that there may be more information available than the one referred to in the
procedure.
Information
Type of upgrade
When replacing circuit boards such as buses,
I/O boards, etc., with newer versions, the
system will automatically reflash the unit.
xx0100000003
During reflashing, the system may restart
several times, and it is vital not to shut down
the system, or in any other way interrupt the
automatic process.
When upgrading the robot or controller
mechanically, fitting instructions are normally
delivered with the kit.
If no such instruction are provided, useful
information may be found in the Repair sec-
tion of the Product Manual of the equipment
in question.
How to modify an existing system is detailed
in section How to Modify a System in the
Operating manual - RobotStudio .
When upgrading the system software, the
system must be changed in order to reflect
the additions.
How to create a new system is detailed in
section Creating a new system in the Operat-
ing manual - RobotStudio .
A new license key may be required.
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2 Get started
2.3.5 Upgrading
2.3.6 Installing RobotWare add-ins
Installing RobotWare add-ins
The main steps required to correctly install a RobotWare add-in is described in
Operating manual - RobotStudio .
For instruction on building RobotWare add-ins, visit the ABB Robotics Developer
Center web site at http://developercenter.robotstudio.com or see Application
manual - RobotWare Add-Ins .
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2.3.6 Installing RobotWare add-ins
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2.3.5 Upgrading
Upgrading
This procedure details the main steps required to correctly upgrade the system.
By upgrading we mean changing hardware, such as replacing circuit board with
newer versions, as well as loading software with later releases.
Note that there may be more information available than the one referred to in the
procedure.
Information
Type of upgrade
When replacing circuit boards such as buses,
I/O boards, etc., with newer versions, the
system will automatically reflash the unit.
xx0100000003
During reflashing, the system may restart
several times, and it is vital not to shut down
the system, or in any other way interrupt the
automatic process.
When upgrading the robot or controller
mechanically, fitting instructions are normally
delivered with the kit.
If no such instruction are provided, useful
information may be found in the Repair sec-
tion of the Product Manual of the equipment
in question.
How to modify an existing system is detailed
in section How to Modify a System in the
Operating manual - RobotStudio .
When upgrading the system software, the
system must be changed in order to reflect
the additions.
How to create a new system is detailed in
section Creating a new system in the Operat-
ing manual - RobotStudio .
A new license key may be required.
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2 Get started
2.3.5 Upgrading
2.3.6 Installing RobotWare add-ins
Installing RobotWare add-ins
The main steps required to correctly install a RobotWare add-in is described in
Operating manual - RobotStudio .
For instruction on building RobotWare add-ins, visit the ABB Robotics Developer
Center web site at http://developercenter.robotstudio.com or see Application
manual - RobotWare Add-Ins .
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2.3.6 Installing RobotWare add-ins
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2.3.6 Installing RobotWare add-ins
Installing RobotWare add-ins
The main steps required to correctly install a RobotWare add-in is described in
Operating manual - RobotStudio .
For instruction on building RobotWare add-ins, visit the ABB Robotics Developer
Center web site at http://developercenter.robotstudio.com or see Application
manual - RobotWare Add-Ins .
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2.3.6 Installing RobotWare add-ins
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3 Programming
3.1 Before you start programming
Programming tools
You can use both the FlexPendant and RobotStudio for programming. The
FlexPendant is best suited for modifying programs, such as positions and paths,
while RobotStudio is preferred for more complex programming.
How to program using RobotStudio is described in Operating manual - RobotStudio .
Define tools, payloads, and work objects
Define tools, payloads and work objects before you start programming. You can
always go back and define more objects later, but you should define your basic
objects in advance.
WARNING
It is important to always define the actual tool load and, when used, the payload
of the robot (for example, a gripped part). Incorrect definitions of load data can
result in overloading of the robot mechanical structure. There is also a risk that
the speed in manual reduced speed mode can be exceeded.
When incorrect load data is specified, it can often lead to the following
consequences:
•
The robot may not use its maximum capacity.
•
Impaired path accuracy including a risk of overshooting.
•
Risk of overloading the mechanical structure.
The controller continuously monitors the load and writes an event log if the load
is higher than expected. This event log is saved and logged in the controller
memory.
Define coordinate systems
Make sure the base and world coordinate systems have been set up properly
during the installation of your robot system. Also make sure that additional axes
have been set up.
Define tool and work object coordinate systems before you start programming. As
you add more objects later you also need to define the corresponding coordinate
systems.
Tip
For more details about the RAPID language and structure, see Technical reference
manual - RAPID Overview and Technical reference manual - RAPID Instructions,
Functions and Data types .
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3.1 Before you start programming
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3 Programming
3.1 Before you start programming
Programming tools
You can use both the FlexPendant and RobotStudio for programming. The
FlexPendant is best suited for modifying programs, such as positions and paths,
while RobotStudio is preferred for more complex programming.
How to program using RobotStudio is described in Operating manual - RobotStudio .
Define tools, payloads, and work objects
Define tools, payloads and work objects before you start programming. You can
always go back and define more objects later, but you should define your basic
objects in advance.
WARNING
It is important to always define the actual tool load and, when used, the payload
of the robot (for example, a gripped part). Incorrect definitions of load data can
result in overloading of the robot mechanical structure. There is also a risk that
the speed in manual reduced speed mode can be exceeded.
When incorrect load data is specified, it can often lead to the following
consequences:
•
The robot may not use its maximum capacity.
•
Impaired path accuracy including a risk of overshooting.
•
Risk of overloading the mechanical structure.
The controller continuously monitors the load and writes an event log if the load
is higher than expected. This event log is saved and logged in the controller
memory.
Define coordinate systems
Make sure the base and world coordinate systems have been set up properly
during the installation of your robot system. Also make sure that additional axes
have been set up.
Define tool and work object coordinate systems before you start programming. As
you add more objects later you also need to define the corresponding coordinate
systems.
Tip
For more details about the RAPID language and structure, see Technical reference
manual - RAPID Overview and Technical reference manual - RAPID Instructions,
Functions and Data types .
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3 Programming
3.1 Before you start programming
3.2 The structure of a RAPID application
Illustration of a RAPID application
Task (e.g. "T_ROB1")
Task property parameter X
Task property parameter 2
Task property parameter 1
Program
Program module 1
Program module 2
Program module x
Task 2
Data
Data
Data
Value
Value
Value
Value
Value
Value
Entry routine
Instruction
Instruction
Instruction
Routine
Instruction
Instruction
Instruction
Routine
Instruction
Routine
Instruction
System module A
Data
Value
Routine
Instruction
System module B
Data
Value
Routine
Instruction
System module x
Data
Value
Routine
Instruction
en0300000576
Parts
Function
Part
Each task usually contains a RAPID program and system modules aimed
at performing a certain function, e.g. spot welding or manipulator move-
ments.
Task
A RAPID application may contain one task. If you have the Multitasking
option installed, then there can be more than one task.
Read more about Multitasking in Application manual - Controller software
IRC5 .
The task property parameters set certain properties for all task contents.
Any program stored in a certain task, assumes the properties set for that
task.
Task property
parameter
The task property parameters are specified in Technical reference
manual - RAPID Overview .
Each program usually contains program modules with RAPID code for
different purposes.
Program
Any program must have an entry routine defined to be executable.
Continues on next page
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3 Programming
3.2 The structure of a RAPID application
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3 Programming
3.1 Before you start programming
Programming tools
You can use both the FlexPendant and RobotStudio for programming. The
FlexPendant is best suited for modifying programs, such as positions and paths,
while RobotStudio is preferred for more complex programming.
How to program using RobotStudio is described in Operating manual - RobotStudio .
Define tools, payloads, and work objects
Define tools, payloads and work objects before you start programming. You can
always go back and define more objects later, but you should define your basic
objects in advance.
WARNING
It is important to always define the actual tool load and, when used, the payload
of the robot (for example, a gripped part). Incorrect definitions of load data can
result in overloading of the robot mechanical structure. There is also a risk that
the speed in manual reduced speed mode can be exceeded.
When incorrect load data is specified, it can often lead to the following
consequences:
•
The robot may not use its maximum capacity.
•
Impaired path accuracy including a risk of overshooting.
•
Risk of overloading the mechanical structure.
The controller continuously monitors the load and writes an event log if the load
is higher than expected. This event log is saved and logged in the controller
memory.
Define coordinate systems
Make sure the base and world coordinate systems have been set up properly
during the installation of your robot system. Also make sure that additional axes
have been set up.
Define tool and work object coordinate systems before you start programming. As
you add more objects later you also need to define the corresponding coordinate
systems.
Tip
For more details about the RAPID language and structure, see Technical reference
manual - RAPID Overview and Technical reference manual - RAPID Instructions,
Functions and Data types .
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3 Programming
3.1 Before you start programming
3.2 The structure of a RAPID application
Illustration of a RAPID application
Task (e.g. "T_ROB1")
Task property parameter X
Task property parameter 2
Task property parameter 1
Program
Program module 1
Program module 2
Program module x
Task 2
Data
Data
Data
Value
Value
Value
Value
Value
Value
Entry routine
Instruction
Instruction
Instruction
Routine
Instruction
Instruction
Instruction
Routine
Instruction
Routine
Instruction
System module A
Data
Value
Routine
Instruction
System module B
Data
Value
Routine
Instruction
System module x
Data
Value
Routine
Instruction
en0300000576
Parts
Function
Part
Each task usually contains a RAPID program and system modules aimed
at performing a certain function, e.g. spot welding or manipulator move-
ments.
Task
A RAPID application may contain one task. If you have the Multitasking
option installed, then there can be more than one task.
Read more about Multitasking in Application manual - Controller software
IRC5 .
The task property parameters set certain properties for all task contents.
Any program stored in a certain task, assumes the properties set for that
task.
Task property
parameter
The task property parameters are specified in Technical reference
manual - RAPID Overview .
Each program usually contains program modules with RAPID code for
different purposes.
Program
Any program must have an entry routine defined to be executable.
Continues on next page
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3 Programming
3.2 The structure of a RAPID application
Function
Part
Each program module contains data and routines for a certain purpose.
Program module
The program is divided into modules mainly to enhance overview and
facilitate handling the program. Each module typically represents one
particular robot action or similar.
All program modules will be removed when deleting a program from the
controller program memory.
Program modules are usually written by the user.
Data are values and definitions set in program or system modules. The
data are referenced by the instructions in the same module or in a number
of modules (availability depending on data type).
Data
Data type definitions are specified in the Technical reference manual - RAP-
ID Instructions, Functions and Data types .
A routine contains sets of instructions, i.e. defines what the robot system
actually does.
Routine
A routine may also contain data required for the instructions.
A special type of routine, in English sometimes referred to as "main",
defined as the program execution starting point.
Entry routine
Note
Each program must have an entry routine called "main", or it will not be
executable. How to appoint a routine as entry routine is specified in
Technical reference manual - RAPID Overview . The default name for main
can be changed by the system parameter configurations, type Task . See
Technical reference manual - System parameters .
Each instruction is a request for a certain event to take place, e.g. "Run
the manipulator TCP to a certain position" or "Set a specific digital output".
Instruction
The instructions, their syntax and function is thoroughly described in the
Technical reference manual - RAPID Instructions, Functions and Data
types .
Each system module contains data and routines to perform a certain
function.
System module
The program is divided into modules mainly to enhance overview and
facilitate handling the program. Each module typically represents one
particular robot action or similar.
All system modules will be retained when "Delete program" is ordered.
System modules are usually written by the robot manufacturer or line
builder.
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3 Programming
3.2 The structure of a RAPID application
Continued
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3.2 The structure of a RAPID application
Illustration of a RAPID application
Task (e.g. "T_ROB1")
Task property parameter X
Task property parameter 2
Task property parameter 1
Program
Program module 1
Program module 2
Program module x
Task 2
Data
Data
Data
Value
Value
Value
Value
Value
Value
Entry routine
Instruction
Instruction
Instruction
Routine
Instruction
Instruction
Instruction
Routine
Instruction
Routine
Instruction
System module A
Data
Value
Routine
Instruction
System module B
Data
Value
Routine
Instruction
System module x
Data
Value
Routine
Instruction
en0300000576
Parts
Function
Part
Each task usually contains a RAPID program and system modules aimed
at performing a certain function, e.g. spot welding or manipulator move-
ments.
Task
A RAPID application may contain one task. If you have the Multitasking
option installed, then there can be more than one task.
Read more about Multitasking in Application manual - Controller software
IRC5 .
The task property parameters set certain properties for all task contents.
Any program stored in a certain task, assumes the properties set for that
task.
Task property
parameter
The task property parameters are specified in Technical reference
manual - RAPID Overview .
Each program usually contains program modules with RAPID code for
different purposes.
Program
Any program must have an entry routine defined to be executable.
Continues on next page
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3 Programming
3.2 The structure of a RAPID application
Function
Part
Each program module contains data and routines for a certain purpose.
Program module
The program is divided into modules mainly to enhance overview and
facilitate handling the program. Each module typically represents one
particular robot action or similar.
All program modules will be removed when deleting a program from the
controller program memory.
Program modules are usually written by the user.
Data are values and definitions set in program or system modules. The
data are referenced by the instructions in the same module or in a number
of modules (availability depending on data type).
Data
Data type definitions are specified in the Technical reference manual - RAP-
ID Instructions, Functions and Data types .
A routine contains sets of instructions, i.e. defines what the robot system
actually does.
Routine
A routine may also contain data required for the instructions.
A special type of routine, in English sometimes referred to as "main",
defined as the program execution starting point.
Entry routine
Note
Each program must have an entry routine called "main", or it will not be
executable. How to appoint a routine as entry routine is specified in
Technical reference manual - RAPID Overview . The default name for main
can be changed by the system parameter configurations, type Task . See
Technical reference manual - System parameters .
Each instruction is a request for a certain event to take place, e.g. "Run
the manipulator TCP to a certain position" or "Set a specific digital output".
Instruction
The instructions, their syntax and function is thoroughly described in the
Technical reference manual - RAPID Instructions, Functions and Data
types .
Each system module contains data and routines to perform a certain
function.
System module
The program is divided into modules mainly to enhance overview and
facilitate handling the program. Each module typically represents one
particular robot action or similar.
All system modules will be retained when "Delete program" is ordered.
System modules are usually written by the robot manufacturer or line
builder.
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3 Programming
3.2 The structure of a RAPID application
Continued
3.3 Programming
3.3.1 Handling of programs
Overview
This section details how to perform normal handling of robot programs. It describes
how to:
•
create a new program
•
load an existing program
•
save a program
•
rename a program
•
delete a program
Each task must contain one program, no more, no less. Note that the following
procedures describe a single task system, i.e. only one task is available.
How to create a new program when no program is available is detailed in section
Creating a new program on page 52 .
About program files
When saving a program to the controller hard disk, it is by default saved to the
directory HOME in the system’s folder unless otherwise stated. How to set another
default path is detailed in section How to set default paths in Operating
manual - IRC5 with FlexPendant .
The program is saved as a folder, named as the program, containing the actual
program file, of type pgf.
When loading a program you open the program folder and select the pgf file.
When renaming a program you rename the program folder and the program file.
When saving a loaded program which is already saved to the hard disk, you must
not open the existing program folder. Instead, you should save the program folder
again and overwrite the old version, or rename the program.
Creating a new program
This section describes how to create a new program.
Action
On the ABB menu, tap Program Editor .
1
Tap Tasks and Programs .
2
Tap File , then New Program .
3
If there was already a program loaded, a warning dialog appears.
•
Tap Save to save the loaded program.
•
Tap Don't Save to close loaded program without saving it, i.e. delete from pro-
gram memory.
•
Tap Cancel to leave the program loaded.
Continue by adding instructions, routines, or modules.
4
A new program is created.
Continues on next page
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3.3.1 Handling of programs
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Function
Part
Each program module contains data and routines for a certain purpose.
Program module
The program is divided into modules mainly to enhance overview and
facilitate handling the program. Each module typically represents one
particular robot action or similar.
All program modules will be removed when deleting a program from the
controller program memory.
Program modules are usually written by the user.
Data are values and definitions set in program or system modules. The
data are referenced by the instructions in the same module or in a number
of modules (availability depending on data type).
Data
Data type definitions are specified in the Technical reference manual - RAP-
ID Instructions, Functions and Data types .
A routine contains sets of instructions, i.e. defines what the robot system
actually does.
Routine
A routine may also contain data required for the instructions.
A special type of routine, in English sometimes referred to as "main",
defined as the program execution starting point.
Entry routine
Note
Each program must have an entry routine called "main", or it will not be
executable. How to appoint a routine as entry routine is specified in
Technical reference manual - RAPID Overview . The default name for main
can be changed by the system parameter configurations, type Task . See
Technical reference manual - System parameters .
Each instruction is a request for a certain event to take place, e.g. "Run
the manipulator TCP to a certain position" or "Set a specific digital output".
Instruction
The instructions, their syntax and function is thoroughly described in the
Technical reference manual - RAPID Instructions, Functions and Data
types .
Each system module contains data and routines to perform a certain
function.
System module
The program is divided into modules mainly to enhance overview and
facilitate handling the program. Each module typically represents one
particular robot action or similar.
All system modules will be retained when "Delete program" is ordered.
System modules are usually written by the robot manufacturer or line
builder.
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3 Programming
3.2 The structure of a RAPID application
Continued
3.3 Programming
3.3.1 Handling of programs
Overview
This section details how to perform normal handling of robot programs. It describes
how to:
•
create a new program
•
load an existing program
•
save a program
•
rename a program
•
delete a program
Each task must contain one program, no more, no less. Note that the following
procedures describe a single task system, i.e. only one task is available.
How to create a new program when no program is available is detailed in section
Creating a new program on page 52 .
About program files
When saving a program to the controller hard disk, it is by default saved to the
directory HOME in the system’s folder unless otherwise stated. How to set another
default path is detailed in section How to set default paths in Operating
manual - IRC5 with FlexPendant .
The program is saved as a folder, named as the program, containing the actual
program file, of type pgf.
When loading a program you open the program folder and select the pgf file.
When renaming a program you rename the program folder and the program file.
When saving a loaded program which is already saved to the hard disk, you must
not open the existing program folder. Instead, you should save the program folder
again and overwrite the old version, or rename the program.
Creating a new program
This section describes how to create a new program.
Action
On the ABB menu, tap Program Editor .
1
Tap Tasks and Programs .
2
Tap File , then New Program .
3
If there was already a program loaded, a warning dialog appears.
•
Tap Save to save the loaded program.
•
Tap Don't Save to close loaded program without saving it, i.e. delete from pro-
gram memory.
•
Tap Cancel to leave the program loaded.
Continue by adding instructions, routines, or modules.
4
A new program is created.
Continues on next page
52
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3 Programming
3.3.1 Handling of programs
Loading an existing program
This section describes how to load an existing program.
Action
On the ABB menu, tap Program Editor .
1
Tap Tasks and Programs .
2
Tap File , then Load Program .
3
If there was already a program loaded, a warning dialog appears.
•
Tap Save to save the loaded program.
•
Tap Don't save to close loaded program without saving it, i.e. delete from pro-
gram memory.
•
Tap Cancel to leave the loaded program.
Use the file searching tool to locate the program file to be loaded (file type pgf). Then
tap OK .
4
The program is loaded and the program code is displayed.
![Image]
en0400000699
Saving a program
This section describes how to save a loaded program to the controller’s hard disk.
A loaded program is automatically saved in the program memory, but saving to
the controller hard disk is an extra precaution.
Action
On the ABB menu, tap Program Editor .
1
Tap Tasks and Programs .
2
Tap File and select Save Program As... .
3
Use the suggested program name or tap ... to open the soft keyboard and enter a new
name. Then tap OK .
4
Continues on next page
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3 Programming
3.3.1 Handling of programs
Continued
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3.3 Programming
3.3.1 Handling of programs
Overview
This section details how to perform normal handling of robot programs. It describes
how to:
•
create a new program
•
load an existing program
•
save a program
•
rename a program
•
delete a program
Each task must contain one program, no more, no less. Note that the following
procedures describe a single task system, i.e. only one task is available.
How to create a new program when no program is available is detailed in section
Creating a new program on page 52 .
About program files
When saving a program to the controller hard disk, it is by default saved to the
directory HOME in the system’s folder unless otherwise stated. How to set another
default path is detailed in section How to set default paths in Operating
manual - IRC5 with FlexPendant .
The program is saved as a folder, named as the program, containing the actual
program file, of type pgf.
When loading a program you open the program folder and select the pgf file.
When renaming a program you rename the program folder and the program file.
When saving a loaded program which is already saved to the hard disk, you must
not open the existing program folder. Instead, you should save the program folder
again and overwrite the old version, or rename the program.
Creating a new program
This section describes how to create a new program.
Action
On the ABB menu, tap Program Editor .
1
Tap Tasks and Programs .
2
Tap File , then New Program .
3
If there was already a program loaded, a warning dialog appears.
•
Tap Save to save the loaded program.
•
Tap Don't Save to close loaded program without saving it, i.e. delete from pro-
gram memory.
•
Tap Cancel to leave the program loaded.
Continue by adding instructions, routines, or modules.
4
A new program is created.
Continues on next page
52
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3 Programming
3.3.1 Handling of programs
Loading an existing program
This section describes how to load an existing program.
Action
On the ABB menu, tap Program Editor .
1
Tap Tasks and Programs .
2
Tap File , then Load Program .
3
If there was already a program loaded, a warning dialog appears.
•
Tap Save to save the loaded program.
•
Tap Don't save to close loaded program without saving it, i.e. delete from pro-
gram memory.
•
Tap Cancel to leave the loaded program.
Use the file searching tool to locate the program file to be loaded (file type pgf). Then
tap OK .
