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ABB_Operating_Manual_IRC5_Integrators_Guide
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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?
5.2 Memory and file handling
5.2.1 What is “the memory”?
Overview
When using the term “memory”, different things may be implied:
•
The controller mass memory unit (hard disk, flash disk, or other drive)
•
The hard disk of some other unit connected to the same LAN as the robot
system, serving as a storage for software.
Controller mass memory unit
This is the main mass storage unit of the controller, i.e. the controller mass memory.
Depending on controller version, it may be a flash disk, hard drive, or other type
and it may vary in size. It contains all necessary software for operating the robot,
and is the unit on which RobotWare is installed.
Note
The default file system of FlexPendant Explorer is:
•
/hd0a : file system on a hard disk (persistent)
LAN unit
This may be used as extra mass storage device if the one in the controller is not
sufficient. It is not normally considered a part of the robot system.
110
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5.2.1 What is “the memory”?
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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?
5.2 Memory and file handling
5.2.1 What is “the memory”?
Overview
When using the term “memory”, different things may be implied:
•
The controller mass memory unit (hard disk, flash disk, or other drive)
•
The hard disk of some other unit connected to the same LAN as the robot
system, serving as a storage for software.
Controller mass memory unit
This is the main mass storage unit of the controller, i.e. the controller mass memory.
Depending on controller version, it may be a flash disk, hard drive, or other type
and it may vary in size. It contains all necessary software for operating the robot,
and is the unit on which RobotWare is installed.
Note
The default file system of FlexPendant Explorer is:
•
/hd0a : file system on a hard disk (persistent)
LAN unit
This may be used as extra mass storage device if the one in the controller is not
sufficient. It is not normally considered a part of the robot system.
110
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5 Systems
5.2.1 What is “the memory”?
5.2.2 File handling
File handling and storing
Backups, programs, and configurations etc. are saved as files in the robot system.
These files are handled either in a specific FlexPendant application, such as the
Program Editor , or using the FlexPendant Explorer .
Files can be stored on a number of different drives, or memory devices, such as:
•
Controller mass memory unit
•
USB device
•
Network drive
These drives are all used in the same way and available in the FlexPendant Explorer
or when saving or opening files using an application on the FlexPendant.
Note
The default file system of FlexPendant Explorer is:
•
/hd0a : filesystem on a hard disk (persitent)
USB memory information
IRC5 is equipped with a USB port on the FlexPendant, see The FlexPendant on
page 19 . There are also USB ports on the main computer in the IRC5 controller.
A USB memory is normally detected by the system and ready to use within a few
seconds from plugging in the hardware. A plugged in USB memory is automatically
detected during system start.
It is possible to plug in and unplug a USB memory while the system is running.
However, observing the following precautions will avoid problems:
•
Do not unplug a USB memory immediately after plugging in. Wait at least
five seconds, or until the memory has been detected by the system.
•
Do not unplug a USB memory during file operations, such as saving or
copying files. Many USB memories indicate ongoing operations with a flashing
LED.
•
Do not unplug a USB memory while the system is shutting down. Wait until
shutdown is completed.
Please also note the following limitations with USB memories:
•
There is no guarantee that all USB memories are supported.
•
Some USB memories have a write protection switch. The system is not able
to detect if a file operation failed due to the write protection switch.
Limitations
The maximum length for a file name is 99 characters and the maximum length for
a file path including the file name is 247 characters.
Continues on next page
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5.2.2 File handling
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5.2 Memory and file handling
5.2.1 What is “the memory”?
Overview
When using the term “memory”, different things may be implied:
•
The controller mass memory unit (hard disk, flash disk, or other drive)
•
The hard disk of some other unit connected to the same LAN as the robot
system, serving as a storage for software.
Controller mass memory unit
This is the main mass storage unit of the controller, i.e. the controller mass memory.
Depending on controller version, it may be a flash disk, hard drive, or other type
and it may vary in size. It contains all necessary software for operating the robot,
and is the unit on which RobotWare is installed.
Note
The default file system of FlexPendant Explorer is:
•
/hd0a : file system on a hard disk (persistent)
LAN unit
This may be used as extra mass storage device if the one in the controller is not
sufficient. It is not normally considered a part of the robot system.
110
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5 Systems
5.2.1 What is “the memory”?
5.2.2 File handling
File handling and storing
Backups, programs, and configurations etc. are saved as files in the robot system.
These files are handled either in a specific FlexPendant application, such as the
Program Editor , or using the FlexPendant Explorer .
Files can be stored on a number of different drives, or memory devices, such as:
•
Controller mass memory unit
•
USB device
•
Network drive
These drives are all used in the same way and available in the FlexPendant Explorer
or when saving or opening files using an application on the FlexPendant.
Note
The default file system of FlexPendant Explorer is:
•
/hd0a : filesystem on a hard disk (persitent)
USB memory information
IRC5 is equipped with a USB port on the FlexPendant, see The FlexPendant on
page 19 . There are also USB ports on the main computer in the IRC5 controller.
A USB memory is normally detected by the system and ready to use within a few
seconds from plugging in the hardware. A plugged in USB memory is automatically
detected during system start.
It is possible to plug in and unplug a USB memory while the system is running.
However, observing the following precautions will avoid problems:
•
Do not unplug a USB memory immediately after plugging in. Wait at least
five seconds, or until the memory has been detected by the system.
•
Do not unplug a USB memory during file operations, such as saving or
copying files. Many USB memories indicate ongoing operations with a flashing
LED.
•
Do not unplug a USB memory while the system is shutting down. Wait until
shutdown is completed.
Please also note the following limitations with USB memories:
•
There is no guarantee that all USB memories are supported.
•
Some USB memories have a write protection switch. The system is not able
to detect if a file operation failed due to the write protection switch.
Limitations
The maximum length for a file name is 99 characters and the maximum length for
a file path including the file name is 247 characters.
Continues on next page
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5 Systems
5.2.2 File handling
Note
Some additional options may have other restrictions on the length of file names
and file paths. For more information see Application manual - Controller software
IRC5 .
Related information
Operating manual - Troubleshooting IRC5 .
What is “the memory”? on page 110 .
112
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5 Systems
5.2.2 File handling
Continued
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5.2.2 File handling
File handling and storing
Backups, programs, and configurations etc. are saved as files in the robot system.
These files are handled either in a specific FlexPendant application, such as the
Program Editor , or using the FlexPendant Explorer .
Files can be stored on a number of different drives, or memory devices, such as:
•
Controller mass memory unit
•
USB device
•
Network drive
These drives are all used in the same way and available in the FlexPendant Explorer
or when saving or opening files using an application on the FlexPendant.
Note
The default file system of FlexPendant Explorer is:
•
/hd0a : filesystem on a hard disk (persitent)
USB memory information
IRC5 is equipped with a USB port on the FlexPendant, see The FlexPendant on
page 19 . There are also USB ports on the main computer in the IRC5 controller.
A USB memory is normally detected by the system and ready to use within a few
seconds from plugging in the hardware. A plugged in USB memory is automatically
detected during system start.
It is possible to plug in and unplug a USB memory while the system is running.
However, observing the following precautions will avoid problems:
•
Do not unplug a USB memory immediately after plugging in. Wait at least
five seconds, or until the memory has been detected by the system.
•
Do not unplug a USB memory during file operations, such as saving or
copying files. Many USB memories indicate ongoing operations with a flashing
LED.
•
Do not unplug a USB memory while the system is shutting down. Wait until
shutdown is completed.
Please also note the following limitations with USB memories:
•
There is no guarantee that all USB memories are supported.
•
Some USB memories have a write protection switch. The system is not able
to detect if a file operation failed due to the write protection switch.
Limitations
The maximum length for a file name is 99 characters and the maximum length for
a file path including the file name is 247 characters.
Continues on next page
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5 Systems
5.2.2 File handling
Note
Some additional options may have other restrictions on the length of file names
and file paths. For more information see Application manual - Controller software
IRC5 .
Related information
Operating manual - Troubleshooting IRC5 .
What is “the memory”? on page 110 .
112
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5 Systems
5.2.2 File handling
Continued
5.2.3 Setting default paths
Introduction to default paths
You can set individual default paths for some actions using the FlexPendant.
The following default paths can be set:
•
Saving and loading RAPID programs.
•
Saving and loading RAPID modules.
•
Saving and storing configuration files.
This function is available if the user that is logged on is authorized. User
authorization is handled via RobotStudio. See Operating manual - RobotStudio .
Setting default paths
Use this procedure to set a default path.
Action
On the ABB menu, tap Control Panel and then FlexPendant .
1
Tap File System Default Path .
2
![Image]
en0500002361
Tap the File type menu to choose type of default path:
•
RAPID programs
•
RAPID modules
•
Configurations files
3
Type the default path or tap Browse , to choose the desired location.
4
If required, any previously entered path can be removed by tapping Clear .
5
Tap OK .
6
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5.2.3 Setting default paths
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Note
Some additional options may have other restrictions on the length of file names
and file paths. For more information see Application manual - Controller software
IRC5 .
Related information
Operating manual - Troubleshooting IRC5 .
What is “the memory”? on page 110 .
112
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5 Systems
5.2.2 File handling
Continued
5.2.3 Setting default paths
Introduction to default paths
You can set individual default paths for some actions using the FlexPendant.
The following default paths can be set:
•
Saving and loading RAPID programs.
•
Saving and loading RAPID modules.
•
Saving and storing configuration files.
This function is available if the user that is logged on is authorized. User
authorization is handled via RobotStudio. See Operating manual - RobotStudio .
Setting default paths
Use this procedure to set a default path.
Action
On the ABB menu, tap Control Panel and then FlexPendant .
1
Tap File System Default Path .
2
![Image]
en0500002361
Tap the File type menu to choose type of default path:
•
RAPID programs
•
RAPID modules
•
Configurations files
3
Type the default path or tap Browse , to choose the desired location.
4
If required, any previously entered path can be removed by tapping Clear .
5
Tap OK .
6
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5 Systems
5.2.3 Setting default paths
5.3 Restart procedures
5.3.1 Advanced restart
When do I need to restart a running controller?
ABB robot systems are designed to operate unattended for long times. There is
no need to periodically restart functioning systems.
Restart the robot system when:
•
new hardware has been installed.
•
the robot system configuration files have been changed.
•
a new system has been added and is to be used.
•
a system failure (SYSFAIL) has occurred.
Restart types
To access Advanced restart , tap the ABB menu and then tap Advanced .
The following table provides details about the different restart types that need to
be selected under different scenarios:
More details
Scenarios
Restart type
Restart and use the
current system on
page 120 .
You want to restart and use the current
system. All programs and configurations
will be saved.
Restart
Restart and start boot
applicationonpage121 .
You want to restart and select another sys-
tem. The Boot Application will be launched
at start.
Start Boot Application
Note
For system using RobotWare 5.14 or above,
the required system can be directly selec-
ted, see Managing Installed Systems on
page 126 .
Restart and reset
RAPID on page 122 .
You want to delete all user loaded RAPID
programs.
WARNING
This can not be undone.
Reset RAPID
Restart and reset sys-
tem on page 123 .
You want to return to the default system
settings.
WARNING
This will remove all user defined programs
and configurations from memory and restart
with default factory settings.
Reset system
Restart and revert to
last auto saved on
page 124 .
The system has been restarted and you
want to restart the current system using the
image file (system data) from the most re-
cent successful shut down.
Revert to last auto
saved
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5.2.3 Setting default paths
Introduction to default paths
You can set individual default paths for some actions using the FlexPendant.
The following default paths can be set:
•
Saving and loading RAPID programs.
•
Saving and loading RAPID modules.
•
Saving and storing configuration files.
This function is available if the user that is logged on is authorized. User
authorization is handled via RobotStudio. See Operating manual - RobotStudio .
Setting default paths
Use this procedure to set a default path.
Action
On the ABB menu, tap Control Panel and then FlexPendant .
1
Tap File System Default Path .
2
![Image]
en0500002361
Tap the File type menu to choose type of default path:
•
RAPID programs
•
RAPID modules
•
Configurations files
3
Type the default path or tap Browse , to choose the desired location.
4
If required, any previously entered path can be removed by tapping Clear .
5
Tap OK .
6
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5 Systems
5.2.3 Setting default paths
5.3 Restart procedures
5.3.1 Advanced restart
When do I need to restart a running controller?
ABB robot systems are designed to operate unattended for long times. There is
no need to periodically restart functioning systems.
Restart the robot system when:
•
new hardware has been installed.
•
the robot system configuration files have been changed.
•
a new system has been added and is to be used.
•
a system failure (SYSFAIL) has occurred.
Restart types
To access Advanced restart , tap the ABB menu and then tap Advanced .
The following table provides details about the different restart types that need to
be selected under different scenarios:
More details
Scenarios
Restart type
Restart and use the
current system on
page 120 .
You want to restart and use the current
system. All programs and configurations
will be saved.
Restart
Restart and start boot
applicationonpage121 .
You want to restart and select another sys-
tem. The Boot Application will be launched
at start.
Start Boot Application
Note
For system using RobotWare 5.14 or above,
the required system can be directly selec-
ted, see Managing Installed Systems on
page 126 .
Restart and reset
RAPID on page 122 .
You want to delete all user loaded RAPID
programs.
WARNING
This can not be undone.
Reset RAPID
Restart and reset sys-
tem on page 123 .
You want to return to the default system
settings.
WARNING
This will remove all user defined programs
and configurations from memory and restart
with default factory settings.
Reset system
Restart and revert to
last auto saved on
page 124 .
The system has been restarted and you
want to restart the current system using the
image file (system data) from the most re-
cent successful shut down.
Revert to last auto
saved
Continues on next page
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5 Systems
5.3.1 Advanced restart
More details
Scenarios
Restart type
See section Shut down
in Operating manu-
al - IRC5 with Flex-
Pendant .
You want to shut down and save the current
system and shut down the main computer.
Shutdown main com-
puter
Related information
Operating manual - Troubleshooting IRC5 .
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5 Systems
5.3.1 Advanced restart
Continued
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5.3 Restart procedures
5.3.1 Advanced restart
When do I need to restart a running controller?
ABB robot systems are designed to operate unattended for long times. There is
no need to periodically restart functioning systems.
Restart the robot system when:
•
new hardware has been installed.
•
the robot system configuration files have been changed.
•
a new system has been added and is to be used.
•
a system failure (SYSFAIL) has occurred.
Restart types
To access Advanced restart , tap the ABB menu and then tap Advanced .
The following table provides details about the different restart types that need to
be selected under different scenarios:
More details
Scenarios
Restart type
Restart and use the
current system on
page 120 .
You want to restart and use the current
system. All programs and configurations
will be saved.
Restart
Restart and start boot
applicationonpage121 .
You want to restart and select another sys-
tem. The Boot Application will be launched
at start.
Start Boot Application
Note
For system using RobotWare 5.14 or above,
the required system can be directly selec-
ted, see Managing Installed Systems on
page 126 .
Restart and reset
RAPID on page 122 .
You want to delete all user loaded RAPID
programs.
WARNING
This can not be undone.
Reset RAPID
Restart and reset sys-
tem on page 123 .
You want to return to the default system
settings.
WARNING
This will remove all user defined programs
and configurations from memory and restart
with default factory settings.
Reset system
Restart and revert to
last auto saved on
page 124 .
The system has been restarted and you
want to restart the current system using the
image file (system data) from the most re-
cent successful shut down.
Revert to last auto
saved
Continues on next page
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5 Systems
5.3.1 Advanced restart
More details
Scenarios
Restart type
See section Shut down
in Operating manu-
al - IRC5 with Flex-
Pendant .
You want to shut down and save the current
system and shut down the main computer.
Shutdown main com-
puter
Related information
Operating manual - Troubleshooting IRC5 .
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5 Systems
5.3.1 Advanced restart
Continued
5.3.2 Using the Boot Application
Boot Application
The Boot Application is primarily used to start the system when no RobotWare is
installed, but can also be used for other purposes, such as changing the system
to start. You can also use RobotStudio, see Operating manual - RobotStudio .
Purpose of the Boot Application
The Boot Application is installed at delivery and can be used to:
•
Install systems.
•
Set or check network settings.
•
Rename controller
•
Select a system/switch between systems from the mass storage memory.
•
Load the system from USB memory units or network connections.
The illustration shows the Boot Application main screen. The buttons and functions
available are described below.
![Image]
xx1600000248
Installing a system
This procedure can take several minutes.
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
Tap Install System .
2
USB ports are found on the FlexPendant
and on the main computer in the controller.
Connect a USB memory containing a sys-
tem to the USB port and tap Continue .
3
Continues on next page
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5.3.2 Using the Boot Application
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More details
Scenarios
Restart type
See section Shut down
in Operating manu-
al - IRC5 with Flex-
Pendant .
You want to shut down and save the current
system and shut down the main computer.
Shutdown main com-
puter
Related information
Operating manual - Troubleshooting IRC5 .
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115
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5 Systems
5.3.1 Advanced restart
Continued
5.3.2 Using the Boot Application
Boot Application
The Boot Application is primarily used to start the system when no RobotWare is
installed, but can also be used for other purposes, such as changing the system
to start. You can also use RobotStudio, see Operating manual - RobotStudio .
Purpose of the Boot Application
The Boot Application is installed at delivery and can be used to:
•
Install systems.
•
Set or check network settings.
•
Rename controller
•
Select a system/switch between systems from the mass storage memory.
•
Load the system from USB memory units or network connections.
The illustration shows the Boot Application main screen. The buttons and functions
available are described below.
![Image]
xx1600000248
Installing a system
This procedure can take several minutes.
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
Tap Install System .
2
USB ports are found on the FlexPendant
and on the main computer in the controller.
Connect a USB memory containing a sys-
tem to the USB port and tap Continue .
3
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5.3.2 Using the Boot Application
Information
Action
Tap ... to the right of the Path text box to
locate the system folder on the USB
memory. Select a system folder and then
tap OK .
4
Tap Continue to start the copying.
5
The USB memory can be disconnected at
this point.
When the copying is complete, tap OK .
6
When asked to complete the installation,
tap OK .
7
The controller is now restarted with the
system. The restart can take several
minutes.
Boot Application settings
The Boot Application settings contain IP and network settings.
Information
Action
Start Boot Application is
described in section Re-
start and start boot applic-
ation on page 121 .
Perform a restart and select the option Start Boot
Application .
1
Tap Settings .
2
![Image]
en0400000902
These settings are detailed
in section Set up the net-
work connection on
page 39 .
In the Network tab enter the following settings:
•
Use no IP address
•
Obtain IP address automatically
•
Use the following settings
Use the numerical keyboard to enter the desired val-
ues.
3
Tap Service PC information to display network set-
tings to be used when connection a service PC to the
controller service port.
4
Tap Misc. to display FlexPendant hardware and soft-
ware versions.
5
Continues on next page
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5.3.2 Using the Boot Application
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5.3.2 Using the Boot Application
Boot Application
The Boot Application is primarily used to start the system when no RobotWare is
installed, but can also be used for other purposes, such as changing the system
to start. You can also use RobotStudio, see Operating manual - RobotStudio .
Purpose of the Boot Application
The Boot Application is installed at delivery and can be used to:
•
Install systems.
•
Set or check network settings.
•
Rename controller
•
Select a system/switch between systems from the mass storage memory.
•
Load the system from USB memory units or network connections.
The illustration shows the Boot Application main screen. The buttons and functions
available are described below.
![Image]
xx1600000248
Installing a system
This procedure can take several minutes.
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
Tap Install System .
2
USB ports are found on the FlexPendant
and on the main computer in the controller.
Connect a USB memory containing a sys-
tem to the USB port and tap Continue .
3
Continues on next page
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5.3.2 Using the Boot Application
Information
Action
Tap ... to the right of the Path text box to
locate the system folder on the USB
memory. Select a system folder and then
tap OK .
4
Tap Continue to start the copying.
5
The USB memory can be disconnected at
this point.
When the copying is complete, tap OK .
6
When asked to complete the installation,
tap OK .
7
The controller is now restarted with the
system. The restart can take several
minutes.
Boot Application settings
The Boot Application settings contain IP and network settings.
Information
Action
Start Boot Application is
described in section Re-
start and start boot applic-
ation on page 121 .
Perform a restart and select the option Start Boot
Application .
1
Tap Settings .
2
![Image]
en0400000902
These settings are detailed
in section Set up the net-
work connection on
page 39 .
In the Network tab enter the following settings:
•
Use no IP address
•
Obtain IP address automatically
•
Use the following settings
Use the numerical keyboard to enter the desired val-
ues.
3
Tap Service PC information to display network set-
tings to be used when connection a service PC to the
controller service port.
4
Tap Misc. to display FlexPendant hardware and soft-
ware versions.
5
Continues on next page
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5 Systems
5.3.2 Using the Boot Application
Continued
Renaming a controller
Information
Action
Start Boot Application is
described in section Re-
start and start boot applic-
ation on page 121 .
Perform a restart and select the Start Boot Application
option.
1
Tap Settings .
2
The Settings window is displayed.
Tap the Identity tab.
3
![Image]
xx1700000331
In the Controller Name field type a new name for the
controller.
4
Tap OK .
5
The controller is renamed and the changes are saved.
Selecting a system
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
Tap Select System .
2
A dialog box is displayed showing the
available installed systems.
Tap a system and then tap Select .
3
The selected system is displayed in the
box Selected System.
Tap Close .
4
A dialog box is shown urging you to restart
to be able to use the selected system.
Restarting controller
Information
Action
For more details about Boot application
mode, see Restart and start boot applica-
tion on page 121 .
Restart the controller to the Boot Applica-
tion mode.
1
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Information
Action
Tap ... to the right of the Path text box to
locate the system folder on the USB
memory. Select a system folder and then
tap OK .
4
Tap Continue to start the copying.
5
The USB memory can be disconnected at
this point.
When the copying is complete, tap OK .
6
When asked to complete the installation,
tap OK .
7
The controller is now restarted with the
system. The restart can take several
minutes.
Boot Application settings
The Boot Application settings contain IP and network settings.
Information
Action
Start Boot Application is
described in section Re-
start and start boot applic-
ation on page 121 .
Perform a restart and select the option Start Boot
Application .
1
Tap Settings .
2
![Image]
en0400000902
These settings are detailed
in section Set up the net-
work connection on
page 39 .
In the Network tab enter the following settings:
•
Use no IP address
•
Obtain IP address automatically
•
Use the following settings
Use the numerical keyboard to enter the desired val-
ues.
3
Tap Service PC information to display network set-
tings to be used when connection a service PC to the
controller service port.
4
Tap Misc. to display FlexPendant hardware and soft-
ware versions.
5
Continues on next page
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5 Systems
5.3.2 Using the Boot Application
Continued
Renaming a controller
Information
Action
Start Boot Application is
described in section Re-
start and start boot applic-
ation on page 121 .
Perform a restart and select the Start Boot Application
option.
1
Tap Settings .
2
The Settings window is displayed.
Tap the Identity tab.
3
![Image]
xx1700000331
In the Controller Name field type a new name for the
controller.
4
Tap OK .
5
The controller is renamed and the changes are saved.
Selecting a system
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
Tap Select System .
2
A dialog box is displayed showing the
available installed systems.
Tap a system and then tap Select .
3
The selected system is displayed in the
box Selected System.
Tap Close .
4
A dialog box is shown urging you to restart
to be able to use the selected system.
Restarting controller
Information
Action
For more details about Boot application
mode, see Restart and start boot applica-
tion on page 121 .
Restart the controller to the Boot Applica-
tion mode.
1
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5.3.2 Using the Boot Application
Continued
Information
Action
To restart the controller and reset the se-
lected system, select the Reset System
checkbox.
Tap Restart System .
The Restart Controller window is dis-
played.
2
![Image]
xx1500000343
If the Reset System checkbox is selected,
the controller is restarted with the default
system settings. Otherwise the controller
is restarted without any change in the
system settings.
Tap OK .
3
Related information
Operating manual - RobotStudio .
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5.3.2 Using the Boot Application
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Renaming a controller
Information
Action
Start Boot Application is
described in section Re-
start and start boot applic-
ation on page 121 .
Perform a restart and select the Start Boot Application
option.
1
Tap Settings .
2
The Settings window is displayed.
Tap the Identity tab.
3
![Image]
xx1700000331
In the Controller Name field type a new name for the
controller.
4
Tap OK .
5
The controller is renamed and the changes are saved.
Selecting a system
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
Tap Select System .
2
A dialog box is displayed showing the
available installed systems.
Tap a system and then tap Select .
3
The selected system is displayed in the
box Selected System.
Tap Close .
4
A dialog box is shown urging you to restart
to be able to use the selected system.
Restarting controller
Information
Action
For more details about Boot application
mode, see Restart and start boot applica-
tion on page 121 .
Restart the controller to the Boot Applica-
tion mode.
1
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5 Systems
5.3.2 Using the Boot Application
Continued
Information
Action
To restart the controller and reset the se-
lected system, select the Reset System
checkbox.
Tap Restart System .
The Restart Controller window is dis-
played.
2
![Image]
xx1500000343
If the Reset System checkbox is selected,
the controller is restarted with the default
system settings. Otherwise the controller
is restarted without any change in the
system settings.
Tap OK .
3
Related information
Operating manual - RobotStudio .
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5.3.2 Using the Boot Application
Continued
5.3.3 Restart and use the current system
What happens with my current system?
The current system will be stopped.
All system parameters and programs will be saved to an image file.
During the restart process the system’s state will be resumed. Static and semistatic
tasks will be started. Programs can be started from the point they where stopped.
Restarting this way will activate any configuration changes entered using
RobotStudio.
Restart and use the current system
This section describes how to restart and use the current system.
Information
Action
On the ABB menu, tap Restart .
1
The restart dialog is displayed.
To select another type of start, tap Ad-
vanced . Detailed information about ad-
vanced starts is given in Advanced restart
on page 114 .
Tap Restart to restart the controller using
the current system.
2
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Information
Action
To restart the controller and reset the se-
lected system, select the Reset System
checkbox.
