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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 adva... |
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 ... |
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 Com... |
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 th... |
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 ... |
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 sh... |
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 u... |
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 my... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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
Operating manual - IRC5 Integrator'... |
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, no... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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 Moun... |
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 ... |
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-positio... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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 sy... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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-enable... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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 detail... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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 T... |
ABB_Operating_Manual_IRC5_Integrators_Guide | 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 Offi... |
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 ... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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 acti... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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 Fl... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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
Stan... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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 ... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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 manua... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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
3HAC0509... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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 fo... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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 t... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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.
W... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 38 | 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 s... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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 ... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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 su... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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 addr... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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 user... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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
directl... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 44 | 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
•
s... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 45 | 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 ... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 46 | 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 sy... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 47 | 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 ... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 48 | 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 ... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 49 | This page is intentionally left blank
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 t... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 50 | 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 describe... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 51 | 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
I... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 52 | 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 deletin... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 53 | 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 f... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 54 | 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... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 55 | 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 p... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 56 | 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 ... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 57 | 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 ... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 58 | 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 ... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 59 | 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... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 60 | 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... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 61 | 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
U... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 62 | 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 n... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 63 | Action
Tap:
•
OK to delete the routine without saving any changes made to it.
•
Cancel to revert without deleting the routine.
5
62
Operating manual - IRC5 Integrator's guide
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
3 Programming
3.3.3 Handling of routines
Continued
3.4 Data types
3.4.1 ... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 64 | 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 .... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 65 | 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
64
Operating manual - IRC5 Integrator's guide
3HAC050940-001 Revision: S
© Copyright 2025... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 66 | 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 ... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 67 | 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
ch... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 68 | 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 Operatin... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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 ... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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 defin... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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 wo... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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 d... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 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 i... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 74 | 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... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 75 | 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
74
Operating man... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 76 | 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 sta... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 77 | 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 ... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 78 | 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 deta... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 79 | 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... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 80 | 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)
poi... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 81 | 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 po... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 82 | 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 m... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 83 | 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 t... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 84 | 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 wan... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 85 | 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 sett... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 86 | 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 al... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 87 | 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 men... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 88 | For more information about PayLoadsInWristCoords , see Technical reference
manual - System parameters and Technical reference manual - RAPID Instructions,
Functions and Data types .
Operating manual - IRC5 Integrator's guide
87
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
3 Programming
3.7.... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 89 | 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... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 90 | 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 o... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 91 | 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 ... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 92 | 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.
... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 93 | 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 de... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 94 | 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... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 95 | 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... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 96 | 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 .
Operati... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 97 | 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 .
... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 98 | 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 ... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 99 | 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 ... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 100 | 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="f... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 101 | ![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
100
Operating manual - IRC5 Integrator's guide
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
3 Programming
3.9 Hide RAPID argument... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 102 | 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.
Operating manual - IRC5 I... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 103 | 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 th... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 104 | 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 sectio... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 105 | 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/... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 106 | 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 bel... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 107 | 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 compu... |
ABB_Operating_Manual_IRC5_Integrators_Guide | https://www.uzivatelskadokumentace.cz/Controllers/IRC5/en/3HAC050940-001.pdf | 108 | 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
... |
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