4
The program is loaded and the program code is displayed.
![Image]
en0400000699
Saving a program
This section describes how to save a loaded program to the controller’s hard disk.
A loaded program is automatically saved in the program memory, but saving to
the controller hard disk is an extra precaution.
Action
On the ABB menu, tap Program Editor .
1
Tap Tasks and Programs .
2
Tap File and select Save Program As... .
3
Use the suggested program name or tap ... to open the soft keyboard and enter a new
name. Then tap OK .
4
Continues on next page
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3 Programming
3.3.1 Handling of programs
Continued
Renaming a loaded program
This section describes how to rename a loaded program.
Action
On the ABB menu, tap Program Editor .
1
Tap Tasks and Programs .
2
Tap File and select Rename Program .
3
A soft keyboard is displayed.
Use the soft keyboard to enter the new name of the program. Then tap OK .
4
Deleting a program
This section describes how to delete a program.
Action
On the ABB menu, tap Program Editor .
1
Tap Tasks and Programs .
2
Tap File and select Delete Program .
3
A confirmation dialog is displayed.
Tap OK to delete, or Cancel to keep the program intact.
4
54
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3 Programming
3.3.1 Handling of programs
Continued
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Loading an existing program
This section describes how to load an existing program.
Action
On the ABB menu, tap Program Editor .
1
Tap Tasks and Programs .
2
Tap File , then Load Program .
3
If there was already a program loaded, a warning dialog appears.
•
Tap Save to save the loaded program.
•
Tap Don't save to close loaded program without saving it, i.e. delete from pro-
gram memory.
•
Tap Cancel to leave the loaded program.
Use the file searching tool to locate the program file to be loaded (file type pgf). Then
tap OK .
4
The program is loaded and the program code is displayed.
![Image]
en0400000699
Saving a program
This section describes how to save a loaded program to the controller’s hard disk.
A loaded program is automatically saved in the program memory, but saving to
the controller hard disk is an extra precaution.
Action
On the ABB menu, tap Program Editor .
1
Tap Tasks and Programs .
2
Tap File and select Save Program As... .
3
Use the suggested program name or tap ... to open the soft keyboard and enter a new
name. Then tap OK .
4
Continues on next page
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53
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3 Programming
3.3.1 Handling of programs
Continued
Renaming a loaded program
This section describes how to rename a loaded program.
Action
On the ABB menu, tap Program Editor .
1
Tap Tasks and Programs .
2
Tap File and select Rename Program .
3
A soft keyboard is displayed.
Use the soft keyboard to enter the new name of the program. Then tap OK .
4
Deleting a program
This section describes how to delete a program.
Action
On the ABB menu, tap Program Editor .
1
Tap Tasks and Programs .
2
Tap File and select Delete Program .
3
A confirmation dialog is displayed.
Tap OK to delete, or Cancel to keep the program intact.
4
54
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3 Programming
3.3.1 Handling of programs
Continued
3.3.2 Handling of modules
Overview
This section details how to handle program modules. i.e.:
•
create a new module
•
load an existing module
•
save a module
•
rename a module
•
delete a module
Creating a new module
This section describes how to create a new module.
Action
On the ABB menu, tap Program Editor .
1
Tap Modules .
2
Tap File , then tap New Module .
3
![Image]
en0400000688
Tap ABC... and use the soft keyboard to enter the new module's name. Then tap OK
to close the soft keyboard.
4
Select which type of module to be created:
•
Program
•
System
Then tap OK .
5
How to later switch between these types is detailed in section Changing type of module
on page 57 .
Continues on next page
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3 Programming
3.3.2 Handling of modules
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Renaming a loaded program
This section describes how to rename a loaded program.
Action
On the ABB menu, tap Program Editor .
1
Tap Tasks and Programs .
2
Tap File and select Rename Program .
3
A soft keyboard is displayed.
Use the soft keyboard to enter the new name of the program. Then tap OK .
4
Deleting a program
This section describes how to delete a program.
Action
On the ABB menu, tap Program Editor .
1
Tap Tasks and Programs .
2
Tap File and select Delete Program .
3
A confirmation dialog is displayed.
Tap OK to delete, or Cancel to keep the program intact.
4
54
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3 Programming
3.3.1 Handling of programs
Continued
3.3.2 Handling of modules
Overview
This section details how to handle program modules. i.e.:
•
create a new module
•
load an existing module
•
save a module
•
rename a module
•
delete a module
Creating a new module
This section describes how to create a new module.
Action
On the ABB menu, tap Program Editor .
1
Tap Modules .
2
Tap File , then tap New Module .
3
![Image]
en0400000688
Tap ABC... and use the soft keyboard to enter the new module's name. Then tap OK
to close the soft keyboard.
4
Select which type of module to be created:
•
Program
•
System
Then tap OK .
5
How to later switch between these types is detailed in section Changing type of module
on page 57 .
Continues on next page
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55
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3 Programming
3.3.2 Handling of modules
Loading an existing module
This section describes how to load an existing module.
Action
On the ABB menu, tap Program Editor .
1
Tap Modules .
2
Tap File , then Load Module .
3
![Image]
en0400000689
Locate the module to be loaded.
Tap OK to load the selected module.
4
The module is loaded.
Saving a module
This section describes how to save a module.
Action
On the ABB menu, tap Program Editor .
1
Tap Modules and tap to select the module you want to load.
2
Tap File , then Save Module As...
3
Tap on the suggested file name and use the soft keyboard to enter the module's name.
Then tap OK .
4
Use the file searching tool to locate where you want to save the module.
5
Then tap OK .
The module is saved.
Renaming a module
This section describes how to rename a module.
Action
On the ABB menu, tap Program Editor .
1
Continues on next page
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3 Programming
3.3.2 Handling of modules
Continued
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3.3.2 Handling of modules
Overview
This section details how to handle program modules. i.e.:
•
create a new module
•
load an existing module
•
save a module
•
rename a module
•
delete a module
Creating a new module
This section describes how to create a new module.
Action
On the ABB menu, tap Program Editor .
1
Tap Modules .
2
Tap File , then tap New Module .
3
![Image]
en0400000688
Tap ABC... and use the soft keyboard to enter the new module's name. Then tap OK
to close the soft keyboard.
4
Select which type of module to be created:
•
Program
•
System
Then tap OK .
5
How to later switch between these types is detailed in section Changing type of module
on page 57 .
Continues on next page
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55
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© Copyright 2025 ABB. All rights reserved.
3 Programming
3.3.2 Handling of modules
Loading an existing module
This section describes how to load an existing module.
Action
On the ABB menu, tap Program Editor .
1
Tap Modules .
2
Tap File , then Load Module .
3
![Image]
en0400000689
Locate the module to be loaded.
Tap OK to load the selected module.
4
The module is loaded.
Saving a module
This section describes how to save a module.
Action
On the ABB menu, tap Program Editor .
1
Tap Modules and tap to select the module you want to load.
2
Tap File , then Save Module As...
3
Tap on the suggested file name and use the soft keyboard to enter the module's name.
Then tap OK .
4
Use the file searching tool to locate where you want to save the module.
5
Then tap OK .
The module is saved.
Renaming a module
This section describes how to rename a module.
Action
On the ABB menu, tap Program Editor .
1
Continues on next page
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3 Programming
3.3.2 Handling of modules
Continued
Action
Tap Modules .
2
Tap File , then Rename Module...
3
The soft keyboard is displayed.
Use the soft keyboard to enter the module's name. Then tap OK .
4
Changing type of module
This section describes how to change the type of module.
Action
On the ABB menu, tap Program Editor .
1
Tap Modules and select the module to be changed.
2
Tap File , then Change declaration...
3
Tap Type and select module type.
4
Tap OK .
5
Deleting a module
This section describes how to delete a module from memory. If the module has
been saved to disk, it will not be erased from the disk.
Action
On the ABB menu, tap Program Editor .
1
Tap Modules and tap to select the module you want to delete.
2
Tap File , then Delete Module...
3
A dialog box is displayed.
Tap OK to delete the module without saving it.
4
If you want to save the module first, tap Cancel and save the module first.
How to save the module is detailed in section Saving a module on page 56 .
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3 Programming
3.3.2 Handling of modules
Continued
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Loading an existing module
This section describes how to load an existing module.
Action
On the ABB menu, tap Program Editor .
1
Tap Modules .
2
Tap File , then Load Module .
3
![Image]
en0400000689
Locate the module to be loaded.
Tap OK to load the selected module.
4
The module is loaded.
Saving a module
This section describes how to save a module.
Action
On the ABB menu, tap Program Editor .
1
Tap Modules and tap to select the module you want to load.
2
Tap File , then Save Module As...
3
Tap on the suggested file name and use the soft keyboard to enter the module's name.
Then tap OK .
4
Use the file searching tool to locate where you want to save the module.
5
Then tap OK .
The module is saved.
Renaming a module
This section describes how to rename a module.
Action
On the ABB menu, tap Program Editor .
1
Continues on next page
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3 Programming
3.3.2 Handling of modules
Continued
Action
Tap Modules .
2
Tap File , then Rename Module...
3
The soft keyboard is displayed.
Use the soft keyboard to enter the module's name. Then tap OK .
4
Changing type of module
This section describes how to change the type of module.
Action
On the ABB menu, tap Program Editor .
1
Tap Modules and select the module to be changed.
2
Tap File , then Change declaration...
3
Tap Type and select module type.
4
Tap OK .
5
Deleting a module
This section describes how to delete a module from memory. If the module has
been saved to disk, it will not be erased from the disk.
Action
On the ABB menu, tap Program Editor .
1
Tap Modules and tap to select the module you want to delete.
2
Tap File , then Delete Module...
3
A dialog box is displayed.
Tap OK to delete the module without saving it.
4
If you want to save the module first, tap Cancel and save the module first.
How to save the module is detailed in section Saving a module on page 56 .
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3 Programming
3.3.2 Handling of modules
Continued
3.3.3 Handling of routines
Overview
This section details how to handle program routines. i.e.:
•
create a new routine
•
create a copy of a routine
•
change the declaration of a routine
•
delete a routine
Creating a new routine
This section details how to create a new routine, set the declaration, and add it to
a module.
Action
On the ABB menu, tap Program Editor .
1
Tap Routines .
2
Tap File , then New Routine .
3
A new routine is created and displayed with default declaration values.
![Image]
en0400000692
Tap ABC... and use the soft keyboard to enter the new routines' name. Then tap OK .
4
Select the type of routine:
•
Procedure: used for a normal routine without return value
•
Function: used for a normal routine with return value
•
Trap: used for an interrupt routine
5
Do you need to use any parameters?
6
If YES; tap ... and proceed as detailed in section Defining parameters in routine on
page 59 .
If NO; proceed to the next step.
Select module to add the routine to.
7
Continues on next page
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3 Programming
3.3.3 Handling of routines
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Action
Tap Modules .
2
Tap File , then Rename Module...
3
The soft keyboard is displayed.
Use the soft keyboard to enter the module's name. Then tap OK .
4
Changing type of module
This section describes how to change the type of module.
Action
On the ABB menu, tap Program Editor .
1
Tap Modules and select the module to be changed.
2
Tap File , then Change declaration...
3
Tap Type and select module type.
4
Tap OK .
5
Deleting a module
This section describes how to delete a module from memory. If the module has
been saved to disk, it will not be erased from the disk.
Action
On the ABB menu, tap Program Editor .
1
Tap Modules and tap to select the module you want to delete.
2
Tap File , then Delete Module...
3
A dialog box is displayed.
Tap OK to delete the module without saving it.
4
If you want to save the module first, tap Cancel and save the module first.
How to save the module is detailed in section Saving a module on page 56 .
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3 Programming
3.3.2 Handling of modules
Continued
3.3.3 Handling of routines
Overview
This section details how to handle program routines. i.e.:
•
create a new routine
•
create a copy of a routine
•
change the declaration of a routine
•
delete a routine
Creating a new routine
This section details how to create a new routine, set the declaration, and add it to
a module.
Action
On the ABB menu, tap Program Editor .
1
Tap Routines .
2
Tap File , then New Routine .
3
A new routine is created and displayed with default declaration values.
![Image]
en0400000692
Tap ABC... and use the soft keyboard to enter the new routines' name. Then tap OK .
4
Select the type of routine:
•
Procedure: used for a normal routine without return value
•
Function: used for a normal routine with return value
•
Trap: used for an interrupt routine
5
Do you need to use any parameters?
6
If YES; tap ... and proceed as detailed in section Defining parameters in routine on
page 59 .
If NO; proceed to the next step.
Select module to add the routine to.
7
Continues on next page
58
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3 Programming
3.3.3 Handling of routines
Action
Tap the checkbox to select Local declaration if the routine should be local.
8
A local routine can only be used in the selected module.
Tap OK .
9
Defining parameters in routine
This section describes how to define parameters in a routine.
Action
In the routine declaration, tap ... to define parameters.
1
A list of defined parameters is displayed.
![Image]
en0400000693
Continues on next page
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3 Programming
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3.3.3 Handling of routines
Overview
This section details how to handle program routines. i.e.:
•
create a new routine
•
create a copy of a routine
•
change the declaration of a routine
•
delete a routine
Creating a new routine
This section details how to create a new routine, set the declaration, and add it to
a module.
Action
On the ABB menu, tap Program Editor .
1
Tap Routines .
2
Tap File , then New Routine .
3
A new routine is created and displayed with default declaration values.
![Image]
en0400000692
Tap ABC... and use the soft keyboard to enter the new routines' name. Then tap OK .
4
Select the type of routine:
•
Procedure: used for a normal routine without return value
•
Function: used for a normal routine with return value
•
Trap: used for an interrupt routine
5
Do you need to use any parameters?
6
If YES; tap ... and proceed as detailed in section Defining parameters in routine on
page 59 .
If NO; proceed to the next step.
Select module to add the routine to.
7
Continues on next page
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3.3.3 Handling of routines
Action
Tap the checkbox to select Local declaration if the routine should be local.
8
A local routine can only be used in the selected module.
Tap OK .
9
Defining parameters in routine
This section describes how to define parameters in a routine.
Action
In the routine declaration, tap ... to define parameters.
1
A list of defined parameters is displayed.
![Image]
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Continued
Action
If no parameters are shown, tap Add to add a new parameter.
•
Add optional parameter adds a parameter that is optional
•
Add optional mutual parameter adds a parameter that is mutually optional with
another parameter
Read more about routine parameters in the RAPID reference manuals.
2
![Image]
en0400000695
Use the soft keyboard to enter the name of the new parameter and then tap OK .
3
The new parameter is displayed in the list.
![Image]
en0400000696
Tap to select a parameter. To edit values, tap the value.
4
Continues on next page
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Action
Tap the checkbox to select Local declaration if the routine should be local.
8
A local routine can only be used in the selected module.
Tap OK .
9
Defining parameters in routine
This section describes how to define parameters in a routine.
Action
In the routine declaration, tap ... to define parameters.
1
A list of defined parameters is displayed.
![Image]
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Continued
Action
If no parameters are shown, tap Add to add a new parameter.
•
Add optional parameter adds a parameter that is optional
•
Add optional mutual parameter adds a parameter that is mutually optional with
another parameter
Read more about routine parameters in the RAPID reference manuals.
2
![Image]
en0400000695
Use the soft keyboard to enter the name of the new parameter and then tap OK .
3
The new parameter is displayed in the list.
![Image]
en0400000696
Tap to select a parameter. To edit values, tap the value.
4
Continues on next page
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3.3.3 Handling of routines
Continued
Action
Tap OK to return to the routine declaration.
5
Creating a copy of a routine
This section describes how to create a copy of a routine.
Action
On the ABB menu, tap Program Editor .
1
Tap Routines .
2
Highlight the routine by tapping it.
3
Tap File , then Copy Routine .
4
The new routine is displayed. The name of the new routine is set to the same as the
original with the suffix Copy .
Make any changes in the declarations for the new routine copy. Then tap OK .
5
How to make all declarations is detailed in section Creating a new routine on page 58 .
Changing the declaration of a routine
This section describes how to change the declaration of a routine.
Action
On the ABB menu, tap Program Editor .
1
Tap Routines .
2
Highlight the routine by tapping it.
3
Tap File , then Change Declaration
4
Change any declaration values for the routine. Then tap OK .
5
Declaration settings are described in section Creating a new routine on page 58 .
Moving a routine
This section describes how to move a routine to another module.
Action
On the ABB menu, tap Program Editor .
1
Tap Routines .
2
Highlight the routine by tapping it.
3
Tap File , then Move Routine...
4
Select task and module. Then tap OK .
5
Deleting a routine
This section describes how to delete a routine from memory.
Action
On the ABB menu, tap Program Editor .
1
Tap Routines .
2
Highlight the routine by tapping it.
3
Tap File , then Delete Routine...
4
A dialog box is displayed.
Continues on next page
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Action
If no parameters are shown, tap Add to add a new parameter.
•
Add optional parameter adds a parameter that is optional
•
Add optional mutual parameter adds a parameter that is mutually optional with
another parameter
Read more about routine parameters in the RAPID reference manuals.
2
![Image]
en0400000695
Use the soft keyboard to enter the name of the new parameter and then tap OK .
3
The new parameter is displayed in the list.
![Image]
en0400000696
Tap to select a parameter. To edit values, tap the value.
4
Continues on next page
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3.3.3 Handling of routines
Continued
Action
Tap OK to return to the routine declaration.
5
Creating a copy of a routine
This section describes how to create a copy of a routine.
Action
On the ABB menu, tap Program Editor .
1
Tap Routines .
2
Highlight the routine by tapping it.
3
Tap File , then Copy Routine .
4
The new routine is displayed. The name of the new routine is set to the same as the
original with the suffix Copy .
Make any changes in the declarations for the new routine copy. Then tap OK .
5
How to make all declarations is detailed in section Creating a new routine on page 58 .
Changing the declaration of a routine
This section describes how to change the declaration of a routine.
Action
On the ABB menu, tap Program Editor .
1
Tap Routines .
2
Highlight the routine by tapping it.
3
Tap File , then Change Declaration
4
Change any declaration values for the routine. Then tap OK .
5
Declaration settings are described in section Creating a new routine on page 58 .
Moving a routine
This section describes how to move a routine to another module.
Action
On the ABB menu, tap Program Editor .
1
Tap Routines .
2
Highlight the routine by tapping it.
3
Tap File , then Move Routine...
4
Select task and module. Then tap OK .
5
Deleting a routine
This section describes how to delete a routine from memory.
Action
On the ABB menu, tap Program Editor .
1
Tap Routines .
2
Highlight the routine by tapping it.
3
Tap File , then Delete Routine...
4
A dialog box is displayed.
Continues on next page
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Continued
Action
Tap:
•
OK to delete the routine without saving any changes made to it.
•
Cancel to revert without deleting the routine.
5
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Action
Tap OK to return to the routine declaration.
5
Creating a copy of a routine
This section describes how to create a copy of a routine.
Action
On the ABB menu, tap Program Editor .
1
Tap Routines .
2
Highlight the routine by tapping it.
3
Tap File , then Copy Routine .
4
The new routine is displayed. The name of the new routine is set to the same as the
original with the suffix Copy .
Make any changes in the declarations for the new routine copy. Then tap OK .
5
How to make all declarations is detailed in section Creating a new routine on page 58 .
Changing the declaration of a routine
This section describes how to change the declaration of a routine.
Action
On the ABB menu, tap Program Editor .
1
Tap Routines .
2
Highlight the routine by tapping it.
3
Tap File , then Change Declaration
4
Change any declaration values for the routine. Then tap OK .
5
Declaration settings are described in section Creating a new routine on page 58 .
Moving a routine
This section describes how to move a routine to another module.
Action
On the ABB menu, tap Program Editor .
1
Tap Routines .
2
Highlight the routine by tapping it.
3
Tap File , then Move Routine...
4
Select task and module. Then tap OK .
5
Deleting a routine
This section describes how to delete a routine from memory.
Action
On the ABB menu, tap Program Editor .
1
Tap Routines .
2
Highlight the routine by tapping it.
3
Tap File , then Delete Routine...
4
A dialog box is displayed.
Continues on next page
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3.3.3 Handling of routines
Continued
Action
Tap:
•
OK to delete the routine without saving any changes made to it.
•
Cancel to revert without deleting the routine.
5
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3.3.3 Handling of routines
Continued
3.4 Data types
3.4.1 Creating new data instance
Creating new data instance
This section details how to create new data instances of data types.
Action
On the ABB menu, tap Program Data .
1
A list of all available data types is displayed.
Tap the data instance type to be created, i.e. bool and then tap Show data .
2
A list of all instances of the data type is displayed.
Tap New .
3
![Image]
en0400000663
Tap ... the right of Name to define the data instance’s name. Name
4
Tap the Scope menu to set accessibility for the data instance. Select:
•
Global - reachable by all tasks
•
Local - reachable within the module
•
Task - reachable within the task
5
Tap the Storage type menu to select type of memory used for the data instance. Select:
•
Persistent if the data instance is persistent
•
Variable if the data instance is variable
•
Constant if the data instance is constant
6
Tap the Module menu to select module.
7
Tap the Routine menu to select routine.
8
Continues on next page
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Action
Tap:
•
OK to delete the routine without saving any changes made to it.
•
Cancel to revert without deleting the routine.
5
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3.3.3 Handling of routines
Continued
3.4 Data types
3.4.1 Creating new data instance
Creating new data instance
This section details how to create new data instances of data types.
Action
On the ABB menu, tap Program Data .
1
A list of all available data types is displayed.
Tap the data instance type to be created, i.e. bool and then tap Show data .
2
A list of all instances of the data type is displayed.
Tap New .