Tap Restart System .
The Restart Controller window is dis-
played.
2
![Image]
xx1500000343
If the Reset System checkbox is selected,
the controller is restarted with the default
system settings. Otherwise the controller
is restarted without any change in the
system settings.
Tap OK .
3
Related information
Operating manual - RobotStudio .
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5 Systems
5.3.2 Using the Boot Application
Continued
5.3.3 Restart and use the current system
What happens with my current system?
The current system will be stopped.
All system parameters and programs will be saved to an image file.
During the restart process the system’s state will be resumed. Static and semistatic
tasks will be started. Programs can be started from the point they where stopped.
Restarting this way will activate any configuration changes entered using
RobotStudio.
Restart and use the current system
This section describes how to restart and use the current system.
Information
Action
On the ABB menu, tap Restart .
1
The restart dialog is displayed.
To select another type of start, tap Ad-
vanced . Detailed information about ad-
vanced starts is given in Advanced restart
on page 114 .
Tap Restart to restart the controller using
the current system.
2
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5.3.3 Restart and use the current system
5.3.4 Restart and start boot application
What happens with my current system?
The current system will be stopped.
All system parameters and programs will be saved to an image file, so that the
system state can be resumed later.
Restart and select another system
This section describes how to restart and select another system.
Information
Action
Make sure the power to the controller cab-
inet is switched on.
1
On the ABB menu, tap Restart .
2
The restart dialog is displayed.
Tap Advanced... to select restart method.
3
The select restart method dialog is dis-
played.
Tap Start Boot Application , then tap Next .
4
A confirmation dialog is displayed.
Tap Start Boot Application to restart the
controller.
5
The controller is restarted. After the start
procedure the Boot Application is started.
How to use the Boot Application is detailed
in Using the Boot Application on page116 .
Use the Boot Application to select system.
6
Tap Close , then OK to return to the Boot
Application.
7
Tap Restart to restart the controller using
the selected system.
8
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5.3.3 Restart and use the current system
What happens with my current system?
The current system will be stopped.
All system parameters and programs will be saved to an image file.
During the restart process the system’s state will be resumed. Static and semistatic
tasks will be started. Programs can be started from the point they where stopped.
Restarting this way will activate any configuration changes entered using
RobotStudio.
Restart and use the current system
This section describes how to restart and use the current system.
Information
Action
On the ABB menu, tap Restart .
1
The restart dialog is displayed.
To select another type of start, tap Ad-
vanced . Detailed information about ad-
vanced starts is given in Advanced restart
on page 114 .
Tap Restart to restart the controller using
the current system.
2
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5.3.3 Restart and use the current system
5.3.4 Restart and start boot application
What happens with my current system?
The current system will be stopped.
All system parameters and programs will be saved to an image file, so that the
system state can be resumed later.
Restart and select another system
This section describes how to restart and select another system.
Information
Action
Make sure the power to the controller cab-
inet is switched on.
1
On the ABB menu, tap Restart .
2
The restart dialog is displayed.
Tap Advanced... to select restart method.
3
The select restart method dialog is dis-
played.
Tap Start Boot Application , then tap Next .
4
A confirmation dialog is displayed.
Tap Start Boot Application to restart the
controller.
5
The controller is restarted. After the start
procedure the Boot Application is started.
How to use the Boot Application is detailed
in Using the Boot Application on page116 .
Use the Boot Application to select system.
6
Tap Close , then OK to return to the Boot
Application.
7
Tap Restart to restart the controller using
the selected system.
8
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5.3.4 Restart and start boot application
5.3.5 Restart and reset RAPID
What happens with my current system?
After restart the system’s state will be resumed except for manually loaded
programs and modules. Static and semistatic tasks are started from the beginning,
not from the state they had when the system was stopped.
Modules will be installed and loaded in accordance with the set configuration.
System parameters will not be affected.
Restart and delete programs and modules
This section describes how to restart and delete user loaded programs and modules.
Action
On the ABB menu, tap Restart .
1
The restart dialog is displayed.
Tap Advanced... to select restart method.
2
The select restart method dialog is displayed.
Tap Reset RAPID , then tap Next .
3
A dialog letting you confirm that you really want to restart is displayed.
Tap Reset RAPID to restart the controller.
4
The controller is restarted using the current system. After the start procedure no pro-
grams or modules are open.
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5.3.4 Restart and start boot application
What happens with my current system?
The current system will be stopped.
All system parameters and programs will be saved to an image file, so that the
system state can be resumed later.
Restart and select another system
This section describes how to restart and select another system.
Information
Action
Make sure the power to the controller cab-
inet is switched on.
1
On the ABB menu, tap Restart .
2
The restart dialog is displayed.
Tap Advanced... to select restart method.
3
The select restart method dialog is dis-
played.
Tap Start Boot Application , then tap Next .
4
A confirmation dialog is displayed.
Tap Start Boot Application to restart the
controller.
5
The controller is restarted. After the start
procedure the Boot Application is started.
How to use the Boot Application is detailed
in Using the Boot Application on page116 .
Use the Boot Application to select system.
6
Tap Close , then OK to return to the Boot
Application.
7
Tap Restart to restart the controller using
the selected system.
8
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5.3.4 Restart and start boot application
5.3.5 Restart and reset RAPID
What happens with my current system?
After restart the system’s state will be resumed except for manually loaded
programs and modules. Static and semistatic tasks are started from the beginning,
not from the state they had when the system was stopped.
Modules will be installed and loaded in accordance with the set configuration.
System parameters will not be affected.
Restart and delete programs and modules
This section describes how to restart and delete user loaded programs and modules.
Action
On the ABB menu, tap Restart .
1
The restart dialog is displayed.
Tap Advanced... to select restart method.
2
The select restart method dialog is displayed.
Tap Reset RAPID , then tap Next .
3
A dialog letting you confirm that you really want to restart is displayed.
Tap Reset RAPID to restart the controller.
4
The controller is restarted using the current system. After the start procedure no pro-
grams or modules are open.
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5.3.5 Restart and reset RAPID
5.3.6 Restart and reset system
What happens to my current system?
After restart, the system's state will be resumed but any changes done to system
parameters and other settings will be lost. Instead, system parameters and other
settings are read from the originally installed system on delivery.
For example, this returns the system to the original factory system state.
Restart and return to default settings
This section describes how to restart and return to default settings.
Action
On the ABB menu, tap Restart .
1
The restart dialog is displayed.
Tap Advanced... to select restart method.
2
The select restart method dialog is displayed.
Tap Reset system , then tap Next .
3
A dialog letting you confirm that you really want to restart is displayed.
Tap Reset system to restart the controller.
4
The controller is restarted using the current system. Changes to system parameters
and other settings are lost.
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5.3.5 Restart and reset RAPID
What happens with my current system?
After restart the system’s state will be resumed except for manually loaded
programs and modules. Static and semistatic tasks are started from the beginning,
not from the state they had when the system was stopped.
Modules will be installed and loaded in accordance with the set configuration.
System parameters will not be affected.
Restart and delete programs and modules
This section describes how to restart and delete user loaded programs and modules.
Action
On the ABB menu, tap Restart .
1
The restart dialog is displayed.
Tap Advanced... to select restart method.
2
The select restart method dialog is displayed.
Tap Reset RAPID , then tap Next .
3
A dialog letting you confirm that you really want to restart is displayed.
Tap Reset RAPID to restart the controller.
4
The controller is restarted using the current system. After the start procedure no pro-
grams or modules are open.
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5.3.5 Restart and reset RAPID
5.3.6 Restart and reset system
What happens to my current system?
After restart, the system's state will be resumed but any changes done to system
parameters and other settings will be lost. Instead, system parameters and other
settings are read from the originally installed system on delivery.
For example, this returns the system to the original factory system state.
Restart and return to default settings
This section describes how to restart and return to default settings.
Action
On the ABB menu, tap Restart .
1
The restart dialog is displayed.
Tap Advanced... to select restart method.
2
The select restart method dialog is displayed.
Tap Reset system , then tap Next .
3
A dialog letting you confirm that you really want to restart is displayed.
Tap Reset system to restart the controller.
4
The controller is restarted using the current system. Changes to system parameters
and other settings are lost.
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5.3.6 Restart and reset system
5.3.7 Restart and revert to last auto saved
What happens with my current system?
After restart the system uses the backup of the image file from the last successful
shut down. This means that all changes made to the system after that successful
shut down are lost.
When to use revert to last auto saved
Revert to last auto saved should be used if the controller was shut down without
successfully saving the image file and you want to restart the same system again.
However, all changes made to the system since the last successful shut down are
lost, for instance new programs, modified positions, or changes to system
parameters.
If the system starts up with a corrupt or missing image file then the system is in
system failure mode and an error message is displayed in the event log. The system
must be restarted.
To restore the current system from the last successful shut down, then use Revert
to last auto saved . An alternative is to use Reset system (resume the originally
installed system at delivery).
Using revert to last auto saved when the controller is not in system failure mode
due to a corrupt image file will be the same as a normal restart.
Restart from previously stored system data
This section describes how to restart from previously stored image file.
CAUTION
When restarting using Revert to last auto saved , all changes made to the system
since the last successful shut down are lost and cannot be resumed.
Action
On the ABB menu, tap Restart .
1
The restart dialog is displayed.
Tap Advanced... to select restart method.
2
The select restart method dialog is displayed.
Tap Revert to last auto saved , then tap Next .
3
Tap Revert to last auto saved to restart the controller.
4
The controller is restarted using the image file from the most recent successful shut
down.
Note
After loading a backup the program pointer will most likely not agree with the
actual position of the robot.
Related information
Restart and reset system on page 123 .
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5.3.6 Restart and reset system
What happens to my current system?
After restart, the system's state will be resumed but any changes done to system
parameters and other settings will be lost. Instead, system parameters and other
settings are read from the originally installed system on delivery.
For example, this returns the system to the original factory system state.
Restart and return to default settings
This section describes how to restart and return to default settings.
Action
On the ABB menu, tap Restart .
1
The restart dialog is displayed.
Tap Advanced... to select restart method.
2
The select restart method dialog is displayed.
Tap Reset system , then tap Next .
3
A dialog letting you confirm that you really want to restart is displayed.
Tap Reset system to restart the controller.
4
The controller is restarted using the current system. Changes to system parameters
and other settings are lost.
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5.3.6 Restart and reset system
5.3.7 Restart and revert to last auto saved
What happens with my current system?
After restart the system uses the backup of the image file from the last successful
shut down. This means that all changes made to the system after that successful
shut down are lost.
When to use revert to last auto saved
Revert to last auto saved should be used if the controller was shut down without
successfully saving the image file and you want to restart the same system again.
However, all changes made to the system since the last successful shut down are
lost, for instance new programs, modified positions, or changes to system
parameters.
If the system starts up with a corrupt or missing image file then the system is in
system failure mode and an error message is displayed in the event log. The system
must be restarted.
To restore the current system from the last successful shut down, then use Revert
to last auto saved . An alternative is to use Reset system (resume the originally
installed system at delivery).
Using revert to last auto saved when the controller is not in system failure mode
due to a corrupt image file will be the same as a normal restart.
Restart from previously stored system data
This section describes how to restart from previously stored image file.
CAUTION
When restarting using Revert to last auto saved , all changes made to the system
since the last successful shut down are lost and cannot be resumed.
Action
On the ABB menu, tap Restart .
1
The restart dialog is displayed.
Tap Advanced... to select restart method.
2
The select restart method dialog is displayed.
Tap Revert to last auto saved , then tap Next .
3
Tap Revert to last auto saved to restart the controller.
4
The controller is restarted using the image file from the most recent successful shut
down.
Note
After loading a backup the program pointer will most likely not agree with the
actual position of the robot.
Related information
Restart and reset system on page 123 .
124
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5.3.7 Restart and revert to last auto saved
5.3.8 Reflashing firmware
Overview of reflashing
After replacing hardware units, such as axis computer, buses, etc., or installing
newer versions of RobotWare, the system will automatically attempt reflashing the
unit in order to maintain hardware/software compatibility if that is needed.
Reflashing is the process of loading appropriate firmware (hardware specific
software) onto a specific unit running this software during operation.
If RobotWare is upgraded on the controller, then the FlexPendant will reflash, i.e.
update to the new version, when connected.
The units currently using the reflash function are:
•
Contactor interface board
•
Drive units
•
FlexPendant
•
Profibus master
•
Axis computer
•
Panel board
Reflashing process
The automatic reflashing process, described below, must not be disturbed by
switching off the controller while running:
Information
Event
The result can be:
•
Hardware OK.
•
Hardware needs to be reflashed with
new version of firmware.
•
Hardware cannot be used.
When the system is restarted, the system
checks the hardware and firmwares used.
1
During the Update Mode, an attempt is
made to download appropriate firmware to
the hardware while a message is very
briefly displayed on the FlexPendant.
If reflashing of the firmware is required, the
system restarts itself automatically while
going to a specific Update Mode . All hard-
ware that requires firmware update is re-
flashed in the same restart.
2
A message is very briefly displayed on the
FlexPendant and stored in the event log.
Was the reflashing successful?
If NO, an event log error message is
logged.
3
The actual reflashing can take a few
seconds or up to a few minutes, depending
on the hardware to be reflashed.
After performing a successful reflash of all
required hardware, the system performs a
normal restart.
4
Another check is made for any additional
hardware/firmware mismatches.
5
If the reflashing fails twice, an error is
logged.
Was any additional mismatches found?
If YES, the process is repeated once again.
If NO, the process is complete.
6
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|
5.3.7 Restart and revert to last auto saved
What happens with my current system?
After restart the system uses the backup of the image file from the last successful
shut down. This means that all changes made to the system after that successful
shut down are lost.
When to use revert to last auto saved
Revert to last auto saved should be used if the controller was shut down without
successfully saving the image file and you want to restart the same system again.
However, all changes made to the system since the last successful shut down are
lost, for instance new programs, modified positions, or changes to system
parameters.
If the system starts up with a corrupt or missing image file then the system is in
system failure mode and an error message is displayed in the event log. The system
must be restarted.
To restore the current system from the last successful shut down, then use Revert
to last auto saved . An alternative is to use Reset system (resume the originally
installed system at delivery).
Using revert to last auto saved when the controller is not in system failure mode
due to a corrupt image file will be the same as a normal restart.
Restart from previously stored system data
This section describes how to restart from previously stored image file.
CAUTION
When restarting using Revert to last auto saved , all changes made to the system
since the last successful shut down are lost and cannot be resumed.
Action
On the ABB menu, tap Restart .
1
The restart dialog is displayed.
Tap Advanced... to select restart method.
2
The select restart method dialog is displayed.
Tap Revert to last auto saved , then tap Next .
3
Tap Revert to last auto saved to restart the controller.
4
The controller is restarted using the image file from the most recent successful shut
down.
Note
After loading a backup the program pointer will most likely not agree with the
actual position of the robot.
Related information
Restart and reset system on page 123 .
124
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5 Systems
5.3.7 Restart and revert to last auto saved
5.3.8 Reflashing firmware
Overview of reflashing
After replacing hardware units, such as axis computer, buses, etc., or installing
newer versions of RobotWare, the system will automatically attempt reflashing the
unit in order to maintain hardware/software compatibility if that is needed.
Reflashing is the process of loading appropriate firmware (hardware specific
software) onto a specific unit running this software during operation.
If RobotWare is upgraded on the controller, then the FlexPendant will reflash, i.e.
update to the new version, when connected.
The units currently using the reflash function are:
•
Contactor interface board
•
Drive units
•
FlexPendant
•
Profibus master
•
Axis computer
•
Panel board
Reflashing process
The automatic reflashing process, described below, must not be disturbed by
switching off the controller while running:
Information
Event
The result can be:
•
Hardware OK.
•
Hardware needs to be reflashed with
new version of firmware.
•
Hardware cannot be used.
When the system is restarted, the system
checks the hardware and firmwares used.
1
During the Update Mode, an attempt is
made to download appropriate firmware to
the hardware while a message is very
briefly displayed on the FlexPendant.
If reflashing of the firmware is required, the
system restarts itself automatically while
going to a specific Update Mode . All hard-
ware that requires firmware update is re-
flashed in the same restart.
2
A message is very briefly displayed on the
FlexPendant and stored in the event log.
Was the reflashing successful?
If NO, an event log error message is
logged.
3
The actual reflashing can take a few
seconds or up to a few minutes, depending
on the hardware to be reflashed.
After performing a successful reflash of all
required hardware, the system performs a
normal restart.
4
Another check is made for any additional
hardware/firmware mismatches.
5
If the reflashing fails twice, an error is
logged.
Was any additional mismatches found?
If YES, the process is repeated once again.
If NO, the process is complete.
6
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5.3.8 Reflashing firmware
5.4 Installed Systems
5.4.1 Managing Installed Systems
Overview
The Installed Systems is useful to switch between different systems installed. This
feature in the FlexPendant allows the user to switch directly to different systems
without doing a restart and starting the boot application.
Switching systems
This section describes switching directly to different systems.
Action
On the ABB menu, tap Control Panel
1
Tap Installed systems in Control Panel
2
View the list of installed systems.
3
Click on the system that need to be activated and then tap Activate .
To delete a system from the list, click on the system and tap Delete .
![Image]
en1000001240
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| 126
|
5.3.8 Reflashing firmware
Overview of reflashing
After replacing hardware units, such as axis computer, buses, etc., or installing
newer versions of RobotWare, the system will automatically attempt reflashing the
unit in order to maintain hardware/software compatibility if that is needed.
Reflashing is the process of loading appropriate firmware (hardware specific
software) onto a specific unit running this software during operation.
If RobotWare is upgraded on the controller, then the FlexPendant will reflash, i.e.
update to the new version, when connected.
The units currently using the reflash function are:
•
Contactor interface board
•
Drive units
•
FlexPendant
•
Profibus master
•
Axis computer
•
Panel board
Reflashing process
The automatic reflashing process, described below, must not be disturbed by
switching off the controller while running:
Information
Event
The result can be:
•
Hardware OK.
•
Hardware needs to be reflashed with
new version of firmware.
•
Hardware cannot be used.
When the system is restarted, the system
checks the hardware and firmwares used.
1
During the Update Mode, an attempt is
made to download appropriate firmware to
the hardware while a message is very
briefly displayed on the FlexPendant.
If reflashing of the firmware is required, the
system restarts itself automatically while
going to a specific Update Mode . All hard-
ware that requires firmware update is re-
flashed in the same restart.
2
A message is very briefly displayed on the
FlexPendant and stored in the event log.
Was the reflashing successful?
If NO, an event log error message is
logged.
3
The actual reflashing can take a few
seconds or up to a few minutes, depending
on the hardware to be reflashed.
After performing a successful reflash of all
required hardware, the system performs a
normal restart.
4
Another check is made for any additional
hardware/firmware mismatches.
5
If the reflashing fails twice, an error is
logged.
Was any additional mismatches found?
If YES, the process is repeated once again.
If NO, the process is complete.
6
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5 Systems
5.3.8 Reflashing firmware
5.4 Installed Systems
5.4.1 Managing Installed Systems
Overview
The Installed Systems is useful to switch between different systems installed. This
feature in the FlexPendant allows the user to switch directly to different systems
without doing a restart and starting the boot application.
Switching systems
This section describes switching directly to different systems.
Action
On the ABB menu, tap Control Panel
1
Tap Installed systems in Control Panel
2
View the list of installed systems.
3
Click on the system that need to be activated and then tap Activate .
To delete a system from the list, click on the system and tap Delete .
![Image]
en1000001240
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5 Systems
5.4.1 Managing Installed Systems
Action
While a system is activated, the Activate and Delete controls are greyed out.
4
![Image]
en1000001241
Note
It is not possible to activate or delete an already active system.
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5.4.1 Managing Installed Systems
Continued
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|
5.4 Installed Systems
5.4.1 Managing Installed Systems
Overview
The Installed Systems is useful to switch between different systems installed. This
feature in the FlexPendant allows the user to switch directly to different systems
without doing a restart and starting the boot application.
Switching systems
This section describes switching directly to different systems.
Action
On the ABB menu, tap Control Panel
1
Tap Installed systems in Control Panel
2
View the list of installed systems.
3
Click on the system that need to be activated and then tap Activate .
To delete a system from the list, click on the system and tap Delete .
![Image]
en1000001240
Continues on next page
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5 Systems
5.4.1 Managing Installed Systems
Action
While a system is activated, the Activate and Delete controls are greyed out.
4
![Image]
en1000001241
Note
It is not possible to activate or delete an already active system.
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5 Systems
5.4.1 Managing Installed Systems
Continued
5.4.2 RobotWare startup error
RobotWare startup error message
When the RobotWare system is unable to startup then the controller goes back to
Boot Server mode, writes the error details in a log file, and display this log file on
the FlexPendant. When you tap OK , the log file is closed and the Boot Application
window is displayed. A link to this log file is displayed on the Boot Application
window.
To again display the RobotWare startup error message, tap on the View Log icon.
![Image]
xx1700001356
Note
The View Log icon is displayed on the Boot Application window only if there is
an error log present.
128
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|
Action
While a system is activated, the Activate and Delete controls are greyed out.
4
![Image]
en1000001241
Note
It is not possible to activate or delete an already active system.
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5 Systems
5.4.1 Managing Installed Systems
Continued
5.4.2 RobotWare startup error
RobotWare startup error message
When the RobotWare system is unable to startup then the controller goes back to
Boot Server mode, writes the error details in a log file, and display this log file on
the FlexPendant. When you tap OK , the log file is closed and the Boot Application
window is displayed. A link to this log file is displayed on the Boot Application
window.
To again display the RobotWare startup error message, tap on the View Log icon.
![Image]
xx1700001356
Note
The View Log icon is displayed on the Boot Application window only if there is
an error log present.
128
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5.4.2 RobotWare startup error
5.5 Backup and restore systems
5.5.1 What is saved on backup?
Introduction to backups
When creating a backup, or restoring a previously made backup, not all data is
included.
What is saved?
The backup function saves all system parameters, system modules, and program
modules in a context.
The data is saved in a directory specified by the user. A default path can be set,
see Setting default paths on page 113 .
The directory is divided into the following five subdirectories:
•
BACKINFO
•
HOME
•
CS
•
RAPID
•
SYSPAR
The file system.xml is also saved in the ../backup (root directory), it contains user
settings.
Note
If the SafeMove option is installed, SafeMove files are also included in the system
backup.
backup
BACKINFO
HOME
RAPID
SYSPAR
system.xml
backinfo.txt
controller.rsf
fpsystem.xml
key.id
program.id
version.xml
rw6system.xml
system.guid
template.guid
CS
en0400000916
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5.4.2 RobotWare startup error
RobotWare startup error message
When the RobotWare system is unable to startup then the controller goes back to
Boot Server mode, writes the error details in a log file, and display this log file on
the FlexPendant. When you tap OK , the log file is closed and the Boot Application
window is displayed. A link to this log file is displayed on the Boot Application
window.
To again display the RobotWare startup error message, tap on the View Log icon.
![Image]
xx1700001356
Note
The View Log icon is displayed on the Boot Application window only if there is
an error log present.
128
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5 Systems
5.4.2 RobotWare startup error
5.5 Backup and restore systems
5.5.1 What is saved on backup?
Introduction to backups
When creating a backup, or restoring a previously made backup, not all data is
included.
What is saved?
The backup function saves all system parameters, system modules, and program
modules in a context.
The data is saved in a directory specified by the user. A default path can be set,
see Setting default paths on page 113 .
The directory is divided into the following five subdirectories:
•
BACKINFO
•
HOME
•
CS
•
RAPID
•
SYSPAR
The file system.xml is also saved in the ../backup (root directory), it contains user
settings.
Note
If the SafeMove option is installed, SafeMove files are also included in the system
backup.
backup
BACKINFO
HOME
RAPID
SYSPAR
system.xml
backinfo.txt
controller.rsf
fpsystem.xml
key.id
program.id
version.xml
rw6system.xml
system.guid
template.guid
CS
en0400000916
Continues on next page
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5 Systems
5.5.1 What is saved on backup?
BACKINFO
BACKINFO consists of the files backinfo.txt , key.id , program.id , and system.guid ,
template.guid , and version.xml .
•
backinfo.txt is used when the system is restored. The backup must never
be edited by the user!
•
controller.rsf contains information about the options enabled in the backed
up system.
•
fpsystem.xml contains information on the settings for the FlexPendant.
•
key.id and program.id files can be used to recreate a system, using
RobotStudio, with the same options as the backed up system.
•
rw6system.xml contains path information for controller.rsf , system.guid , and
key.id .
•
system.guid is used to identify the unique system the backup was taken
from.
•
system.guid and/or template.guid is used in the restore to check that the
backup is loaded to the correct system. If the system.guid and/or
template.guid do not match, the user will be informed.
•
version.xml contains detailed information about the RobotWare version.
CS
CS folder contains the following information:
•
Date and time settings
•
WLAN settings
•
Controller name and Id
•
UAS settings
•
User account settings
HOME
HOME is a copy of the files in the HOME directory.
RAPID
RAPID consists of a subdirectory for each configured task. Each task has one
directory for program modules and one for system modules. The module directory
will keep all installed modules. More information on loading modules and programs
is described in Technical reference manual - System parameters .
SYSPAR
SYSPAR contains the configuration files (that is, system parameters).
What is not saved?
A few things are not saved on backup, but can be useful to save separately:
•
The environment variable RELEASE: points out the current system pack.
System modules loaded with RELEASE: as its path, are not stored in the
backup.
•
The current value of a PERS object in a installed module is not stored in a
backup.
Continues on next page
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5 Systems
5.5.1 What is saved on backup?
Continued
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|
5.5 Backup and restore systems
5.5.1 What is saved on backup?
Introduction to backups
When creating a backup, or restoring a previously made backup, not all data is
included.
What is saved?
The backup function saves all system parameters, system modules, and program
modules in a context.
The data is saved in a directory specified by the user. A default path can be set,
see Setting default paths on page 113 .
The directory is divided into the following five subdirectories:
•
BACKINFO
•
HOME
•
CS
•
RAPID
•
SYSPAR
The file system.xml is also saved in the ../backup (root directory), it contains user
settings.
Note
If the SafeMove option is installed, SafeMove files are also included in the system
backup.
backup
BACKINFO
HOME
RAPID
SYSPAR
system.xml
backinfo.txt
controller.rsf
fpsystem.xml
key.id
program.id
version.xml
rw6system.xml
system.guid
template.guid
CS
en0400000916
Continues on next page
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5 Systems
5.5.1 What is saved on backup?
BACKINFO
BACKINFO consists of the files backinfo.txt , key.id , program.id , and system.guid ,
template.guid , and version.xml .
•
backinfo.txt is used when the system is restored. The backup must never
be edited by the user!
•
controller.rsf contains information about the options enabled in the backed
up system.
•
fpsystem.xml contains information on the settings for the FlexPendant.
•
key.id and program.id files can be used to recreate a system, using
RobotStudio, with the same options as the backed up system.
•
rw6system.xml contains path information for controller.rsf , system.guid , and
key.id .
•
system.guid is used to identify the unique system the backup was taken
from.
•
system.guid and/or template.guid is used in the restore to check that the
backup is loaded to the correct system. If the system.guid and/or
template.guid do not match, the user will be informed.
•
version.xml contains detailed information about the RobotWare version.
CS
CS folder contains the following information:
•
Date and time settings
•
WLAN settings
•
Controller name and Id
•
UAS settings
•
User account settings
HOME
HOME is a copy of the files in the HOME directory.
RAPID
RAPID consists of a subdirectory for each configured task. Each task has one
directory for program modules and one for system modules. The module directory
will keep all installed modules. More information on loading modules and programs
is described in Technical reference manual - System parameters .
SYSPAR
SYSPAR contains the configuration files (that is, system parameters).
What is not saved?
A few things are not saved on backup, but can be useful to save separately:
•
The environment variable RELEASE: points out the current system pack.
System modules loaded with RELEASE: as its path, are not stored in the
backup.
•
The current value of a PERS object in a installed module is not stored in a
backup.
Continues on next page
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5 Systems
5.5.1 What is saved on backup?
Continued
Related information
Technical reference manual - System parameters .
Operating manual - RobotStudio .
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5.5.1 What is saved on backup?
Continued
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|
BACKINFO
BACKINFO consists of the files backinfo.txt , key.id , program.id , and system.guid ,
template.guid , and version.xml .
•
backinfo.txt is used when the system is restored. The backup must never
be edited by the user!
•
controller.rsf contains information about the options enabled in the backed
up system.
•
fpsystem.xml contains information on the settings for the FlexPendant.
•
key.id and program.id files can be used to recreate a system, using
RobotStudio, with the same options as the backed up system.
•
rw6system.xml contains path information for controller.rsf , system.guid , and
key.id .
•
system.guid is used to identify the unique system the backup was taken
from.
•
system.guid and/or template.guid is used in the restore to check that the
backup is loaded to the correct system. If the system.guid and/or
template.guid do not match, the user will be informed.
•
version.xml contains detailed information about the RobotWare version.
CS
CS folder contains the following information:
•
Date and time settings
•
WLAN settings
•
Controller name and Id
•
UAS settings
•
User account settings
HOME
HOME is a copy of the files in the HOME directory.
RAPID
RAPID consists of a subdirectory for each configured task. Each task has one
directory for program modules and one for system modules. The module directory
will keep all installed modules. More information on loading modules and programs
is described in Technical reference manual - System parameters .
SYSPAR
SYSPAR contains the configuration files (that is, system parameters).
What is not saved?
A few things are not saved on backup, but can be useful to save separately:
•
The environment variable RELEASE: points out the current system pack.
System modules loaded with RELEASE: as its path, are not stored in the
backup.
•
The current value of a PERS object in a installed module is not stored in a
backup.
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5.5.1 What is saved on backup?
Continued
Related information
Technical reference manual - System parameters .
Operating manual - RobotStudio .
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5.5.1 What is saved on backup?
Continued
5.5.2 Backup the system
When do I need this?
We recommend performing a backup:
•
Before installing new RobotWare.
•
Before making any major changes to instructions and/or parameters to make
it possible to return to the previous setting.
•
After making any major changes to instructions and/or parameters and testing
the new settings to retain the new successful setting.
Backup the system
This section describes how to backup the system.
Action
Tap the ABB menu and then tap Backup and Restore .
1
Tap Backup Current System .
2
The Backup Current System window is displayed.
If a default path has been defined as detailed in the section Setting default paths on
page 113 , this is displayed.
![Image]
xx0300000441
Note
•
By default, a name for the Backup folder is created which can be renamed by
the user later.
•
While renaming, ensure that the name does not start with a space.
•
If the folder name starts with a space, a warning dialog appears.
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Related information
Technical reference manual - System parameters .
Operating manual - RobotStudio .
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5 Systems
5.5.1 What is saved on backup?
Continued
5.5.2 Backup the system
When do I need this?
We recommend performing a backup:
•
Before installing new RobotWare.
•
Before making any major changes to instructions and/or parameters to make
it possible to return to the previous setting.
•
After making any major changes to instructions and/or parameters and testing
the new settings to retain the new successful setting.
Backup the system
This section describes how to backup the system.
Action
Tap the ABB menu and then tap Backup and Restore .
1
Tap Backup Current System .
2
The Backup Current System window is displayed.
If a default path has been defined as detailed in the section Setting default paths on
page 113 , this is displayed.
![Image]
xx0300000441
Note
•
By default, a name for the Backup folder is created which can be renamed by
the user later.
•
While renaming, ensure that the name does not start with a space.
•
If the folder name starts with a space, a warning dialog appears.
Continues on next page
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5.5.2 Backup the system
Action
Tap Advanced... .
3
The Controller Settings window is displayed.
Note
Use this step to create the backup as a zip file. If this is not required navigate directly
to the last step.
![Image]
xx1700001302
Select the Backup to archive file checkbox.
4
Tap OK .
5
Is the displayed backup path the correct one?
6
If YES: Tap Backup to perform the backup to the selected directory. A backup file
named according to the current date is created.
If NO: Tap ... to the right of the backup path and select directory. Then tap Backup . A
backup folder named according to the current date is created.
Disable or queue backup
Backing up the system during production can interfere with the RAPID execution.
To avoid that a backup is taken during critical process steps or sensitive robot
movements, a system input ( Disable Backup , type System Input ) can be set during
these critical steps. When the critical steps are done, the input should be reset to
allow backups again.
If needed, the backup can be queued while Disable Backup is set, using the system
parameter General RAPID , with action value QueueBackup set to TRUE . Then the
backup will be queued until the signal is reset.
Disable Backup and QueueBackup are described in Technical reference
manual - System parameters .
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5.5.2 Backup the system
Continued
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5.5.2 Backup the system
When do I need this?
We recommend performing a backup:
•
Before installing new RobotWare.
•
Before making any major changes to instructions and/or parameters to make
it possible to return to the previous setting.
•
After making any major changes to instructions and/or parameters and testing
the new settings to retain the new successful setting.
Backup the system
This section describes how to backup the system.
Action
Tap the ABB menu and then tap Backup and Restore .
1
Tap Backup Current System .
2
The Backup Current System window is displayed.
If a default path has been defined as detailed in the section Setting default paths on
page 113 , this is displayed.
![Image]
xx0300000441
Note
•
By default, a name for the Backup folder is created which can be renamed by
the user later.
•
While renaming, ensure that the name does not start with a space.
•
If the folder name starts with a space, a warning dialog appears.
Continues on next page
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5.5.2 Backup the system
Action
Tap Advanced... .
3
The Controller Settings window is displayed.
Note
Use this step to create the backup as a zip file. If this is not required navigate directly
to the last step.
![Image]
xx1700001302
Select the Backup to archive file checkbox.
4
Tap OK .
5
Is the displayed backup path the correct one?
6
If YES: Tap Backup to perform the backup to the selected directory. A backup file
named according to the current date is created.
If NO: Tap ... to the right of the backup path and select directory. Then tap Backup . A
backup folder named according to the current date is created.
Disable or queue backup
Backing up the system during production can interfere with the RAPID execution.
To avoid that a backup is taken during critical process steps or sensitive robot
movements, a system input ( Disable Backup , type System Input ) can be set during
these critical steps. When the critical steps are done, the input should be reset to
allow backups again.
If needed, the backup can be queued while Disable Backup is set, using the system
parameter General RAPID , with action value QueueBackup set to TRUE . Then the
backup will be queued until the signal is reset.
Disable Backup and QueueBackup are described in Technical reference
manual - System parameters .
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5.5.2 Backup the system
Continued
5.5.3 Important when performing backups
BACKUP directory
A local default backup directory, BACKUP, is automatically created by the system.
We recommend using this directory for saving backups.
Such backups are not copied to the directory HOME in following backups.
Never change the name of the BACKUP directory.
Never change the name of the actual backup to BACKUP, since this will cause
interference with this directory.
A default path can be created to any location on the network where the backup
should be stored, see Setting default paths on page 113 .
When is backup possible?
A backup of a system can be performed during program execution, with a few
limitations:
•
Start program, load program, load module, close program, and erase module
cannot be done during backup in executing state. The RAPID instructions
Load and StartLoad can, however, be used.
•
Do not create backups while performing critical process steps or sensitive
robot movements. This may affect the accuracy and performance of the
movement. To make sure that no backup is requested, use a system input
with the action value Disable Backup (type System Input ). When the critical
steps are done, the input should be reset to allow backups again.
If needed, the backup can be queued while Disable Backup is set, using
the system parameter General RAPID , with action value QueueBackup set
to TRUE . Then the backup will be queued until the signal is reset.
(Queueing functionality available from RobotWare 6.11.)
Disable Backup and QueueBackup are described in Technical reference
manual - System parameters .
The system input signal can be set from RAPID for the parts of the code that are
critical for disturbances.
What happens during backup?
During the backup process, background tasks continue to execute.
Duplicated modules?
No save operation is performed in the backup command. This implies that two
revisions of the same module can exist in the backup, one from the program
memory saved in Rapid\Task\Progmod\ directory and one from the HOME directory
copied to the backup’s home directory. Restoring such a backup will restore both
revisions of the module, so the status remains unchanged.
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Action
Tap Advanced... .
3
The Controller Settings window is displayed.
Note
Use this step to create the backup as a zip file. If this is not required navigate directly
to the last step.
![Image]
xx1700001302
Select the Backup to archive file checkbox.
4
Tap OK .
5
Is the displayed backup path the correct one?
6
If YES: Tap Backup to perform the backup to the selected directory. A backup file
named according to the current date is created.
If NO: Tap ... to the right of the backup path and select directory. Then tap Backup . A
backup folder named according to the current date is created.
Disable or queue backup
Backing up the system during production can interfere with the RAPID execution.
To avoid that a backup is taken during critical process steps or sensitive robot
movements, a system input ( Disable Backup , type System Input ) can be set during
these critical steps. When the critical steps are done, the input should be reset to
allow backups again.
If needed, the backup can be queued while Disable Backup is set, using the system
parameter General RAPID , with action value QueueBackup set to TRUE . Then the
backup will be queued until the signal is reset.
Disable Backup and QueueBackup are described in Technical reference
manual - System parameters .
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5.5.2 Backup the system
Continued
5.5.3 Important when performing backups
BACKUP directory
A local default backup directory, BACKUP, is automatically created by the system.
We recommend using this directory for saving backups.
Such backups are not copied to the directory HOME in following backups.
Never change the name of the BACKUP directory.
Never change the name of the actual backup to BACKUP, since this will cause
interference with this directory.
A default path can be created to any location on the network where the backup
should be stored, see Setting default paths on page 113 .
When is backup possible?
A backup of a system can be performed during program execution, with a few
limitations:
•
Start program, load program, load module, close program, and erase module
cannot be done during backup in executing state. The RAPID instructions
Load and StartLoad can, however, be used.
•
Do not create backups while performing critical process steps or sensitive
robot movements. This may affect the accuracy and performance of the
movement. To make sure that no backup is requested, use a system input
with the action value Disable Backup (type System Input ). When the critical
steps are done, the input should be reset to allow backups again.
If needed, the backup can be queued while Disable Backup is set, using
the system parameter General RAPID , with action value QueueBackup set
to TRUE . Then the backup will be queued until the signal is reset.
(Queueing functionality available from RobotWare 6.11.)
Disable Backup and QueueBackup are described in Technical reference
manual - System parameters .
The system input signal can be set from RAPID for the parts of the code that are
critical for disturbances.
What happens during backup?
During the backup process, background tasks continue to execute.
Duplicated modules?
No save operation is performed in the backup command. This implies that two
revisions of the same module can exist in the backup, one from the program
memory saved in Rapid\Task\Progmod\ directory and one from the HOME directory
copied to the backup’s home directory. Restoring such a backup will restore both
revisions of the module, so the status remains unchanged.
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5.5.3 Important when performing backups
Large data amount
Since the HOME directory is included in the backup, large files contained in this
folder will make the backup larger. To avoid this situation, you should either clean
the HOME directory on regular basis removing the unnecessary files, or keep large
files in some other location.
Faults during backup
If a fault occurs during the backup, for example full disk or power failure, the whole
current backup is deleted to make sure that only valid fully saved backups are
present on the disk.
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5.5.3 Important when performing backups
Continued
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5.5.3 Important when performing backups
BACKUP directory
A local default backup directory, BACKUP, is automatically created by the system.
We recommend using this directory for saving backups.
Such backups are not copied to the directory HOME in following backups.
Never change the name of the BACKUP directory.
Never change the name of the actual backup to BACKUP, since this will cause
interference with this directory.
A default path can be created to any location on the network where the backup
should be stored, see Setting default paths on page 113 .
When is backup possible?
A backup of a system can be performed during program execution, with a few
limitations:
•
Start program, load program, load module, close program, and erase module
cannot be done during backup in executing state. The RAPID instructions
Load and StartLoad can, however, be used.
•
Do not create backups while performing critical process steps or sensitive
robot movements. This may affect the accuracy and performance of the
movement. To make sure that no backup is requested, use a system input
with the action value Disable Backup (type System Input ). When the critical
steps are done, the input should be reset to allow backups again.
If needed, the backup can be queued while Disable Backup is set, using
the system parameter General RAPID , with action value QueueBackup set
to TRUE . Then the backup will be queued until the signal is reset.
(Queueing functionality available from RobotWare 6.11.)
Disable Backup and QueueBackup are described in Technical reference
manual - System parameters .
The system input signal can be set from RAPID for the parts of the code that are
critical for disturbances.
What happens during backup?
During the backup process, background tasks continue to execute.
Duplicated modules?
No save operation is performed in the backup command. This implies that two
revisions of the same module can exist in the backup, one from the program
memory saved in Rapid\Task\Progmod\ directory and one from the HOME directory
copied to the backup’s home directory. Restoring such a backup will restore both
revisions of the module, so the status remains unchanged.
Continues on next page
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5.5.3 Important when performing backups
Large data amount
Since the HOME directory is included in the backup, large files contained in this
folder will make the backup larger. To avoid this situation, you should either clean
the HOME directory on regular basis removing the unnecessary files, or keep large
files in some other location.
Faults during backup
If a fault occurs during the backup, for example full disk or power failure, the whole
current backup is deleted to make sure that only valid fully saved backups are
present on the disk.
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5.5.3 Important when performing backups
Continued
5.5.4 Restore the system
When do I need this?
We recommend performing a restore:
•
If you suspect that the program file is corrupt.
•
If any changes made to the instructions and/or parameters settings did not
prove successful, and you want to return to the previous settings.
During the restore, all system parameters are replaced and all the modules from
the backup directory are loaded.
The Home directory is copied back to the new system’s HOME directory during
the restart.
Restore the system
This section describes how to restore the system.
Action
On the ABB menu, tap Backup and Restore .
1
Tap Restore System .
2
The Restore System page is displayed.
![Image]
xx0300000442
Note
If a default path has been defined as explained in the section Setting default paths on
page 113 , that path is displayed in the Backup folder path.
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Large data amount
Since the HOME directory is included in the backup, large files contained in this
folder will make the backup larger. To avoid this situation, you should either clean
the HOME directory on regular basis removing the unnecessary files, or keep large
files in some other location.
Faults during backup
If a fault occurs during the backup, for example full disk or power failure, the whole
current backup is deleted to make sure that only valid fully saved backups are
present on the disk.
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5.5.3 Important when performing backups
Continued
5.5.4 Restore the system
When do I need this?
We recommend performing a restore:
•
If you suspect that the program file is corrupt.
•
If any changes made to the instructions and/or parameters settings did not
prove successful, and you want to return to the previous settings.
During the restore, all system parameters are replaced and all the modules from
the backup directory are loaded.
The Home directory is copied back to the new system’s HOME directory during
the restart.
Restore the system
This section describes how to restore the system.
Action
On the ABB menu, tap Backup and Restore .
1
Tap Restore System .
2
The Restore System page is displayed.
![Image]
xx0300000442
Note
If a default path has been defined as explained in the section Setting default paths on
page 113 , that path is displayed in the Backup folder path.
Continues on next page
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5.5.4 Restore the system
Action
To select the backup folder path or to select the TAR backup file format, tap ... .
3
The Select Folder window is displayed.
![Image]
xx1700001303
Select the backup folder or select the backup file which is in TAR format.
4
Tap OK .
5
The Restore System page is displayed again with the selected backup folder or file
path details.
If you want to replace the current controller and safety settings with the selected
backup controller and safety settings, click Advanced... , select the Controller Settings
and Safety Settings check box, and click OK .
![Image]
xx1600001082
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5.5.4 Restore the system
Continued
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5.5.4 Restore the system
When do I need this?
We recommend performing a restore:
•
If you suspect that the program file is corrupt.
•
If any changes made to the instructions and/or parameters settings did not
prove successful, and you want to return to the previous settings.
During the restore, all system parameters are replaced and all the modules from
the backup directory are loaded.
The Home directory is copied back to the new system’s HOME directory during
the restart.
Restore the system
This section describes how to restore the system.
Action
On the ABB menu, tap Backup and Restore .
1
Tap Restore System .
2
The Restore System page is displayed.
![Image]
xx0300000442
Note
If a default path has been defined as explained in the section Setting default paths on
page 113 , that path is displayed in the Backup folder path.
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5.5.4 Restore the system
Action
To select the backup folder path or to select the TAR backup file format, tap ... .
3
The Select Folder window is displayed.
![Image]
xx1700001303
Select the backup folder or select the backup file which is in TAR format.
4
Tap OK .
5
The Restore System page is displayed again with the selected backup folder or file
path details.
If you want to replace the current controller and safety settings with the selected
backup controller and safety settings, click Advanced... , select the Controller Settings
and Safety Settings check box, and click OK .
![Image]
xx1600001082
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5.5.4 Restore the system
Continued
Action
Tap Restore .
6
The following screen is displayed.
![Image]
xx1400002325
Tap Yes .
7
The restore is performed, and the system is restarted.
Note
If there is a mismatch between the backup and the current system, the following
warning message is displayed.
![Image]
xx1400002326
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5.5.4 Restore the system
Continued
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Action
To select the backup folder path or to select the TAR backup file format, tap ... .
3
The Select Folder window is displayed.
![Image]
xx1700001303
Select the backup folder or select the backup file which is in TAR format.
4
Tap OK .
5
The Restore System page is displayed again with the selected backup folder or file
path details.
If you want to replace the current controller and safety settings with the selected
backup controller and safety settings, click Advanced... , select the Controller Settings
and Safety Settings check box, and click OK .
![Image]
xx1600001082
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5.5.4 Restore the system
Continued
Action
Tap Restore .
6
The following screen is displayed.
![Image]
xx1400002325
Tap Yes .
7
The restore is performed, and the system is restarted.
Note
If there is a mismatch between the backup and the current system, the following
warning message is displayed.
![Image]
xx1400002326
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5.5.4 Restore the system
Continued
5.6 Diagnostic files
5.6.1 Creating a diagnostic file
When do I need this?
The diagnostic file can be useful when contacting ABB technical support personnel
for troubleshooting. The diagnostic file contains the setup and a number of test
results from your system. For more information, see Operating
manual - Troubleshooting IRC5 , section Instructions, how to correct faults - Filling
an error report .
Create a diagnostic file
This section describes how to create a diagnostic file.
Action
On the ABB menu, tap Control Panel .
1.
Tap Diagnostic .
2.
A selection screen is displayed.
![Image]
en0600002630
Tap ABC... next to the File name to change the name of the diagnostic file.
3.
Tap ... next to the Folder to change the destination for the file name.
4.
Tap OK to make a diagnostic file from the current system or tap Cancel to go back to
the Control Panel.
5.
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Action
Tap Restore .
6
The following screen is displayed.
![Image]
xx1400002325
Tap Yes .
7
The restore is performed, and the system is restarted.
Note
If there is a mismatch between the backup and the current system, the following
warning message is displayed.
![Image]
xx1400002326
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5.5.4 Restore the system
Continued
5.6 Diagnostic files
5.6.1 Creating a diagnostic file
When do I need this?
The diagnostic file can be useful when contacting ABB technical support personnel
for troubleshooting. The diagnostic file contains the setup and a number of test
results from your system. For more information, see Operating
manual - Troubleshooting IRC5 , section Instructions, how to correct faults - Filling
an error report .
Create a diagnostic file
This section describes how to create a diagnostic file.
Action
On the ABB menu, tap Control Panel .
1.
Tap Diagnostic .
2.
A selection screen is displayed.
![Image]
en0600002630
Tap ABC... next to the File name to change the name of the diagnostic file.
3.
Tap ... next to the Folder to change the destination for the file name.
4.
Tap OK to make a diagnostic file from the current system or tap Cancel to go back to
the Control Panel.
5.
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5 Systems
5.6.1 Creating a diagnostic file
5.7 System configuration
5.7.1 Configuring system parameters
About system parameters
System parameters define the system configuration. System parameters are edited
using the FlexPendant or RobotStudio.
Viewing system parameters
This procedure describes how to view system parameter configurations.
Action
On the ABB menu, tap Control Panel .
1
Tap Configuration .
2
A list of available types in the selected topic is displayed.
![Image]
en0400001149
Tap Topics to select the topic.
•
Controller
•
Communication
•
I/O
•
Man-machine Communication
•
Motion
3
Tap File to save, load, or add new parameters from a file. Select folder and save or
load. Proceed to section Saving system parameter configurations on page 142 .
4
Tap to select a type and then tap Show All . To edit parameters proceed to section
Editing an instance on page 141 . To add instances proceed to section Adding a new
instance on page 141 .
5
Continues on next page
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| 140
|
5.6 Diagnostic files
5.6.1 Creating a diagnostic file
When do I need this?
The diagnostic file can be useful when contacting ABB technical support personnel
for troubleshooting. The diagnostic file contains the setup and a number of test
results from your system. For more information, see Operating
manual - Troubleshooting IRC5 , section Instructions, how to correct faults - Filling
an error report .
Create a diagnostic file
This section describes how to create a diagnostic file.
Action
On the ABB menu, tap Control Panel .
1.
Tap Diagnostic .
2.
A selection screen is displayed.
![Image]
en0600002630
Tap ABC... next to the File name to change the name of the diagnostic file.
3.
Tap ... next to the Folder to change the destination for the file name.
4.
Tap OK to make a diagnostic file from the current system or tap Cancel to go back to
the Control Panel.
5.
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5 Systems
5.6.1 Creating a diagnostic file
5.7 System configuration
5.7.1 Configuring system parameters
About system parameters
System parameters define the system configuration. System parameters are edited
using the FlexPendant or RobotStudio.
Viewing system parameters
This procedure describes how to view system parameter configurations.
Action
On the ABB menu, tap Control Panel .
1
Tap Configuration .
2
A list of available types in the selected topic is displayed.
![Image]
en0400001149
Tap Topics to select the topic.
•
Controller
•
Communication
•
I/O
•
Man-machine Communication
•
Motion
3
Tap File to save, load, or add new parameters from a file. Select folder and save or
load. Proceed to section Saving system parameter configurations on page 142 .
4
Tap to select a type and then tap Show All . To edit parameters proceed to section
Editing an instance on page 141 . To add instances proceed to section Adding a new
instance on page 141 .
5
Continues on next page
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5 Systems
5.7.1 Configuring system parameters
Editing an instance
This section describes how to edit an instance of a system parameter type.
Action
In the list of system parameter instances, tap to select an instance and then tap Edit .
1
The selected instance is displayed.
![Image]
en0400001151
Tap a parameter name or its value to edit the value.
2
The way to edit values depend on the data type for the value, e.g. the soft keyboard
is displayed for string or numerical values and dropdown menus are displayed for
predefined values.
Tap OK .
3
Adding a new instance
This section describes how to add a new instance of a system parameter type.
Action
In the list of system parameter instances, tap Add .
1
A new instance with default values is displayed.
Tap the parameter name or its value to edit the value.
2
Tap OK .
3
Continues on next page
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5 Systems
5.7.1 Configuring system parameters
Continued
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| 141
|
5.7 System configuration
5.7.1 Configuring system parameters
About system parameters
System parameters define the system configuration. System parameters are edited
using the FlexPendant or RobotStudio.
Viewing system parameters
This procedure describes how to view system parameter configurations.
Action
On the ABB menu, tap Control Panel .
1
Tap Configuration .
2
A list of available types in the selected topic is displayed.
![Image]
en0400001149
Tap Topics to select the topic.
•
Controller
•
Communication
•
I/O
•
Man-machine Communication
•
Motion
3
Tap File to save, load, or add new parameters from a file. Select folder and save or
load. Proceed to section Saving system parameter configurations on page 142 .
4
Tap to select a type and then tap Show All . To edit parameters proceed to section
Editing an instance on page 141 . To add instances proceed to section Adding a new
instance on page 141 .