3
![Image]
en0400000663
Tap ... the right of Name to define the data instance’s name. Name
4
Tap the Scope menu to set accessibility for the data instance. Select:
•
Global - reachable by all tasks
•
Local - reachable within the module
•
Task - reachable within the task
5
Tap the Storage type menu to select type of memory used for the data instance. Select:
•
Persistent if the data instance is persistent
•
Variable if the data instance is variable
•
Constant if the data instance is constant
6
Tap the Module menu to select module.
7
Tap the Routine menu to select routine.
8
Continues on next page
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3 Programming
3.4.1 Creating new data instance
Action
If you want to create an array of data instances, then tap the Dimensions menu and
select the number of dimensions in the array, 1-3.
•
1
•
2
•
3
•
None
Then tap ... to set the Size of the array’s axes.
9
Tap OK .
10
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3.4 Data types
3.4.1 Creating new data instance
Creating new data instance
This section details how to create new data instances of data types.
Action
On the ABB menu, tap Program Data .
1
A list of all available data types is displayed.
Tap the data instance type to be created, i.e. bool and then tap Show data .
2
A list of all instances of the data type is displayed.
Tap New .
3
![Image]
en0400000663
Tap ... the right of Name to define the data instance’s name. Name
4
Tap the Scope menu to set accessibility for the data instance. Select:
•
Global - reachable by all tasks
•
Local - reachable within the module
•
Task - reachable within the task
5
Tap the Storage type menu to select type of memory used for the data instance. Select:
•
Persistent if the data instance is persistent
•
Variable if the data instance is variable
•
Constant if the data instance is constant
6
Tap the Module menu to select module.
7
Tap the Routine menu to select routine.
8
Continues on next page
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3 Programming
3.4.1 Creating new data instance
Action
If you want to create an array of data instances, then tap the Dimensions menu and
select the number of dimensions in the array, 1-3.
•
1
•
2
•
3
•
None
Then tap ... to set the Size of the array’s axes.
9
Tap OK .
10
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3.4.1 Creating new data instance
Continued
3.5 Tools
3.5.1 Creating a tool
What happens when you create a tool?
When you create a new tool a variable of the data type tooldata is created. The
variable name will be the name of the tool. For more information on data types,
see Technical reference manual - RAPID Instructions, Functions and Data types .
The new tool has initial default values for mass, frame, orientation etc., which must
be defined before the tool can be used.
How to create a tool
The tool center point of the default tool (tool0) is in the center of the robot's
mounting flange and shares the orientation of the robot base.
By creating a new tool you define another tool center point. For more information
about tool center points, see What is the tool center point? on page 195 .
A
en0400000779
Tool center point, TCP, for tool0
A
Action
On the ABB menu, tap Jogging .
1
Tap Tool to display the list of available tools.
2
Continues on next page
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Action
If you want to create an array of data instances, then tap the Dimensions menu and
select the number of dimensions in the array, 1-3.
•
1
•
2
•
3
•
None
Then tap ... to set the Size of the array’s axes.
9
Tap OK .
10
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3.4.1 Creating new data instance
Continued
3.5 Tools
3.5.1 Creating a tool
What happens when you create a tool?
When you create a new tool a variable of the data type tooldata is created. The
variable name will be the name of the tool. For more information on data types,
see Technical reference manual - RAPID Instructions, Functions and Data types .
The new tool has initial default values for mass, frame, orientation etc., which must
be defined before the tool can be used.
How to create a tool
The tool center point of the default tool (tool0) is in the center of the robot's
mounting flange and shares the orientation of the robot base.
By creating a new tool you define another tool center point. For more information
about tool center points, see What is the tool center point? on page 195 .
A
en0400000779
Tool center point, TCP, for tool0
A
Action
On the ABB menu, tap Jogging .
1
Tap Tool to display the list of available tools.
2
Continues on next page
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3 Programming
3.5.1 Creating a tool
Action
Tap New to create a new tool.
3
![Image]
en0300000544
Enter values for each field, see table below.
Tap OK .
4
Tool declaration settings
Recommendation
then...
If you want to change...
Tools are automatically
named tool followed by a
running number, for example
tool10 or tool21 .
You are recommended to
change this to something
more descriptive such as gun,
gripper or welder.
Note
If you change the name of a
tool after it is referenced in
any program you must also
change all occurrences of that
tool.
tap ... button next to Name
the name of the tool
Tools should always be glob-
al, as to be available to all
modules in the program.
select the preferred scope
from the menu
the scope
Tool variables must always
be persistent.
-
the storage type
select the module in which
this tool should be declared
from the menu
the module
Continues on next page
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Continued
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3.5 Tools
3.5.1 Creating a tool
What happens when you create a tool?
When you create a new tool a variable of the data type tooldata is created. The
variable name will be the name of the tool. For more information on data types,
see Technical reference manual - RAPID Instructions, Functions and Data types .
The new tool has initial default values for mass, frame, orientation etc., which must
be defined before the tool can be used.
How to create a tool
The tool center point of the default tool (tool0) is in the center of the robot's
mounting flange and shares the orientation of the robot base.
By creating a new tool you define another tool center point. For more information
about tool center points, see What is the tool center point? on page 195 .
A
en0400000779
Tool center point, TCP, for tool0
A
Action
On the ABB menu, tap Jogging .
1
Tap Tool to display the list of available tools.
2
Continues on next page
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3.5.1 Creating a tool
Action
Tap New to create a new tool.
3
![Image]
en0300000544
Enter values for each field, see table below.
Tap OK .
4
Tool declaration settings
Recommendation
then...
If you want to change...
Tools are automatically
named tool followed by a
running number, for example
tool10 or tool21 .
You are recommended to
change this to something
more descriptive such as gun,
gripper or welder.
Note
If you change the name of a
tool after it is referenced in
any program you must also
change all occurrences of that
tool.
tap ... button next to Name
the name of the tool
Tools should always be glob-
al, as to be available to all
modules in the program.
select the preferred scope
from the menu
the scope
Tool variables must always
be persistent.
-
the storage type
select the module in which
this tool should be declared
from the menu
the module
Continues on next page
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3 Programming
3.5.1 Creating a tool
Continued
Recommendation
then...
If you want to change...
tap ... button next to Dimen-
sion
the size of the data array's
axes
Note
The created tool is not useful until you have defined the tool data (TCP
coordinates, orientation, weight etc.). See Editing the tool data on page 72 and
section about LoadIdentify in Operating manual - IRC5 with FlexPendant .
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Continued
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Action
Tap New to create a new tool.
3
![Image]
en0300000544
Enter values for each field, see table below.
Tap OK .
4
Tool declaration settings
Recommendation
then...
If you want to change...
Tools are automatically
named tool followed by a
running number, for example
tool10 or tool21 .
You are recommended to
change this to something
more descriptive such as gun,
gripper or welder.
Note
If you change the name of a
tool after it is referenced in
any program you must also
change all occurrences of that
tool.
tap ... button next to Name
the name of the tool
Tools should always be glob-
al, as to be available to all
modules in the program.
select the preferred scope
from the menu
the scope
Tool variables must always
be persistent.
-
the storage type
select the module in which
this tool should be declared
from the menu
the module
Continues on next page
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3 Programming
3.5.1 Creating a tool
Continued
Recommendation
then...
If you want to change...
tap ... button next to Dimen-
sion
the size of the data array's
axes
Note
The created tool is not useful until you have defined the tool data (TCP
coordinates, orientation, weight etc.). See Editing the tool data on page 72 and
section about LoadIdentify in Operating manual - IRC5 with FlexPendant .
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3 Programming
3.5.1 Creating a tool
Continued
3.5.2 Defining the tool frame
Preparations
To define the tool frame, you first need a reference point in the world coordinate
system. If you need to set the tool center point orientation, you also need to affix
elongators to the tool.
You also need to decide which method to use for the tool frame definition.
Available methods
There are three different methods which can be used when defining the tool frame.
All three require that you define the cartesian coordinates of the tool center point.
What differs is how the orientation is defined.
...then select
If you want to...
TCP (default orient.)
set the orientation the same as the orientation
of the robot’s mounting plate
TCP&Z
set the orientation in Z axis
TCP&Z,X
set the orientation in X and Z axes
How to select a method
This procedure describes how to select the method to be used when defining the
tool frame.
Action
On the ABB menu, tap Jogging .
1
Tap Tool to display a list of available tools.
2
Select the tool you want to define.
3
In the Edit menu, tap Define
4
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Recommendation
then...
If you want to change...
tap ... button next to Dimen-
sion
the size of the data array's
axes
Note
The created tool is not useful until you have defined the tool data (TCP
coordinates, orientation, weight etc.). See Editing the tool data on page 72 and
section about LoadIdentify in Operating manual - IRC5 with FlexPendant .
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67
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3 Programming
3.5.1 Creating a tool
Continued
3.5.2 Defining the tool frame
Preparations
To define the tool frame, you first need a reference point in the world coordinate
system. If you need to set the tool center point orientation, you also need to affix
elongators to the tool.
You also need to decide which method to use for the tool frame definition.
Available methods
There are three different methods which can be used when defining the tool frame.
All three require that you define the cartesian coordinates of the tool center point.
What differs is how the orientation is defined.
...then select
If you want to...
TCP (default orient.)
set the orientation the same as the orientation
of the robot’s mounting plate
TCP&Z
set the orientation in Z axis
TCP&Z,X
set the orientation in X and Z axes
How to select a method
This procedure describes how to select the method to be used when defining the
tool frame.
Action
On the ABB menu, tap Jogging .
1
Tap Tool to display a list of available tools.
2
Select the tool you want to define.
3
In the Edit menu, tap Define
4
Continues on next page
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3 Programming
3.5.2 Defining the tool frame
Action
In the dialog box which appears, select the method to use.
5
![Image]
en0600003147
Select the number of approach points to use. Usually 4 points is enough. If you choose
more points to get a more accurate result, you should be equally careful when defining
all of them.
6
See How to proceed with tool frame definition on page 69 for information on how to
gather positions and perform the tool frame definition.
7
How to proceed with tool frame definition
This procedure describes how to define the tool center point in Cartesian
coordinates.
Continues on next page
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3 Programming
3.5.2 Defining the tool frame
Continued
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| 69
|
3.5.2 Defining the tool frame
Preparations
To define the tool frame, you first need a reference point in the world coordinate
system. If you need to set the tool center point orientation, you also need to affix
elongators to the tool.
You also need to decide which method to use for the tool frame definition.
Available methods
There are three different methods which can be used when defining the tool frame.
All three require that you define the cartesian coordinates of the tool center point.
What differs is how the orientation is defined.
...then select
If you want to...
TCP (default orient.)
set the orientation the same as the orientation
of the robot’s mounting plate
TCP&Z
set the orientation in Z axis
TCP&Z,X
set the orientation in X and Z axes
How to select a method
This procedure describes how to select the method to be used when defining the
tool frame.
Action
On the ABB menu, tap Jogging .
1
Tap Tool to display a list of available tools.
2
Select the tool you want to define.
3
In the Edit menu, tap Define
4
Continues on next page
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3 Programming
3.5.2 Defining the tool frame
Action
In the dialog box which appears, select the method to use.
5
![Image]
en0600003147
Select the number of approach points to use. Usually 4 points is enough. If you choose
more points to get a more accurate result, you should be equally careful when defining
all of them.
6
See How to proceed with tool frame definition on page 69 for information on how to
gather positions and perform the tool frame definition.
7
How to proceed with tool frame definition
This procedure describes how to define the tool center point in Cartesian
coordinates.
Continues on next page
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3 Programming
3.5.2 Defining the tool frame
Continued
![Image]
![Image]
![Image]
![Image]
en0400000906
Information
Action
Use small increments to accurately posi-
tion the tool tip as close to the reference
point as possible.
Jog the robot to an appropriate position,
A, for the first approach point.
1
Tap Modify Position to define the point.
2
Jog away from the fixed world point to
achieve the best result. Just changing the
tool orientation will not give as good a
result.
Repeat step 1 and 2 for each approach
point to be defined, positions B, C, and D.
3
Follow the instructions in How to define
elongator points on page 71 .
If the method you are using is TCP&Z or
TCP&Z,X orientation must be defined as
well.
4
If, for some reason, you want to redo the
calibration procedure described in step 1-
4, tap Positions and then Reset All .
5
When all points are defined you can save
them to file, which enables you to reuse
them later. On the Positions menu, tap
Save .
6
Continues on next page
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3 Programming
3.5.2 Defining the tool frame
Continued
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| 70
|
Action
In the dialog box which appears, select the method to use.
5
![Image]
en0600003147
Select the number of approach points to use. Usually 4 points is enough. If you choose
more points to get a more accurate result, you should be equally careful when defining
all of them.
6
See How to proceed with tool frame definition on page 69 for information on how to
gather positions and perform the tool frame definition.
7
How to proceed with tool frame definition
This procedure describes how to define the tool center point in Cartesian
coordinates.
Continues on next page
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69
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3 Programming
3.5.2 Defining the tool frame
Continued
![Image]
![Image]
![Image]
![Image]
en0400000906
Information
Action
Use small increments to accurately posi-
tion the tool tip as close to the reference
point as possible.
Jog the robot to an appropriate position,
A, for the first approach point.
1
Tap Modify Position to define the point.
2
Jog away from the fixed world point to
achieve the best result. Just changing the
tool orientation will not give as good a
result.
Repeat step 1 and 2 for each approach
point to be defined, positions B, C, and D.
3
Follow the instructions in How to define
elongator points on page 71 .
If the method you are using is TCP&Z or
TCP&Z,X orientation must be defined as
well.
4
If, for some reason, you want to redo the
calibration procedure described in step 1-
4, tap Positions and then Reset All .
5
When all points are defined you can save
them to file, which enables you to reuse
them later. On the Positions menu, tap
Save .
6
Continues on next page
70
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3 Programming
3.5.2 Defining the tool frame
Continued
Information
Action
For further information see Is the calcu-
lated result good enough? on page 71
Tap OK . The Calculation Result dialog box
will now be displayed, asking you to cancel
or to confirm the result before it is written
to the controller.
7
How to define elongator points
This procedure describes how to define the orientation of the tool frame by
specifying the direction of the z and/or x axis. You need to do this only if you the
tool orientation should differ from that of the robot base. The tool coordinate system
by default resembles the coordinate system of tool0, as illustrated in Measuring
the tool center point on page 72 .
Action
Without changing the orientation of the tool, jog the robot so that the reference world
point becomes a point on the desired positive axis of the rotated tool coordinate system.
1
Tap Modify Position to define the point.
2
Repeat step 1 and 2 for the second axis if it should be defined.
3
Is the calculated result good enough?
The Calculation Result dialog box displays the calculated result of the tool frame
definition. You have to confirm that you accept the result before it can take effect
in the controller. The alternative is to redo the frame definition in order to achieve
a better result. The result Mean Error is the average distance of the approach
points from the calculated TCP (tool center point). Max Error is the maximum error
among all approach points.
It is hard to tell exactly what result is acceptable. It depends on the tool, robot type
etc. you are using. Usually a mean error of a few tenths of a millimeter is a good
result. If the positioning has been undertaken with reasonable accuracy the result
will be okay.
As the robot is used as a measuring machine, the result is also dependent on
where in the robot’s working area the positioning has been done. Variation of the
actual TCP up to a couple of millimeters (for large robots) can be found between
definitions in different parts of the working area.The repeatability of any following
TCP calibrations will thus increase if these are done close to the preceding ones.
Note that the result is the optimal TCP for the robot in that working area, taking
into account any discrepancies of the robot in the configuration at hand.
Tip
A common way to check that the tool frame has been correctly defined is to
perform a reorientation test when the definition is ready. Select the reorient
motion mode and the tool coordinate system and jog the robot. Verify that the
tool tip stays very close to the selected reference point as the robot moves.
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71
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3 Programming
3.5.2 Defining the tool frame
Continued
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|
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| 71
|
![Image]
![Image]
![Image]
![Image]
en0400000906
Information
Action
Use small increments to accurately posi-
tion the tool tip as close to the reference
point as possible.
Jog the robot to an appropriate position,
A, for the first approach point.
1
Tap Modify Position to define the point.
2
Jog away from the fixed world point to
achieve the best result. Just changing the
tool orientation will not give as good a
result.
Repeat step 1 and 2 for each approach
point to be defined, positions B, C, and D.
3
Follow the instructions in How to define
elongator points on page 71 .
If the method you are using is TCP&Z or
TCP&Z,X orientation must be defined as
well.
4
If, for some reason, you want to redo the
calibration procedure described in step 1-
4, tap Positions and then Reset All .
5
When all points are defined you can save
them to file, which enables you to reuse
them later. On the Positions menu, tap
Save .
6
Continues on next page
70
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3 Programming
3.5.2 Defining the tool frame
Continued
Information
Action
For further information see Is the calcu-
lated result good enough? on page 71
Tap OK . The Calculation Result dialog box
will now be displayed, asking you to cancel
or to confirm the result before it is written
to the controller.
7
How to define elongator points
This procedure describes how to define the orientation of the tool frame by
specifying the direction of the z and/or x axis. You need to do this only if you the
tool orientation should differ from that of the robot base. The tool coordinate system
by default resembles the coordinate system of tool0, as illustrated in Measuring
the tool center point on page 72 .
Action
Without changing the orientation of the tool, jog the robot so that the reference world
point becomes a point on the desired positive axis of the rotated tool coordinate system.
1
Tap Modify Position to define the point.
2
Repeat step 1 and 2 for the second axis if it should be defined.
3
Is the calculated result good enough?
The Calculation Result dialog box displays the calculated result of the tool frame
definition. You have to confirm that you accept the result before it can take effect
in the controller. The alternative is to redo the frame definition in order to achieve
a better result. The result Mean Error is the average distance of the approach
points from the calculated TCP (tool center point). Max Error is the maximum error
among all approach points.
It is hard to tell exactly what result is acceptable. It depends on the tool, robot type
etc. you are using. Usually a mean error of a few tenths of a millimeter is a good
result. If the positioning has been undertaken with reasonable accuracy the result
will be okay.
As the robot is used as a measuring machine, the result is also dependent on
where in the robot’s working area the positioning has been done. Variation of the
actual TCP up to a couple of millimeters (for large robots) can be found between
definitions in different parts of the working area.The repeatability of any following
TCP calibrations will thus increase if these are done close to the preceding ones.
Note that the result is the optimal TCP for the robot in that working area, taking
into account any discrepancies of the robot in the configuration at hand.
Tip
A common way to check that the tool frame has been correctly defined is to
perform a reorientation test when the definition is ready. Select the reorient
motion mode and the tool coordinate system and jog the robot. Verify that the
tool tip stays very close to the selected reference point as the robot moves.
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71
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3 Programming
3.5.2 Defining the tool frame
Continued
3.5.3 Editing the tool data
Tool data
Use the value settings to set the tool center point position and physical properties
of the tool such as weight and center of gravity.
This can also be done automatically with the service routine LoadIdentify. See
Operating manual - IRC5 with FlexPendant .
CAUTION
If the tooldata is incorrectly defined there is a risk that the speed is higher than
expected. This is particularly important in manual mode.
Displaying the tool data
This section details how to display the tool data.
Action
On the ABB menu, tap Jogging .
1
Tap Tool to display the list of available tools.
2
Tap the tool you want to edit, then tap Edit .
3
A menu appears.
•
Change Declaration
•
Change Value
•
Delete
•
Define
In the menu, tap Change Value .
4
The data that defines the tool appears. Green text indicates that the value can be
changed.
Proceed with changing the data as described below.
5
Measuring the tool center point
The easiest way to define the tool center point, TCP, is usually to use the predefined
method described in Defining the tool frame on page 68 . If you use this method,
you do not have to write any values for the frame as these are supplied by the
method.
If you already have the measurements of the tool, or for some reason want to
measure them manually, the values can be entered in the tool data.
Continues on next page
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3 Programming
3.5.3 Editing the tool data
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| 72
|
Information
Action
For further information see Is the calcu-
lated result good enough? on page 71
Tap OK . The Calculation Result dialog box
will now be displayed, asking you to cancel
or to confirm the result before it is written
to the controller.
7
How to define elongator points
This procedure describes how to define the orientation of the tool frame by
specifying the direction of the z and/or x axis. You need to do this only if you the
tool orientation should differ from that of the robot base. The tool coordinate system
by default resembles the coordinate system of tool0, as illustrated in Measuring
the tool center point on page 72 .
Action
Without changing the orientation of the tool, jog the robot so that the reference world
point becomes a point on the desired positive axis of the rotated tool coordinate system.
1
Tap Modify Position to define the point.
2
Repeat step 1 and 2 for the second axis if it should be defined.
3
Is the calculated result good enough?
The Calculation Result dialog box displays the calculated result of the tool frame
definition. You have to confirm that you accept the result before it can take effect
in the controller. The alternative is to redo the frame definition in order to achieve
a better result. The result Mean Error is the average distance of the approach
points from the calculated TCP (tool center point). Max Error is the maximum error
among all approach points.
It is hard to tell exactly what result is acceptable. It depends on the tool, robot type
etc. you are using. Usually a mean error of a few tenths of a millimeter is a good
result. If the positioning has been undertaken with reasonable accuracy the result
will be okay.
As the robot is used as a measuring machine, the result is also dependent on
where in the robot’s working area the positioning has been done. Variation of the
actual TCP up to a couple of millimeters (for large robots) can be found between
definitions in different parts of the working area.The repeatability of any following
TCP calibrations will thus increase if these are done close to the preceding ones.
Note that the result is the optimal TCP for the robot in that working area, taking
into account any discrepancies of the robot in the configuration at hand.
Tip
A common way to check that the tool frame has been correctly defined is to
perform a reorientation test when the definition is ready. Select the reorient
motion mode and the tool coordinate system and jog the robot. Verify that the
tool tip stays very close to the selected reference point as the robot moves.
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3 Programming
3.5.2 Defining the tool frame
Continued
3.5.3 Editing the tool data
Tool data
Use the value settings to set the tool center point position and physical properties
of the tool such as weight and center of gravity.
This can also be done automatically with the service routine LoadIdentify. See
Operating manual - IRC5 with FlexPendant .
CAUTION
If the tooldata is incorrectly defined there is a risk that the speed is higher than
expected. This is particularly important in manual mode.
Displaying the tool data
This section details how to display the tool data.
Action
On the ABB menu, tap Jogging .
1
Tap Tool to display the list of available tools.
2
Tap the tool you want to edit, then tap Edit .
3
A menu appears.
•
Change Declaration
•
Change Value
•
Delete
•
Define
In the menu, tap Change Value .
4
The data that defines the tool appears. Green text indicates that the value can be
changed.
Proceed with changing the data as described below.
5
Measuring the tool center point
The easiest way to define the tool center point, TCP, is usually to use the predefined
method described in Defining the tool frame on page 68 . If you use this method,
you do not have to write any values for the frame as these are supplied by the
method.
If you already have the measurements of the tool, or for some reason want to
measure them manually, the values can be entered in the tool data.
Continues on next page
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3 Programming
3.5.3 Editing the tool data
en0400000881
X axis for tool0
X
Y axis for tool0
Y
Z axis for tool0
Z
X axis for the tool you want to define
X
Y axis for the tool you want to define
Y
Z axis for the tool you want to define
Z
Action
Measure the distance from the center of the robot's mounting flange to the tool's
center point along the X axis of tool0.
1
Measure the distance from the center of the robot's mounting flange to the tool's
center point along the Y axis of tool0.
2
Measure the distance from the center of the robot's mounting flange to the tool's
center point along the Z axis of tool0.
3
Editing the tool definition
Unit
Instance
Action
[mm]
tframe.trans.x
Enter the cartesian coordinates of the tool
center point's position.
1
tframe.trans.y
tframe.trans.z
None
tframe.rot.q1
If necessary, enter the tool frame orientation.
2
tframe.rot.q2
tframe.rot.q3
tframe.rot.q4
[kg]
tload.mass
Enter the weight of the tool.
3
[mm]
tload.cog.x
If necessary, enter the tool's center of gravity.
4
tload.cog.y
tload.cog.z
Continues on next page
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3 Programming
3.5.3 Editing the tool data
Continued
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| 73
|
3.5.3 Editing the tool data
Tool data
Use the value settings to set the tool center point position and physical properties
of the tool such as weight and center of gravity.
This can also be done automatically with the service routine LoadIdentify. See
Operating manual - IRC5 with FlexPendant .
CAUTION
If the tooldata is incorrectly defined there is a risk that the speed is higher than
expected. This is particularly important in manual mode.
Displaying the tool data
This section details how to display the tool data.
Action
On the ABB menu, tap Jogging .
1
Tap Tool to display the list of available tools.
2
Tap the tool you want to edit, then tap Edit .
3
A menu appears.
•
Change Declaration
•
Change Value
•
Delete
•
Define
In the menu, tap Change Value .
4
The data that defines the tool appears. Green text indicates that the value can be
changed.
Proceed with changing the data as described below.
5
Measuring the tool center point
The easiest way to define the tool center point, TCP, is usually to use the predefined
method described in Defining the tool frame on page 68 . If you use this method,
you do not have to write any values for the frame as these are supplied by the
method.
If you already have the measurements of the tool, or for some reason want to
measure them manually, the values can be entered in the tool data.
Continues on next page
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3 Programming
3.5.3 Editing the tool data
en0400000881
X axis for tool0
X
Y axis for tool0
Y
Z axis for tool0
Z
X axis for the tool you want to define
X
Y axis for the tool you want to define
Y
Z axis for the tool you want to define
Z
Action
Measure the distance from the center of the robot's mounting flange to the tool's
center point along the X axis of tool0.
1
Measure the distance from the center of the robot's mounting flange to the tool's
center point along the Y axis of tool0.
2
Measure the distance from the center of the robot's mounting flange to the tool's
center point along the Z axis of tool0.
3
Editing the tool definition
Unit
Instance
Action
[mm]
tframe.trans.x
Enter the cartesian coordinates of the tool
center point's position.
1
tframe.trans.y
tframe.trans.z
None
tframe.rot.q1
If necessary, enter the tool frame orientation.
2
tframe.rot.q2
tframe.rot.q3
tframe.rot.q4
[kg]
tload.mass
Enter the weight of the tool.
3
[mm]
tload.cog.x
If necessary, enter the tool's center of gravity.
4
tload.cog.y
tload.cog.z
Continues on next page
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3 Programming
3.5.3 Editing the tool data
Continued
Unit
Instance
Action
None
tload.aom.q1
If necessary, enter the orientation of the axis
of moment
5
tload.aom.q2
tload.aom.q3
tload.aom.q4
[kgm 2 ]
tload.ix
tload.iy
If necessary, enter the tool's moment of inertia.
6
tload.iz
Tap OK to use the new values, Cancel to leave
the definition unchanged.
7
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3 Programming
3.5.3 Editing the tool data
Continued
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| 74
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en0400000881
X axis for tool0
X
Y axis for tool0
Y
Z axis for tool0
Z
X axis for the tool you want to define
X
Y axis for the tool you want to define
Y
Z axis for the tool you want to define
Z
Action
Measure the distance from the center of the robot's mounting flange to the tool's
center point along the X axis of tool0.
1
Measure the distance from the center of the robot's mounting flange to the tool's
center point along the Y axis of tool0.
2
Measure the distance from the center of the robot's mounting flange to the tool's
center point along the Z axis of tool0.
3
Editing the tool definition
Unit
Instance
Action
[mm]
tframe.trans.x
Enter the cartesian coordinates of the tool
center point's position.
1
tframe.trans.y
tframe.trans.z
None
tframe.rot.q1
If necessary, enter the tool frame orientation.
2
tframe.rot.q2
tframe.rot.q3
tframe.rot.q4
[kg]
tload.mass
Enter the weight of the tool.
3
[mm]
tload.cog.x
If necessary, enter the tool's center of gravity.
4
tload.cog.y
tload.cog.z
Continues on next page
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3 Programming
3.5.3 Editing the tool data
Continued
Unit
Instance
Action
None
tload.aom.q1
If necessary, enter the orientation of the axis
of moment
5
tload.aom.q2
tload.aom.q3
tload.aom.q4
[kgm 2 ]
tload.ix
tload.iy
If necessary, enter the tool's moment of inertia.
6
tload.iz
Tap OK to use the new values, Cancel to leave
the definition unchanged.
7
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3 Programming
3.5.3 Editing the tool data
Continued
3.5.4 Setup for stationary tools
Stationary tools
Stationary tools are used, for instance, in applications that involve large machines
such as cutters, presses and punch cutters. You may use stationary tools to perform
any operation that would be difficult or inconvenient to perform with the tool on
the robot.
With stationary tools, the robot holds the work object.
Make a tool stationary
This section describes how to make a tool stationery.
Action
On the ABB menu, tap Jogging .
1
Tap Tool to display the list of available tools.
2
Tap the tool you want to edit, then tap Edit .
3
A menu appears.
In the menu, tap Change value .
4
The data that defines the tool appears.
Tap the instance robhold .
5
Tap FALSE to make this tool stationary.
6
Tap OK to use the new setup, Cancel to leave the tool unchanged.
7
Make a work object robot held
This section describes how to make a work object robot held.
Action
In the Jogging window, tap Work object to display the list of available work objects.
1
Tap the work object you want to edit, then tap Edit .
2
A menu appears.
In the menu, tap Change value .
3
The data that defines the work object appears.
Tap the instance robhold .
4
Tap TRUE to indicate that this work object is held by the robot.
5
Tap OK to use the new setup, Cancel to leave the work object unchanged.
6
Differences in coordinate system referencing
This section describes differences in coordinate system referencing.
...but now references the...
...normally references the...
The...
user coordinate system (no
change)
user coordinate system
work object coordinate sys-
tem
robot’s mounting plate
world coordinate system
user coordinate system
world coordinate system
robot’s mounting plate
tool coordinate system
Continues on next page
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3 Programming
3.5.4 Setup for stationary tools
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Unit
Instance
Action
None
tload.aom.q1
If necessary, enter the orientation of the axis
of moment
5
tload.aom.q2
tload.aom.q3
tload.aom.q4
[kgm 2 ]
tload.ix
tload.iy
If necessary, enter the tool's moment of inertia.
6
tload.iz
Tap OK to use the new values, Cancel to leave
the definition unchanged.
7
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3 Programming
3.5.3 Editing the tool data
Continued
3.5.4 Setup for stationary tools
Stationary tools
Stationary tools are used, for instance, in applications that involve large machines
such as cutters, presses and punch cutters. You may use stationary tools to perform
any operation that would be difficult or inconvenient to perform with the tool on
the robot.
With stationary tools, the robot holds the work object.
Make a tool stationary
This section describes how to make a tool stationery.
Action
On the ABB menu, tap Jogging .
1
Tap Tool to display the list of available tools.
2
Tap the tool you want to edit, then tap Edit .
3
A menu appears.
In the menu, tap Change value .
4
The data that defines the tool appears.
Tap the instance robhold .
5
Tap FALSE to make this tool stationary.
6
Tap OK to use the new setup, Cancel to leave the tool unchanged.
7
Make a work object robot held
This section describes how to make a work object robot held.
Action
In the Jogging window, tap Work object to display the list of available work objects.
1
Tap the work object you want to edit, then tap Edit .
2
A menu appears.
In the menu, tap Change value .
3
The data that defines the work object appears.
Tap the instance robhold .
4
Tap TRUE to indicate that this work object is held by the robot.
5
Tap OK to use the new setup, Cancel to leave the work object unchanged.
6
Differences in coordinate system referencing
This section describes differences in coordinate system referencing.
...but now references the...
...normally references the...
The...
user coordinate system (no
change)
user coordinate system
work object coordinate sys-
tem
robot’s mounting plate
world coordinate system
user coordinate system
world coordinate system
robot’s mounting plate
tool coordinate system
Continues on next page
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3 Programming
3.5.4 Setup for stationary tools
Set up the tool coordinate system
You use the same measurement methods to set up a stationary tool coordinate
system as with tools mounted on the robot.
The world reference tip must, in this case, be attached to the robot. Define and
use a tool with the reference tip’s measurements when you create approach points.
You also need to attach elongators to the stationary tool if you need to set up the
orientation.
You should enter the reference tip’s tool definition manually to minimize errors
when calculating the stationary tool’s coordinate system.
You may enter the stationary tool’s definition manually.
en0400000990
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3 Programming
3.5.4 Setup for stationary tools
Continued
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3.5.4 Setup for stationary tools
Stationary tools
Stationary tools are used, for instance, in applications that involve large machines
such as cutters, presses and punch cutters. You may use stationary tools to perform
any operation that would be difficult or inconvenient to perform with the tool on
the robot.
With stationary tools, the robot holds the work object.
Make a tool stationary
This section describes how to make a tool stationery.
Action
On the ABB menu, tap Jogging .
1
Tap Tool to display the list of available tools.
2
Tap the tool you want to edit, then tap Edit .
3
A menu appears.
In the menu, tap Change value .
4
The data that defines the tool appears.
Tap the instance robhold .
5
Tap FALSE to make this tool stationary.
6
Tap OK to use the new setup, Cancel to leave the tool unchanged.
7
Make a work object robot held
This section describes how to make a work object robot held.
Action
In the Jogging window, tap Work object to display the list of available work objects.
1
Tap the work object you want to edit, then tap Edit .
2
A menu appears.
In the menu, tap Change value .
3
The data that defines the work object appears.
Tap the instance robhold .
4
Tap TRUE to indicate that this work object is held by the robot.
5
Tap OK to use the new setup, Cancel to leave the work object unchanged.
6
Differences in coordinate system referencing
This section describes differences in coordinate system referencing.
...but now references the...
...normally references the...
The...
user coordinate system (no
change)
user coordinate system
work object coordinate sys-
tem
robot’s mounting plate
world coordinate system
user coordinate system
world coordinate system
robot’s mounting plate
tool coordinate system
Continues on next page
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3 Programming
3.5.4 Setup for stationary tools
Set up the tool coordinate system
You use the same measurement methods to set up a stationary tool coordinate
system as with tools mounted on the robot.
The world reference tip must, in this case, be attached to the robot. Define and
use a tool with the reference tip’s measurements when you create approach points.
You also need to attach elongators to the stationary tool if you need to set up the
orientation.
You should enter the reference tip’s tool definition manually to minimize errors
when calculating the stationary tool’s coordinate system.
You may enter the stationary tool’s definition manually.
en0400000990
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3 Programming
3.5.4 Setup for stationary tools
Continued
3.6 Work objects
3.6.1 Creating a work object
What happens when I create a work object?
A variable of the type wobjdata is created. The variable’s name will be the name
of the work object. For more information on data types, see Technical reference
manual - RAPID Instructions, Functions and Data types .
This is detailed in section What is a work object? on page 197 .
Creating a work object
The work object’s coordinate system is now identical with the world coordinate
system. To define the position and orientation of the work object’s coordinate
system, see Editing the work object declaration on page 83 .
Action
On the ABB menu, tap Jogging .
1
Tap Work Object to display the list of available work objects.
2
Tap New... to create a new work object.
3
Tap OK .
4
Work object declaration settings
Recommendation
then...
If you want to change...
Work objects are automatic-
ally named wobj followed by
a running number, for ex-
ample wobj10 , wobj27 .
You should change this to
something more descriptive.
If you change the name of a
work object after it is refer-
enced in any program you
must also change all occur-
rences of that work object.
tap the ... button next to it
the work object’s name
Work objects should always
be global to be available to all
modules in the program.
select the scope of choice
from the menu
the scope
Work object variables must
always be persistent.
-
the storage type
select the module in which
this work object should be
declared from the menu
the module
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3 Programming
3.6.1 Creating a work object
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Set up the tool coordinate system
You use the same measurement methods to set up a stationary tool coordinate
system as with tools mounted on the robot.
The world reference tip must, in this case, be attached to the robot. Define and
use a tool with the reference tip’s measurements when you create approach points.
You also need to attach elongators to the stationary tool if you need to set up the
orientation.
You should enter the reference tip’s tool definition manually to minimize errors
when calculating the stationary tool’s coordinate system.
You may enter the stationary tool’s definition manually.
en0400000990
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3 Programming
3.5.4 Setup for stationary tools
Continued
3.6 Work objects
3.6.1 Creating a work object
What happens when I create a work object?
A variable of the type wobjdata is created. The variable’s name will be the name
of the work object. For more information on data types, see Technical reference
manual - RAPID Instructions, Functions and Data types .
This is detailed in section What is a work object? on page 197 .
Creating a work object
The work object’s coordinate system is now identical with the world coordinate
system. To define the position and orientation of the work object’s coordinate
system, see Editing the work object declaration on page 83 .
Action
On the ABB menu, tap Jogging .
1
Tap Work Object to display the list of available work objects.
2
Tap New... to create a new work object.
3
Tap OK .
4
Work object declaration settings
Recommendation
then...
If you want to change...
Work objects are automatic-
ally named wobj followed by
a running number, for ex-
ample wobj10 , wobj27 .
You should change this to
something more descriptive.
If you change the name of a
work object after it is refer-
enced in any program you
must also change all occur-
rences of that work object.
tap the ... button next to it
the work object’s name
Work objects should always
be global to be available to all
modules in the program.
select the scope of choice
from the menu
the scope
Work object variables must
always be persistent.
-
the storage type
select the module in which
this work object should be
declared from the menu
the module
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3 Programming
3.6.1 Creating a work object
3.6.2 Defining the work object coordinate system
Overview
Defining a work object means that the robot is used to point out the location of it.
This is done by defining three positions, two on the x-axis and one on the y-axis.
When defining a work object you can use either the user frame or the object frame
or both. The user select frame and the object frame usually coincides. If not, the
object frame is displaced from the user frame.
How to select method
This procedure describes how to select method for defining either user frame or
object frame or both. Note that this only works for a user created work object, not
the default work object, wobj0. Defining work object can also be done from the
Program Data window.
Action
On the ABB menu, tap Jogging
1
Tap Work object to display the list of available work objects.
2
Tap the work object you want to define, then tap Edit .
3
In the menu, tap Define.... .
4
Select method from the User method and/or the Object method menu. See How to
define the user frame on page 78 and How to define the object frame on page 79
5
![Image]
en0400000893
How to define the user frame
This section details how to define the user frame.
Continues on next page
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3 Programming
3.6.2 Defining the work object coordinate system
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3.6 Work objects
3.6.1 Creating a work object
What happens when I create a work object?
A variable of the type wobjdata is created. The variable’s name will be the name
of the work object. For more information on data types, see Technical reference
manual - RAPID Instructions, Functions and Data types .
This is detailed in section What is a work object? on page 197 .
Creating a work object
The work object’s coordinate system is now identical with the world coordinate
system. To define the position and orientation of the work object’s coordinate
system, see Editing the work object declaration on page 83 .
Action
On the ABB menu, tap Jogging .
1
Tap Work Object to display the list of available work objects.
2
Tap New... to create a new work object.
3
Tap OK .
4
Work object declaration settings
Recommendation
then...
If you want to change...
Work objects are automatic-
ally named wobj followed by
a running number, for ex-
ample wobj10 , wobj27 .
You should change this to
something more descriptive.
If you change the name of a
work object after it is refer-
enced in any program you
must also change all occur-
rences of that work object.
tap the ... button next to it
the work object’s name
Work objects should always
be global to be available to all
modules in the program.
select the scope of choice
from the menu
the scope
Work object variables must
always be persistent.
-
the storage type
select the module in which
this work object should be
declared from the menu
the module
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77
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© Copyright 2025 ABB. All rights reserved.
3 Programming
3.6.1 Creating a work object
3.6.2 Defining the work object coordinate system
Overview
Defining a work object means that the robot is used to point out the location of it.
This is done by defining three positions, two on the x-axis and one on the y-axis.
When defining a work object you can use either the user frame or the object frame
or both. The user select frame and the object frame usually coincides. If not, the
object frame is displaced from the user frame.
How to select method
This procedure describes how to select method for defining either user frame or
object frame or both. Note that this only works for a user created work object, not
the default work object, wobj0. Defining work object can also be done from the
Program Data window.
Action
On the ABB menu, tap Jogging
1
Tap Work object to display the list of available work objects.
2
Tap the work object you want to define, then tap Edit .
3
In the menu, tap Define.... .
4
Select method from the User method and/or the Object method menu. See How to
define the user frame on page 78 and How to define the object frame on page 79
5
![Image]
en0400000893
How to define the user frame
This section details how to define the user frame.
Continues on next page
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3 Programming
3.6.2 Defining the work object coordinate system
en0400000887
The x axis will go through points X1-X2, and the y axis through Y1.
Information
Action
In the User method pop up menu, tap 3
points .
1
Large distance between X1 and X2 is
preferable for a more precise definition.
Press the three-position enabling device
and jog the robot to the first (X1, X2 or Y1)
point that you want to define.
2
Select the point in the list.
3
Tap Modify Position to define the point.
4
Repeat steps 2 to 4 for the remaining
points.
5
How to define the object frame
This section describes how to define the object frame if you want to displace it
from the user frame.
Continues on next page
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3 Programming
3.6.2 Defining the work object coordinate system
Continued
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3.6.2 Defining the work object coordinate system
Overview
Defining a work object means that the robot is used to point out the location of it.
This is done by defining three positions, two on the x-axis and one on the y-axis.
When defining a work object you can use either the user frame or the object frame
or both. The user select frame and the object frame usually coincides. If not, the
object frame is displaced from the user frame.
How to select method
This procedure describes how to select method for defining either user frame or
object frame or both. Note that this only works for a user created work object, not
the default work object, wobj0. Defining work object can also be done from the
Program Data window.
Action
On the ABB menu, tap Jogging
1
Tap Work object to display the list of available work objects.
2
Tap the work object you want to define, then tap Edit .
3
In the menu, tap Define.... .
4
Select method from the User method and/or the Object method menu. See How to
define the user frame on page 78 and How to define the object frame on page 79
5
![Image]
en0400000893
How to define the user frame
This section details how to define the user frame.
Continues on next page
78
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3 Programming
3.6.2 Defining the work object coordinate system
en0400000887
The x axis will go through points X1-X2, and the y axis through Y1.
Information
Action
In the User method pop up menu, tap 3
points .
1
Large distance between X1 and X2 is
preferable for a more precise definition.
Press the three-position enabling device
and jog the robot to the first (X1, X2 or Y1)
point that you want to define.
2
Select the point in the list.
3
Tap Modify Position to define the point.
4
Repeat steps 2 to 4 for the remaining
points.
5
How to define the object frame
This section describes how to define the object frame if you want to displace it
from the user frame.
Continues on next page
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3 Programming
3.6.2 Defining the work object coordinate system
Continued
en0400000899
The x axis will go through points X1-X2, and the y axis through Y1.
Action
In the Object method pop up menu, tap 3 points .
1
See steps 2 to 4 in the description of How to define the user frame on page 78 .
2
How to save the defined positions
Normally the defined positions are only used as temporary positions by the
controller to calculate the position of the work object and are then discarded.
However, the positions can also be saved to a program module for later use or
analysis.