5
Continues on next page
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5 Systems
5.7.1 Configuring system parameters
Editing an instance
This section describes how to edit an instance of a system parameter type.
Action
In the list of system parameter instances, tap to select an instance and then tap Edit .
1
The selected instance is displayed.
![Image]
en0400001151
Tap a parameter name or its value to edit the value.
2
The way to edit values depend on the data type for the value, e.g. the soft keyboard
is displayed for string or numerical values and dropdown menus are displayed for
predefined values.
Tap OK .
3
Adding a new instance
This section describes how to add a new instance of a system parameter type.
Action
In the list of system parameter instances, tap Add .
1
A new instance with default values is displayed.
Tap the parameter name or its value to edit the value.
2
Tap OK .
3
Continues on next page
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5 Systems
5.7.1 Configuring system parameters
Continued
Saving system parameter configurations
This section describes how to save system parameter configurations. It is
recommended to save the parameter configurations before making larger changes
to the robot system. The parameters are saved automatically when performing
backups.
Action
In the list of types, tap the File menu and tap:
•
Save As to save the selected topic’s parameter configurations.
•
Save All As to save all topics’ parameter configurations.
1
Select directory where you want to save the parameters.
2
Tap OK .
3
Loading system parameters
This section describes how to load system parameter configuration and how to
add parameters from a file.
Action
In the list of types, tap the File menu and tap Load Parameters .
1
Select one of these actions, then tap Load :
•
Delete existing parameters before loading
•
Load parameters if no duplicates
•
Load parameters and replace duplicates.
Note
Configuration files and backups shall not be loaded into systems running an older
RobotWare version than the one they were created in.
Configuration files and backups are not guaranteed to be compatible between major
releases of RobotWare and may need to be migrated after a RobotWare upgrade.
2
Select the directory and file where you want to load the parameters, then tap OK .
3
Related information
Technical reference manual - System parameters .
142
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5 Systems
5.7.1 Configuring system parameters
Continued
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|
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| 142
|
Editing an instance
This section describes how to edit an instance of a system parameter type.
Action
In the list of system parameter instances, tap to select an instance and then tap Edit .
1
The selected instance is displayed.
![Image]
en0400001151
Tap a parameter name or its value to edit the value.
2
The way to edit values depend on the data type for the value, e.g. the soft keyboard
is displayed for string or numerical values and dropdown menus are displayed for
predefined values.
Tap OK .
3
Adding a new instance
This section describes how to add a new instance of a system parameter type.
Action
In the list of system parameter instances, tap Add .
1
A new instance with default values is displayed.
Tap the parameter name or its value to edit the value.
2
Tap OK .
3
Continues on next page
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5 Systems
5.7.1 Configuring system parameters
Continued
Saving system parameter configurations
This section describes how to save system parameter configurations. It is
recommended to save the parameter configurations before making larger changes
to the robot system. The parameters are saved automatically when performing
backups.
Action
In the list of types, tap the File menu and tap:
•
Save As to save the selected topic’s parameter configurations.
•
Save All As to save all topics’ parameter configurations.
1
Select directory where you want to save the parameters.
2
Tap OK .
3
Loading system parameters
This section describes how to load system parameter configuration and how to
add parameters from a file.
Action
In the list of types, tap the File menu and tap Load Parameters .
1
Select one of these actions, then tap Load :
•
Delete existing parameters before loading
•
Load parameters if no duplicates
•
Load parameters and replace duplicates.
Note
Configuration files and backups shall not be loaded into systems running an older
RobotWare version than the one they were created in.
Configuration files and backups are not guaranteed to be compatible between major
releases of RobotWare and may need to be migrated after a RobotWare upgrade.
2
Select the directory and file where you want to load the parameters, then tap OK .
3
Related information
Technical reference manual - System parameters .
142
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5 Systems
5.7.1 Configuring system parameters
Continued
6 RobotWare installation concept
6.1 Introduction
Overview of the installation concept
The installation of a new RobotWare system, or the update of an existing RobotWare
system, can be managed in the following ways:
•
Use Installation Manager to produce an installation or update package offline
on a USB memory, which later can be installed from the FlexPendant.
•
Use Installation Manager to connect directly to the robot controller online
over the network.
The following sections describe how to produce an installation or update package
offline. For information on how to connect online over the network or using the
Installation Manager in general, see Operating manual - RobotStudio
CAUTION
When selecting the robot in the Installation Manager 6 , verify that the correct
manipulator variant is selected.
Working with RobotWare system definitions
The repository editor supports more advanced way of working with RobotWare
system definitions compared to the standard Installation Manager editor.
The repository supports hierarchies of system definitions where one system
definition can inherit from another. The final system that is deployed on the
controller is a result of combining the definitions from the repository.
The approach with a base system and an application system that is used in this
chapter should be seen as an example, and not as a mandatory way of working.
For example a subsystem of the application system can also be defined, where
settings for a specific manipulator type is added.
Depending on the needs, it is possible to use completely different approaches in
the way the repository is used.
Overview of the recovery function
If the SD memory card in the robot controller is damaged or in some other way
made unusable, the Installation Manager disk recovery tool can be used to reformat
or prepare a new ABB SD-card based on a backup of the system.
For more information, see The recovery disk function on page 181 .
Clarifications
To distinguish between the software system running on the robot controller, which
manages the manipulators and the whole setup of the controller and its mechanical
units, the following definitions are used:
•
RobotWare system - the software system running on the controller.
•
Robot system - the controller and its mechanical units.
Continues on next page
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6 RobotWare installation concept
6.1 Introduction
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| 143
|
Saving system parameter configurations
This section describes how to save system parameter configurations. It is
recommended to save the parameter configurations before making larger changes
to the robot system. The parameters are saved automatically when performing
backups.
Action
In the list of types, tap the File menu and tap:
•
Save As to save the selected topic’s parameter configurations.
•
Save All As to save all topics’ parameter configurations.
1
Select directory where you want to save the parameters.
2
Tap OK .
3
Loading system parameters
This section describes how to load system parameter configuration and how to
add parameters from a file.
Action
In the list of types, tap the File menu and tap Load Parameters .
1
Select one of these actions, then tap Load :
•
Delete existing parameters before loading
•
Load parameters if no duplicates
•
Load parameters and replace duplicates.
Note
Configuration files and backups shall not be loaded into systems running an older
RobotWare version than the one they were created in.
Configuration files and backups are not guaranteed to be compatible between major
releases of RobotWare and may need to be migrated after a RobotWare upgrade.
2
Select the directory and file where you want to load the parameters, then tap OK .
3
Related information
Technical reference manual - System parameters .
142
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5 Systems
5.7.1 Configuring system parameters
Continued
6 RobotWare installation concept
6.1 Introduction
Overview of the installation concept
The installation of a new RobotWare system, or the update of an existing RobotWare
system, can be managed in the following ways:
•
Use Installation Manager to produce an installation or update package offline
on a USB memory, which later can be installed from the FlexPendant.
•
Use Installation Manager to connect directly to the robot controller online
over the network.
The following sections describe how to produce an installation or update package
offline. For information on how to connect online over the network or using the
Installation Manager in general, see Operating manual - RobotStudio
CAUTION
When selecting the robot in the Installation Manager 6 , verify that the correct
manipulator variant is selected.
Working with RobotWare system definitions
The repository editor supports more advanced way of working with RobotWare
system definitions compared to the standard Installation Manager editor.
The repository supports hierarchies of system definitions where one system
definition can inherit from another. The final system that is deployed on the
controller is a result of combining the definitions from the repository.
The approach with a base system and an application system that is used in this
chapter should be seen as an example, and not as a mandatory way of working.
For example a subsystem of the application system can also be defined, where
settings for a specific manipulator type is added.
Depending on the needs, it is possible to use completely different approaches in
the way the repository is used.
Overview of the recovery function
If the SD memory card in the robot controller is damaged or in some other way
made unusable, the Installation Manager disk recovery tool can be used to reformat
or prepare a new ABB SD-card based on a backup of the system.
For more information, see The recovery disk function on page 181 .
Clarifications
To distinguish between the software system running on the robot controller, which
manages the manipulators and the whole setup of the controller and its mechanical
units, the following definitions are used:
•
RobotWare system - the software system running on the controller.
•
Robot system - the controller and its mechanical units.
Continues on next page
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6 RobotWare installation concept
6.1 Introduction
Deployment packages and the repository
The repository is used by Installation Manager and is the storage where all files
needed to create and modify RobotWare systems are placed. There are currently
two types of deployment packages, the Installation Package and the Update
Package .
![Image]
xx1600001362
The installation package
The installation package is a set of files with a predefined format and directory
structure that can be used to create RobotWare systems on one or more controllers.
The installation package created by the Installation Manager shall be stored on a
USB memory that can be inserted into the FlexPendant or the controller USB
connector. The Boot Application on the FlexPendant copies the installation files
for the selected system over to the controller inbox.
The Boot Server application on the robot controller uses the files in the controller
inbox to create a RobotWare system on the memory card in the robot controller.
When the installation is finished the installed RobotWare system is started.
The update package
The update package is a set of files with a predefined format and directory structure
that can be used to update currently active RobotWare systems on one or more
controllers.
The update package created by Installation Manager is stored on an USB memory
and inserted into the FlexPendant or the controller USB connector. The FlexPendant
copies the selected update files over to the inbox of the currently active system.
The currently active system on the robot controller uses the files in its inbox to
update itself. When the update is finished the updated active RobotWare system
is started.
Prior to the update, a backup is taken of the active system and normally restored
after the update.
Continues on next page
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6 RobotWare installation concept
6.1 Introduction
Continued
|
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| 144
|
6 RobotWare installation concept
6.1 Introduction
Overview of the installation concept
The installation of a new RobotWare system, or the update of an existing RobotWare
system, can be managed in the following ways:
•
Use Installation Manager to produce an installation or update package offline
on a USB memory, which later can be installed from the FlexPendant.
•
Use Installation Manager to connect directly to the robot controller online
over the network.
The following sections describe how to produce an installation or update package
offline. For information on how to connect online over the network or using the
Installation Manager in general, see Operating manual - RobotStudio
CAUTION
When selecting the robot in the Installation Manager 6 , verify that the correct
manipulator variant is selected.
Working with RobotWare system definitions
The repository editor supports more advanced way of working with RobotWare
system definitions compared to the standard Installation Manager editor.
The repository supports hierarchies of system definitions where one system
definition can inherit from another. The final system that is deployed on the
controller is a result of combining the definitions from the repository.
The approach with a base system and an application system that is used in this
chapter should be seen as an example, and not as a mandatory way of working.
For example a subsystem of the application system can also be defined, where
settings for a specific manipulator type is added.
Depending on the needs, it is possible to use completely different approaches in
the way the repository is used.
Overview of the recovery function
If the SD memory card in the robot controller is damaged or in some other way
made unusable, the Installation Manager disk recovery tool can be used to reformat
or prepare a new ABB SD-card based on a backup of the system.
For more information, see The recovery disk function on page 181 .
Clarifications
To distinguish between the software system running on the robot controller, which
manages the manipulators and the whole setup of the controller and its mechanical
units, the following definitions are used:
•
RobotWare system - the software system running on the controller.
•
Robot system - the controller and its mechanical units.
Continues on next page
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6 RobotWare installation concept
6.1 Introduction
Deployment packages and the repository
The repository is used by Installation Manager and is the storage where all files
needed to create and modify RobotWare systems are placed. There are currently
two types of deployment packages, the Installation Package and the Update
Package .
![Image]
xx1600001362
The installation package
The installation package is a set of files with a predefined format and directory
structure that can be used to create RobotWare systems on one or more controllers.
The installation package created by the Installation Manager shall be stored on a
USB memory that can be inserted into the FlexPendant or the controller USB
connector. The Boot Application on the FlexPendant copies the installation files
for the selected system over to the controller inbox.
The Boot Server application on the robot controller uses the files in the controller
inbox to create a RobotWare system on the memory card in the robot controller.
When the installation is finished the installed RobotWare system is started.
The update package
The update package is a set of files with a predefined format and directory structure
that can be used to update currently active RobotWare systems on one or more
controllers.
The update package created by Installation Manager is stored on an USB memory
and inserted into the FlexPendant or the controller USB connector. The FlexPendant
copies the selected update files over to the inbox of the currently active system.
The currently active system on the robot controller uses the files in its inbox to
update itself. When the update is finished the updated active RobotWare system
is started.
Prior to the update, a backup is taken of the active system and normally restored
after the update.
Continues on next page
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6 RobotWare installation concept
6.1 Introduction
Continued
Installation media
When creating RobotWare systems, access to the original product installation
media (rmf, rpk files) is always needed. The media files may, for example, be useful
when creating a virtual controller from a real controller ("go-offline"), or when
re-creating a system installation.
All necessary files from the product media package for Add-In products are
preserved on the real controller during system (re)installation and update. The files
are stored in the Add-In product subdirectory named RPK , for example:
/hd0a/MySystem/PRODUCTS/Positioner_6.11.0125/RPK
![Image]
xx2000000680
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6 RobotWare installation concept
6.1 Introduction
Continued
|
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|
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| 145
|
Deployment packages and the repository
The repository is used by Installation Manager and is the storage where all files
needed to create and modify RobotWare systems are placed. There are currently
two types of deployment packages, the Installation Package and the Update
Package .
![Image]
xx1600001362
The installation package
The installation package is a set of files with a predefined format and directory
structure that can be used to create RobotWare systems on one or more controllers.
The installation package created by the Installation Manager shall be stored on a
USB memory that can be inserted into the FlexPendant or the controller USB
connector. The Boot Application on the FlexPendant copies the installation files
for the selected system over to the controller inbox.
The Boot Server application on the robot controller uses the files in the controller
inbox to create a RobotWare system on the memory card in the robot controller.
When the installation is finished the installed RobotWare system is started.
The update package
The update package is a set of files with a predefined format and directory structure
that can be used to update currently active RobotWare systems on one or more
controllers.
The update package created by Installation Manager is stored on an USB memory
and inserted into the FlexPendant or the controller USB connector. The FlexPendant
copies the selected update files over to the inbox of the currently active system.
The currently active system on the robot controller uses the files in its inbox to
update itself. When the update is finished the updated active RobotWare system
is started.
Prior to the update, a backup is taken of the active system and normally restored
after the update.
Continues on next page
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6 RobotWare installation concept
6.1 Introduction
Continued
Installation media
When creating RobotWare systems, access to the original product installation
media (rmf, rpk files) is always needed. The media files may, for example, be useful
when creating a virtual controller from a real controller ("go-offline"), or when
re-creating a system installation.
All necessary files from the product media package for Add-In products are
preserved on the real controller during system (re)installation and update. The files
are stored in the Add-In product subdirectory named RPK , for example:
/hd0a/MySystem/PRODUCTS/Positioner_6.11.0125/RPK
![Image]
xx2000000680
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6 RobotWare installation concept
6.1 Introduction
Continued
6.2 Working with the repository
6.2.1 Recommended working procedure
Basic steps
The following description of a workflow, from an empty repository to a complete
repository for a plant in operation, is based on the assumption that the task is to
commission and maintain a large number of robot systems. However, the
recommendation is also applicable on smaller installations.
1
Setup the repository. Select a folder in the file system for the root of the
repository.
Installation Manager creates the following standard folders in this folder:
Controllers , Systems , Products , Licenses , Backups , and Additional Files .
Installation Manager also creates the repository_manifest.xml file which
defines the repository.
2
Import products, licenses, backups, and additional files that are intended to
be used when defining systems and controllers in the repository.
Note
Following are the details for selecting the folder or file:
•
Products : Navigate to the RobotWare folder location and select the
RobotWare_RPK_xxx folder.
•
License : Navigate to the license file location and select the required
license file.
•
Backup : Navigate to the backup folder location and select the backup
folder.
•
Additional files : Navigate to the location and select the folder or file
according to the requirement.
3
Identify the robot application types in the plant and define an application type
system for each of the application types. These are the base systems in the
repository.
4
Identify which manipulator types shall be used with which base system and
then create an application system for each combination. These are the
application systems in the repository.
5
Identify the robot systems (controllers) and create their definitions, for
example, name and IP-addresses. Refer to the application system it should
run.
Note
Step 4 can be started at the same time as step 1 and continue in parallel.
Continues on next page
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6.2.1 Recommended working procedure
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|
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| 146
|
Installation media
When creating RobotWare systems, access to the original product installation
media (rmf, rpk files) is always needed. The media files may, for example, be useful
when creating a virtual controller from a real controller ("go-offline"), or when
re-creating a system installation.
All necessary files from the product media package for Add-In products are
preserved on the real controller during system (re)installation and update. The files
are stored in the Add-In product subdirectory named RPK , for example:
/hd0a/MySystem/PRODUCTS/Positioner_6.11.0125/RPK
![Image]
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6 RobotWare installation concept
6.1 Introduction
Continued
6.2 Working with the repository
6.2.1 Recommended working procedure
Basic steps
The following description of a workflow, from an empty repository to a complete
repository for a plant in operation, is based on the assumption that the task is to
commission and maintain a large number of robot systems. However, the
recommendation is also applicable on smaller installations.
1
Setup the repository. Select a folder in the file system for the root of the
repository.
Installation Manager creates the following standard folders in this folder:
Controllers , Systems , Products , Licenses , Backups , and Additional Files .
Installation Manager also creates the repository_manifest.xml file which
defines the repository.
2
Import products, licenses, backups, and additional files that are intended to
be used when defining systems and controllers in the repository.
Note
Following are the details for selecting the folder or file:
•
Products : Navigate to the RobotWare folder location and select the
RobotWare_RPK_xxx folder.
•
License : Navigate to the license file location and select the required
license file.
•
Backup : Navigate to the backup folder location and select the backup
folder.
•
Additional files : Navigate to the location and select the folder or file
according to the requirement.
3
Identify the robot application types in the plant and define an application type
system for each of the application types. These are the base systems in the
repository.
4
Identify which manipulator types shall be used with which base system and
then create an application system for each combination. These are the
application systems in the repository.
5
Identify the robot systems (controllers) and create their definitions, for
example, name and IP-addresses. Refer to the application system it should
run.
Note
Step 4 can be started at the same time as step 1 and continue in parallel.
Continues on next page
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6 RobotWare installation concept
6.2.1 Recommended working procedure
Note
It is possible to structure products, backups, additional files as well as systems
and controllers by using an arbitrary directory hierarchy inside of the each of the
top level repository folders. This helps when managing a large number of items.
Note
It is possible to create both installation packages as well as update packages to
use for the installation. For more details, see Creating an installation package
on page 157 and Creating an update package on page 160 .
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6.2 Working with the repository
6.2.1 Recommended working procedure
Basic steps
The following description of a workflow, from an empty repository to a complete
repository for a plant in operation, is based on the assumption that the task is to
commission and maintain a large number of robot systems. However, the
recommendation is also applicable on smaller installations.
1
Setup the repository. Select a folder in the file system for the root of the
repository.
Installation Manager creates the following standard folders in this folder:
Controllers , Systems , Products , Licenses , Backups , and Additional Files .
Installation Manager also creates the repository_manifest.xml file which
defines the repository.
2
Import products, licenses, backups, and additional files that are intended to
be used when defining systems and controllers in the repository.
Note
Following are the details for selecting the folder or file:
•
Products : Navigate to the RobotWare folder location and select the
RobotWare_RPK_xxx folder.
•
License : Navigate to the license file location and select the required
license file.
•
Backup : Navigate to the backup folder location and select the backup
folder.
•
Additional files : Navigate to the location and select the folder or file
according to the requirement.
3
Identify the robot application types in the plant and define an application type
system for each of the application types. These are the base systems in the
repository.
4
Identify which manipulator types shall be used with which base system and
then create an application system for each combination. These are the
application systems in the repository.
5
Identify the robot systems (controllers) and create their definitions, for
example, name and IP-addresses. Refer to the application system it should
run.
Note
Step 4 can be started at the same time as step 1 and continue in parallel.
Continues on next page
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6 RobotWare installation concept
6.2.1 Recommended working procedure
Note
It is possible to structure products, backups, additional files as well as systems
and controllers by using an arbitrary directory hierarchy inside of the each of the
top level repository folders. This helps when managing a large number of items.
Note
It is possible to create both installation packages as well as update packages to
use for the installation. For more details, see Creating an installation package
on page 157 and Creating an update package on page 160 .
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6 RobotWare installation concept
6.2.1 Recommended working procedure
Continued
6.2.2 Setting up the repository
Enable the repository functionality
To use the repository, it is first necessary to enable the repository functionality in
Installation Manager.
Open the Installation Manager start page and click Preferences . The following
dialog is displayed:
![Image]
xx1600001443
Select the repository and browse to select the repository root folder.
Preparing the repository folder
Before the repository functionality can be used, the repository folder needs to be
prepared.
The repository folder must have a repository_manifest.xml file, see The
repository_manifest.xml file on page163 . The file is created automatically if it does
not exist.
All category folders are created when a new folder is selected as repository folder,
that is, Controllers , Systems , Products , Licenses , Backups , and Additional Files .
A repository_manifest.xml file is also created to identify the repository.
Select the Repository tab in Installation Manager and start populating the categories
Products , Licenses , Backups , and Additional Files using the Add button on the
corresponding tab.
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Note
It is possible to structure products, backups, additional files as well as systems
and controllers by using an arbitrary directory hierarchy inside of the each of the
top level repository folders. This helps when managing a large number of items.
Note
It is possible to create both installation packages as well as update packages to
use for the installation. For more details, see Creating an installation package
on page 157 and Creating an update package on page 160 .
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6 RobotWare installation concept
6.2.1 Recommended working procedure
Continued
6.2.2 Setting up the repository
Enable the repository functionality
To use the repository, it is first necessary to enable the repository functionality in
Installation Manager.
Open the Installation Manager start page and click Preferences . The following
dialog is displayed:
![Image]
xx1600001443
Select the repository and browse to select the repository root folder.
Preparing the repository folder
Before the repository functionality can be used, the repository folder needs to be
prepared.
The repository folder must have a repository_manifest.xml file, see The
repository_manifest.xml file on page163 . The file is created automatically if it does
not exist.
All category folders are created when a new folder is selected as repository folder,
that is, Controllers , Systems , Products , Licenses , Backups , and Additional Files .
A repository_manifest.xml file is also created to identify the repository.
Select the Repository tab in Installation Manager and start populating the categories
Products , Licenses , Backups , and Additional Files using the Add button on the
corresponding tab.
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6 RobotWare installation concept
6.2.2 Setting up the repository
Adding and removing products, licenses, and backups
Select the appropriate tab and use the Add or Remove buttons to add or remove
products, licenses, and backups.
Note
Following are the details for selecting the folder or file:
•
Products : Navigate to the RobotWare folder location and select the
RobotWare_RPK_xxx folder.
•
License : Navigate to the license file location and select the required license
file.
•
Backup : Navigate to the backup folder location and select the backup folder.
•
Additional files : Navigate to the location and select the folder or file
according to the requirement.
When adding a product, license, or backup it will be copied into the selected
corresponding folder, or subfolder, in the repository. Note that subfolders must be
created manually when building a hierarchy.
When removing a product, license, or backup it will be deleted from the repository.
Adding and removing additional files
When adding an additional file to the repository it is also necessary to define where
on the controller it shall be copied at installation time.
![Image]
xx1600001444
First select the file to import in the repository using the Browse button for Source .
Then define where in the additional files folder the file shall be stored, i.e. in which
folder under the additional file root folder using the browse button for Repository
path . Default, when no destination is selected, is to store it directly under the
additional files root folder.
The last step is to define where in the controller the file shall be stored upon
installation. The controller destination uses the HOME directory as root and can
only put additional files there. For example, HOME/temp puts the file in the temp
folder.
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|
6.2.2 Setting up the repository
Enable the repository functionality
To use the repository, it is first necessary to enable the repository functionality in
Installation Manager.
Open the Installation Manager start page and click Preferences . The following
dialog is displayed:
![Image]
xx1600001443
Select the repository and browse to select the repository root folder.
Preparing the repository folder
Before the repository functionality can be used, the repository folder needs to be
prepared.
The repository folder must have a repository_manifest.xml file, see The
repository_manifest.xml file on page163 . The file is created automatically if it does
not exist.
All category folders are created when a new folder is selected as repository folder,
that is, Controllers , Systems , Products , Licenses , Backups , and Additional Files .
A repository_manifest.xml file is also created to identify the repository.
Select the Repository tab in Installation Manager and start populating the categories
Products , Licenses , Backups , and Additional Files using the Add button on the
corresponding tab.
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6 RobotWare installation concept
6.2.2 Setting up the repository
Adding and removing products, licenses, and backups
Select the appropriate tab and use the Add or Remove buttons to add or remove
products, licenses, and backups.
Note
Following are the details for selecting the folder or file:
•
Products : Navigate to the RobotWare folder location and select the
RobotWare_RPK_xxx folder.
•
License : Navigate to the license file location and select the required license
file.
•
Backup : Navigate to the backup folder location and select the backup folder.
•
Additional files : Navigate to the location and select the folder or file
according to the requirement.
When adding a product, license, or backup it will be copied into the selected
corresponding folder, or subfolder, in the repository. Note that subfolders must be
created manually when building a hierarchy.
When removing a product, license, or backup it will be deleted from the repository.
Adding and removing additional files
When adding an additional file to the repository it is also necessary to define where
on the controller it shall be copied at installation time.
![Image]
xx1600001444
First select the file to import in the repository using the Browse button for Source .
Then define where in the additional files folder the file shall be stored, i.e. in which
folder under the additional file root folder using the browse button for Repository
path . Default, when no destination is selected, is to store it directly under the
additional files root folder.
The last step is to define where in the controller the file shall be stored upon
installation. The controller destination uses the HOME directory as root and can
only put additional files there. For example, HOME/temp puts the file in the temp
folder.
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6 RobotWare installation concept
6.2.2 Setting up the repository
Continued
UAS and safety files
Additional files can also contain folders with UAS files and safety controller
configuration files. They are added by using the Add Directory tab of the dialog.