When saving the positions a new program module is created where the positions
are stored with predefined names given by the controller. The names of the positions
can be changed afterwards, but when loading the positions it is recommended to
use the predefined names.
Note
Only the positions (robtargets) are saved. Make sure to note which tool was used
when modifying the defined positions.
Action
When the work object frame definition is completed and all positions have been
modified, tap OK .
1
In the Save Modified Points dialog, tap Yes .
2
Tap ABC to change the name of the program module, tap OK to accept the name.
3
The names of the positions and the module is displayed in the Save dialog, tap OK .
4
Continues on next page
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3 Programming
3.6.2 Defining the work object coordinate system
Continued
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en0400000887
The x axis will go through points X1-X2, and the y axis through Y1.
Information
Action
In the User method pop up menu, tap 3
points .
1
Large distance between X1 and X2 is
preferable for a more precise definition.
Press the three-position enabling device
and jog the robot to the first (X1, X2 or Y1)
point that you want to define.
2
Select the point in the list.
3
Tap Modify Position to define the point.
4
Repeat steps 2 to 4 for the remaining
points.
5
How to define the object frame
This section describes how to define the object frame if you want to displace it
from the user frame.
Continues on next page
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3 Programming
3.6.2 Defining the work object coordinate system
Continued
en0400000899
The x axis will go through points X1-X2, and the y axis through Y1.
Action
In the Object method pop up menu, tap 3 points .
1
See steps 2 to 4 in the description of How to define the user frame on page 78 .
2
How to save the defined positions
Normally the defined positions are only used as temporary positions by the
controller to calculate the position of the work object and are then discarded.
However, the positions can also be saved to a program module for later use or
analysis.
When saving the positions a new program module is created where the positions
are stored with predefined names given by the controller. The names of the positions
can be changed afterwards, but when loading the positions it is recommended to
use the predefined names.
Note
Only the positions (robtargets) are saved. Make sure to note which tool was used
when modifying the defined positions.
Action
When the work object frame definition is completed and all positions have been
modified, tap OK .
1
In the Save Modified Points dialog, tap Yes .
2
Tap ABC to change the name of the program module, tap OK to accept the name.
3
The names of the positions and the module is displayed in the Save dialog, tap OK .
4
Continues on next page
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3 Programming
3.6.2 Defining the work object coordinate system
Continued
How to load defined positions
In some cases it is not practical or possible to use the robot to define the positions.
Then the positions can be defined or calculated elsewhere and loaded to the Work
Object Frame Definition dialog.
Positions from any program module can be can be loaded, but is recommended
to use the module from the Save Modified Points dialog with predefined position
names given by the controller.
CAUTION
Make sure that the correct tool and work object is activated in the Work Object
Frame Definition dialog before loading any positions.
Action
In the Work Object Frame Definition dialog, tap Positions and Load .
1
Tap the module that holds the calibration points, tap OK .
2
If the controller finds all or any predefined positions in the module, the positions are
automatically loaded to the correct user or object point.
3
In the Load dialog, tap OK .
If some positions are missing or do not have the correct names, the controller cannot
load the positions automatically so the user is asked to match the positions manually.
4
Tap each point in the list to assign the positions manually from the drop down list. Tap
OK .
If necessary, use Modify Position to define any remaining points that could not be
loaded.
5
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3 Programming
3.6.2 Defining the work object coordinate system
Continued
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en0400000899
The x axis will go through points X1-X2, and the y axis through Y1.
Action
In the Object method pop up menu, tap 3 points .
1
See steps 2 to 4 in the description of How to define the user frame on page 78 .
2
How to save the defined positions
Normally the defined positions are only used as temporary positions by the
controller to calculate the position of the work object and are then discarded.
However, the positions can also be saved to a program module for later use or
analysis.
When saving the positions a new program module is created where the positions
are stored with predefined names given by the controller. The names of the positions
can be changed afterwards, but when loading the positions it is recommended to
use the predefined names.
Note
Only the positions (robtargets) are saved. Make sure to note which tool was used
when modifying the defined positions.
Action
When the work object frame definition is completed and all positions have been
modified, tap OK .
1
In the Save Modified Points dialog, tap Yes .
2
Tap ABC to change the name of the program module, tap OK to accept the name.
3
The names of the positions and the module is displayed in the Save dialog, tap OK .
4
Continues on next page
80
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3 Programming
3.6.2 Defining the work object coordinate system
Continued
How to load defined positions
In some cases it is not practical or possible to use the robot to define the positions.
Then the positions can be defined or calculated elsewhere and loaded to the Work
Object Frame Definition dialog.
Positions from any program module can be can be loaded, but is recommended
to use the module from the Save Modified Points dialog with predefined position
names given by the controller.
CAUTION
Make sure that the correct tool and work object is activated in the Work Object
Frame Definition dialog before loading any positions.
Action
In the Work Object Frame Definition dialog, tap Positions and Load .
1
Tap the module that holds the calibration points, tap OK .
2
If the controller finds all or any predefined positions in the module, the positions are
automatically loaded to the correct user or object point.
3
In the Load dialog, tap OK .
If some positions are missing or do not have the correct names, the controller cannot
load the positions automatically so the user is asked to match the positions manually.
4
Tap each point in the list to assign the positions manually from the drop down list. Tap
OK .
If necessary, use Modify Position to define any remaining points that could not be
loaded.
5
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3 Programming
3.6.2 Defining the work object coordinate system
Continued
3.6.3 Editing the work object data
Overview
Use the work object data definition to set the position and rotation of the user and
object frames.
How to display the work object data
Action
On the ABB menu, tap Jogging .
1
Tap Work object to display the list of available work objects.
2
Tap the work object you want to edit, then tap Edit .
3
Tap Change Value.
4
The data that defines the work object appears.
How to set user and object frame values manually
The easiest way to set the work object and user coordinate systems position is to
use the method described in Defining the work object coordinate system on page78 .
You can however edit the values manually using the guide below.
Unit
Instance
Values
mm
oframe.trans.x
The cartesian coordinates of the position of the object
frame
oframe.trans.y
oframe.trans.z
-
oframe.rot.q1
The object frame orientation
oframe.rot.q2
oframe.rot.q3
oframe.rot.q4
mm
uframe.trans.x
The cartesian coordinates of the position of the user
frame
uframe.trans.y
uframe.trans.z
-
uframe.rot.q1
The user frame orientation
uframe.rot.q2
uframe.rot.q3
uframe.rot.q4
Note
Editing work object data can also be done from the Program Data window.
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How to load defined positions
In some cases it is not practical or possible to use the robot to define the positions.
Then the positions can be defined or calculated elsewhere and loaded to the Work
Object Frame Definition dialog.
Positions from any program module can be can be loaded, but is recommended
to use the module from the Save Modified Points dialog with predefined position
names given by the controller.
CAUTION
Make sure that the correct tool and work object is activated in the Work Object
Frame Definition dialog before loading any positions.
Action
In the Work Object Frame Definition dialog, tap Positions and Load .
1
Tap the module that holds the calibration points, tap OK .
2
If the controller finds all or any predefined positions in the module, the positions are
automatically loaded to the correct user or object point.
3
In the Load dialog, tap OK .
If some positions are missing or do not have the correct names, the controller cannot
load the positions automatically so the user is asked to match the positions manually.
4
Tap each point in the list to assign the positions manually from the drop down list. Tap
OK .
If necessary, use Modify Position to define any remaining points that could not be
loaded.
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3.6.2 Defining the work object coordinate system
Continued
3.6.3 Editing the work object data
Overview
Use the work object data definition to set the position and rotation of the user and
object frames.
How to display the work object data
Action
On the ABB menu, tap Jogging .
1
Tap Work object to display the list of available work objects.
2
Tap the work object you want to edit, then tap Edit .
3
Tap Change Value.
4
The data that defines the work object appears.
How to set user and object frame values manually
The easiest way to set the work object and user coordinate systems position is to
use the method described in Defining the work object coordinate system on page78 .
You can however edit the values manually using the guide below.
Unit
Instance
Values
mm
oframe.trans.x
The cartesian coordinates of the position of the object
frame
oframe.trans.y
oframe.trans.z
-
oframe.rot.q1
The object frame orientation
oframe.rot.q2
oframe.rot.q3
oframe.rot.q4
mm
uframe.trans.x
The cartesian coordinates of the position of the user
frame
uframe.trans.y
uframe.trans.z
-
uframe.rot.q1
The user frame orientation
uframe.rot.q2
uframe.rot.q3
uframe.rot.q4
Note
Editing work object data can also be done from the Program Data window.
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3.6.3 Editing the work object data
3.6.4 Editing the work object declaration
Overview
Use the declaration to change how the work object variable can be used in the
program’s modules.
Displaying the work object declaration
Action
On the ABB menu, tap Jogging .
1
Tap Work object to see the list of available work objects.
2
Tap the work object you want to edit, then tap Edit .
3
In the menu, tap Change Declaration .
4
The work object’s declaration appears.
5
Edit the tool declaration as listed in section Creating a work object on page 77 .
6
Note
If you change the name of a work object after it is referenced in any program you
must also change all occurrences of that work object.
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3.6.3 Editing the work object data
Overview
Use the work object data definition to set the position and rotation of the user and
object frames.
How to display the work object data
Action
On the ABB menu, tap Jogging .
1
Tap Work object to display the list of available work objects.
2
Tap the work object you want to edit, then tap Edit .
3
Tap Change Value.
4
The data that defines the work object appears.
How to set user and object frame values manually
The easiest way to set the work object and user coordinate systems position is to
use the method described in Defining the work object coordinate system on page78 .
You can however edit the values manually using the guide below.
Unit
Instance
Values
mm
oframe.trans.x
The cartesian coordinates of the position of the object
frame
oframe.trans.y
oframe.trans.z
-
oframe.rot.q1
The object frame orientation
oframe.rot.q2
oframe.rot.q3
oframe.rot.q4
mm
uframe.trans.x
The cartesian coordinates of the position of the user
frame
uframe.trans.y
uframe.trans.z
-
uframe.rot.q1
The user frame orientation
uframe.rot.q2
uframe.rot.q3
uframe.rot.q4
Note
Editing work object data can also be done from the Program Data window.
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3.6.3 Editing the work object data
3.6.4 Editing the work object declaration
Overview
Use the declaration to change how the work object variable can be used in the
program’s modules.
Displaying the work object declaration
Action
On the ABB menu, tap Jogging .
1
Tap Work object to see the list of available work objects.
2
Tap the work object you want to edit, then tap Edit .
3
In the menu, tap Change Declaration .
4
The work object’s declaration appears.
5
Edit the tool declaration as listed in section Creating a work object on page 77 .
6
Note
If you change the name of a work object after it is referenced in any program you
must also change all occurrences of that work object.
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3 Programming
3.6.4 Editing the work object declaration
3.7 Payloads
3.7.1 Creating a payload
What happens when I create a payload?
A variable of the type loaddata is created. The variables name will be the name
of the payload. For more information on data types, see Technical reference
manual - RAPID Instructions, Functions and Data types .
Adding a new payload and setting data declaration
The payloads coordinate system will be set to the position, including orientation,
of the world coordinate system.
Action
On the ABB menu tap Jogging .
1
Tap Payload or Total Load to display the list of available payloads.
2
Note
Total Load is displayed only when the value of ModalPayLoadMode is set to 0 and
the mechanical units are TCP robots. See Setting the value for ModalPayLoadMode
on page 85 .
Tap New to create a new payload and enter the data. See Payload declaration settings
on page 85 .
3
Tap OK .
4
WARNING
It is important to always define the actual tool load and, when used, the payload
of the robot (for example, a gripped part). Incorrect definitions of load data can
result in overloading of the robot mechanical structure. There is also a risk that
the speed in manual reduced speed mode can be exceeded.
When incorrect load data is specified, it can often lead to the following
consequences:
•
The robot may not use its maximum capacity.
•
Impaired path accuracy including a risk of overshooting.
•
Risk of overloading the mechanical structure.
The controller continuously monitors the load and writes an event log if the load
is higher than expected. This event log is saved and logged in the controller
memory.
Continues on next page
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3.7.1 Creating a payload
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3.6.4 Editing the work object declaration
Overview
Use the declaration to change how the work object variable can be used in the
program’s modules.
Displaying the work object declaration
Action
On the ABB menu, tap Jogging .
1
Tap Work object to see the list of available work objects.
2
Tap the work object you want to edit, then tap Edit .
3
In the menu, tap Change Declaration .
4
The work object’s declaration appears.
5
Edit the tool declaration as listed in section Creating a work object on page 77 .
6
Note
If you change the name of a work object after it is referenced in any program you
must also change all occurrences of that work object.
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3 Programming
3.6.4 Editing the work object declaration
3.7 Payloads
3.7.1 Creating a payload
What happens when I create a payload?
A variable of the type loaddata is created. The variables name will be the name
of the payload. For more information on data types, see Technical reference
manual - RAPID Instructions, Functions and Data types .
Adding a new payload and setting data declaration
The payloads coordinate system will be set to the position, including orientation,
of the world coordinate system.
Action
On the ABB menu tap Jogging .
1
Tap Payload or Total Load to display the list of available payloads.
2
Note
Total Load is displayed only when the value of ModalPayLoadMode is set to 0 and
the mechanical units are TCP robots. See Setting the value for ModalPayLoadMode
on page 85 .
Tap New to create a new payload and enter the data. See Payload declaration settings
on page 85 .
3
Tap OK .
4
WARNING
It is important to always define the actual tool load and, when used, the payload
of the robot (for example, a gripped part). Incorrect definitions of load data can
result in overloading of the robot mechanical structure. There is also a risk that
the speed in manual reduced speed mode can be exceeded.
When incorrect load data is specified, it can often lead to the following
consequences:
•
The robot may not use its maximum capacity.
•
Impaired path accuracy including a risk of overshooting.
•
Risk of overloading the mechanical structure.
The controller continuously monitors the load and writes an event log if the load
is higher than expected. This event log is saved and logged in the controller
memory.
Continues on next page
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3 Programming
3.7.1 Creating a payload
Payload declaration settings
Recommendation
...then...
If you want to change...
Payloads are automatically
named load followed by a
running number, for example
load10 , load31 .
You should change this to
something more descriptive.
If you change the name of a
payload after it is referenced
in any program you must also
change all occurrences of that
payload’s name.
tap the ... button next to it
the payload’s name
Payloads should always be
global to be available to all
modules in the program.
select the scope of choice
from the menu
the scope
Payload variables must al-
ways be persistent.
-
the storage type
-
select the module in which
this payload should be de-
clared from the menu
the module
Setting the value for ModalPayLoadMode
This procedure describes how to modify the value of ModalPayLoadMode :
1
On the ABB menu, tap Control Panel and then Configuration .
2
Select Controller .
3
Select the type System Misc and tap.
4
Select ModalPayLoadMode and then tap Edit .
5
Tap the parameter Value twice and set to 0 .
6
Click OK .
7
Tap Yes to the question The changes will not take effect until the controller
is warm started. Do you want to restart now? .
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Continued
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3.7 Payloads
3.7.1 Creating a payload
What happens when I create a payload?
A variable of the type loaddata is created. The variables name will be the name
of the payload. For more information on data types, see Technical reference
manual - RAPID Instructions, Functions and Data types .
Adding a new payload and setting data declaration
The payloads coordinate system will be set to the position, including orientation,
of the world coordinate system.
Action
On the ABB menu tap Jogging .
1
Tap Payload or Total Load to display the list of available payloads.
2
Note
Total Load is displayed only when the value of ModalPayLoadMode is set to 0 and
the mechanical units are TCP robots. See Setting the value for ModalPayLoadMode
on page 85 .
Tap New to create a new payload and enter the data. See Payload declaration settings
on page 85 .
3
Tap OK .
4
WARNING
It is important to always define the actual tool load and, when used, the payload
of the robot (for example, a gripped part). Incorrect definitions of load data can
result in overloading of the robot mechanical structure. There is also a risk that
the speed in manual reduced speed mode can be exceeded.
When incorrect load data is specified, it can often lead to the following
consequences:
•
The robot may not use its maximum capacity.
•
Impaired path accuracy including a risk of overshooting.
•
Risk of overloading the mechanical structure.
The controller continuously monitors the load and writes an event log if the load
is higher than expected. This event log is saved and logged in the controller
memory.
Continues on next page
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3 Programming
3.7.1 Creating a payload
Payload declaration settings
Recommendation
...then...
If you want to change...
Payloads are automatically
named load followed by a
running number, for example
load10 , load31 .
You should change this to
something more descriptive.
If you change the name of a
payload after it is referenced
in any program you must also
change all occurrences of that
payload’s name.
tap the ... button next to it
the payload’s name
Payloads should always be
global to be available to all
modules in the program.
select the scope of choice
from the menu
the scope
Payload variables must al-
ways be persistent.
-
the storage type
-
select the module in which
this payload should be de-
clared from the menu
the module
Setting the value for ModalPayLoadMode
This procedure describes how to modify the value of ModalPayLoadMode :
1
On the ABB menu, tap Control Panel and then Configuration .
2
Select Controller .
3
Select the type System Misc and tap.
4
Select ModalPayLoadMode and then tap Edit .
5
Tap the parameter Value twice and set to 0 .
6
Click OK .
7
Tap Yes to the question The changes will not take effect until the controller
is warm started. Do you want to restart now? .
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3.7.1 Creating a payload
Continued
3.7.2 Editing the payload data
Overview
Use the payload data to set physical properties of the payload such as weight and
center of gravity.
This can also be done automatically with the service routine LoadIdentify. See
Operating manual - IRC5 with FlexPendant .
Displaying the payload definition
Action
On the ABB menu, tap Jogging .
1
Tap Payload to display the list of available payloads.
2
Tap the payload you want to edit, then tap Edit .
3
Tap Change Value .
4
The data that defines the payload appears.
Changing the payload data
This procedure describes how to manually enter the payload data. This can also
be done automatically by running the service routine LoadIdentify.
Unit
Instance
Action
[kg]
load.mass
Enter the weight of the payload.
1
[mm]
load.cog.x
Enter the payload’s center of gravity.
2
load.cog.y
load.cog.z
load.aom.q1
Enter the orientation of the axis of moment.
3
load.aom.q2
load.aom.q3
load.aom.q3
[kgm 2 ]
ix
iy
Enter the payload’s moment of inertia.
4
iz
-
-
Tap OK to use the new values, Cancel to leave the
data unchanged.
5
Using the PayLoadsInWristCoords parameter
By using the PayLoadsInWristCoords parameter, the loaddata for payloads can
be specified relative to the wrist instead of the active TCP or work object. This can
be useful if several tool or TCP or work objects (when tool is stationary) are used
for one payload. In this case only one load identification is needed instead of one
for each tool or TCP or work object. Thus it is possible to use the same payload
loaddata for any robhold or stationary tool being active. This saves the time (for
example, during commissioning).
Continues on next page
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Payload declaration settings
Recommendation
...then...
If you want to change...
Payloads are automatically
named load followed by a
running number, for example
load10 , load31 .
You should change this to
something more descriptive.
If you change the name of a
payload after it is referenced
in any program you must also
change all occurrences of that
payload’s name.
tap the ... button next to it
the payload’s name
Payloads should always be
global to be available to all
modules in the program.
select the scope of choice
from the menu
the scope
Payload variables must al-
ways be persistent.
-
the storage type
-
select the module in which
this payload should be de-
clared from the menu
the module
Setting the value for ModalPayLoadMode
This procedure describes how to modify the value of ModalPayLoadMode :
1
On the ABB menu, tap Control Panel and then Configuration .
2
Select Controller .
3
Select the type System Misc and tap.
4
Select ModalPayLoadMode and then tap Edit .
5
Tap the parameter Value twice and set to 0 .
6
Click OK .
7
Tap Yes to the question The changes will not take effect until the controller
is warm started. Do you want to restart now? .
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3.7.1 Creating a payload
Continued
3.7.2 Editing the payload data
Overview
Use the payload data to set physical properties of the payload such as weight and
center of gravity.
This can also be done automatically with the service routine LoadIdentify. See
Operating manual - IRC5 with FlexPendant .
Displaying the payload definition
Action
On the ABB menu, tap Jogging .
1
Tap Payload to display the list of available payloads.
2
Tap the payload you want to edit, then tap Edit .
3
Tap Change Value .
4
The data that defines the payload appears.
Changing the payload data
This procedure describes how to manually enter the payload data. This can also
be done automatically by running the service routine LoadIdentify.
Unit
Instance
Action
[kg]
load.mass
Enter the weight of the payload.
1
[mm]
load.cog.x
Enter the payload’s center of gravity.
2
load.cog.y
load.cog.z
load.aom.q1
Enter the orientation of the axis of moment.
3
load.aom.q2
load.aom.q3
load.aom.q3
[kgm 2 ]
ix
iy
Enter the payload’s moment of inertia.
4
iz
-
-
Tap OK to use the new values, Cancel to leave the
data unchanged.
5
Using the PayLoadsInWristCoords parameter
By using the PayLoadsInWristCoords parameter, the loaddata for payloads can
be specified relative to the wrist instead of the active TCP or work object. This can
be useful if several tool or TCP or work objects (when tool is stationary) are used
for one payload. In this case only one load identification is needed instead of one
for each tool or TCP or work object. Thus it is possible to use the same payload
loaddata for any robhold or stationary tool being active. This saves the time (for
example, during commissioning).
Continues on next page
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3 Programming
3.7.2 Editing the payload data
For more information about PayLoadsInWristCoords , see Technical reference
manual - System parameters and Technical reference manual - RAPID Instructions,
Functions and Data types .
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3.7.2 Editing the payload data
Continued
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3.7.2 Editing the payload data
Overview
Use the payload data to set physical properties of the payload such as weight and
center of gravity.