Only a repository location can be specified for these files since the controller side
destination is predefined and cannot be changed.
UAS files must be saved in a separate folder that is only allowed to contain UAS
files. The same limitation is valid for safety files.
A safety files folder can be added as additional files to one or more systems or
controllers. A UAS files folder can be added as additional files to controllers only.
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Continued
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Adding and removing products, licenses, and backups
Select the appropriate tab and use the Add or Remove buttons to add or remove
products, licenses, and backups.
Note
Following are the details for selecting the folder or file:
•
Products : Navigate to the RobotWare folder location and select the
RobotWare_RPK_xxx folder.
•
License : Navigate to the license file location and select the required license
file.
•
Backup : Navigate to the backup folder location and select the backup folder.
•
Additional files : Navigate to the location and select the folder or file
according to the requirement.
When adding a product, license, or backup it will be copied into the selected
corresponding folder, or subfolder, in the repository. Note that subfolders must be
created manually when building a hierarchy.
When removing a product, license, or backup it will be deleted from the repository.
Adding and removing additional files
When adding an additional file to the repository it is also necessary to define where
on the controller it shall be copied at installation time.
![Image]
xx1600001444
First select the file to import in the repository using the Browse button for Source .
Then define where in the additional files folder the file shall be stored, i.e. in which
folder under the additional file root folder using the browse button for Repository
path . Default, when no destination is selected, is to store it directly under the
additional files root folder.
The last step is to define where in the controller the file shall be stored upon
installation. The controller destination uses the HOME directory as root and can
only put additional files there. For example, HOME/temp puts the file in the temp
folder.
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6 RobotWare installation concept
6.2.2 Setting up the repository
Continued
UAS and safety files
Additional files can also contain folders with UAS files and safety controller
configuration files. They are added by using the Add Directory tab of the dialog.
Only a repository location can be specified for these files since the controller side
destination is predefined and cannot be changed.
UAS files must be saved in a separate folder that is only allowed to contain UAS
files. The same limitation is valid for safety files.
A safety files folder can be added as additional files to one or more systems or
controllers. A UAS files folder can be added as additional files to controllers only.
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6 RobotWare installation concept
6.2.2 Setting up the repository
Continued
6.2.3 Creating a base system
Description
The following procedure and example describes how to create a base system.
Note
Action
![Image]
xx1600001445
Select the Systems tab in Installation Manager
and click the New button to create a new system.
The following right panel view is displayed.
1
The name BaseSystemOne is used
in this example.
Enter a name for the system in the Name text box.
2
In this example the sub folder Base
Systems has manually been cre-
ated and selected via the Browse
button.
Click the Browse button for Location to select
where to store the system.
The system can either be placed directly under
the Systems root folder or in any of its sub folders.
Create and delete sub folders using the ordinary
explorer functionality.
3
System path displays the location
Systems\Base Systems\BaseSys-
temOne .
System path displays the location of the system
when its saved.
![Image]
xx1600001446
Click the Select button for Products to select
which products to include in the system.
A dialog shows the products that are available in
the repository.
4
Only the RobotWare product is se-
lected in this example.
Base system is explained further
in section Description on page153 ,
where this system is used as a
base system.
Select Licenses , Backups , Base system , and
Additional files in the same way as the products.
5
![Image]
xx1600001447
Click the Next button.
6
No more selections are made for
this example.
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| 151
|
UAS and safety files
Additional files can also contain folders with UAS files and safety controller
configuration files. They are added by using the Add Directory tab of the dialog.
Only a repository location can be specified for these files since the controller side
destination is predefined and cannot be changed.
UAS files must be saved in a separate folder that is only allowed to contain UAS
files. The same limitation is valid for safety files.
A safety files folder can be added as additional files to one or more systems or
controllers. A UAS files folder can be added as additional files to controllers only.
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6 RobotWare installation concept
6.2.2 Setting up the repository
Continued
6.2.3 Creating a base system
Description
The following procedure and example describes how to create a base system.
Note
Action
![Image]
xx1600001445
Select the Systems tab in Installation Manager
and click the New button to create a new system.
The following right panel view is displayed.
1
The name BaseSystemOne is used
in this example.
Enter a name for the system in the Name text box.
2
In this example the sub folder Base
Systems has manually been cre-
ated and selected via the Browse
button.
Click the Browse button for Location to select
where to store the system.
The system can either be placed directly under
the Systems root folder or in any of its sub folders.
Create and delete sub folders using the ordinary
explorer functionality.
3
System path displays the location
Systems\Base Systems\BaseSys-
temOne .
System path displays the location of the system
when its saved.
![Image]
xx1600001446
Click the Select button for Products to select
which products to include in the system.
A dialog shows the products that are available in
the repository.
4
Only the RobotWare product is se-
lected in this example.
Base system is explained further
in section Description on page153 ,
where this system is used as a
base system.
Select Licenses , Backups , Base system , and
Additional files in the same way as the products.
5
![Image]
xx1600001447
Click the Next button.
6
No more selections are made for
this example.
Continues on next page
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6 RobotWare installation concept
6.2.3 Creating a base system
Note
Action
![Image]
xx1600001448
Select the options, robots, and applications to be
included in the system.
Note
At this stage it is possible to add options without
having a valid licence file specified. A valid license
file is required when deploying the RobotWare
system to a robot controller. All selections will be
validated at installation time.
7
Click the Save button.
8
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6.2.3 Creating a base system
Continued
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|
6.2.3 Creating a base system
Description
The following procedure and example describes how to create a base system.
Note
Action
![Image]
xx1600001445
Select the Systems tab in Installation Manager
and click the New button to create a new system.
The following right panel view is displayed.
1
The name BaseSystemOne is used
in this example.
Enter a name for the system in the Name text box.
2
In this example the sub folder Base
Systems has manually been cre-
ated and selected via the Browse
button.
Click the Browse button for Location to select
where to store the system.
The system can either be placed directly under
the Systems root folder or in any of its sub folders.
Create and delete sub folders using the ordinary
explorer functionality.
3
System path displays the location
Systems\Base Systems\BaseSys-
temOne .
System path displays the location of the system
when its saved.
![Image]
xx1600001446
Click the Select button for Products to select
which products to include in the system.
A dialog shows the products that are available in
the repository.
4
Only the RobotWare product is se-
lected in this example.
Base system is explained further
in section Description on page153 ,
where this system is used as a
base system.
Select Licenses , Backups , Base system , and
Additional files in the same way as the products.
5
![Image]
xx1600001447
Click the Next button.
6
No more selections are made for
this example.
Continues on next page
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6 RobotWare installation concept
6.2.3 Creating a base system
Note
Action
![Image]
xx1600001448
Select the options, robots, and applications to be
included in the system.
Note
At this stage it is possible to add options without
having a valid licence file specified. A valid license
file is required when deploying the RobotWare
system to a robot controller. All selections will be
validated at installation time.
7
Click the Save button.
8
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6 RobotWare installation concept
6.2.3 Creating a base system
Continued
6.2.4 Creating an application system
Description
The following procedure and example describes how to create an application
system based on a base system.
Note
Action
Select the Systems tab in Installation Manager
and click the New button to create a new system.
1
The name AppSystemOne is used
in this example.
Enter a name for the system in the Name text box.
2
In this example the system is cre-
ated directly under the Systems
root folder.
Click the Browse button for Location to select
where to store the system.
The system can either be placed directly under
the Systems root folder or in any of its sub folders.
Create and delete sub folders using the ordinary
explorer functionality.
3
System path displays the location
Systems .
System path displays the location of the system
when its saved.
![Image]
xx1600001449
Click the Select button for Products to select
which products to include in the system.
A dialog shows the products that are available in
the repository.
4
![Image]
xx1600001450
Click the Select button for Licenses .
5
Click the Select button for Backups to include a
backup. i
6
![Image]
xx1600001451
Click the Select button for Base system to select
which base system to include.
7
In this example the base system
from the previous example is used,
see Description on page 151 .
Continues on next page
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6 RobotWare installation concept
6.2.4 Creating an application system
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| 153
|
Note
Action
![Image]
xx1600001448
Select the options, robots, and applications to be
included in the system.
Note
At this stage it is possible to add options without
having a valid licence file specified. A valid license
file is required when deploying the RobotWare
system to a robot controller. All selections will be
validated at installation time.
7
Click the Save button.
8
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6 RobotWare installation concept
6.2.3 Creating a base system
Continued
6.2.4 Creating an application system
Description
The following procedure and example describes how to create an application
system based on a base system.
Note
Action
Select the Systems tab in Installation Manager
and click the New button to create a new system.
1
The name AppSystemOne is used
in this example.
Enter a name for the system in the Name text box.
2
In this example the system is cre-
ated directly under the Systems
root folder.
Click the Browse button for Location to select
where to store the system.
The system can either be placed directly under
the Systems root folder or in any of its sub folders.
Create and delete sub folders using the ordinary
explorer functionality.
3
System path displays the location
Systems .
System path displays the location of the system
when its saved.
![Image]
xx1600001449
Click the Select button for Products to select
which products to include in the system.
A dialog shows the products that are available in
the repository.
4
![Image]
xx1600001450
Click the Select button for Licenses .
5
Click the Select button for Backups to include a
backup. i
6
![Image]
xx1600001451
Click the Select button for Base system to select
which base system to include.
7
In this example the base system
from the previous example is used,
see Description on page 151 .
Continues on next page
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6 RobotWare installation concept
6.2.4 Creating an application system
Note
Action
![Image]
xx1600001452
Click the Select button for Additional files to in-
clude any additional files.
8
In this example a EIO.cfg-file is in-
cluded.
Click the Next button and select the options, ro-
bots, and applications to be included in the sys-
tem.
9
Note
Only options selected in the current system can
be changed.
Options selected in the referred base system are
visible but can only be changed or deselected
from the base system. Note that such a change
will affect all systems using the base system.
Click the Save button.
10
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6.2.4 Creating an application system
Description
The following procedure and example describes how to create an application
system based on a base system.
Note
Action
Select the Systems tab in Installation Manager
and click the New button to create a new system.
1
The name AppSystemOne is used
in this example.
Enter a name for the system in the Name text box.
2
In this example the system is cre-
ated directly under the Systems
root folder.
Click the Browse button for Location to select
where to store the system.
The system can either be placed directly under
the Systems root folder or in any of its sub folders.
Create and delete sub folders using the ordinary
explorer functionality.
3
System path displays the location
Systems .
System path displays the location of the system
when its saved.
![Image]
xx1600001449
Click the Select button for Products to select
which products to include in the system.
A dialog shows the products that are available in
the repository.
4
![Image]
xx1600001450
Click the Select button for Licenses .
5
Click the Select button for Backups to include a
backup. i
6
![Image]
xx1600001451
Click the Select button for Base system to select
which base system to include.
7
In this example the base system
from the previous example is used,
see Description on page 151 .
Continues on next page
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6 RobotWare installation concept
6.2.4 Creating an application system
Note
Action
![Image]
xx1600001452
Click the Select button for Additional files to in-
clude any additional files.
8
In this example a EIO.cfg-file is in-
cluded.
Click the Next button and select the options, ro-
bots, and applications to be included in the sys-
tem.
9
Note
Only options selected in the current system can
be changed.
Options selected in the referred base system are
visible but can only be changed or deselected
from the base system. Note that such a change
will affect all systems using the base system.
Click the Save button.
10
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6 RobotWare installation concept
6.2.4 Creating an application system
Continued
6.2.5 Defining controllers
Description
The following procedure and example describes how to apply an application system
to a controller.
Note
Action
Select the Controllers tab in Installation Manager
and click the New button to create a new control-
ler.
1
In this example the name ArcSys-
tem1 is used.
Enter a name for the controller in the Name text
box.
2
In this example the sub folder
ArcLine is created under the Con-
trollers root folder.
Click the Browse button for Location to select
where to store the controller.
The controller can either be placed directly under
the Controllers root folder or in any of its sub
folders. Create and delete sub folders using the
ordinary explorer functionality.
3
![Image]
xx1600001453
Click the Select button for System to select which
system to include.
4
In this example the application
system AppSystemOne from the
previous example is used, see De-
scription on page 153 .
Click the Select button for Backups to include a
backup.
5
Click the Select button for Additional files to in-
clude any additional file.
6
Enter a serial number for the controller in the
Serial number text box.
7
In this example the time zone
Sweden and Europe/Stockholm is
used.
Select the time zone settings or define a time
server.
8
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Note
Action
![Image]
xx1600001452
Click the Select button for Additional files to in-
clude any additional files.
8
In this example a EIO.cfg-file is in-
cluded.
Click the Next button and select the options, ro-
bots, and applications to be included in the sys-
tem.
9
Note
Only options selected in the current system can
be changed.
Options selected in the referred base system are
visible but can only be changed or deselected
from the base system. Note that such a change
will affect all systems using the base system.
Click the Save button.
10
i
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6 RobotWare installation concept
6.2.4 Creating an application system
Continued
6.2.5 Defining controllers
Description
The following procedure and example describes how to apply an application system
to a controller.
Note
Action
Select the Controllers tab in Installation Manager
and click the New button to create a new control-
ler.
1
In this example the name ArcSys-
tem1 is used.
Enter a name for the controller in the Name text
box.
2
In this example the sub folder
ArcLine is created under the Con-
trollers root folder.
Click the Browse button for Location to select
where to store the controller.
The controller can either be placed directly under
the Controllers root folder or in any of its sub
folders. Create and delete sub folders using the
ordinary explorer functionality.
3
![Image]
xx1600001453
Click the Select button for System to select which
system to include.
4
In this example the application
system AppSystemOne from the
previous example is used, see De-
scription on page 153 .
Click the Select button for Backups to include a
backup.
5
Click the Select button for Additional files to in-
clude any additional file.
6
Enter a serial number for the controller in the
Serial number text box.
7
In this example the time zone
Sweden and Europe/Stockholm is
used.
Select the time zone settings or define a time
server.
8
Continues on next page
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6 RobotWare installation concept
6.2.5 Defining controllers
Note
Action
In this example the following set-
tings are used:
Define the communication settings.
9
![Image]
xx1600001454
Click the Add button to save and add the control-
ler to the controllers collection.
10
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6.2.5 Defining controllers
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| 156
|
6.2.5 Defining controllers
Description
The following procedure and example describes how to apply an application system
to a controller.
Note
Action
Select the Controllers tab in Installation Manager
and click the New button to create a new control-
ler.
1
In this example the name ArcSys-
tem1 is used.
Enter a name for the controller in the Name text
box.
2
In this example the sub folder
ArcLine is created under the Con-
trollers root folder.
Click the Browse button for Location to select
where to store the controller.
The controller can either be placed directly under
the Controllers root folder or in any of its sub
folders. Create and delete sub folders using the
ordinary explorer functionality.
3
![Image]
xx1600001453
Click the Select button for System to select which
system to include.
4
In this example the application
system AppSystemOne from the
previous example is used, see De-
scription on page 153 .
Click the Select button for Backups to include a
backup.
5
Click the Select button for Additional files to in-
clude any additional file.
6
Enter a serial number for the controller in the
Serial number text box.
7
In this example the time zone
Sweden and Europe/Stockholm is
used.
Select the time zone settings or define a time
server.
8
Continues on next page
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6 RobotWare installation concept
6.2.5 Defining controllers
Note
Action
In this example the following set-
tings are used:
Define the communication settings.
9
![Image]
xx1600001454
Click the Add button to save and add the control-
ler to the controllers collection.
10
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6 RobotWare installation concept
6.2.5 Defining controllers
Continued
6.2.6 Creating an installation package
Overview
There are two variants of installation packages:
•
The installation package defines the controllers on which the installation
shall take place and systems to be installed.
•
The installation package defines only the systems . The users select which
system shall be installed at installation time.
Note
To be able to create an installation package with Installation Manager it is required
that the RobotWare version that was released together with the current
RobotStudio version is present. This is required regardless of which RobotWare
version that is used by the deployed RobotWare systems.
Controller installation package
The following procedure and example describes how to create a controller
installation package.
Note
Action
![Image]
xx1600001455
Select the Create panel in Installation Manager
and click the Installation Package button to create
a new installation package.
1
Select the Controllers tab.
2
In this example the controller Arc-
System1 from the previous ex-
ample is used, see Description on
page 155 .
Select the controller in the Select controllers list.
3
In this example the name ArcCon-
trollerPackage is used.
Enter a name for the installation package in the
Package name text box.
4
Continues on next page
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|
Note
Action
In this example the following set-
tings are used:
Define the communication settings.
9
![Image]
xx1600001454
Click the Add button to save and add the control-
ler to the controllers collection.
10
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6 RobotWare installation concept
6.2.5 Defining controllers
Continued
6.2.6 Creating an installation package
Overview
There are two variants of installation packages:
•
The installation package defines the controllers on which the installation
shall take place and systems to be installed.
•
The installation package defines only the systems . The users select which
system shall be installed at installation time.
Note
To be able to create an installation package with Installation Manager it is required
that the RobotWare version that was released together with the current
RobotStudio version is present. This is required regardless of which RobotWare
version that is used by the deployed RobotWare systems.
Controller installation package
The following procedure and example describes how to create a controller
installation package.
Note
Action
![Image]
xx1600001455
Select the Create panel in Installation Manager
and click the Installation Package button to create
a new installation package.
1
Select the Controllers tab.
2
In this example the controller Arc-
System1 from the previous ex-
ample is used, see Description on
page 155 .
Select the controller in the Select controllers list.
3
In this example the name ArcCon-
trollerPackage is used.
Enter a name for the installation package in the
Package name text box.
4
Continues on next page
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6 RobotWare installation concept
6.2.6 Creating an installation package
Note
Action
![Image]
xx1600001456
Click the Browse button for Path to select where
to store the controller package, for example on
the USB-stick that is used to install the system on
the controller.
5
The OK button is enabled when
both Package name and Path have
valid values.
Click the OK button to save and store the install-
ation package.
6
See Deploying installation and up-
date packages on page 168 .
The installation package is ready to be installed
on the robot controller.
7
System installation package
The following procedure and example describes how to create a system installation
package.
Note
Action
![Image]
xx1600001455
Select the Create panel in Installation Manager
and click the Installation Package button to create
a new installation package.
1
Select the Systems tab.
2
In this example the application
system AppSystemOne from the
previous example is used, see De-
scription on page 153 .
Select the system in the Select system list.
3
In this example the name ArcSys-
temPackage is used.
Enter a name for the installation package in the
Package name text box.
4
Continues on next page
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| 158
|
6.2.6 Creating an installation package
Overview
There are two variants of installation packages:
•
The installation package defines the controllers on which the installation
shall take place and systems to be installed.
•
The installation package defines only the systems . The users select which
system shall be installed at installation time.
Note
To be able to create an installation package with Installation Manager it is required
that the RobotWare version that was released together with the current
RobotStudio version is present. This is required regardless of which RobotWare
version that is used by the deployed RobotWare systems.
Controller installation package
The following procedure and example describes how to create a controller
installation package.
Note
Action
![Image]
xx1600001455
Select the Create panel in Installation Manager
and click the Installation Package button to create
a new installation package.
1
Select the Controllers tab.
2
In this example the controller Arc-
System1 from the previous ex-
ample is used, see Description on
page 155 .
Select the controller in the Select controllers list.
3
In this example the name ArcCon-
trollerPackage is used.
Enter a name for the installation package in the
Package name text box.
4
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6 RobotWare installation concept
6.2.6 Creating an installation package
Note
Action
![Image]
xx1600001456
Click the Browse button for Path to select where
to store the controller package, for example on
the USB-stick that is used to install the system on
the controller.
5
The OK button is enabled when
both Package name and Path have
valid values.
Click the OK button to save and store the install-
ation package.
6
See Deploying installation and up-
date packages on page 168 .
The installation package is ready to be installed
on the robot controller.
7
System installation package
The following procedure and example describes how to create a system installation
package.
Note
Action
![Image]
xx1600001455
Select the Create panel in Installation Manager
and click the Installation Package button to create
a new installation package.
1
Select the Systems tab.
2
In this example the application
system AppSystemOne from the
previous example is used, see De-
scription on page 153 .
Select the system in the Select system list.
3
In this example the name ArcSys-
temPackage is used.
Enter a name for the installation package in the
Package name text box.
4
Continues on next page
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6 RobotWare installation concept
6.2.6 Creating an installation package
Continued
Note
Action
![Image]
xx1600001457
Click the Browse button for Path to select where
to store the installation package, for example on
the USB-stick that is used to install the system on
the controller.
5
The OK button is enabled when
both Package name and Path have
valid values.
Click the OK button to save and store the install-
ation package.
6
See Deploying installation and up-
date packages on page 168 .
The installation package is ready to be installed
on the robot controller.
7
Create system using installation package in boot server mode
Use the following procedure to create a system using installation package in boot
server mode:
Action
Step
On FlexPendant tap Restart > Advanced settings .
1
The Advanced restart window is displayed.
Tap Start boot application .
2
Tap Next .
3
The Restart window is displayed.
Tap Start Boot Application .
4
Tap Install System .
5
The Install System window is displayed.
Tap Continue .
6
The field for selecting the installation package is displayed.
Browse and select the installation package from USB stick.
7
Note
If USB stick is not inserted, an error message is displayed.
Tap OK .
8
Tap Continue .
9
The installation operation validates the installation package, copies the system,
and displays the Install System - Copy Complete window.
Tap Continue .
10
The system is created and the controller is restarted.
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Note
Action
![Image]
xx1600001456
Click the Browse button for Path to select where
to store the controller package, for example on
the USB-stick that is used to install the system on
the controller.
5
The OK button is enabled when
both Package name and Path have
valid values.
Click the OK button to save and store the install-
ation package.
6
See Deploying installation and up-
date packages on page 168 .
The installation package is ready to be installed
on the robot controller.
7
System installation package
The following procedure and example describes how to create a system installation
package.
Note
Action
![Image]
xx1600001455
Select the Create panel in Installation Manager
and click the Installation Package button to create
a new installation package.
1
Select the Systems tab.
2
In this example the application
system AppSystemOne from the
previous example is used, see De-
scription on page 153 .
Select the system in the Select system list.
3
In this example the name ArcSys-
temPackage is used.
Enter a name for the installation package in the
Package name text box.
4
Continues on next page
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6 RobotWare installation concept
6.2.6 Creating an installation package
Continued
Note
Action
![Image]
xx1600001457
Click the Browse button for Path to select where
to store the installation package, for example on
the USB-stick that is used to install the system on
the controller.
5
The OK button is enabled when
both Package name and Path have
valid values.
Click the OK button to save and store the install-
ation package.
6
See Deploying installation and up-
date packages on page 168 .
The installation package is ready to be installed
on the robot controller.
7
Create system using installation package in boot server mode
Use the following procedure to create a system using installation package in boot
server mode:
Action
Step
On FlexPendant tap Restart > Advanced settings .
1
The Advanced restart window is displayed.
Tap Start boot application .
2
Tap Next .
3
The Restart window is displayed.
Tap Start Boot Application .
4
Tap Install System .
5
The Install System window is displayed.
Tap Continue .
6
The field for selecting the installation package is displayed.
Browse and select the installation package from USB stick.
7
Note
If USB stick is not inserted, an error message is displayed.
Tap OK .
8
Tap Continue .
9
The installation operation validates the installation package, copies the system,
and displays the Install System - Copy Complete window.
Tap Continue .
10
The system is created and the controller is restarted.
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6 RobotWare installation concept
6.2.6 Creating an installation package
Continued
6.2.7 Creating an update package
Update package creation
The following procedure and example describes how to create an update package.
Update packages are used to update currently active RobotWare systems on one
or more controllers. Depending on the selected update package type, the package
can either be used for upgrades, downgrades or a mix of the two.
Note
Action
![Image]
xx1600001458
Select the Create panel in Installation Manager
and click the Update Package button to create a
new update package.
1
Select one or more products in the Select product
list.
2
The Default type is available for
RobotWare 6.05 and later.
In Select Update Package type , select if the
package type should be default or specific .
3
The Specific type is available for
RobotWare 6.11 and later.
For specific package types, select if an upgrade
or downgrade is to be performed, or a mix:
•
Upgrade - Replace products in a controller
only when a newer product version is
present in the package.
•
Downgrade – Replace products in a con-
troller only when an older product version
is present in the package.
•
Mixed – The products in the package will
always replace the products in a controller
if the versions differ.
Note
This only applies to products in the package that
are currently used in the controller. Other products
are ignored.
The backup is automatically cre-
ated from the FlexPendant during
the update sequence and is located
on the controller in the folder
hd0a/Backup , see Description on
page 178 .
In Restore the backup , select if the backup should
be restored at update.
4
In Restore content , select which content of the
backup that shall be restored.
5
In field Package name , enter a name for the up-
date package.
6
Continues on next page
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Note
Action
![Image]
xx1600001457
Click the Browse button for Path to select where
to store the installation package, for example on
the USB-stick that is used to install the system on
the controller.
5
The OK button is enabled when
both Package name and Path have
valid values.
Click the OK button to save and store the install-
ation package.
6
See Deploying installation and up-
date packages on page 168 .
The installation package is ready to be installed
on the robot controller.
7
Create system using installation package in boot server mode
Use the following procedure to create a system using installation package in boot
server mode:
Action
Step
On FlexPendant tap Restart > Advanced settings .
1
The Advanced restart window is displayed.
Tap Start boot application .
2
Tap Next .
3
The Restart window is displayed.
Tap Start Boot Application .
4
Tap Install System .
5
The Install System window is displayed.
Tap Continue .
6
The field for selecting the installation package is displayed.
Browse and select the installation package from USB stick.
7
Note
If USB stick is not inserted, an error message is displayed.
Tap OK .
8
Tap Continue .
9
The installation operation validates the installation package, copies the system,
and displays the Install System - Copy Complete window.
Tap Continue .
10
The system is created and the controller is restarted.
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6 RobotWare installation concept
6.2.6 Creating an installation package
Continued
6.2.7 Creating an update package
Update package creation
The following procedure and example describes how to create an update package.
Update packages are used to update currently active RobotWare systems on one
or more controllers. Depending on the selected update package type, the package
can either be used for upgrades, downgrades or a mix of the two.
Note
Action
![Image]
xx1600001458
Select the Create panel in Installation Manager
and click the Update Package button to create a
new update package.
1
Select one or more products in the Select product
list.
2
The Default type is available for
RobotWare 6.05 and later.
In Select Update Package type , select if the
package type should be default or specific .
3
The Specific type is available for
RobotWare 6.11 and later.
For specific package types, select if an upgrade
or downgrade is to be performed, or a mix:
•
Upgrade - Replace products in a controller
only when a newer product version is
present in the package.
•
Downgrade – Replace products in a con-
troller only when an older product version
is present in the package.
•
Mixed – The products in the package will
always replace the products in a controller
if the versions differ.
Note
This only applies to products in the package that
are currently used in the controller. Other products
are ignored.
The backup is automatically cre-
ated from the FlexPendant during
the update sequence and is located
on the controller in the folder
hd0a/Backup , see Description on
page 178 .
In Restore the backup , select if the backup should
be restored at update.
4
In Restore content , select which content of the
backup that shall be restored.
5
In field Package name , enter a name for the up-
date package.
6
Continues on next page
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6 RobotWare installation concept
6.2.7 Creating an update package
Note
Action
![Image]
xx2000000675
Click Browse to select the Path indicating where
the update package should be stored, for example
on the USB-stick that is used to update the system
on the controller.
7
The OK button is enabled when the
Path has been selected.
Click OK to save and store the update package.
8
The OK button is enabled when the
product, or products, have been
selected and the Package name
and Path have valid values.
See Description on page 178 .
The update package is ready to be installed on
the robot controller.
9
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6.2.7 Creating an update package
Update package creation
The following procedure and example describes how to create an update package.
Update packages are used to update currently active RobotWare systems on one
or more controllers. Depending on the selected update package type, the package
can either be used for upgrades, downgrades or a mix of the two.
Note
Action
![Image]
xx1600001458
Select the Create panel in Installation Manager
and click the Update Package button to create a
new update package.
1
Select one or more products in the Select product
list.
2
The Default type is available for
RobotWare 6.05 and later.
In Select Update Package type , select if the
package type should be default or specific .
3
The Specific type is available for
RobotWare 6.11 and later.
For specific package types, select if an upgrade
or downgrade is to be performed, or a mix:
•
Upgrade - Replace products in a controller
only when a newer product version is
present in the package.
•
Downgrade – Replace products in a con-
troller only when an older product version
is present in the package.
•
Mixed – The products in the package will
always replace the products in a controller
if the versions differ.
Note
This only applies to products in the package that
are currently used in the controller. Other products
are ignored.
The backup is automatically cre-
ated from the FlexPendant during
the update sequence and is located
on the controller in the folder
hd0a/Backup , see Description on
page 178 .
In Restore the backup , select if the backup should
be restored at update.
4
In Restore content , select which content of the
backup that shall be restored.
5
In field Package name , enter a name for the up-
date package.
6
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Note
Action
![Image]
xx2000000675
Click Browse to select the Path indicating where
the update package should be stored, for example
on the USB-stick that is used to update the system
on the controller.
7
The OK button is enabled when the
Path has been selected.
Click OK to save and store the update package.
8
The OK button is enabled when the
product, or products, have been
selected and the Package name
and Path have valid values.
See Description on page 178 .
The update package is ready to be installed on
the robot controller.
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Continued
6.2.8 Repository folders and file structure
File structure
The repository is a file structure with a root folder, the <Repository name> folder.
The repository is defined by a repository_manifest.xml file.
The repository stores products, licenses, system definitions, controller definitions,
backups, and additional files. Each category of files has it's own sub-folder under
the root folder.
The repository root folder has six predefined category root folders:
Description
Folder
Products can be organized in a hierarchical folder structure. This
makes it possible to store several versions of products. Each product
is represented by a folder.
Products
The recommended name of the folder is <Product name>_<Product
version> . However the product is identified through the product
manifest file ( .rmf ) in the folder.
The same folder also contains all package files ( .rpk ) of the product
Note
It is not allowed to mix files from several products in the same folder.
Each license is a file ( .rlf ).
Licenses
Systems can be organized in a hierarchical folder structure. Each
system is represented by a folder with its name. The system is
defined by the systemtemplate_manifest.xml file in the folder.
Systems
Controllers can be organized in a hierarchical folder structure. Each
controller is represented by a folder with its name. The controller is
defined by the controller_manifest.xml file in the folder.
Controllers
Backups can be organized in a hierarchical folder structure. Each
backup is represented by a folder with its name. The BACKINFO
folder in the backup folder defines the backup.
Backups
Tip
The default name is <System name>_BACKUP_<Date> , but a better
name may be <Controller name>_<System name>_BACKUP_<Date> ,
since the focus should be on the controller name. The system name
may be identical on several controllers.
Additional files can be organized in a hierarchical folder structure.
Additional files can be selected to be included in a system or con-
troller.
AdditionalFiles
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Note
Action
![Image]
xx2000000675
Click Browse to select the Path indicating where
the update package should be stored, for example
on the USB-stick that is used to update the system
on the controller.
7
The OK button is enabled when the
Path has been selected.
Click OK to save and store the update package.
8
The OK button is enabled when the
product, or products, have been
selected and the Package name
and Path have valid values.
See Description on page 178 .
The update package is ready to be installed on
the robot controller.
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6 RobotWare installation concept
6.2.7 Creating an update package
Continued
6.2.8 Repository folders and file structure
File structure
The repository is a file structure with a root folder, the <Repository name> folder.
The repository is defined by a repository_manifest.xml file.
The repository stores products, licenses, system definitions, controller definitions,
backups, and additional files. Each category of files has it's own sub-folder under
the root folder.
The repository root folder has six predefined category root folders:
Description
Folder
Products can be organized in a hierarchical folder structure. This
makes it possible to store several versions of products. Each product
is represented by a folder.
Products
The recommended name of the folder is <Product name>_<Product
version> . However the product is identified through the product
manifest file ( .rmf ) in the folder.
The same folder also contains all package files ( .rpk ) of the product
Note
It is not allowed to mix files from several products in the same folder.
Each license is a file ( .rlf ).
Licenses
Systems can be organized in a hierarchical folder structure. Each
system is represented by a folder with its name. The system is
defined by the systemtemplate_manifest.xml file in the folder.
Systems
Controllers can be organized in a hierarchical folder structure. Each
controller is represented by a folder with its name. The controller is
defined by the controller_manifest.xml file in the folder.
Controllers
Backups can be organized in a hierarchical folder structure. Each
backup is represented by a folder with its name. The BACKINFO
folder in the backup folder defines the backup.
Backups
Tip
The default name is <System name>_BACKUP_<Date> , but a better
name may be <Controller name>_<System name>_BACKUP_<Date> ,
since the focus should be on the controller name. The system name
may be identical on several controllers.
Additional files can be organized in a hierarchical folder structure.
Additional files can be selected to be included in a system or con-
troller.
AdditionalFiles
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The repository_manifest.xml file
The repository_manifest.xml file identifies the root folder of the repository. It can
also hold information to redirect to category root folders outside the repository
folder structure.
If the repository_manifest.xml file does not exist, then it is created by default with
the following content:
<?xml version="1.0" encoding="utf-8"?>
<RepositoryManifest version="1.0">
<Repository name="RSRepository">
<Controllers path="Controllers" />
<Products path="Products" />
<Systems path="Systems" />
<Backups path="Backups" />
<AdditionalFiles path="AdditionalFiles" />
<Licenses path="Licenses" />
</Repository>
</RepositoryManifest>
Description
XML-tag
The tag RepositoryManifest has the attribute version which
defines the format of the manifest.
RepositoryManifest
The tag Repository has the attribute name which defines the
name of the repository. The folder of the repository shall have
this name.
Repository
The tag Controllers defines the controllers folder with the at-
tribute path .
Controllers
The tag Products defines the products folder with the attribute
path .
Products
The tag Systems defines the systems folder with the attribute
path .
Systems
The tag Backups defines the backups folder with the attribute
path .
Backups
The tag Additional files defines the additional files folder
with the attribute path .
Additional files
The tag Licenses defines the backup licenses with the attribute
path .
Licenses
A path can be absolute or relative. An absolute path starts with a drive name such
as C:\. A relative path is a path without a drive name or a slash as the first character
in the path string.
The repository path, which is set in the installation manager preferences, is used
as root path of all relative paths. It is recommended to use only relative paths if
you intend to copy or distribute complete repositories.
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6.2.8 Repository folders and file structure
File structure
The repository is a file structure with a root folder, the <Repository name> folder.
The repository is defined by a repository_manifest.xml file.
The repository stores products, licenses, system definitions, controller definitions,
backups, and additional files. Each category of files has it's own sub-folder under
the root folder.
The repository root folder has six predefined category root folders:
Description
Folder
Products can be organized in a hierarchical folder structure. This
makes it possible to store several versions of products. Each product
is represented by a folder.
Products
The recommended name of the folder is <Product name>_<Product
version> . However the product is identified through the product
manifest file ( .rmf ) in the folder.
The same folder also contains all package files ( .rpk ) of the product
Note
It is not allowed to mix files from several products in the same folder.
Each license is a file ( .rlf ).
Licenses
Systems can be organized in a hierarchical folder structure. Each
system is represented by a folder with its name. The system is
defined by the systemtemplate_manifest.xml file in the folder.
Systems
Controllers can be organized in a hierarchical folder structure. Each
controller is represented by a folder with its name. The controller is
defined by the controller_manifest.xml file in the folder.
Controllers
Backups can be organized in a hierarchical folder structure. Each
backup is represented by a folder with its name. The BACKINFO
folder in the backup folder defines the backup.
Backups
Tip
The default name is <System name>_BACKUP_<Date> , but a better
name may be <Controller name>_<System name>_BACKUP_<Date> ,
since the focus should be on the controller name. The system name
may be identical on several controllers.
Additional files can be organized in a hierarchical folder structure.
Additional files can be selected to be included in a system or con-
troller.
AdditionalFiles
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6.2.8 Repository folders and file structure
The repository_manifest.xml file
The repository_manifest.xml file identifies the root folder of the repository. It can
also hold information to redirect to category root folders outside the repository
folder structure.
If the repository_manifest.xml file does not exist, then it is created by default with
the following content:
<?xml version="1.0" encoding="utf-8"?>
<RepositoryManifest version="1.0">
<Repository name="RSRepository">
<Controllers path="Controllers" />
<Products path="Products" />
<Systems path="Systems" />
<Backups path="Backups" />
<AdditionalFiles path="AdditionalFiles" />
<Licenses path="Licenses" />
</Repository>
</RepositoryManifest>
Description
XML-tag
The tag RepositoryManifest has the attribute version which
defines the format of the manifest.
RepositoryManifest
The tag Repository has the attribute name which defines the
name of the repository. The folder of the repository shall have
this name.
Repository
The tag Controllers defines the controllers folder with the at-
tribute path .
Controllers
The tag Products defines the products folder with the attribute
path .
Products
The tag Systems defines the systems folder with the attribute
path .
Systems
The tag Backups defines the backups folder with the attribute
path .
Backups
The tag Additional files defines the additional files folder
with the attribute path .
Additional files
The tag Licenses defines the backup licenses with the attribute
path .
Licenses
A path can be absolute or relative. An absolute path starts with a drive name such
as C:\. A relative path is a path without a drive name or a slash as the first character
in the path string.
The repository path, which is set in the installation manager preferences, is used
as root path of all relative paths. It is recommended to use only relative paths if
you intend to copy or distribute complete repositories.
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The systemtemplate_manifest.xml file
The systemtemplate_manifest.xml defines a system in the repository. It is
possible to refer to a base system which makes it possible to simplify the build-up
of a large number of systems.
Example of a systemtemplate_manifest.xml file of a base system:
<?xml version="1.0" encoding="utf-8"?>
<SystemTemplateManifest version="1.0">
<System name="MyBaseSystem"
path="Systems\BaseSystems\MyBaseSystem"/>
<Products>
<Product name="RobotWare" version="6.05.0000"
path="Products\RobotWare_RPK_6.05.0000"/>
<Product name="MyProduct" version="0.01.0135.00"
path="Products\MyProduct_0.01.0135.00"/>
</Products>
</SystemTemplateManifest>
Example of a systemtemplate_manifest.xml file of a system using the above base
system:
<?xml version="1.0" encoding="utf-8"?>
<SystemTemplateManifest version="1.0">
<System name="StudWelding1" path="Systems\StudWelding1"/>
<BaseSystems>
<BaseSystem name="MyBaseSystem"
path="Systems\BaseSystems\MyBaseSystem"/>
</BaseSystems>
<Products>
<Product name="POSITIONER" version="6.05.0000"
path="Products\Positioner_RPK_6.05.0000"/>
</Products>
<Licenses>
<File path="Licenses\MyLicense_RobotWare.rlf" />
</Licenses>
<Backup path="Backups\MyBackup" />
</SystemTemplateManifest>
Description
XML-tag
The tag SystemTemplateManifest has the attribute version
which defines the format of the manifest.
SystemTemplateManifest
The tag System has the attribute name which defines the name
of the system. The system folder shall have this name.
System
The tag BaseSystems defines the base systems referred to.
Currently the limitation is that only one base system can be
referred to.
BaseSystems
The tag BaseSystem refers to another system definition and
has the attribute name which defines the name of the base
system, and the attribute path which defines the path to the
base system.
BaseSystem
This feature can be used to create a hierarchy/inheritance of
system definitions. Note that definitions from the base system
are inherited/propagated to all subsystem definitions. Changing
properties of a base system affects all other system definitions
that directly or indirectly inherit from it.
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The repository_manifest.xml file
The repository_manifest.xml file identifies the root folder of the repository. It can
also hold information to redirect to category root folders outside the repository
folder structure.
If the repository_manifest.xml file does not exist, then it is created by default with
the following content:
<?xml version="1.0" encoding="utf-8"?>
<RepositoryManifest version="1.0">
<Repository name="RSRepository">
<Controllers path="Controllers" />
<Products path="Products" />
<Systems path="Systems" />
<Backups path="Backups" />
<AdditionalFiles path="AdditionalFiles" />
<Licenses path="Licenses" />
</Repository>
</RepositoryManifest>
Description
XML-tag
The tag RepositoryManifest has the attribute version which
defines the format of the manifest.
RepositoryManifest
The tag Repository has the attribute name which defines the
name of the repository. The folder of the repository shall have
this name.
Repository
The tag Controllers defines the controllers folder with the at-
tribute path .
Controllers
The tag Products defines the products folder with the attribute
path .
Products
The tag Systems defines the systems folder with the attribute
path .
Systems
The tag Backups defines the backups folder with the attribute
path .
Backups
The tag Additional files defines the additional files folder
with the attribute path .
Additional files
The tag Licenses defines the backup licenses with the attribute
path .
Licenses
A path can be absolute or relative. An absolute path starts with a drive name such
as C:\. A relative path is a path without a drive name or a slash as the first character
in the path string.
The repository path, which is set in the installation manager preferences, is used
as root path of all relative paths. It is recommended to use only relative paths if
you intend to copy or distribute complete repositories.
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The systemtemplate_manifest.xml file
The systemtemplate_manifest.xml defines a system in the repository. It is
possible to refer to a base system which makes it possible to simplify the build-up
of a large number of systems.
Example of a systemtemplate_manifest.xml file of a base system:
<?xml version="1.0" encoding="utf-8"?>
<SystemTemplateManifest version="1.0">
<System name="MyBaseSystem"
path="Systems\BaseSystems\MyBaseSystem"/>
<Products>
<Product name="RobotWare" version="6.05.0000"
path="Products\RobotWare_RPK_6.05.0000"/>
<Product name="MyProduct" version="0.01.0135.00"
path="Products\MyProduct_0.01.0135.00"/>
</Products>
</SystemTemplateManifest>
Example of a systemtemplate_manifest.xml file of a system using the above base
system:
<?xml version="1.0" encoding="utf-8"?>
<SystemTemplateManifest version="1.0">
<System name="StudWelding1" path="Systems\StudWelding1"/>
<BaseSystems>
<BaseSystem name="MyBaseSystem"
path="Systems\BaseSystems\MyBaseSystem"/>
</BaseSystems>
<Products>
<Product name="POSITIONER" version="6.05.0000"
path="Products\Positioner_RPK_6.05.0000"/>
</Products>
<Licenses>
<File path="Licenses\MyLicense_RobotWare.rlf" />
</Licenses>
<Backup path="Backups\MyBackup" />
</SystemTemplateManifest>
Description
XML-tag
The tag SystemTemplateManifest has the attribute version
which defines the format of the manifest.
SystemTemplateManifest
The tag System has the attribute name which defines the name
of the system. The system folder shall have this name.
System
The tag BaseSystems defines the base systems referred to.
Currently the limitation is that only one base system can be
referred to.
BaseSystems
The tag BaseSystem refers to another system definition and
has the attribute name which defines the name of the base
system, and the attribute path which defines the path to the
base system.
BaseSystem
This feature can be used to create a hierarchy/inheritance of
system definitions. Note that definitions from the base system
are inherited/propagated to all subsystem definitions. Changing
properties of a base system affects all other system definitions
that directly or indirectly inherit from it.
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Description
XML-tag
The tag Products defines the products in the system.
Products
The tag Product has the attribute name which defines the name
of the product and the attribute version which defines the
version of the product.
Product
The attribute path defines to the path to the product folder
The tag Licenses defines the licenses in the system
Licenses
The tag Backup defines the backup folder with the attribute
path .
Backup
The tag AdditionalFiles defines the additional files in the
system.
AdditionalFiles
The tag File has attribute path which defines the path for the
file. The attribute controllerPath defines the folder on the
controller where the file shall be copied at installation.
File
Note
In the current release this path must start with "HOME", i.e. all
additional files must be placed under the system HOME folder
structure.
The tag Dir has attribute path which defines the repository
path for the directory. It also has attribute type , which defines
the type of information contained in the directory.
Dir
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The systemtemplate_manifest.xml file
The systemtemplate_manifest.xml defines a system in the repository. It is
possible to refer to a base system which makes it possible to simplify the build-up
of a large number of systems.
Example of a systemtemplate_manifest.xml file of a base system:
<?xml version="1.0" encoding="utf-8"?>
<SystemTemplateManifest version="1.0">
<System name="MyBaseSystem"
path="Systems\BaseSystems\MyBaseSystem"/>
<Products>
<Product name="RobotWare" version="6.05.0000"
path="Products\RobotWare_RPK_6.05.0000"/>
<Product name="MyProduct" version="0.01.0135.00"
path="Products\MyProduct_0.01.0135.00"/>
</Products>
</SystemTemplateManifest>
Example of a systemtemplate_manifest.xml file of a system using the above base
system:
<?xml version="1.0" encoding="utf-8"?>
<SystemTemplateManifest version="1.0">
<System name="StudWelding1" path="Systems\StudWelding1"/>
<BaseSystems>
<BaseSystem name="MyBaseSystem"
path="Systems\BaseSystems\MyBaseSystem"/>
</BaseSystems>
<Products>
<Product name="POSITIONER" version="6.05.0000"
path="Products\Positioner_RPK_6.05.0000"/>
</Products>
<Licenses>
<File path="Licenses\MyLicense_RobotWare.rlf" />
</Licenses>
<Backup path="Backups\MyBackup" />
</SystemTemplateManifest>
Description
XML-tag
The tag SystemTemplateManifest has the attribute version
which defines the format of the manifest.
SystemTemplateManifest
The tag System has the attribute name which defines the name
of the system. The system folder shall have this name.
System
The tag BaseSystems defines the base systems referred to.
Currently the limitation is that only one base system can be
referred to.
BaseSystems
The tag BaseSystem refers to another system definition and
has the attribute name which defines the name of the base
system, and the attribute path which defines the path to the
base system.
BaseSystem
This feature can be used to create a hierarchy/inheritance of
system definitions. Note that definitions from the base system
are inherited/propagated to all subsystem definitions. Changing
properties of a base system affects all other system definitions
that directly or indirectly inherit from it.
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Continued
Description
XML-tag
The tag Products defines the products in the system.
Products
The tag Product has the attribute name which defines the name
of the product and the attribute version which defines the
version of the product.
Product
The attribute path defines to the path to the product folder
The tag Licenses defines the licenses in the system
Licenses
The tag Backup defines the backup folder with the attribute
path .
Backup
The tag AdditionalFiles defines the additional files in the
system.
AdditionalFiles
The tag File has attribute path which defines the path for the
file. The attribute controllerPath defines the folder on the
controller where the file shall be copied at installation.
File
Note
In the current release this path must start with "HOME", i.e. all
additional files must be placed under the system HOME folder
structure.
The tag Dir has attribute path which defines the repository
path for the directory. It also has attribute type , which defines
the type of information contained in the directory.
Dir
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The controller_manifest.xml file
The controller_manifest.xml contains definition of a controller in the repository. A
controller definition points out the system the controller shall run and also its
specific controller settings. As an option it is also possible to define a backup which
can be copied to the controller during the installation.
Example of a controller_manifest.xml with the following content:
<?xml version="1.0" encoding="utf-8"?>
<ControllerManifest version="1.0">
<Controller name="MyController" serialNumber="6700-123456">
<System name="StudWelding1" path="Systems\StudWelding1">
<AdditionalFiles>
<Dir path="AdditionalFiles\safety" type="SAFETY"/>
</AdditionalFiles>
<ControllerSettings>
<DateTime timeServer="http://www.pool.ntp.org/zone/se "
timeZone="Europe/Stockholm"/>
<WAN type="FIXED" ip="192.168.9.36" subnetMask="255.255.255.0"
defaultGateway="192.168.9.254"/>
<UASSettings path="AdditionalFiles\UAS"/>
</ControllerSettings>
<Backup path="Backups\MyController_BACKUP"/>
</Controller>
</ControllerManifest>
Description
XML-tag
The tag ControllerManifest has the attribute version which
defines the format of the manifest.
ControllerManifest
The tag Controller has the attribute name which defines the
name of the controller and the attribute serialNumber (optional)
which identifies the serial number of the controller.
Controller
The tag System has the attribute name which defines the name
of the system on the robot controller, and the attribute path
which defines the path to the system relative to the repository
root folder.
System
Note
It is recommended to keep the default, which is to use the same
name of the system on the robot controller as in the repository.
The tag ControllerSettings defines the settings of the con-
troller.
ControllerSettings
The tag DateTime has the attribute timeZone which defines
the time zone to use and the attribute timeServer which defines
the URL to the time server to use for synchronization of the
controller time.
DateTime
Note
Note that the timeZone value must match the text in column TZ
in file zone.tab under RobotWareXXX/system/timezone .
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Description
XML-tag
The tag Products defines the products in the system.
Products
The tag Product has the attribute name which defines the name
of the product and the attribute version which defines the
version of the product.
Product
The attribute path defines to the path to the product folder
The tag Licenses defines the licenses in the system
Licenses
The tag Backup defines the backup folder with the attribute
path .
Backup
The tag AdditionalFiles defines the additional files in the
system.
AdditionalFiles
The tag File has attribute path which defines the path for the
file. The attribute controllerPath defines the folder on the
controller where the file shall be copied at installation.
File
Note
In the current release this path must start with "HOME", i.e. all
additional files must be placed under the system HOME folder
structure.
The tag Dir has attribute path which defines the repository
path for the directory. It also has attribute type , which defines
the type of information contained in the directory.
Dir
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Continued
The controller_manifest.xml file
The controller_manifest.xml contains definition of a controller in the repository. A
controller definition points out the system the controller shall run and also its
specific controller settings. As an option it is also possible to define a backup which
can be copied to the controller during the installation.
Example of a controller_manifest.xml with the following content:
<?xml version="1.0" encoding="utf-8"?>
<ControllerManifest version="1.0">
<Controller name="MyController" serialNumber="6700-123456">
<System name="StudWelding1" path="Systems\StudWelding1">
<AdditionalFiles>
<Dir path="AdditionalFiles\safety" type="SAFETY"/>
</AdditionalFiles>
<ControllerSettings>
<DateTime timeServer="http://www.pool.ntp.org/zone/se "
timeZone="Europe/Stockholm"/>
<WAN type="FIXED" ip="192.168.9.36" subnetMask="255.255.255.0"
defaultGateway="192.168.9.254"/>
<UASSettings path="AdditionalFiles\UAS"/>
</ControllerSettings>
<Backup path="Backups\MyController_BACKUP"/>
</Controller>
</ControllerManifest>
Description
XML-tag
The tag ControllerManifest has the attribute version which
defines the format of the manifest.
ControllerManifest
The tag Controller has the attribute name which defines the
name of the controller and the attribute serialNumber (optional)
which identifies the serial number of the controller.
Controller
The tag System has the attribute name which defines the name
of the system on the robot controller, and the attribute path
which defines the path to the system relative to the repository
root folder.
System
Note
It is recommended to keep the default, which is to use the same
name of the system on the robot controller as in the repository.
The tag ControllerSettings defines the settings of the con-
troller.
ControllerSettings
The tag DateTime has the attribute timeZone which defines
the time zone to use and the attribute timeServer which defines
the URL to the time server to use for synchronization of the
controller time.
DateTime
Note
Note that the timeZone value must match the text in column TZ
in file zone.tab under RobotWareXXX/system/timezone .
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Continued
Description
XML-tag
The tag WAN defines the network settings. It has the attribute
type , with the values "FIXED" , "DHCP" , and "None" . The attrib-
utes ip , defaultGateway , and subnetMask define the connec-
tion.
WAN
Note
If the value "FIXED" is used then the attributes ip and
subnetMask must not be empty. Value "NONE" means that no
IP address is set.
The tag UASSettings has the attribute path which defines the
catalog of the UAS files.