This can also be done automatically with the service routine LoadIdentify. See
Operating manual - IRC5 with FlexPendant .
Displaying the payload definition
Action
On the ABB menu, tap Jogging .
1
Tap Payload to display the list of available payloads.
2
Tap the payload you want to edit, then tap Edit .
3
Tap Change Value .
4
The data that defines the payload appears.
Changing the payload data
This procedure describes how to manually enter the payload data. This can also
be done automatically by running the service routine LoadIdentify.
Unit
Instance
Action
[kg]
load.mass
Enter the weight of the payload.
1
[mm]
load.cog.x
Enter the payload’s center of gravity.
2
load.cog.y
load.cog.z
load.aom.q1
Enter the orientation of the axis of moment.
3
load.aom.q2
load.aom.q3
load.aom.q3
[kgm 2 ]
ix
iy
Enter the payload’s moment of inertia.
4
iz
-
-
Tap OK to use the new values, Cancel to leave the
data unchanged.
5
Using the PayLoadsInWristCoords parameter
By using the PayLoadsInWristCoords parameter, the loaddata for payloads can
be specified relative to the wrist instead of the active TCP or work object. This can
be useful if several tool or TCP or work objects (when tool is stationary) are used
for one payload. In this case only one load identification is needed instead of one
for each tool or TCP or work object. Thus it is possible to use the same payload
loaddata for any robhold or stationary tool being active. This saves the time (for
example, during commissioning).
Continues on next page
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3 Programming
3.7.2 Editing the payload data
For more information about PayLoadsInWristCoords , see Technical reference
manual - System parameters and Technical reference manual - RAPID Instructions,
Functions and Data types .
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3.7.2 Editing the payload data
Continued
3.8 Advanced programming
3.8.1 Mirroring a program, module, or routine
Mirroring
Mirroring creates a copy of a program, module, or routine in a specific mirror plane.
The mirror function can be applied to any program, module, or routine.
Mirroring can be performed in two different ways:
•
Default against the base frame coordinate system. The mirror operation will
be performed across the xz-plane in the base frame coordinate system. All
positions and work object frames that are used in an instruction in the
selected program, module or routine are mirrored. The position orientation
axes x and z will be mirrored.
•
Advanced against a specific mirror frame. The mirror operation will be
performed across the xy-plane in a specified work object frame, mirror frame.
All positions in the selected program, module or routine are mirrored. If the
work object argument in an instruction is another work object than specified
in the mirror dialog, the work object in the instruction is used in the mirror
operation. It is also possible to specify which axis in the position orientation
that will be mirrored, x and z or y and z.
Mirroring is described in section What is mirroring? on page 205 .
Mirroring a routine
This section describes how to mirror a routine.
Action
In the ABB menu, tap Program Editor .
1
Tap Edit and tap Mirror .
2
To define the mirror.
•
Tap the Module menu to select in which module the routine to mirror is used.
•
Tap the Routine menu to select which routine you want to mirror.
•
Tap ... to open the soft keyboard and enter the name for the new routine.
3
If you want to mirror in base frame then proceed to the next step.
4
If you want to define another type of mirror then tap Advanced options and proceed
as follows.
To define the type of mirror:
•
Deselect the Base Mirror checkbox.
•
Tap ... to the right of Work object to select the work object frame to which all
positions which are to be mirrored are related to.
•
Tap ... to the right of Mirror frame to select the mirror plane to which all positions
will be mirrored.
•
Tap the Axis to mirror menu to specify how to mirror the position orientation.
x means that x and z axes will be mirrored. y means that y and z axes will be
mirrored.
•
Tap OK to save the advanced options.
Tap OK .
5
A dialogue box is displayed.
Tap Yes to apply the selected mirror to the routine, or tap No to cancel.
6
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For more information about PayLoadsInWristCoords , see Technical reference
manual - System parameters and Technical reference manual - RAPID Instructions,
Functions and Data types .
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3 Programming
3.7.2 Editing the payload data
Continued
3.8 Advanced programming
3.8.1 Mirroring a program, module, or routine
Mirroring
Mirroring creates a copy of a program, module, or routine in a specific mirror plane.
The mirror function can be applied to any program, module, or routine.
Mirroring can be performed in two different ways:
•
Default against the base frame coordinate system. The mirror operation will
be performed across the xz-plane in the base frame coordinate system. All
positions and work object frames that are used in an instruction in the
selected program, module or routine are mirrored. The position orientation
axes x and z will be mirrored.
•
Advanced against a specific mirror frame. The mirror operation will be
performed across the xy-plane in a specified work object frame, mirror frame.
All positions in the selected program, module or routine are mirrored. If the
work object argument in an instruction is another work object than specified
in the mirror dialog, the work object in the instruction is used in the mirror
operation. It is also possible to specify which axis in the position orientation
that will be mirrored, x and z or y and z.
Mirroring is described in section What is mirroring? on page 205 .
Mirroring a routine
This section describes how to mirror a routine.
Action
In the ABB menu, tap Program Editor .
1
Tap Edit and tap Mirror .
2
To define the mirror.
•
Tap the Module menu to select in which module the routine to mirror is used.
•
Tap the Routine menu to select which routine you want to mirror.
•
Tap ... to open the soft keyboard and enter the name for the new routine.
3
If you want to mirror in base frame then proceed to the next step.
4
If you want to define another type of mirror then tap Advanced options and proceed
as follows.
To define the type of mirror:
•
Deselect the Base Mirror checkbox.
•
Tap ... to the right of Work object to select the work object frame to which all
positions which are to be mirrored are related to.
•
Tap ... to the right of Mirror frame to select the mirror plane to which all positions
will be mirrored.
•
Tap the Axis to mirror menu to specify how to mirror the position orientation.
x means that x and z axes will be mirrored. y means that y and z axes will be
mirrored.
•
Tap OK to save the advanced options.
Tap OK .
5
A dialogue box is displayed.
Tap Yes to apply the selected mirror to the routine, or tap No to cancel.
6
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3.8.1 Mirroring a program, module, or routine
Mirroring a module or program
This section describes how to mirror a module or program.
Action
In the ABB menu, tap Program Editor .
1
Tap Edit and tap Mirror .
2
To define the mirror.
•
Tap the Module menu to select module to mirror.
•
Tap ... to open the soft keyboard and enter the name for the new module or
program.
3
If you want to mirror in base frame then proceed to the next step.
4
If you want to define another type of mirror then tap Advanced options and proceed
as follows.
To define the type of mirror:
•
Deselect the Base Mirror checkbox.
•
Tap ... to the right of Work object to select the work object frame to which all
positions which are to be mirrored are related to.
•
Tap ... to the right of Mirror frame to select the mirror plane to which all positions
will be mirrored.
•
Tap the Axis to mirror menu to specify how to mirror the position orientation.
x means that x and z axes will be mirrored. y means that y and z axes will be
mirrored.
•
Tap OK to save the advanced options.
Tap OK .
5
A dialogue box is displayed.
Tap Yes to apply the selected mirror to the module, or tap No to cancel.
6
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3.8.1 Mirroring a program, module, or routine
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3.8 Advanced programming
3.8.1 Mirroring a program, module, or routine
Mirroring
Mirroring creates a copy of a program, module, or routine in a specific mirror plane.
The mirror function can be applied to any program, module, or routine.
Mirroring can be performed in two different ways:
•
Default against the base frame coordinate system. The mirror operation will
be performed across the xz-plane in the base frame coordinate system. All
positions and work object frames that are used in an instruction in the
selected program, module or routine are mirrored. The position orientation
axes x and z will be mirrored.
•
Advanced against a specific mirror frame. The mirror operation will be
performed across the xy-plane in a specified work object frame, mirror frame.
All positions in the selected program, module or routine are mirrored. If the
work object argument in an instruction is another work object than specified
in the mirror dialog, the work object in the instruction is used in the mirror
operation. It is also possible to specify which axis in the position orientation
that will be mirrored, x and z or y and z.
Mirroring is described in section What is mirroring? on page 205 .
Mirroring a routine
This section describes how to mirror a routine.
Action
In the ABB menu, tap Program Editor .
1
Tap Edit and tap Mirror .
2
To define the mirror.
•
Tap the Module menu to select in which module the routine to mirror is used.
•
Tap the Routine menu to select which routine you want to mirror.
•
Tap ... to open the soft keyboard and enter the name for the new routine.
3
If you want to mirror in base frame then proceed to the next step.
4
If you want to define another type of mirror then tap Advanced options and proceed
as follows.
To define the type of mirror:
•
Deselect the Base Mirror checkbox.
•
Tap ... to the right of Work object to select the work object frame to which all
positions which are to be mirrored are related to.
•
Tap ... to the right of Mirror frame to select the mirror plane to which all positions
will be mirrored.
•
Tap the Axis to mirror menu to specify how to mirror the position orientation.
x means that x and z axes will be mirrored. y means that y and z axes will be
mirrored.
•
Tap OK to save the advanced options.
Tap OK .
5
A dialogue box is displayed.
Tap Yes to apply the selected mirror to the routine, or tap No to cancel.
6
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3 Programming
3.8.1 Mirroring a program, module, or routine
Mirroring a module or program
This section describes how to mirror a module or program.
Action
In the ABB menu, tap Program Editor .
1
Tap Edit and tap Mirror .
2
To define the mirror.
•
Tap the Module menu to select module to mirror.
•
Tap ... to open the soft keyboard and enter the name for the new module or
program.
3
If you want to mirror in base frame then proceed to the next step.
4
If you want to define another type of mirror then tap Advanced options and proceed
as follows.
To define the type of mirror:
•
Deselect the Base Mirror checkbox.
•
Tap ... to the right of Work object to select the work object frame to which all
positions which are to be mirrored are related to.
•
Tap ... to the right of Mirror frame to select the mirror plane to which all positions
will be mirrored.
•
Tap the Axis to mirror menu to specify how to mirror the position orientation.
x means that x and z axes will be mirrored. y means that y and z axes will be
mirrored.
•
Tap OK to save the advanced options.
Tap OK .
5
A dialogue box is displayed.
Tap Yes to apply the selected mirror to the module, or tap No to cancel.
6
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3 Programming
3.8.1 Mirroring a program, module, or routine
Continued
3.8.2 Editing instruction expressions and declarations
Expressions
An expression specifies the evaluation of a value. It can be used, for example:
•
as a condition in an IF instruction
•
as an argument in an instruction
•
as an argument in a function call
Read more in Technical reference manual - RAPID Overview and Technical
reference manual - RAPID Instructions, Functions and Data types .
Inserting expressions
This procedure describes how to insert and edit expressions in instructions.
Action
In the Program Editor , tap to select the instruction you want to edit and then tap Edit .
1
Tap Change Selected and tap to select the argument to change.
2
Tap Expression .
3
![Image]
en0400000704
Edit the length of the expression by tapping the keys to the right:
•
Arrows: step backward and forward in the expression.
•
+ to add expression. Tap the new expression to define it.
•
- to delete expression.
•
() to set a parenthesis around the highlighted expression.
•
(o) to delete a parenthesis.
4
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3.8.2 Editing instruction expressions and declarations
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Mirroring a module or program
This section describes how to mirror a module or program.
Action
In the ABB menu, tap Program Editor .
1
Tap Edit and tap Mirror .
2
To define the mirror.
•
Tap the Module menu to select module to mirror.
•
Tap ... to open the soft keyboard and enter the name for the new module or
program.
3
If you want to mirror in base frame then proceed to the next step.
4
If you want to define another type of mirror then tap Advanced options and proceed
as follows.
To define the type of mirror:
•
Deselect the Base Mirror checkbox.
•
Tap ... to the right of Work object to select the work object frame to which all
positions which are to be mirrored are related to.
•
Tap ... to the right of Mirror frame to select the mirror plane to which all positions
will be mirrored.
•
Tap the Axis to mirror menu to specify how to mirror the position orientation.
x means that x and z axes will be mirrored. y means that y and z axes will be
mirrored.
•
Tap OK to save the advanced options.
Tap OK .
5
A dialogue box is displayed.
Tap Yes to apply the selected mirror to the module, or tap No to cancel.
6
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3 Programming
3.8.1 Mirroring a program, module, or routine
Continued
3.8.2 Editing instruction expressions and declarations
Expressions
An expression specifies the evaluation of a value. It can be used, for example:
•
as a condition in an IF instruction
•
as an argument in an instruction
•
as an argument in a function call
Read more in Technical reference manual - RAPID Overview and Technical
reference manual - RAPID Instructions, Functions and Data types .
Inserting expressions
This procedure describes how to insert and edit expressions in instructions.
Action
In the Program Editor , tap to select the instruction you want to edit and then tap Edit .
1
Tap Change Selected and tap to select the argument to change.
2
Tap Expression .
3
![Image]
en0400000704
Edit the length of the expression by tapping the keys to the right:
•
Arrows: step backward and forward in the expression.
•
+ to add expression. Tap the new expression to define it.
•
- to delete expression.
•
() to set a parenthesis around the highlighted expression.
•
(o) to delete a parenthesis.
4
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3.8.2 Editing instruction expressions and declarations
Action
Tap:
•
New to create a new data declaration, i.e. adding a data declaration not previ-
ously used. This is detailed in section Creating new data declarations on page91 .
•
View to change views or change data type. This is detailed in section Changing
data type on page 92 .
•
ABC displays the soft keyboard.
5
Tap OK to save the expression.
6
Declarations and data types
When editing an expression, new data can be declared with the button New . More
information about data declarations and how to edit them can be found in Operating
manual - IRC5 with FlexPendant .
Creating new data declarations
This procedure describes how to create a new data declaration in an instruction
expression.
Action
In the Insert Expression view, tap New .
1
![Image]
en0400000705
Tap and enter desired values:
•
Initial value to set the initial value.
•
... to display the soft keyboard and change the data type’s name.
•
Scope
•
Storage type
•
Module
•
Routine
•
Dimension to set the size of an array if the data type should be an array.
•
If a value has been chosen for Dimension, tap ... to set array size.
2
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3 Programming
3.8.2 Editing instruction expressions and declarations
Continued
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3.8.2 Editing instruction expressions and declarations
Expressions
An expression specifies the evaluation of a value. It can be used, for example:
•
as a condition in an IF instruction
•
as an argument in an instruction
•
as an argument in a function call
Read more in Technical reference manual - RAPID Overview and Technical
reference manual - RAPID Instructions, Functions and Data types .
Inserting expressions
This procedure describes how to insert and edit expressions in instructions.
Action
In the Program Editor , tap to select the instruction you want to edit and then tap Edit .
1
Tap Change Selected and tap to select the argument to change.
2
Tap Expression .
3
![Image]
en0400000704
Edit the length of the expression by tapping the keys to the right:
•
Arrows: step backward and forward in the expression.
•
+ to add expression. Tap the new expression to define it.
•
- to delete expression.
•
() to set a parenthesis around the highlighted expression.
•
(o) to delete a parenthesis.
4
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3 Programming
3.8.2 Editing instruction expressions and declarations
Action
Tap:
•
New to create a new data declaration, i.e. adding a data declaration not previ-
ously used. This is detailed in section Creating new data declarations on page91 .
•
View to change views or change data type. This is detailed in section Changing
data type on page 92 .
•
ABC displays the soft keyboard.
5
Tap OK to save the expression.
6
Declarations and data types
When editing an expression, new data can be declared with the button New . More
information about data declarations and how to edit them can be found in Operating
manual - IRC5 with FlexPendant .
Creating new data declarations
This procedure describes how to create a new data declaration in an instruction
expression.
Action
In the Insert Expression view, tap New .
1
![Image]
en0400000705
Tap and enter desired values:
•
Initial value to set the initial value.
•
... to display the soft keyboard and change the data type’s name.
•
Scope
•
Storage type
•
Module
•
Routine
•
Dimension to set the size of an array if the data type should be an array.
•
If a value has been chosen for Dimension, tap ... to set array size.
2
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3 Programming
3.8.2 Editing instruction expressions and declarations
Continued
Action
After making all selections, tap OK .
3
A dialog box is displayed, prompting you to allow resetting of the program pointer and
applying all changes:
•
Tap Yes to proceed.
•
Tap No to return to the data type view without resetting of the program pointer
or applying changes.
Changing data type
This section describes how to change data type.
Action
In the Insert Expression view, tap Change data type , the following screen is displayed:
1
![Image]
en0400000706
Tap to select the required data type and tap OK .
2
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Action
Tap:
•
New to create a new data declaration, i.e. adding a data declaration not previ-
ously used. This is detailed in section Creating new data declarations on page91 .
•
View to change views or change data type. This is detailed in section Changing
data type on page 92 .
•
ABC displays the soft keyboard.
5
Tap OK to save the expression.
6
Declarations and data types
When editing an expression, new data can be declared with the button New . More
information about data declarations and how to edit them can be found in Operating
manual - IRC5 with FlexPendant .
Creating new data declarations
This procedure describes how to create a new data declaration in an instruction
expression.
Action
In the Insert Expression view, tap New .
1
![Image]
en0400000705
Tap and enter desired values:
•
Initial value to set the initial value.
•
... to display the soft keyboard and change the data type’s name.
•
Scope
•
Storage type
•
Module
•
Routine
•
Dimension to set the size of an array if the data type should be an array.
•
If a value has been chosen for Dimension, tap ... to set array size.
2
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3 Programming
3.8.2 Editing instruction expressions and declarations
Continued
Action
After making all selections, tap OK .
3
A dialog box is displayed, prompting you to allow resetting of the program pointer and
applying all changes:
•
Tap Yes to proceed.
•
Tap No to return to the data type view without resetting of the program pointer
or applying changes.
Changing data type
This section describes how to change data type.
Action
In the Insert Expression view, tap Change data type , the following screen is displayed:
1
![Image]
en0400000706
Tap to select the required data type and tap OK .
2
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3.8.2 Editing instruction expressions and declarations
Continued
3.8.3 Hiding declarations in program code
Declarations
Program declarations can be hidden to make the program code easier to read.
Hiding declarations
This section describes how to hide or show declarations.
Action
In the ABB menu, tap Program Editor to view a program.
1
Tap Hide Declarations to hide declarations.
2
Tap Show Declarations to show declarations.
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Action
After making all selections, tap OK .
3
A dialog box is displayed, prompting you to allow resetting of the program pointer and
applying all changes:
•
Tap Yes to proceed.
•
Tap No to return to the data type view without resetting of the program pointer
or applying changes.
Changing data type
This section describes how to change data type.
Action
In the Insert Expression view, tap Change data type , the following screen is displayed:
1
![Image]
en0400000706
Tap to select the required data type and tap OK .
2
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3.8.2 Editing instruction expressions and declarations
Continued
3.8.3 Hiding declarations in program code
Declarations
Program declarations can be hidden to make the program code easier to read.
Hiding declarations
This section describes how to hide or show declarations.
Action
In the ABB menu, tap Program Editor to view a program.
1
Tap Hide Declarations to hide declarations.
2
Tap Show Declarations to show declarations.
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3 Programming
3.8.3 Hiding declarations in program code
3.8.4 Deleting programs from memory
Overview
Deleting a program in a task does not erase the program from the controller mass
memory but only from the program memory.
When you switch programs, the previously used program is deleted from the
program memory, but not removed from the mass memory if it was saved there.
How to save your work is detailed in section Handling of programs on page 52 .
The different memories are described in section What is “the memory”? on page110 .
Deleting programs from memory
This section details how to delete programs from the program memory.
Action
On the ABB menu tap Program Editor .
1
Tap Tasks and Programs .
2
Tap File .
3
![Image]
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3.8.4 Deleting programs from memory
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3.8.3 Hiding declarations in program code
Declarations
Program declarations can be hidden to make the program code easier to read.
Hiding declarations
This section describes how to hide or show declarations.
Action
In the ABB menu, tap Program Editor to view a program.
1
Tap Hide Declarations to hide declarations.
2
Tap Show Declarations to show declarations.
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3.8.3 Hiding declarations in program code
3.8.4 Deleting programs from memory
Overview
Deleting a program in a task does not erase the program from the controller mass
memory but only from the program memory.
When you switch programs, the previously used program is deleted from the
program memory, but not removed from the mass memory if it was saved there.
How to save your work is detailed in section Handling of programs on page 52 .
The different memories are described in section What is “the memory”? on page110 .
Deleting programs from memory
This section details how to delete programs from the program memory.
Action
On the ABB menu tap Program Editor .
1
Tap Tasks and Programs .
2
Tap File .
3
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3.8.4 Deleting programs from memory
Action
Tap Delete Program... .
4
WARNING! Recent program changes will not be saved.
![Image]
en0400000853
Tap OK .
5
If you don't want to lose information about program changes then use Save Program
before deleting the program. How to save your work is described in section Handling
of programs on page 52 .
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3.8.4 Deleting programs from memory
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3.8.4 Deleting programs from memory
Overview
Deleting a program in a task does not erase the program from the controller mass
memory but only from the program memory.
When you switch programs, the previously used program is deleted from the
program memory, but not removed from the mass memory if it was saved there.
How to save your work is detailed in section Handling of programs on page 52 .
The different memories are described in section What is “the memory”? on page110 .
Deleting programs from memory
This section details how to delete programs from the program memory.
Action
On the ABB menu tap Program Editor .
1
Tap Tasks and Programs .
2
Tap File .
3
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3.8.4 Deleting programs from memory
Action
Tap Delete Program... .
4
WARNING! Recent program changes will not be saved.
![Image]
en0400000853
Tap OK .
5
If you don't want to lose information about program changes then use Save Program
before deleting the program. How to save your work is described in section Handling
of programs on page 52 .