UASSettings
The tag Backup defines the backup to be copied to the
/hd0a/BACKUP folder after installation is ready. i
Backup
The tag Additional files has the attribute path which defines
the additional files folder, and the attribute type with the value
"SAFETY" .
AdditionalFiles
i
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The controller_manifest.xml file
The controller_manifest.xml contains definition of a controller in the repository. A
controller definition points out the system the controller shall run and also its
specific controller settings. As an option it is also possible to define a backup which
can be copied to the controller during the installation.
Example of a controller_manifest.xml with the following content:
<?xml version="1.0" encoding="utf-8"?>
<ControllerManifest version="1.0">
<Controller name="MyController" serialNumber="6700-123456">
<System name="StudWelding1" path="Systems\StudWelding1">
<AdditionalFiles>
<Dir path="AdditionalFiles\safety" type="SAFETY"/>
</AdditionalFiles>
<ControllerSettings>
<DateTime timeServer="http://www.pool.ntp.org/zone/se "
timeZone="Europe/Stockholm"/>
<WAN type="FIXED" ip="192.168.9.36" subnetMask="255.255.255.0"
defaultGateway="192.168.9.254"/>
<UASSettings path="AdditionalFiles\UAS"/>
</ControllerSettings>
<Backup path="Backups\MyController_BACKUP"/>
</Controller>
</ControllerManifest>
Description
XML-tag
The tag ControllerManifest has the attribute version which
defines the format of the manifest.
ControllerManifest
The tag Controller has the attribute name which defines the
name of the controller and the attribute serialNumber (optional)
which identifies the serial number of the controller.
Controller
The tag System has the attribute name which defines the name
of the system on the robot controller, and the attribute path
which defines the path to the system relative to the repository
root folder.
System
Note
It is recommended to keep the default, which is to use the same
name of the system on the robot controller as in the repository.
The tag ControllerSettings defines the settings of the con-
troller.
ControllerSettings
The tag DateTime has the attribute timeZone which defines
the time zone to use and the attribute timeServer which defines
the URL to the time server to use for synchronization of the
controller time.
DateTime
Note
Note that the timeZone value must match the text in column TZ
in file zone.tab under RobotWareXXX/system/timezone .
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Continued
Description
XML-tag
The tag WAN defines the network settings. It has the attribute
type , with the values "FIXED" , "DHCP" , and "None" . The attrib-
utes ip , defaultGateway , and subnetMask define the connec-
tion.
WAN
Note
If the value "FIXED" is used then the attributes ip and
subnetMask must not be empty. Value "NONE" means that no
IP address is set.
The tag UASSettings has the attribute path which defines the
catalog of the UAS files.
UASSettings
The tag Backup defines the backup to be copied to the
/hd0a/BACKUP folder after installation is ready. i
Backup
The tag Additional files has the attribute path which defines
the additional files folder, and the attribute type with the value
"SAFETY" .
AdditionalFiles
i
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6.2.8 Repository folders and file structure
Continued
6.3 Deploying installation and update packages
6.3.1 Overview
Introduction
The following two types of deployment packages can be generated from Installation
Manager:
•
Installation package - Used to install a new RobotWare system.
•
Update package - Used to update an existing RobotWare system.
The deployment process copies the necessary files to the following locations on
the controller SD-card.
•
In the case of installation the files are copied to the controller inbox
( hd0a/Inbox/ ).
•
In the case of update the files are copied to the inbox owned by the currently
active system.
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Description
XML-tag
The tag WAN defines the network settings. It has the attribute
type , with the values "FIXED" , "DHCP" , and "None" . The attrib-
utes ip , defaultGateway , and subnetMask define the connec-
tion.
WAN
Note
If the value "FIXED" is used then the attributes ip and
subnetMask must not be empty. Value "NONE" means that no
IP address is set.
The tag UASSettings has the attribute path which defines the
catalog of the UAS files.
UASSettings
The tag Backup defines the backup to be copied to the
/hd0a/BACKUP folder after installation is ready. i
Backup
The tag Additional files has the attribute path which defines
the additional files folder, and the attribute type with the value
"SAFETY" .
AdditionalFiles
i
In the current release there is no support for automatic restore of backup at the installation time.
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6 RobotWare installation concept
6.2.8 Repository folders and file structure
Continued
6.3 Deploying installation and update packages
6.3.1 Overview
Introduction
The following two types of deployment packages can be generated from Installation
Manager:
•
Installation package - Used to install a new RobotWare system.
•
Update package - Used to update an existing RobotWare system.
The deployment process copies the necessary files to the following locations on
the controller SD-card.
•
In the case of installation the files are copied to the controller inbox
( hd0a/Inbox/ ).
•
In the case of update the files are copied to the inbox owned by the currently
active system.
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6 RobotWare installation concept
6.3.1 Overview
6.3.2 Installing a RobotWare system using Boot Application
Procedure
Note
The user needs the following UAS grants to perform an installation:
•
Administration of installed systems.
The following procedure provides the steps involved during the installation of the
RobotWare system.
Illustration/Note
Action
![Image]
xx1600001361
Start the controller in Boot Server
mode.
1
Note
If the installation package is stored else-
where, make sure to copy the installation
package to a USB-stick before starting the
installation procedure.
Tap Install System .
2
The Install System window is dis-
played.
Continues on next page
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| 169
|
6.3 Deploying installation and update packages
6.3.1 Overview
Introduction
The following two types of deployment packages can be generated from Installation
Manager:
•
Installation package - Used to install a new RobotWare system.
•
Update package - Used to update an existing RobotWare system.
The deployment process copies the necessary files to the following locations on
the controller SD-card.
•
In the case of installation the files are copied to the controller inbox
( hd0a/Inbox/ ).
•
In the case of update the files are copied to the inbox owned by the currently
active system.
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6 RobotWare installation concept
6.3.1 Overview
6.3.2 Installing a RobotWare system using Boot Application
Procedure
Note
The user needs the following UAS grants to perform an installation:
•
Administration of installed systems.
The following procedure provides the steps involved during the installation of the
RobotWare system.
Illustration/Note
Action
![Image]
xx1600001361
Start the controller in Boot Server
mode.
1
Note
If the installation package is stored else-
where, make sure to copy the installation
package to a USB-stick before starting the
installation procedure.
Tap Install System .
2
The Install System window is dis-
played.
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6 RobotWare installation concept
6.3.2 Installing a RobotWare system using Boot Application
Illustration/Note
Action
![Image]
xx1700001434
Insert the USB-stick with the install-
ation package into the USB-port of
the controller or FlexPendant and
tap Continue .
3
Note
At least 1 GB free memory on the Controller
hard disk is required to install a system. If
this is not available the installation cannot be
continued and a message is displayed.
![Image]
xx1700001435
Select the installation package loca-
tion using the browse button.
The details of the selected installa-
tion package is displayed.
4
Note
In case the deployment package contains an
updated version of the Boot Application, then
the Boot Application itself must first be up-
graded and restarted before the installation
can proceed. In this case, the user needs to
repeat this step and select the desired install-
ation package again after the restart.
Continues on next page
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6.3.2 Installing a RobotWare system using Boot Application
Procedure
Note
The user needs the following UAS grants to perform an installation:
•
Administration of installed systems.
The following procedure provides the steps involved during the installation of the
RobotWare system.
Illustration/Note
Action
![Image]
xx1600001361
Start the controller in Boot Server
mode.
1
Note
If the installation package is stored else-
where, make sure to copy the installation
package to a USB-stick before starting the
installation procedure.
Tap Install System .
2
The Install System window is dis-
played.
Continues on next page
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6 RobotWare installation concept
6.3.2 Installing a RobotWare system using Boot Application
Illustration/Note
Action
![Image]
xx1700001434
Insert the USB-stick with the install-
ation package into the USB-port of
the controller or FlexPendant and
tap Continue .
3
Note
At least 1 GB free memory on the Controller
hard disk is required to install a system. If
this is not available the installation cannot be
continued and a message is displayed.
![Image]
xx1700001435
Select the installation package loca-
tion using the browse button.
The details of the selected installa-
tion package is displayed.
4
Note
In case the deployment package contains an
updated version of the Boot Application, then
the Boot Application itself must first be up-
graded and restarted before the installation
can proceed. In this case, the user needs to
repeat this step and select the desired install-
ation package again after the restart.
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6 RobotWare installation concept
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Continued
Illustration/Note
Action
![Image]
xx1700001436
Select the required package.
5
![Image]
xx1600001460
A verification is started to find a
match between the controller set-
tings in the robot controller and the
controller settings in the controller
manifest file.
Following are the possible scenarios
that arise after this verification:
•
Controller manifest file is not
available - In this case contin-
ue with the procedure men-
tioned in Procedure - If there
is no Controller manifest file
on page 172 .
•
Controller settings (controller
ID or name) matches with the
controller manifest file set-
tings - In this case continue
with the procedure men-
tioned in Procedure - If the
Controller settings matches
with the settings in the con-
troller manifest file on
page 174 .
•
Controller settings (controller
ID or name) does not match
with the controller manifest
file settings- In this case
continue with the procedure
mentioned in Procedure - If
the Controller settings does
not matches with the settings
in controller manifest file on
page 175 .
6
Note
It is recommended to rename the controller
first so that the name matches one of the
controller entries in the prepared deployment
package.
The controller name can be modified from
the Settings page of the Boot Application.
If no controller definition is found in the
manifest, then a system must be selected
manually by browsing the installation pack-
age.
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| 171
|
Illustration/Note
Action
![Image]
xx1700001434
Insert the USB-stick with the install-
ation package into the USB-port of
the controller or FlexPendant and
tap Continue .
3
Note
At least 1 GB free memory on the Controller
hard disk is required to install a system. If
this is not available the installation cannot be
continued and a message is displayed.
![Image]
xx1700001435
Select the installation package loca-
tion using the browse button.
The details of the selected installa-
tion package is displayed.
4
Note
In case the deployment package contains an
updated version of the Boot Application, then
the Boot Application itself must first be up-
graded and restarted before the installation
can proceed. In this case, the user needs to
repeat this step and select the desired install-
ation package again after the restart.
Continues on next page
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6 RobotWare installation concept
6.3.2 Installing a RobotWare system using Boot Application
Continued
Illustration/Note
Action
![Image]
xx1700001436
Select the required package.
5
![Image]
xx1600001460
A verification is started to find a
match between the controller set-
tings in the robot controller and the
controller settings in the controller
manifest file.
Following are the possible scenarios
that arise after this verification:
•
Controller manifest file is not
available - In this case contin-
ue with the procedure men-
tioned in Procedure - If there
is no Controller manifest file
on page 172 .
•
Controller settings (controller
ID or name) matches with the
controller manifest file set-
tings - In this case continue
with the procedure men-
tioned in Procedure - If the
Controller settings matches
with the settings in the con-
troller manifest file on
page 174 .
•
Controller settings (controller
ID or name) does not match
with the controller manifest
file settings- In this case
continue with the procedure
mentioned in Procedure - If
the Controller settings does
not matches with the settings
in controller manifest file on
page 175 .
6
Note
It is recommended to rename the controller
first so that the name matches one of the
controller entries in the prepared deployment
package.
The controller name can be modified from
the Settings page of the Boot Application.
If no controller definition is found in the
manifest, then a system must be selected
manually by browsing the installation pack-
age.
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6 RobotWare installation concept
6.3.2 Installing a RobotWare system using Boot Application
Continued
Procedure - If there is no Controller manifest file
Use the following procedure to continue with the installation of manifest file is not
available:
Illustration/Note
Action
![Image]
xx1600001461
Select a system and tap OK .
1
![Image]
xx1700001359
The validation of the installation
package is started.
2
![Image]
xx1600001367
Once the validation is successful a
message is displayed.
3
Note
If the installation package is not valid, a
message is displayed and the installation is
terminated.
Continues on next page
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| 172
|
Illustration/Note
Action
![Image]
xx1700001436
Select the required package.
5
![Image]
xx1600001460
A verification is started to find a
match between the controller set-
tings in the robot controller and the
controller settings in the controller
manifest file.
Following are the possible scenarios
that arise after this verification:
•
Controller manifest file is not
available - In this case contin-
ue with the procedure men-
tioned in Procedure - If there
is no Controller manifest file
on page 172 .
•
Controller settings (controller
ID or name) matches with the
controller manifest file set-
tings - In this case continue
with the procedure men-
tioned in Procedure - If the
Controller settings matches
with the settings in the con-
troller manifest file on
page 174 .
•
Controller settings (controller
ID or name) does not match
with the controller manifest
file settings- In this case
continue with the procedure
mentioned in Procedure - If
the Controller settings does
not matches with the settings
in controller manifest file on
page 175 .
6
Note
It is recommended to rename the controller
first so that the name matches one of the
controller entries in the prepared deployment
package.
The controller name can be modified from
the Settings page of the Boot Application.
If no controller definition is found in the
manifest, then a system must be selected
manually by browsing the installation pack-
age.
Continues on next page
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6 RobotWare installation concept
6.3.2 Installing a RobotWare system using Boot Application
Continued
Procedure - If there is no Controller manifest file
Use the following procedure to continue with the installation of manifest file is not
available:
Illustration/Note
Action
![Image]
xx1600001461
Select a system and tap OK .
1
![Image]
xx1700001359
The validation of the installation
package is started.
2
![Image]
xx1600001367
Once the validation is successful a
message is displayed.
3
Note
If the installation package is not valid, a
message is displayed and the installation is
terminated.
Continues on next page
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6 RobotWare installation concept
6.3.2 Installing a RobotWare system using Boot Application
Continued
Illustration/Note
Action
![Image]
xx1700001360
Copying of the installation package
to the controller is started.
4
![Image]
xx1600001368
Once the installation package is
copied to the controller, the Install
System - Copy Complete message
is displayed.
5
Tap Continue .
6
The system installation process is
started. Once the installation is
complete the controller is restarted
with the new system.
Continues on next page
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| 173
|
Procedure - If there is no Controller manifest file
Use the following procedure to continue with the installation of manifest file is not
available:
Illustration/Note
Action
![Image]
xx1600001461
Select a system and tap OK .
1
![Image]
xx1700001359
The validation of the installation
package is started.
2
![Image]
xx1600001367
Once the validation is successful a
message is displayed.
3
Note
If the installation package is not valid, a
message is displayed and the installation is
terminated.
Continues on next page
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6 RobotWare installation concept
6.3.2 Installing a RobotWare system using Boot Application
Continued
Illustration/Note
Action
![Image]
xx1700001360
Copying of the installation package
to the controller is started.
4
![Image]
xx1600001368
Once the installation package is
copied to the controller, the Install
System - Copy Complete message
is displayed.
5
Tap Continue .
6
The system installation process is
started. Once the installation is
complete the controller is restarted
with the new system.
Continues on next page
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6 RobotWare installation concept
6.3.2 Installing a RobotWare system using Boot Application
Continued
Procedure - If the Controller settings matches with the settings in the controller manifest file
Use the following procedure to continue with the installation if the Controller settings
(controller ID or name) matches with the settings in the controller manifest file:
Illustration/Note
Action
![Image]
xx1700001357
If the Controller settings (controller
ID or name) matches with the con-
troller manifest file settings tap OK .
1
Note
It is recommended to rename the controller
first so that the name matches one of the
controller entries in the prepared deployment
package.
The controller name can be modified from
the Settings page of the Boot Application.
![Image]
xx1700001358
Tap Continue .
2
The validation of the installation
package is started.
3
Note
If the installation package is not valid, a
message is displayed and the installation is
terminated.
Once the validation is successful a
message is displayed.
4
Copying of the installation package
to the controller is started.
5
Once the installation package is
copied to the controller, the Install
System - Copy Complete message
is displayed.
6
Continues on next page
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Illustration/Note
Action
![Image]
xx1700001360
Copying of the installation package
to the controller is started.
4
![Image]
xx1600001368
Once the installation package is
copied to the controller, the Install
System - Copy Complete message
is displayed.
5
Tap Continue .
6
The system installation process is
started. Once the installation is
complete the controller is restarted
with the new system.
Continues on next page
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Continued
Procedure - If the Controller settings matches with the settings in the controller manifest file
Use the following procedure to continue with the installation if the Controller settings
(controller ID or name) matches with the settings in the controller manifest file:
Illustration/Note
Action
![Image]
xx1700001357
If the Controller settings (controller
ID or name) matches with the con-
troller manifest file settings tap OK .
1
Note
It is recommended to rename the controller
first so that the name matches one of the
controller entries in the prepared deployment
package.
The controller name can be modified from
the Settings page of the Boot Application.
![Image]
xx1700001358
Tap Continue .
2
The validation of the installation
package is started.
3
Note
If the installation package is not valid, a
message is displayed and the installation is
terminated.
Once the validation is successful a
message is displayed.
4
Copying of the installation package
to the controller is started.
5
Once the installation package is
copied to the controller, the Install
System - Copy Complete message
is displayed.
6
Continues on next page
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Continued
Illustration/Note
Action
Tap Continue .
7
The system installation process is
started. Once the installation is
complete the controller is restarted
with the new system.
Procedure - If the Controller settings does not matches with the settings in controller manifest file
Use the following procedure to continue with the installation if the Controller settings
(controller ID or name) does not match with the settings in controller manifest file:
Illustration/Note
Action
![Image]
xx1700001428
If the Controller settings (controller
ID or name) does not match with the
settings in controller manifest file
tap Yes .
The Install System-Controller Set-
tings window is displayed.
1
Note
It is recommended to rename the controller
first so that the name matches one of the
controller entries in the prepared deployment
package.
The controller name can be modified from
the Settings page of the Boot Application.
![Image]
xx1700001429
Select a controller from the Control-
lers list and tap OK .
Note
Only the controllers without a
defined serial number are visible in
the list.
2
Continues on next page
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Procedure - If the Controller settings matches with the settings in the controller manifest file
Use the following procedure to continue with the installation if the Controller settings
(controller ID or name) matches with the settings in the controller manifest file:
Illustration/Note
Action
![Image]
xx1700001357
If the Controller settings (controller
ID or name) matches with the con-
troller manifest file settings tap OK .
1
Note
It is recommended to rename the controller
first so that the name matches one of the
controller entries in the prepared deployment
package.
The controller name can be modified from
the Settings page of the Boot Application.
![Image]
xx1700001358
Tap Continue .
2
The validation of the installation
package is started.
3
Note
If the installation package is not valid, a
message is displayed and the installation is
terminated.
Once the validation is successful a
message is displayed.
4
Copying of the installation package
to the controller is started.
5
Once the installation package is
copied to the controller, the Install
System - Copy Complete message
is displayed.
6
Continues on next page
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6 RobotWare installation concept
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Continued
Illustration/Note
Action
Tap Continue .
7
The system installation process is
started. Once the installation is
complete the controller is restarted
with the new system.
Procedure - If the Controller settings does not matches with the settings in controller manifest file
Use the following procedure to continue with the installation if the Controller settings
(controller ID or name) does not match with the settings in controller manifest file:
Illustration/Note
Action
![Image]
xx1700001428
If the Controller settings (controller
ID or name) does not match with the
settings in controller manifest file
tap Yes .
The Install System-Controller Set-
tings window is displayed.
1
Note
It is recommended to rename the controller
first so that the name matches one of the
controller entries in the prepared deployment
package.
The controller name can be modified from
the Settings page of the Boot Application.
![Image]
xx1700001429
Select a controller from the Control-
lers list and tap OK .
Note
Only the controllers without a
defined serial number are visible in
the list.
2
Continues on next page
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Continued
Illustration/Note
Action
![Image]
xx1700001430
Tap Yes .
3
Note
Tapping No starts the procedure to create a
new system.
![Image]
xx1700001431
Tap OK .
4
![Image]
xx1700001432
Tap Continue .
5
The validation of the installation
package is started.
6
Note
If the installation package is not valid, a
message is displayed and the installation is
terminated.
Once the validation is successful a
message is displayed.
7
Continues on next page
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|
Illustration/Note
Action
Tap Continue .
7
The system installation process is
started. Once the installation is
complete the controller is restarted
with the new system.
Procedure - If the Controller settings does not matches with the settings in controller manifest file
Use the following procedure to continue with the installation if the Controller settings
(controller ID or name) does not match with the settings in controller manifest file:
Illustration/Note
Action
![Image]
xx1700001428
If the Controller settings (controller
ID or name) does not match with the
settings in controller manifest file
tap Yes .
The Install System-Controller Set-
tings window is displayed.
1
Note
It is recommended to rename the controller
first so that the name matches one of the
controller entries in the prepared deployment
package.
The controller name can be modified from
the Settings page of the Boot Application.
![Image]
xx1700001429
Select a controller from the Control-
lers list and tap OK .
Note
Only the controllers without a
defined serial number are visible in
the list.
2
Continues on next page
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6.3.2 Installing a RobotWare system using Boot Application
Continued
Illustration/Note
Action
![Image]
xx1700001430
Tap Yes .
3
Note
Tapping No starts the procedure to create a
new system.
![Image]
xx1700001431
Tap OK .
4
![Image]
xx1700001432
Tap Continue .
5
The validation of the installation
package is started.
6
Note
If the installation package is not valid, a
message is displayed and the installation is
terminated.
Once the validation is successful a
message is displayed.
7
Continues on next page
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6 RobotWare installation concept
6.3.2 Installing a RobotWare system using Boot Application
Continued
Illustration/Note
Action
Copying of the installation package
to the controller is started.
8
Once the installation package is
copied to the controller, the Install
System - Copy Complete message
is displayed.
9
Tap Continue .
10
The system installation process is
started. Once the installation is
complete the controller is restarted
with the new system.
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Illustration/Note
Action
![Image]
xx1700001430
Tap Yes .
3
Note
Tapping No starts the procedure to create a
new system.
![Image]
xx1700001431
Tap OK .
4
![Image]
xx1700001432
Tap Continue .
5
The validation of the installation
package is started.
6
Note
If the installation package is not valid, a
message is displayed and the installation is
terminated.
Once the validation is successful a
message is displayed.
7
Continues on next page
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6 RobotWare installation concept
6.3.2 Installing a RobotWare system using Boot Application
Continued
Illustration/Note
Action
Copying of the installation package
to the controller is started.
8
Once the installation package is
copied to the controller, the Install
System - Copy Complete message
is displayed.
9
Tap Continue .
10
The system installation process is
started. Once the installation is
complete the controller is restarted
with the new system.
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6.3.2 Installing a RobotWare system using Boot Application
Continued
6.3.3 Updating a RobotWare system
Description
The most frequent RobotWare system update use case is updating one or more
products, for example, RobotWare Add-Ins. This is a frequent operation during the
commissioning time, especially on large installations. To prepare an update, an
update deployment package is created. It contains only the products that are
upgraded.
The version of the product is used for defining the upgrade. The update mechanism
compares the products already installed on the controller with those of the update
package. A product can be updated only when fulfilling both of the following
conditions:
•
The product already exists on the controller.
•
The product version of the update package is higher than the one which is
already installed, in which the order of comparing the version number
components is: first Major, then Minor, then Build, and finally Revision.
The update package can be made available in one or all of the following locations:
•
System inbox
•
Controller USB-port
•
FlexPendant USB-port
Note
Note that update packages may be generated from a repository that contains no
controller or system definitions, since update packages are generic and can be
applied to any number of systems.
Note
To perform a RobotWare system update, the system must be in active state and
the Controller must be in manual mode.
Note
The user needs the following UAS grants to perform an update:
•
Administration of installed systems.
•
Backup and save.
•
Update a RobotWare system.
The following procedure provides the steps involved during the update of the
RobotWare system.
Note
Action
Insert the USB-stick with the update package into
a USB-port on the controller or the FlexPendant.
1
If the update package is already available in the
system inbox, start directly with step 2.
Continues on next page
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| 178
|
Illustration/Note
Action
Copying of the installation package
to the controller is started.
8
Once the installation package is
copied to the controller, the Install
System - Copy Complete message
is displayed.
9
Tap Continue .
10
The system installation process is
started. Once the installation is
complete the controller is restarted
with the new system.
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6 RobotWare installation concept
6.3.2 Installing a RobotWare system using Boot Application
Continued
6.3.3 Updating a RobotWare system
Description
The most frequent RobotWare system update use case is updating one or more
products, for example, RobotWare Add-Ins. This is a frequent operation during the
commissioning time, especially on large installations. To prepare an update, an
update deployment package is created. It contains only the products that are
upgraded.
The version of the product is used for defining the upgrade. The update mechanism
compares the products already installed on the controller with those of the update
package. A product can be updated only when fulfilling both of the following
conditions:
•
The product already exists on the controller.
•
The product version of the update package is higher than the one which is
already installed, in which the order of comparing the version number
components is: first Major, then Minor, then Build, and finally Revision.
The update package can be made available in one or all of the following locations:
•
System inbox
•
Controller USB-port
•
FlexPendant USB-port
Note
Note that update packages may be generated from a repository that contains no
controller or system definitions, since update packages are generic and can be
applied to any number of systems.
Note
To perform a RobotWare system update, the system must be in active state and
the Controller must be in manual mode.
Note
The user needs the following UAS grants to perform an update:
•
Administration of installed systems.
•
Backup and save.
•
Update a RobotWare system.
The following procedure provides the steps involved during the update of the
RobotWare system.
Note
Action
Insert the USB-stick with the update package into
a USB-port on the controller or the FlexPendant.
1
If the update package is already available in the
system inbox, start directly with step 2.
Continues on next page
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6 RobotWare installation concept
6.3.3 Updating a RobotWare system
Note
Action
Note
If the Update button is not dis-
played, check that the user has the
required UAS grants.
Tap ABB Menu , Control Panel , and Installed
Systems .
A search if the update system package is available
at the system inbox, FlexPendant USB-port, and
controller USB-port is done. Once the search is
complete and an update package is found the
Update button is displayed.
2
Tap Update .
3
The update packages found at various locations
are displayed.
![Image]
xx1600001369
Select the update package from the required loc-
ation and tap Continue .