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3 Programming
3.8.4 Deleting programs from memory
Continued
3.8.5 Deleting programs from hard disk
Overview
Programs are deleted via FlexPendant Explorer or an FTP client. When deleting
programs from the controller hard disk, the currently loaded program in the program
memory is not affected.
The different memories are described in section What is “the memory”? on page110 .
Deleting programs with FlexPendant Explorer
Programs can be deleted using FlexPendant Explorer . For information about the
FlexPendant Explorer , see section Operating manual - IRC5 with FlexPendant .
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Action
Tap Delete Program... .
4
WARNING! Recent program changes will not be saved.
![Image]
en0400000853
Tap OK .
5
If you don't want to lose information about program changes then use Save Program
before deleting the program. How to save your work is described in section Handling
of programs on page 52 .
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3 Programming
3.8.4 Deleting programs from memory
Continued
3.8.5 Deleting programs from hard disk
Overview
Programs are deleted via FlexPendant Explorer or an FTP client. When deleting
programs from the controller hard disk, the currently loaded program in the program
memory is not affected.
The different memories are described in section What is “the memory”? on page110 .
Deleting programs with FlexPendant Explorer
Programs can be deleted using FlexPendant Explorer . For information about the
FlexPendant Explorer , see section Operating manual - IRC5 with FlexPendant .
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3.8.5 Deleting programs from hard disk
3.8.6 Activating mechanical units
Overview
A mechanical unit can be active or deactive. Only active units are run when
executing a program. Deactivated units will not run. This may be useful when
programming or testing a program.
A robot cannot be deactivated.
The Activate function does not affect jogging. To select mechanical unit for jogging,
use the Mechanical unit property in the Jogging menu.
Activating mechanical units
This procedure describes how to activate a mechanical unit.
Information
Action
On the ABB menu, tap Jogging .
1
A robot cannot be deactiv-
ated.
Make sure that the right mechanical unit is selected, then
tap Activate... .
2
To deactivate an active mechanical unit, tap Deactivate .
Related information
Mechanical units can be active or deactive at start depending on the system setup,
see Technical reference manual - System parameters , topic Motion .
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3.8.5 Deleting programs from hard disk
Overview
Programs are deleted via FlexPendant Explorer or an FTP client. When deleting
programs from the controller hard disk, the currently loaded program in the program
memory is not affected.
The different memories are described in section What is “the memory”? on page110 .
Deleting programs with FlexPendant Explorer
Programs can be deleted using FlexPendant Explorer . For information about the
FlexPendant Explorer , see section Operating manual - IRC5 with FlexPendant .
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3.8.5 Deleting programs from hard disk
3.8.6 Activating mechanical units
Overview
A mechanical unit can be active or deactive. Only active units are run when
executing a program. Deactivated units will not run. This may be useful when
programming or testing a program.
A robot cannot be deactivated.
The Activate function does not affect jogging. To select mechanical unit for jogging,
use the Mechanical unit property in the Jogging menu.
Activating mechanical units
This procedure describes how to activate a mechanical unit.
Information
Action
On the ABB menu, tap Jogging .
1
A robot cannot be deactiv-
ated.
Make sure that the right mechanical unit is selected, then
tap Activate... .
2
To deactivate an active mechanical unit, tap Deactivate .
Related information
Mechanical units can be active or deactive at start depending on the system setup,
see Technical reference manual - System parameters , topic Motion .
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3.8.6 Activating mechanical units
3.9 Hide RAPID arguments
Overview
Instructions with a lot of arguments can be difficult to view on the FlexPendant. To
easily view the program on the FlexPendant it is possible to hide the arguments
(both optional and mandatory) in the Editing window and in the Production window.
The mandatory (required) arguments can be hidden only in the RAPID
Editor/Production Window on the FlexPendant. When a RAPID routine or instruction
is expanded all the mandatory arguments are displayed.
Usage
Introduction
To hide RAPID arguments you need to edit the RAPID metadata XML file
( rapid_edit_rules.xml ). The location of this file is $HOME directory of the
controller.
The following is an example of RAPID metadata XML file.
<?xml version="1.0" encoding="utf-8"?>
<Rapid>
<Edit>
<Instruction name="Instr1">
<Argument name="ReqArg1" showeditor="true" />
<Argument name="ReqArg2" showeditor="false" />
<Argument name="OptArg1" show="false" showeditor="false" />
<Argument name="OptArg2" show="false" showeditor="true" />
<Argument name="OptArg3" show="true" showeditor="false" />
<Argument name="OptArg4" show="true" showeditor="true" />
</Instruction>
</Edit>
</Rapid>
Note
The purpose of hiding optional/mandatory arguments is ease-of-use. If no value
is specified, by default the parameters are displayed.
Hide optional parameter in the argument window
To hide an optional parameter in the expanded view, set the "show" flag to "false"
in the RAPID metadata xml file.
Hide optional parameter in the RAPID Editor and the Production window
To hide an optional parameter in editors, set the "showeditor" flag to "false" in the
RAPID metadata xml file.
Hide mandatory parameter in the RAPID Editor and the Production window
To hide a mandatory (required) parameter in editors, set the "showeditor" flag to
"false" in the RAPID metadata xml file.
Continues on next page
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3.8.6 Activating mechanical units
Overview
A mechanical unit can be active or deactive. Only active units are run when
executing a program. Deactivated units will not run. This may be useful when
programming or testing a program.
A robot cannot be deactivated.
The Activate function does not affect jogging. To select mechanical unit for jogging,
use the Mechanical unit property in the Jogging menu.
Activating mechanical units
This procedure describes how to activate a mechanical unit.
Information
Action
On the ABB menu, tap Jogging .
1
A robot cannot be deactiv-
ated.
Make sure that the right mechanical unit is selected, then
tap Activate... .
2
To deactivate an active mechanical unit, tap Deactivate .
Related information
Mechanical units can be active or deactive at start depending on the system setup,
see Technical reference manual - System parameters , topic Motion .
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3.8.6 Activating mechanical units
3.9 Hide RAPID arguments
Overview
Instructions with a lot of arguments can be difficult to view on the FlexPendant. To
easily view the program on the FlexPendant it is possible to hide the arguments
(both optional and mandatory) in the Editing window and in the Production window.
The mandatory (required) arguments can be hidden only in the RAPID
Editor/Production Window on the FlexPendant. When a RAPID routine or instruction
is expanded all the mandatory arguments are displayed.
Usage
Introduction
To hide RAPID arguments you need to edit the RAPID metadata XML file
( rapid_edit_rules.xml ). The location of this file is $HOME directory of the
controller.
The following is an example of RAPID metadata XML file.
<?xml version="1.0" encoding="utf-8"?>
<Rapid>
<Edit>
<Instruction name="Instr1">
<Argument name="ReqArg1" showeditor="true" />
<Argument name="ReqArg2" showeditor="false" />
<Argument name="OptArg1" show="false" showeditor="false" />
<Argument name="OptArg2" show="false" showeditor="true" />
<Argument name="OptArg3" show="true" showeditor="false" />
<Argument name="OptArg4" show="true" showeditor="true" />
</Instruction>
</Edit>
</Rapid>
Note
The purpose of hiding optional/mandatory arguments is ease-of-use. If no value
is specified, by default the parameters are displayed.
Hide optional parameter in the argument window
To hide an optional parameter in the expanded view, set the "show" flag to "false"
in the RAPID metadata xml file.
Hide optional parameter in the RAPID Editor and the Production window
To hide an optional parameter in editors, set the "showeditor" flag to "false" in the
RAPID metadata xml file.
Hide mandatory parameter in the RAPID Editor and the Production window
To hide a mandatory (required) parameter in editors, set the "showeditor" flag to
"false" in the RAPID metadata xml file.
Continues on next page
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3.9 Hide RAPID arguments
Example - Edit rapid_edit_rules.xml
To hide arguments present in the MoveL instruction following is the xml file.
<?xml version="1.0" encoding="utf-8"?>
<Rapid>
<Edit>
<Instruction name="MoveL">
<Argument name="Speed" showeditor="false" />
<Argument name="Zone" showeditor="false" />
<Argument name="Tool" showeditor="false" />
<Argument name=”WObj" showeditor="false" show=”true” />
<Argument name=”ID" showeditor="false" show=”false” />
</Instruction>
</Edit>
</Rapid>
Once this xml is configured only the robtargets are shown for MoveL as the other
arguments are hidden from the XML file.
![Image]
xx1500001585
When an instruction is expanded only arguments configured are displayed as
shown in the following image.
Continues on next page
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3.9 Hide RAPID arguments
Continued
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3.9 Hide RAPID arguments
Overview
Instructions with a lot of arguments can be difficult to view on the FlexPendant. To
easily view the program on the FlexPendant it is possible to hide the arguments
(both optional and mandatory) in the Editing window and in the Production window.
The mandatory (required) arguments can be hidden only in the RAPID
Editor/Production Window on the FlexPendant. When a RAPID routine or instruction
is expanded all the mandatory arguments are displayed.
Usage
Introduction
To hide RAPID arguments you need to edit the RAPID metadata XML file
( rapid_edit_rules.xml ). The location of this file is $HOME directory of the
controller.
The following is an example of RAPID metadata XML file.
<?xml version="1.0" encoding="utf-8"?>
<Rapid>
<Edit>
<Instruction name="Instr1">
<Argument name="ReqArg1" showeditor="true" />
<Argument name="ReqArg2" showeditor="false" />
<Argument name="OptArg1" show="false" showeditor="false" />
<Argument name="OptArg2" show="false" showeditor="true" />
<Argument name="OptArg3" show="true" showeditor="false" />
<Argument name="OptArg4" show="true" showeditor="true" />
</Instruction>
</Edit>
</Rapid>
Note
The purpose of hiding optional/mandatory arguments is ease-of-use. If no value
is specified, by default the parameters are displayed.
Hide optional parameter in the argument window
To hide an optional parameter in the expanded view, set the "show" flag to "false"
in the RAPID metadata xml file.
Hide optional parameter in the RAPID Editor and the Production window
To hide an optional parameter in editors, set the "showeditor" flag to "false" in the
RAPID metadata xml file.
Hide mandatory parameter in the RAPID Editor and the Production window
To hide a mandatory (required) parameter in editors, set the "showeditor" flag to
"false" in the RAPID metadata xml file.
Continues on next page
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3 Programming
3.9 Hide RAPID arguments
Example - Edit rapid_edit_rules.xml
To hide arguments present in the MoveL instruction following is the xml file.
<?xml version="1.0" encoding="utf-8"?>
<Rapid>
<Edit>
<Instruction name="MoveL">
<Argument name="Speed" showeditor="false" />
<Argument name="Zone" showeditor="false" />
<Argument name="Tool" showeditor="false" />
<Argument name=”WObj" showeditor="false" show=”true” />
<Argument name=”ID" showeditor="false" show=”false” />
</Instruction>
</Edit>
</Rapid>
Once this xml is configured only the robtargets are shown for MoveL as the other
arguments are hidden from the XML file.
![Image]
xx1500001585
When an instruction is expanded only arguments configured are displayed as
shown in the following image.
Continues on next page
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3.9 Hide RAPID arguments
Continued
![Image]
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The optional argument ID is not displayed as shown in the following image, since
its “show” attribute was set to “false”.
![Image]
xx1500001587
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3.9 Hide RAPID arguments
Continued
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Example - Edit rapid_edit_rules.xml
To hide arguments present in the MoveL instruction following is the xml file.
<?xml version="1.0" encoding="utf-8"?>
<Rapid>
<Edit>
<Instruction name="MoveL">
<Argument name="Speed" showeditor="false" />
<Argument name="Zone" showeditor="false" />
<Argument name="Tool" showeditor="false" />
<Argument name=”WObj" showeditor="false" show=”true” />
<Argument name=”ID" showeditor="false" show=”false” />
</Instruction>
</Edit>
</Rapid>
Once this xml is configured only the robtargets are shown for MoveL as the other
arguments are hidden from the XML file.
![Image]
xx1500001585
When an instruction is expanded only arguments configured are displayed as
shown in the following image.
Continues on next page
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3 Programming
3.9 Hide RAPID arguments
Continued
![Image]
xx1500001586
The optional argument ID is not displayed as shown in the following image, since
its “show” attribute was set to “false”.
![Image]
xx1500001587
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3 Programming
3.9 Hide RAPID arguments
Continued
4 Handling inputs and outputs, I/O
4.1 Basic procedures
4.1.1 Configuring I/O
Creating and editing buses, units and signals
The configuration of I/O is slightly different for different fieldbuses. How to create
and edit buses, units and signals are described in the respective fieldbus manuals.
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4.1.1 Configuring I/O
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its “show” attribute was set to “false”.
![Image]
xx1500001587
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3.9 Hide RAPID arguments
Continued
4 Handling inputs and outputs, I/O
4.1 Basic procedures
4.1.1 Configuring I/O
Creating and editing buses, units and signals
The configuration of I/O is slightly different for different fieldbuses. How to create
and edit buses, units and signals are described in the respective fieldbus manuals.
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4 Handling inputs and outputs, I/O
4.1.1 Configuring I/O
4.1.2 Deactivating and activating I/O units
Overview
Deactivating an I/O unit makes the controller ignore the unit. This can be useful
during commissioning, for avoiding errors if the I/O unit is not connected to the
controller yet. The signals configured on the unit will still be visible when it is
deactivated, but the signal values will not be available. The controller will not
attempt to send or receive any signals on a deactivated unit.
Activating the unit again will take it back to normal operation.
Deactivating and activating I/O units
This section describes how to activate I/O units.
Action
On the ABB menu tap Inputs and outputs .
1
The list of Most common I/O signals is displayed.
Tap View to change the selection of signals in the list. Select I/O Units .
2
Tap an I/O unit in the list.
3
Tap Activate or Deactivate .
4
Note
All signals on the I/O unit must have an access level that allows local clients (for
instance the FlexPendant) to have write access. If not, then the unit cannot be
activated or deactivated from local clients. The access level is set with system
parameters for each signal, see the types Signal and Access Level in the topic
I/O .
Note
The unit cannot be deactivated if the system parameter Unit Trustlevel is set to
0 (Required) . Unit Trustlevel belongs to the type Unit in the topic I/O .
Related information
For information on how to configure an I/O unit (for instance to add and remove
signals or to set the limits of the signal), see Configuring system parameters on
page 140 .
Technical reference manual - System parameters .
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4.1.2 Deactivating and activating I/O units
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4 Handling inputs and outputs, I/O
4.1 Basic procedures
4.1.1 Configuring I/O
Creating and editing buses, units and signals
The configuration of I/O is slightly different for different fieldbuses. How to create
and edit buses, units and signals are described in the respective fieldbus manuals.
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4 Handling inputs and outputs, I/O
4.1.1 Configuring I/O
4.1.2 Deactivating and activating I/O units
Overview
Deactivating an I/O unit makes the controller ignore the unit. This can be useful
during commissioning, for avoiding errors if the I/O unit is not connected to the
controller yet. The signals configured on the unit will still be visible when it is
deactivated, but the signal values will not be available. The controller will not
attempt to send or receive any signals on a deactivated unit.
Activating the unit again will take it back to normal operation.
Deactivating and activating I/O units
This section describes how to activate I/O units.
Action
On the ABB menu tap Inputs and outputs .
1
The list of Most common I/O signals is displayed.
Tap View to change the selection of signals in the list. Select I/O Units .
2
Tap an I/O unit in the list.
3
Tap Activate or Deactivate .
4
Note
All signals on the I/O unit must have an access level that allows local clients (for
instance the FlexPendant) to have write access. If not, then the unit cannot be
activated or deactivated from local clients. The access level is set with system
parameters for each signal, see the types Signal and Access Level in the topic
I/O .
Note
The unit cannot be deactivated if the system parameter Unit Trustlevel is set to
0 (Required) . Unit Trustlevel belongs to the type Unit in the topic I/O .
Related information
For information on how to configure an I/O unit (for instance to add and remove
signals or to set the limits of the signal), see Configuring system parameters on
page 140 .
Technical reference manual - System parameters .
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4 Handling inputs and outputs, I/O
4.1.2 Deactivating and activating I/O units
4.1.3 Alias I/O signals
Introduction
AliasIO is used to define a signal of any type with an alias name. After the AliasIO
instruction is executed in the RAPID program, the Alias I/O signal can be viewed
from the Alias I/O menu in the same way as the other signals from the View menu.
Creating new signal data
This section describes how to create new signal data instances:
Action
On the ABB menu, tap Program Data .
1
Tap View and select All Data Types .
2
A list of all available data types are displayed.
Select signaldi and tap Show Data.
3
Tap New .
4
The New Data Declaration screen appears.
Tap to the right of Name and define the name of data instance. For example, alias_di1 .
5
Tap the Scope menu and select Global .
6
Tap OK .
7
Repeat steps 1 to 7 to create signaldo data instance. For example, alias_do1 .
8
Note
Consider the following example,
" VARsignaldoalias_do1 ;"
" AliasIOdo_1 , alias_do1 ;"
VAR declaration must be done global in the module.
After declaring signaldi and signaldo and executing the instruction AliasIO do_1,
alias_do1 the alias_do1 signal is displayed in the AliasI/O menu in the same
way the ordinary signals are displayed in the View menu.
The alias_do1 signal is active as long as the RAPID program is active and is
displayed after the AliasIO instruction is executed.
Adding AliasIO
This section describes how to add AliasIO instructions and to view them on Alias
I/O menu:
Action
Load the system parameters file Eio.cfg .
1
For more information on loading system parameters and adding parameters from a
file, see Configuring system parameters on page 140 .
Declare the RAPID variables of data type signaldi and signaldo i.e alias_di1 and ali-
as_do1 respectively as described in Creating new signal data on page 103 .
2
On the ABB menu, tap Program Editor .
3
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4.1.3 Alias I/O signals
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4.1.2 Deactivating and activating I/O units
Overview
Deactivating an I/O unit makes the controller ignore the unit. This can be useful
during commissioning, for avoiding errors if the I/O unit is not connected to the
controller yet. The signals configured on the unit will still be visible when it is
deactivated, but the signal values will not be available. The controller will not
attempt to send or receive any signals on a deactivated unit.
Activating the unit again will take it back to normal operation.
Deactivating and activating I/O units
This section describes how to activate I/O units.
Action
On the ABB menu tap Inputs and outputs .
1
The list of Most common I/O signals is displayed.
Tap View to change the selection of signals in the list. Select I/O Units .
2
Tap an I/O unit in the list.
3
Tap Activate or Deactivate .
4
Note
All signals on the I/O unit must have an access level that allows local clients (for
instance the FlexPendant) to have write access. If not, then the unit cannot be
activated or deactivated from local clients. The access level is set with system
parameters for each signal, see the types Signal and Access Level in the topic
I/O .
Note
The unit cannot be deactivated if the system parameter Unit Trustlevel is set to
0 (Required) . Unit Trustlevel belongs to the type Unit in the topic I/O .
Related information
For information on how to configure an I/O unit (for instance to add and remove
signals or to set the limits of the signal), see Configuring system parameters on
page 140 .
Technical reference manual - System parameters .
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4 Handling inputs and outputs, I/O
4.1.2 Deactivating and activating I/O units
4.1.3 Alias I/O signals
Introduction
AliasIO is used to define a signal of any type with an alias name. After the AliasIO
instruction is executed in the RAPID program, the Alias I/O signal can be viewed
from the Alias I/O menu in the same way as the other signals from the View menu.
Creating new signal data
This section describes how to create new signal data instances:
Action
On the ABB menu, tap Program Data .
1
Tap View and select All Data Types .
2
A list of all available data types are displayed.
Select signaldi and tap Show Data.
3
Tap New .
4
The New Data Declaration screen appears.
Tap to the right of Name and define the name of data instance. For example, alias_di1 .
5
Tap the Scope menu and select Global .
6
Tap OK .
7
Repeat steps 1 to 7 to create signaldo data instance. For example, alias_do1 .
8
Note
Consider the following example,
" VARsignaldoalias_do1 ;"
" AliasIOdo_1 , alias_do1 ;"
VAR declaration must be done global in the module.
After declaring signaldi and signaldo and executing the instruction AliasIO do_1,
alias_do1 the alias_do1 signal is displayed in the AliasI/O menu in the same
way the ordinary signals are displayed in the View menu.
The alias_do1 signal is active as long as the RAPID program is active and is
displayed after the AliasIO instruction is executed.
Adding AliasIO
This section describes how to add AliasIO instructions and to view them on Alias
I/O menu:
Action
Load the system parameters file Eio.cfg .
1
For more information on loading system parameters and adding parameters from a
file, see Configuring system parameters on page 140 .
Declare the RAPID variables of data type signaldi and signaldo i.e alias_di1 and ali-
as_do1 respectively as described in Creating new signal data on page 103 .
2
On the ABB menu, tap Program Editor .
3
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4 Handling inputs and outputs, I/O
4.1.3 Alias I/O signals
Action
Tap to highlight the instruction under which you want to add a new instruction.
4
Tap Add Instruction .
5
A category of instructions is displayed.
A large number of instructions, divided into several categories are available.
Tap I/O to display a list of the available categories.
6
You can also tap Previous/Next at the bottom of the list of instructions to move to
theprevious/next category.
Select AliasIO .
7
Select signaldi data type and click OK .
8
Tap <EXP> and select the argument value (for example, di01_Box ) for the From Signal
argument from the configuration file.
9
Tap <EXP> for the To Signal argument.
10
Tap Edit and select Change data type .
11
Select signaldi from the list and click OK .
12
Select the argument value (for example, alias_di1 ) for the To Signal argument as
created from step 1.
13
Tap Debug and select PP to Main from the Program Editor.
14
Press the Start button on the FlexPendant to run the program.
15
On the ABB menu, tap Inputs and Outputs .
16
Tap View and select Alias I/O menu.
17
The new data declaration created from the RAPID program should be available.
If not, click Refresh .
Repeat steps 7 to 16 to add signaldo data type and view from Alias I/O menu.
18
Note
Currently only digital signals signaldi and signaldo are supported.
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4.1.3 Alias I/O signals
Continued
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4.1.3 Alias I/O signals
Introduction
AliasIO is used to define a signal of any type with an alias name. After the AliasIO
instruction is executed in the RAPID program, the Alias I/O signal can be viewed
from the Alias I/O menu in the same way as the other signals from the View menu.
Creating new signal data
This section describes how to create new signal data instances:
Action
On the ABB menu, tap Program Data .
1
Tap View and select All Data Types .
2
A list of all available data types are displayed.
Select signaldi and tap Show Data.
3
Tap New .
4
The New Data Declaration screen appears.
Tap to the right of Name and define the name of data instance. For example, alias_di1 .
5
Tap the Scope menu and select Global .
6
Tap OK .
7
Repeat steps 1 to 7 to create signaldo data instance. For example, alias_do1 .
8
Note
Consider the following example,
" VARsignaldoalias_do1 ;"
" AliasIOdo_1 , alias_do1 ;"
VAR declaration must be done global in the module.
After declaring signaldi and signaldo and executing the instruction AliasIO do_1,
alias_do1 the alias_do1 signal is displayed in the AliasI/O menu in the same
way the ordinary signals are displayed in the View menu.
The alias_do1 signal is active as long as the RAPID program is active and is
displayed after the AliasIO instruction is executed.
Adding AliasIO
This section describes how to add AliasIO instructions and to view them on Alias
I/O menu:
Action
Load the system parameters file Eio.cfg .
1
For more information on loading system parameters and adding parameters from a
file, see Configuring system parameters on page 140 .
Declare the RAPID variables of data type signaldi and signaldo i.e alias_di1 and ali-
as_do1 respectively as described in Creating new signal data on page 103 .
2
On the ABB menu, tap Program Editor .
3
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4 Handling inputs and outputs, I/O
4.1.3 Alias I/O signals
Action
Tap to highlight the instruction under which you want to add a new instruction.
4
Tap Add Instruction .
5
A category of instructions is displayed.
A large number of instructions, divided into several categories are available.
Tap I/O to display a list of the available categories.
6
You can also tap Previous/Next at the bottom of the list of instructions to move to
theprevious/next category.
Select AliasIO .
7
Select signaldi data type and click OK .
8
Tap <EXP> and select the argument value (for example, di01_Box ) for the From Signal
argument from the configuration file.
9
Tap <EXP> for the To Signal argument.
10
Tap Edit and select Change data type .
11
Select signaldi from the list and click OK .
12
Select the argument value (for example, alias_di1 ) for the To Signal argument as
created from step 1.
13
Tap Debug and select PP to Main from the Program Editor.
14
Press the Start button on the FlexPendant to run the program.
15
On the ABB menu, tap Inputs and Outputs .
16
Tap View and select Alias I/O menu.
17
The new data declaration created from the RAPID program should be available.
If not, click Refresh .
Repeat steps 7 to 16 to add signaldo data type and view from Alias I/O menu.
18
Note
Currently only digital signals signaldi and signaldo are supported.
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4 Handling inputs and outputs, I/O
4.1.3 Alias I/O signals
Continued
4.2 Safety signals
4.2.1 Safety I/O signals
General
In the IRC5 controller's basic and standard form, certain I/O signals are dedicated
to specific safety functions. These are listed below with a brief description of each.
All signals can be viewed in the I/O menu on the FlexPendant.
Safety I/O signals
The list below contains the safety I/O signals as used by the standard system.
From - To
Bit value condition
Description
Signal name
From panel board to
main computer
1 = Chain closed
Emergency stop, chain
1
ES1
From panel board to
main computer
1 = Chain closed
Emergency stop, chain
2
ES2
From panel board to
main computer
1 = Soft stop enabled
Soft Emergency stop
SOFTESI
From panel board to
main computer
1 = Enabled
Enabling device1&2,
chain 1
EN1
From panel board to
main computer
1 = Enabled
Enabling device1&2,
chain 2
EN2
From panel board to
main computer
1 = Auto selected
Op mode selector,
chain 1
AUTO1
From panel board to
main computer
1 = Auto selected
Op mode selector,
chain 2
AUTO2
From panel board to
main computer
1 = MAN selected
Op mode selector,
chain 1
MAN1
From panel board to
main computer
1 = Man. full speed
selected
Op mode selector,
chain 1
MANFS1
From panel board to
main computer
1 = MAN selected
Op mode selector,
chain 2
MAN2
From panel board to
main computer
1 = Man. full speed
selected
Op mode selector,
chain 2
MANFS2
From panel board to
main computer
1 = Error, 0 = OK
Over load, user DO
USERDOOVLD
From panel board to
main computer
1 = Pushbutton
pressed
Motors-on pushbutton
MONPB
From panel board to
main computer
1 = Chain closed
Auto stop, chain 1
AS1
From panel board to
main computer
1 = Chain closed
Auto stop, chain 2
AS2
From panel board to
main computer
1 = Soft stop enabled
Soft Auto stop
SOFTASI
From panel board to
main computer
1 = Chain closed
General stop, chain 1
GS1
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4.2.1 Safety I/O signals
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Action
Tap to highlight the instruction under which you want to add a new instruction.
4
Tap Add Instruction .
5
A category of instructions is displayed.
A large number of instructions, divided into several categories are available.
Tap I/O to display a list of the available categories.
6
You can also tap Previous/Next at the bottom of the list of instructions to move to
theprevious/next category.
Select AliasIO .
7
Select signaldi data type and click OK .
8
Tap <EXP> and select the argument value (for example, di01_Box ) for the From Signal
argument from the configuration file.
9
Tap <EXP> for the To Signal argument.
10
Tap Edit and select Change data type .
11
Select signaldi from the list and click OK .
12
Select the argument value (for example, alias_di1 ) for the To Signal argument as
created from step 1.
13
Tap Debug and select PP to Main from the Program Editor.
14
Press the Start button on the FlexPendant to run the program.
15
On the ABB menu, tap Inputs and Outputs .
16
Tap View and select Alias I/O menu.
17
The new data declaration created from the RAPID program should be available.
If not, click Refresh .
Repeat steps 7 to 16 to add signaldo data type and view from Alias I/O menu.
18
Note
Currently only digital signals signaldi and signaldo are supported.
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4 Handling inputs and outputs, I/O
4.1.3 Alias I/O signals
Continued
4.2 Safety signals
4.2.1 Safety I/O signals
General
In the IRC5 controller's basic and standard form, certain I/O signals are dedicated
to specific safety functions. These are listed below with a brief description of each.
All signals can be viewed in the I/O menu on the FlexPendant.
Safety I/O signals
The list below contains the safety I/O signals as used by the standard system.
From - To
Bit value condition
Description
Signal name
From panel board to
main computer
1 = Chain closed
Emergency stop, chain
1
ES1
From panel board to
main computer
1 = Chain closed
Emergency stop, chain
2
ES2
From panel board to
main computer
1 = Soft stop enabled
Soft Emergency stop
SOFTESI
From panel board to
main computer
1 = Enabled
Enabling device1&2,
chain 1
EN1
From panel board to
main computer
1 = Enabled
Enabling device1&2,
chain 2
EN2
From panel board to
main computer
1 = Auto selected
Op mode selector,
chain 1
AUTO1
From panel board to
main computer
1 = Auto selected
Op mode selector,
chain 2
AUTO2
From panel board to
main computer
1 = MAN selected
Op mode selector,
chain 1
MAN1
From panel board to
main computer
1 = Man. full speed
selected
Op mode selector,
chain 1
MANFS1
From panel board to
main computer
1 = MAN selected
Op mode selector,
chain 2
MAN2
From panel board to
main computer
1 = Man. full speed
selected
Op mode selector,
chain 2
MANFS2
From panel board to
main computer
1 = Error, 0 = OK
Over load, user DO
USERDOOVLD
From panel board to
main computer
1 = Pushbutton
pressed
Motors-on pushbutton
MONPB
From panel board to
main computer
1 = Chain closed
Auto stop, chain 1
AS1
From panel board to
main computer
1 = Chain closed
Auto stop, chain 2
AS2
From panel board to
main computer
1 = Soft stop enabled
Soft Auto stop
SOFTASI
From panel board to
main computer
1 = Chain closed
General stop, chain 1
GS1
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4 Handling inputs and outputs, I/O
4.2.1 Safety I/O signals
From - To
Bit value condition
Description
Signal name
From panel board to
main computer
1 = Chain closed
General stop, chain 2
GS2
From panel board to
main computer
1 = Soft stop enabled
Soft General stop
SOFTGSI
From panel board to
main computer
1 = Chain closed
Superior stop, chain1
SS1
From panel board to
main computer
1 = Chain closed
Superior stop, chain2
SS2
From panel board to
main computer
1 = Soft stop enabled
Soft Superior stop
SOFTSSI
From panel board to
main computer
1 = Chain closed
All switches in run
chain 1 closed
CH1
From panel board to
main computer
1 = Chain closed
All switches in run
chain 2 closed
CH2
From panel board to
main computer
1 = Enable, 0 = break
chain 1
Enable from MC (read
back)
ENABLE1
From panel board to
main computer
1 = Enable, 0 = break
chain 2
Enable from AXC1
ENABLE2_1
From panel board to
main computer
1 = Enable, 0 = break
chain 2
Enable from AXC2
ENABLE2_2
From panel board to
main computer
1 = Enable, 0 = break
chain 2
Enable from AXC3
ENABLE2_3
From panel board to
main computer
1 = Enable, 0 = break
chain 2
Enable from AXC4
ENABLE2_4
From panel board to
main computer
1 = Error, 0 = OK
Overload, panel 24V
PANEL24OVLD
From panel board to
main computer
1 = Error, 0 = OK
Overload, drive mod-
ules
DRVOVLD
From axis computer to
main computer
1 = Chain 1 closed
Read back of chain 1
after limit switches
DRV1LIM1
From axis computer to
main computer
1 = Chain 2 closed
Read back of chain 2
after limit switches
DRV1LIM2
From axis computer to
main computer
1 = K1 closed
Read back of contactor
K1, chain 1
DRV1K1
From axis computer to
main computer
1 = K2 closed
Read back of contactor
K2, chain 2
DRV1K2
From axis computer to
main computer
1 = Contactors closed
External contactors
closed
DRV1EXTCONT
From axis computer to
main computer
Toggled
A dip in run chain 1 has
been detected
DRV1TEST1
From axis computer to
main computer
Toggled
A dip in run chain 2 has
been detected
DRV1TEST2
From main computer to
panel board
1 = Set soft E-stop
Soft Emergency stop
SOFTESO
From main computer to
panel board
1 = Set soft Auto stop
Soft Auto stop
SOFTASO
From main computer to
panel board
1 = Set soft General
stop
Soft General stop
SOFTGSO
Continues on next page
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4 Handling inputs and outputs, I/O
4.2.1 Safety I/O signals
Continued
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4.2 Safety signals
4.2.1 Safety I/O signals
General
In the IRC5 controller's basic and standard form, certain I/O signals are dedicated
to specific safety functions. These are listed below with a brief description of each.
All signals can be viewed in the I/O menu on the FlexPendant.
Safety I/O signals
The list below contains the safety I/O signals as used by the standard system.
From - To
Bit value condition
Description
Signal name
From panel board to
main computer
1 = Chain closed
Emergency stop, chain
1
ES1
From panel board to
main computer
1 = Chain closed
Emergency stop, chain
2
ES2
From panel board to
main computer
1 = Soft stop enabled
Soft Emergency stop
SOFTESI
From panel board to
main computer
1 = Enabled
Enabling device1&2,
chain 1
EN1
From panel board to
main computer
1 = Enabled
Enabling device1&2,
chain 2
EN2
From panel board to
main computer
1 = Auto selected
Op mode selector,
chain 1
AUTO1
From panel board to
main computer
1 = Auto selected
Op mode selector,
chain 2
AUTO2
From panel board to
main computer
1 = MAN selected
Op mode selector,
chain 1
MAN1
From panel board to
main computer
1 = Man. full speed
selected
Op mode selector,
chain 1
MANFS1
From panel board to
main computer
1 = MAN selected
Op mode selector,
chain 2
MAN2
From panel board to
main computer
1 = Man. full speed
selected
Op mode selector,
chain 2
MANFS2
From panel board to
main computer
1 = Error, 0 = OK
Over load, user DO
USERDOOVLD
From panel board to
main computer
1 = Pushbutton
pressed
Motors-on pushbutton
MONPB
From panel board to
main computer
1 = Chain closed
Auto stop, chain 1
AS1
From panel board to
main computer
1 = Chain closed
Auto stop, chain 2
AS2
From panel board to
main computer
1 = Soft stop enabled
Soft Auto stop
SOFTASI
From panel board to
main computer
1 = Chain closed
General stop, chain 1
GS1
Continues on next page
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4 Handling inputs and outputs, I/O
4.2.1 Safety I/O signals
From - To
Bit value condition
Description
Signal name
From panel board to
main computer
1 = Chain closed
General stop, chain 2
GS2
From panel board to
main computer
1 = Soft stop enabled
Soft General stop
SOFTGSI
From panel board to
main computer
1 = Chain closed
Superior stop, chain1
SS1
From panel board to
main computer
1 = Chain closed
Superior stop, chain2
SS2
From panel board to
main computer
1 = Soft stop enabled
Soft Superior stop
SOFTSSI
From panel board to
main computer
1 = Chain closed
All switches in run
chain 1 closed
CH1
From panel board to
main computer
1 = Chain closed
All switches in run
chain 2 closed
CH2
From panel board to
main computer
1 = Enable, 0 = break
chain 1
Enable from MC (read
back)
ENABLE1
From panel board to
main computer
1 = Enable, 0 = break
chain 2
Enable from AXC1
ENABLE2_1
From panel board to
main computer
1 = Enable, 0 = break
chain 2
Enable from AXC2
ENABLE2_2
From panel board to
main computer
1 = Enable, 0 = break
chain 2
Enable from AXC3
ENABLE2_3
From panel board to
main computer
1 = Enable, 0 = break
chain 2
Enable from AXC4
ENABLE2_4
From panel board to
main computer
1 = Error, 0 = OK
Overload, panel 24V
PANEL24OVLD
From panel board to
main computer
1 = Error, 0 = OK
Overload, drive mod-
ules
DRVOVLD
From axis computer to
main computer
1 = Chain 1 closed
Read back of chain 1
after limit switches
DRV1LIM1
From axis computer to
main computer
1 = Chain 2 closed
Read back of chain 2
after limit switches
DRV1LIM2
From axis computer to
main computer
1 = K1 closed
Read back of contactor
K1, chain 1
DRV1K1
From axis computer to
main computer
1 = K2 closed
Read back of contactor
K2, chain 2
DRV1K2
From axis computer to
main computer
1 = Contactors closed
External contactors
closed
DRV1EXTCONT
From axis computer to
main computer
Toggled
A dip in run chain 1 has
been detected
DRV1TEST1
From axis computer to
main computer
Toggled
A dip in run chain 2 has
been detected
DRV1TEST2
From main computer to
panel board
1 = Set soft E-stop
Soft Emergency stop
SOFTESO
From main computer to
panel board
1 = Set soft Auto stop
Soft Auto stop
SOFTASO
From main computer to
panel board
1 = Set soft General
stop
Soft General stop
SOFTGSO
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4 Handling inputs and outputs, I/O
4.2.1 Safety I/O signals
Continued
From - To
Bit value condition
Description
Signal name
From main computer to
panel board
1 = Set soft Sup. E-
stop
Soft Superior stop
SOFTSSO
From main computer to
panel board
1 = Lamp on
Motors-on lamp
MOTLMP
From main computer to
panel board
1 = Start test
Test of Enable1
TESTEN1
From main computer to
axis computer 1
1 = Close chain 1
Signal to interlocking
circuit
DRV1CHAIN1
From main computer to
axis computer 1
1 = Close chain 2
Signal to interlocking
circuit
DRV1CHAIN2
From main computer to
axis computer 1
1 = Release brake
Signal to brake-release
coil
DRV1BRAKE
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4.2.1 Safety I/O signals
Continued
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From - To
Bit value condition
Description
Signal name
From panel board to
main computer
1 = Chain closed
General stop, chain 2
GS2
From panel board to
main computer
1 = Soft stop enabled
Soft General stop
SOFTGSI
From panel board to
main computer
1 = Chain closed
Superior stop, chain1
SS1
From panel board to
main computer
1 = Chain closed
Superior stop, chain2
SS2
From panel board to
main computer
1 = Soft stop enabled
Soft Superior stop
SOFTSSI
From panel board to
main computer
1 = Chain closed
All switches in run
chain 1 closed
CH1
From panel board to
main computer
1 = Chain closed
All switches in run
chain 2 closed
CH2
From panel board to
main computer
1 = Enable, 0 = break
chain 1
Enable from MC (read
back)
ENABLE1
From panel board to
main computer
1 = Enable, 0 = break
chain 2
Enable from AXC1
ENABLE2_1
From panel board to
main computer
1 = Enable, 0 = break
chain 2
Enable from AXC2
ENABLE2_2
From panel board to
main computer
1 = Enable, 0 = break
chain 2
Enable from AXC3
ENABLE2_3
From panel board to
main computer
1 = Enable, 0 = break
chain 2
Enable from AXC4
ENABLE2_4
From panel board to
main computer
1 = Error, 0 = OK
Overload, panel 24V
PANEL24OVLD
From panel board to
main computer
1 = Error, 0 = OK
Overload, drive mod-
ules
DRVOVLD
From axis computer to
main computer
1 = Chain 1 closed
Read back of chain 1
after limit switches
DRV1LIM1
From axis computer to
main computer
1 = Chain 2 closed
Read back of chain 2
after limit switches
DRV1LIM2
From axis computer to
main computer
1 = K1 closed
Read back of contactor
K1, chain 1
DRV1K1
From axis computer to
main computer
1 = K2 closed
Read back of contactor
K2, chain 2
DRV1K2
From axis computer to
main computer
1 = Contactors closed
External contactors
closed
DRV1EXTCONT
From axis computer to
main computer
Toggled
A dip in run chain 1 has
been detected
DRV1TEST1
From axis computer to
main computer
Toggled
A dip in run chain 2 has
been detected
DRV1TEST2
From main computer to
panel board
1 = Set soft E-stop
Soft Emergency stop
SOFTESO
From main computer to
panel board
1 = Set soft Auto stop
Soft Auto stop
SOFTASO
From main computer to
panel board
1 = Set soft General
stop
Soft General stop
SOFTGSO
Continues on next page
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4 Handling inputs and outputs, I/O
4.2.1 Safety I/O signals
Continued
From - To
Bit value condition
Description
Signal name
From main computer to
panel board
1 = Set soft Sup. E-
stop
Soft Superior stop
SOFTSSO
From main computer to
panel board
1 = Lamp on
Motors-on lamp
MOTLMP
From main computer to
panel board
1 = Start test
Test of Enable1
TESTEN1
From main computer to
axis computer 1
1 = Close chain 1
Signal to interlocking
circuit
DRV1CHAIN1
From main computer to
axis computer 1
1 = Close chain 2
Signal to interlocking
circuit
DRV1CHAIN2
From main computer to
axis computer 1
1 = Release brake
Signal to brake-release
coil
DRV1BRAKE
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4.2.1 Safety I/O signals
Continued
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From - To
Bit value condition
Description
Signal name
From main computer to
panel board
1 = Set soft Sup. E-
stop
Soft Superior stop
SOFTSSO
From main computer to
panel board
1 = Lamp on
Motors-on lamp
MOTLMP
From main computer to
panel board
1 = Start test
Test of Enable1
TESTEN1
From main computer to
axis computer 1
1 = Close chain 1
Signal to interlocking
circuit
DRV1CHAIN1
From main computer to
axis computer 1
1 = Close chain 2
Signal to interlocking
circuit
DRV1CHAIN2
From main computer to
axis computer 1
1 = Release brake
Signal to brake-release
coil
DRV1BRAKE
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4 Handling inputs and outputs, I/O
4.2.1 Safety I/O signals
Continued
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5 Systems
5.1 What is a system?
The system
A system is the software that runs on a controller. It consists of the specific
RobotWare parts for the robots connected to the controller, configuration files, and
RAPID programs.
The RobotWare license
What parts of RobotWare (supported robot models, options, etc.) that is included
in the system is determined by the RobotWare license.
When running a system on a real controller it has to be built with the license that
was delivered with the robot.
For running a system on a virtual controller (e.g. for simulations in RobotStudio)
either a license from a real robot or a virtual license can be used. Using a license
from a real robot is a quick way to ensure that the system matches that robot.
Using a virtual license provides possibility to simulate and evaluate any robot
model with any configuration. A system built with a virtual license can however
never be run on a real controller.
Empty system
A new system that only contains the RobotWare parts and the default configurations
is called an empty system. When robot or process specific configurations are made,
I/O signals are defined or RAPID programs are created, the system is no longer
considered empty.
Loaded system and stored systems
The loaded system is the system that will run on the controller when it is started.
A controller can only have one system loaded, but additional systems can be stored
on the controller’s disk or any disk on the PC network.
It is when a system is loaded, either in a real controller or a virtual one, you normally
edit its content, like RAPID programs and configurations. For stored systems, you
can make some changes with the System Builder in RobotStudio, like adding and
removing options and replacing whole configuration files.
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5 Systems
5.1 What is a system?
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