4
Note
If the update package is not valid
an error message is displayed and
the update package process is
cancelled.
The validation of the update package is started.
Once validated an update summary is displayed.
Tap Continue .
5
Note
A message is displayed if the sys-
tem is already up to date.
![Image]
xx1600001370
The update package is copied to the currently
active system's inbox. Once the files are copied
a message is displayed. Tap Continue .
The update confirmation message is displayed.
6
Note
If No is selected, then the update
package is saved in the controller
inbox for later use.
Tap Yes .
The system backup message is displayed.
7
Continues on next page
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Continued
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| 179
|
6.3.3 Updating a RobotWare system
Description
The most frequent RobotWare system update use case is updating one or more
products, for example, RobotWare Add-Ins. This is a frequent operation during the
commissioning time, especially on large installations. To prepare an update, an
update deployment package is created. It contains only the products that are
upgraded.
The version of the product is used for defining the upgrade. The update mechanism
compares the products already installed on the controller with those of the update
package. A product can be updated only when fulfilling both of the following
conditions:
•
The product already exists on the controller.
•
The product version of the update package is higher than the one which is
already installed, in which the order of comparing the version number
components is: first Major, then Minor, then Build, and finally Revision.
The update package can be made available in one or all of the following locations:
•
System inbox
•
Controller USB-port
•
FlexPendant USB-port
Note
Note that update packages may be generated from a repository that contains no
controller or system definitions, since update packages are generic and can be
applied to any number of systems.
Note
To perform a RobotWare system update, the system must be in active state and
the Controller must be in manual mode.
Note
The user needs the following UAS grants to perform an update:
•
Administration of installed systems.
•
Backup and save.
•
Update a RobotWare system.
The following procedure provides the steps involved during the update of the
RobotWare system.
Note
Action
Insert the USB-stick with the update package into
a USB-port on the controller or the FlexPendant.
1
If the update package is already available in the
system inbox, start directly with step 2.
Continues on next page
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6 RobotWare installation concept
6.3.3 Updating a RobotWare system
Note
Action
Note
If the Update button is not dis-
played, check that the user has the
required UAS grants.
Tap ABB Menu , Control Panel , and Installed
Systems .
A search if the update system package is available
at the system inbox, FlexPendant USB-port, and
controller USB-port is done. Once the search is
complete and an update package is found the
Update button is displayed.
2
Tap Update .
3
The update packages found at various locations
are displayed.
![Image]
xx1600001369
Select the update package from the required loc-
ation and tap Continue .
4
Note
If the update package is not valid
an error message is displayed and
the update package process is
cancelled.
The validation of the update package is started.
Once validated an update summary is displayed.
Tap Continue .
5
Note
A message is displayed if the sys-
tem is already up to date.
![Image]
xx1600001370
The update package is copied to the currently
active system's inbox. Once the files are copied
a message is displayed. Tap Continue .
The update confirmation message is displayed.
6
Note
If No is selected, then the update
package is saved in the controller
inbox for later use.
Tap Yes .
The system backup message is displayed.
7
Continues on next page
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6 RobotWare installation concept
6.3.3 Updating a RobotWare system
Continued
Note
Action
![Image]
xx1600001363
Tap Continue .
The system update process is started. Once the
update is done, the controller is restarted with the
new updated system.
8
Note
If the update fails an error message
is displayed and the update pro-
cess is terminated.
Note
During a successful update pro-
cess, the controller is restarted
automatically. If specified so by the
processed update package, the
backup created in the initial phase
of the update process is automatic-
ally loaded back into the updated
system, causing an additional re-
start.
180
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Continued
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| 180
|
Note
Action
Note
If the Update button is not dis-
played, check that the user has the
required UAS grants.
Tap ABB Menu , Control Panel , and Installed
Systems .
A search if the update system package is available
at the system inbox, FlexPendant USB-port, and
controller USB-port is done. Once the search is
complete and an update package is found the
Update button is displayed.
2
Tap Update .
3
The update packages found at various locations
are displayed.
![Image]
xx1600001369
Select the update package from the required loc-
ation and tap Continue .
4
Note
If the update package is not valid
an error message is displayed and
the update package process is
cancelled.
The validation of the update package is started.
Once validated an update summary is displayed.
Tap Continue .
5
Note
A message is displayed if the sys-
tem is already up to date.
![Image]
xx1600001370
The update package is copied to the currently
active system's inbox. Once the files are copied
a message is displayed. Tap Continue .
The update confirmation message is displayed.
6
Note
If No is selected, then the update
package is saved in the controller
inbox for later use.
Tap Yes .
The system backup message is displayed.
7
Continues on next page
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6 RobotWare installation concept
6.3.3 Updating a RobotWare system
Continued
Note
Action
![Image]
xx1600001363
Tap Continue .
The system update process is started. Once the
update is done, the controller is restarted with the
new updated system.
8
Note
If the update fails an error message
is displayed and the update pro-
cess is terminated.
Note
During a successful update pro-
cess, the controller is restarted
automatically. If specified so by the
processed update package, the
backup created in the initial phase
of the update process is automatic-
ally loaded back into the updated
system, causing an additional re-
start.
180
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6 RobotWare installation concept
6.3.3 Updating a RobotWare system
Continued
6.4 The recovery disk function
Introduction
The recovery disk function is for recreating a complete installation of RobotWare
and Add-Ins directly to a SD-card in the PC. The recovery disk function can be
found under both the Controller tab and the Repository tab in Installation Manager.
Prerequisites
The recovery disk function uses information from a backup to recreate the
RobotWare system that backup has been generated from.
For successful operation these prerequisites are needed:
•
A backup for a system using RobotWare 6.0 or later, but not later than the
version of the currently used RobotStudio.
•
All products and Add-Ins used by the backup should be located on the pc
(RPK:s and RMF:s).
•
A SD-card reader.
•
An original ABB Robotics SD-card.
•
Administrative rights on the PC.
SD-card creation procedure
1
When the disk recovery function is started, the user will be asked to browse
for the backup folder. Once a valid backup directory is selected, the Write
Disk button is active.
2
Before the Write Disk process is started, you will be asked if you want to
make a disk image for product defect report. If yes, define a file name and
where the information should be stored and then click Save . All data will be
copied from the disk to the selected location.
Note
If this function is used, RobotWare defect reports defining reasons for disk
recovery can be sent without having to send in the actual disk.
3
The program will then try to locate all products and add-ins referenced in the
selected backup. If one or more product cannot be found, a second directory
browser will appear and the user will be asked to manually locate the product
that could not be found. The program will remember the parent directory of
the selected product, and include this directory in later searches.
4
When all products are located, the user will be asked to insert a SD-card into
the computer, or if already present the user will first be asked to remove the
card. This is to ensure that SD-cards are not overwritten by mistake.
5
Once the SD-card is inserted the user is prompted to confirm that the SD-card
will be permanently overwritten. From this point on and until the operation
is complete, the SD-card will be unusable in any other sense than to be used
by the disk recovery function again.
Continues on next page
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|
Note
Action
![Image]
xx1600001363
Tap Continue .
The system update process is started. Once the
update is done, the controller is restarted with the
new updated system.
8
Note
If the update fails an error message
is displayed and the update pro-
cess is terminated.
Note
During a successful update pro-
cess, the controller is restarted
automatically. If specified so by the
processed update package, the
backup created in the initial phase
of the update process is automatic-
ally loaded back into the updated
system, causing an additional re-
start.
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6.3.3 Updating a RobotWare system
Continued
6.4 The recovery disk function
Introduction
The recovery disk function is for recreating a complete installation of RobotWare
and Add-Ins directly to a SD-card in the PC. The recovery disk function can be
found under both the Controller tab and the Repository tab in Installation Manager.
Prerequisites
The recovery disk function uses information from a backup to recreate the
RobotWare system that backup has been generated from.
For successful operation these prerequisites are needed:
•
A backup for a system using RobotWare 6.0 or later, but not later than the
version of the currently used RobotStudio.
•
All products and Add-Ins used by the backup should be located on the pc
(RPK:s and RMF:s).
•
A SD-card reader.
•
An original ABB Robotics SD-card.
•
Administrative rights on the PC.
SD-card creation procedure
1
When the disk recovery function is started, the user will be asked to browse
for the backup folder. Once a valid backup directory is selected, the Write
Disk button is active.
2
Before the Write Disk process is started, you will be asked if you want to
make a disk image for product defect report. If yes, define a file name and
where the information should be stored and then click Save . All data will be
copied from the disk to the selected location.
Note
If this function is used, RobotWare defect reports defining reasons for disk
recovery can be sent without having to send in the actual disk.
3
The program will then try to locate all products and add-ins referenced in the
selected backup. If one or more product cannot be found, a second directory
browser will appear and the user will be asked to manually locate the product
that could not be found. The program will remember the parent directory of
the selected product, and include this directory in later searches.
4
When all products are located, the user will be asked to insert a SD-card into
the computer, or if already present the user will first be asked to remove the
card. This is to ensure that SD-cards are not overwritten by mistake.
5
Once the SD-card is inserted the user is prompted to confirm that the SD-card
will be permanently overwritten. From this point on and until the operation
is complete, the SD-card will be unusable in any other sense than to be used
by the disk recovery function again.
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6.4 The recovery disk function
6
The operation is completed after about one minute, depending on the SD-card
reader performance, and the user is asked to remove the SD-card.
Installation procedure
CAUTION
Always power off the robot controller before changing the SD-card.
1
Power off the robot controller.
2
Replace the SD-card in the controller with the recovery SD-card.
3
Power on the controller.
4
The controller completes the operation by resetting the system to default
values.
The text Controller is resetting system might appear on the FlexPendant
depending on how long this operation takes.
5
The RobotWare system starts up.
For RobotWare versions greater or equal to 6.04, the backup selected in the
recovery disk creator is automatically restored.
The backup can be found with its original name in the following folder:
/hd0a/BACKUP .
Erase data from SD-card
The Clean Disk function will only work on an SD card inserted in the SD card reader
of the PC. All data on the SD card will be deleted and a boot application will be
installed.
CAUTION
The SD-card will be formatted and all information on it will be irreversibly deleted.
If any license file shall be saved, please save a backup of the system which
contains the license file on your PC.
1
Insert the SD-card to be emptied into the SD-card reader of the PC.
2
In the Robot Recovery Disk Creator , select Clean Disk and click on Write
Disk .
The cleaning may take a few minutes (a progress bar shows the progress). When
it is finished the SD-card can be removed from the PC and used in a robot controller.
A new RobotWare system can now be installed on it.
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6.4 The recovery disk function
Introduction
The recovery disk function is for recreating a complete installation of RobotWare
and Add-Ins directly to a SD-card in the PC. The recovery disk function can be
found under both the Controller tab and the Repository tab in Installation Manager.
Prerequisites
The recovery disk function uses information from a backup to recreate the
RobotWare system that backup has been generated from.
For successful operation these prerequisites are needed:
•
A backup for a system using RobotWare 6.0 or later, but not later than the
version of the currently used RobotStudio.
•
All products and Add-Ins used by the backup should be located on the pc
(RPK:s and RMF:s).
•
A SD-card reader.
•
An original ABB Robotics SD-card.
•
Administrative rights on the PC.
SD-card creation procedure
1
When the disk recovery function is started, the user will be asked to browse
for the backup folder. Once a valid backup directory is selected, the Write
Disk button is active.
2
Before the Write Disk process is started, you will be asked if you want to
make a disk image for product defect report. If yes, define a file name and
where the information should be stored and then click Save . All data will be
copied from the disk to the selected location.
Note
If this function is used, RobotWare defect reports defining reasons for disk
recovery can be sent without having to send in the actual disk.
3
The program will then try to locate all products and add-ins referenced in the
selected backup. If one or more product cannot be found, a second directory
browser will appear and the user will be asked to manually locate the product
that could not be found. The program will remember the parent directory of
the selected product, and include this directory in later searches.
4
When all products are located, the user will be asked to insert a SD-card into
the computer, or if already present the user will first be asked to remove the
card. This is to ensure that SD-cards are not overwritten by mistake.
5
Once the SD-card is inserted the user is prompted to confirm that the SD-card
will be permanently overwritten. From this point on and until the operation
is complete, the SD-card will be unusable in any other sense than to be used
by the disk recovery function again.
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6.4 The recovery disk function
6
The operation is completed after about one minute, depending on the SD-card
reader performance, and the user is asked to remove the SD-card.
Installation procedure
CAUTION
Always power off the robot controller before changing the SD-card.
1
Power off the robot controller.
2
Replace the SD-card in the controller with the recovery SD-card.
3
Power on the controller.
4
The controller completes the operation by resetting the system to default
values.
The text Controller is resetting system might appear on the FlexPendant
depending on how long this operation takes.
5
The RobotWare system starts up.
For RobotWare versions greater or equal to 6.04, the backup selected in the
recovery disk creator is automatically restored.
The backup can be found with its original name in the following folder:
/hd0a/BACKUP .
Erase data from SD-card
The Clean Disk function will only work on an SD card inserted in the SD card reader
of the PC. All data on the SD card will be deleted and a boot application will be
installed.
CAUTION
The SD-card will be formatted and all information on it will be irreversibly deleted.
If any license file shall be saved, please save a backup of the system which
contains the license file on your PC.
1
Insert the SD-card to be emptied into the SD-card reader of the PC.
2
In the Robot Recovery Disk Creator , select Clean Disk and click on Write
Disk .
The cleaning may take a few minutes (a progress bar shows the progress). When
it is finished the SD-card can be removed from the PC and used in a robot controller.
A new RobotWare system can now be installed on it.
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6 RobotWare installation concept
6.4 The recovery disk function
Continued
6.5 Limitations
Introduction
This list of limitations and known issues will help to succeed using the repository,
installation, update, and recovery in it's present state.
Repository limitations
•
Each of the products in the Products directory must have its own folder where
all files which belong to the product are stored. That is, sharing folders to
store installation files that belong to different products is not supported.
•
A system definition can only refer to one base system.
•
Duplicate selections of products and backups are possible in a system, i.e.
the same product or backup is selected in both a base system definition and
a system referring to the base system definition. This can cause a problem
if e.g. RobotWare is referred to in both the base system and the application
system but with different versions.
•
All options that exist in all products (licensed and non-licensed) are visible
and available for selection when creating and editing a system definition.
When installing the system, a check is made that the controller contains the
necessary licenses to cover the selected options. It is possible to add licenses
into the system definition in the repository and they will be included in the
installation package, however they will not restrict the user selection
possibilities when defining the system. The license check is always done
during the installation and it is based on licenses that are already present
on the controller together with licenses included in the installation package.
•
Products and backups cannot be organized in a hierarchical folder structure.
•
Currently the option selection tree structure is collapsed when opening the
panel in the system definition. The preferred way would be to expand the
tree to show the selected options upon entry.
Installation limitations
•
Automatic restore of backups is not supported.
•
Spaces and special characters in names of files and folders, for example %
and &, are not supported. The installation will fail if such characters are used.
•
It is recommended to use the USB slots on the controller rather than the USB
slot on the FlexPendant since the copying is much faster.
Update limitations
•
Update only handles update of products. It cannot add or delete products,
neither can it downgrade products nor can it change the option selection.
•
An update package must be located directly in the root folder of a USB stick.
No other files than the update package files shall exist on the USB stick,
since that may cause the update package to be rejected by the controller.
•
It is recommended to use the USB slots on the controller rather than the USB
slot on the FlexPendant since the copying is much faster.
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6
The operation is completed after about one minute, depending on the SD-card
reader performance, and the user is asked to remove the SD-card.
Installation procedure
CAUTION
Always power off the robot controller before changing the SD-card.
1
Power off the robot controller.
2
Replace the SD-card in the controller with the recovery SD-card.
3
Power on the controller.
4
The controller completes the operation by resetting the system to default
values.
The text Controller is resetting system might appear on the FlexPendant
depending on how long this operation takes.
5
The RobotWare system starts up.
For RobotWare versions greater or equal to 6.04, the backup selected in the
recovery disk creator is automatically restored.
The backup can be found with its original name in the following folder:
/hd0a/BACKUP .
Erase data from SD-card
The Clean Disk function will only work on an SD card inserted in the SD card reader
of the PC. All data on the SD card will be deleted and a boot application will be
installed.
CAUTION
The SD-card will be formatted and all information on it will be irreversibly deleted.
If any license file shall be saved, please save a backup of the system which
contains the license file on your PC.
1
Insert the SD-card to be emptied into the SD-card reader of the PC.
2
In the Robot Recovery Disk Creator , select Clean Disk and click on Write
Disk .
The cleaning may take a few minutes (a progress bar shows the progress). When
it is finished the SD-card can be removed from the PC and used in a robot controller.
A new RobotWare system can now be installed on it.
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6 RobotWare installation concept
6.4 The recovery disk function
Continued
6.5 Limitations
Introduction
This list of limitations and known issues will help to succeed using the repository,
installation, update, and recovery in it's present state.
Repository limitations
•
Each of the products in the Products directory must have its own folder where
all files which belong to the product are stored. That is, sharing folders to
store installation files that belong to different products is not supported.
•
A system definition can only refer to one base system.
•
Duplicate selections of products and backups are possible in a system, i.e.
the same product or backup is selected in both a base system definition and
a system referring to the base system definition. This can cause a problem
if e.g. RobotWare is referred to in both the base system and the application
system but with different versions.
•
All options that exist in all products (licensed and non-licensed) are visible
and available for selection when creating and editing a system definition.
When installing the system, a check is made that the controller contains the
necessary licenses to cover the selected options. It is possible to add licenses
into the system definition in the repository and they will be included in the
installation package, however they will not restrict the user selection
possibilities when defining the system. The license check is always done
during the installation and it is based on licenses that are already present
on the controller together with licenses included in the installation package.
•
Products and backups cannot be organized in a hierarchical folder structure.
•
Currently the option selection tree structure is collapsed when opening the
panel in the system definition. The preferred way would be to expand the
tree to show the selected options upon entry.
Installation limitations
•
Automatic restore of backups is not supported.
•
Spaces and special characters in names of files and folders, for example %
and &, are not supported. The installation will fail if such characters are used.
•
It is recommended to use the USB slots on the controller rather than the USB
slot on the FlexPendant since the copying is much faster.
Update limitations
•
Update only handles update of products. It cannot add or delete products,
neither can it downgrade products nor can it change the option selection.
•
An update package must be located directly in the root folder of a USB stick.
No other files than the update package files shall exist on the USB stick,
since that may cause the update package to be rejected by the controller.
•
It is recommended to use the USB slots on the controller rather than the USB
slot on the FlexPendant since the copying is much faster.
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6 RobotWare installation concept
6.5 Limitations
•
If a user has insufficient UAS grants to perform an update the Update button
will not be enabled. For description of the required grants, see Deploying
installation and update packages on page 168 .
Recovery limitations
•
Only an original ABB Robotics SD-card can be used.
•
Occasionally the recovery disk tool freezes when closing the window. Use
the Windows Task Manager to close the application.
•
Due to a limitation in windows, network drives might not be available for this
function if the UAC function of Windows® is set to prompt. There are
workarounds for this problem posted by Microsoft© and others on diverse
internet-forums.
•
To be able to manage installation compatibility this function can never make
a recovery disk with a RobotWare of version higher than the version of the
used RobotStudio.
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Continued
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6.5 Limitations
Introduction
This list of limitations and known issues will help to succeed using the repository,
installation, update, and recovery in it's present state.
Repository limitations
•
Each of the products in the Products directory must have its own folder where
all files which belong to the product are stored. That is, sharing folders to
store installation files that belong to different products is not supported.
•
A system definition can only refer to one base system.
•
Duplicate selections of products and backups are possible in a system, i.e.
the same product or backup is selected in both a base system definition and
a system referring to the base system definition. This can cause a problem
if e.g. RobotWare is referred to in both the base system and the application
system but with different versions.
•
All options that exist in all products (licensed and non-licensed) are visible
and available for selection when creating and editing a system definition.
When installing the system, a check is made that the controller contains the
necessary licenses to cover the selected options. It is possible to add licenses
into the system definition in the repository and they will be included in the
installation package, however they will not restrict the user selection
possibilities when defining the system. The license check is always done
during the installation and it is based on licenses that are already present
on the controller together with licenses included in the installation package.
•
Products and backups cannot be organized in a hierarchical folder structure.
•
Currently the option selection tree structure is collapsed when opening the
panel in the system definition. The preferred way would be to expand the
tree to show the selected options upon entry.
Installation limitations
•
Automatic restore of backups is not supported.
•
Spaces and special characters in names of files and folders, for example %
and &, are not supported. The installation will fail if such characters are used.
•
It is recommended to use the USB slots on the controller rather than the USB
slot on the FlexPendant since the copying is much faster.
Update limitations
•
Update only handles update of products. It cannot add or delete products,
neither can it downgrade products nor can it change the option selection.
•
An update package must be located directly in the root folder of a USB stick.
No other files than the update package files shall exist on the USB stick,
since that may cause the update package to be rejected by the controller.
•
It is recommended to use the USB slots on the controller rather than the USB
slot on the FlexPendant since the copying is much faster.
Continues on next page
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6 RobotWare installation concept
6.5 Limitations
•
If a user has insufficient UAS grants to perform an update the Update button
will not be enabled. For description of the required grants, see Deploying
installation and update packages on page 168 .
Recovery limitations
•
Only an original ABB Robotics SD-card can be used.
•
Occasionally the recovery disk tool freezes when closing the window. Use
the Windows Task Manager to close the application.
•
Due to a limitation in windows, network drives might not be available for this
function if the UAC function of Windows® is set to prompt. There are
workarounds for this problem posted by Microsoft© and others on diverse
internet-forums.
•
To be able to manage installation compatibility this function can never make
a recovery disk with a RobotWare of version higher than the version of the
used RobotStudio.
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6.5 Limitations
Continued
7 Calibrating
7.1 Robot calibration
About robot calibration
The procedures for fine calibration of a robot and updating revolution counters are
different for different robots. For instructions, see the product manual for the robot.
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7.1 Robot calibration
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•
If a user has insufficient UAS grants to perform an update the Update button
will not be enabled. For description of the required grants, see Deploying
installation and update packages on page 168 .
Recovery limitations
•
Only an original ABB Robotics SD-card can be used.
•
Occasionally the recovery disk tool freezes when closing the window. Use
the Windows Task Manager to close the application.
•
Due to a limitation in windows, network drives might not be available for this
function if the UAC function of Windows® is set to prompt. There are
workarounds for this problem posted by Microsoft© and others on diverse
internet-forums.
•
To be able to manage installation compatibility this function can never make
a recovery disk with a RobotWare of version higher than the version of the
used RobotStudio.
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6 RobotWare installation concept
6.5 Limitations
Continued
7 Calibrating
7.1 Robot calibration
About robot calibration
The procedures for fine calibration of a robot and updating revolution counters are
different for different robots. For instructions, see the product manual for the robot.
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7 Calibrating
7.1 Robot calibration
7.2 How to check if the robot needs calibration
Check robot calibration status
This section describes how to check the robot’s calibration status.
Action
On the ABB menu, tap Calibration .
1
In the list of mechanical units, check the calibration status.
2
What kind of calibration is needed?
then...
If the calibration status is...
the robot must be calibrated by a qualified
service technician.
Not calibrated
You must update the revolution counters.
Rev. counter update needed
How to update the revolution counters is de-
scribed in the product manual for the robot.
No calibration is needed.
Calibrated
DANGER
Do not attempt to perform the fine calibration procedure without the proper
training and tools. Doing so may result in incorrect positioning that may cause
injuries and property damage.
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7 Calibrating
7.1 Robot calibration
About robot calibration
The procedures for fine calibration of a robot and updating revolution counters are
different for different robots. For instructions, see the product manual for the robot.
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7 Calibrating
7.1 Robot calibration
7.2 How to check if the robot needs calibration
Check robot calibration status
This section describes how to check the robot’s calibration status.
Action
On the ABB menu, tap Calibration .
1
In the list of mechanical units, check the calibration status.
2
What kind of calibration is needed?
then...
If the calibration status is...
the robot must be calibrated by a qualified
service technician.
Not calibrated
You must update the revolution counters.
Rev. counter update needed
How to update the revolution counters is de-
scribed in the product manual for the robot.
No calibration is needed.
Calibrated
DANGER
Do not attempt to perform the fine calibration procedure without the proper
training and tools. Doing so may result in incorrect positioning that may cause
injuries and property damage.
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7 Calibrating
7.2 How to check if the robot needs calibration
7.3 Loading calibration data using the FlexPendant
Overview
This section describes how to load calibration data for using the FlexPendant.
The calibration data is normally stored on the serial measurement board of each
robot, regardless of whether the robot runs an absolute measurement system
( Absolute Accuracy option is installed, AbsAcc ) or not. This data is normally
transferred automatically to the controller when the system is powered up, and in
such cases no action is required by the operator.
Verify that the correct Serial Measurement Board (SMB) data has been loaded into
the system as detailed below. In a MultiMove system, this procedure must be
repeated for each robot.
Load calibration data
This table describes how to load the calibration data.
Action
On the FlexPendant, tap the ABB menu, tap Calibration , and then select a mechanical
unit.
1
Tap Manual Method (Advanced) .
2
The calibration window for the selected mechanical unit is displayed.
Tap Robot memory and then tap Show status .
3
The status for controller and robot memory is displayed.
If Valid is displayed under the headings Controller Memory and Robot memory , cal-
ibration data is correct.
4
If not, the data (on the SMB board or in the controller) must be replaced with the correct
data as detailed below:
•
If, for instance, the SMB board has been replaced, transfer the data from con-
troller to SMB board. If the controller has been replaced, transfer the data from
the SMB board to the controller.
•
Transfer data by tapping Robot Memory , Update , and then selecting which
data to update.
After loading the calibration data, proceed with updating the revolution counters.
5
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7.2 How to check if the robot needs calibration
Check robot calibration status
This section describes how to check the robot’s calibration status.
Action
On the ABB menu, tap Calibration .
1
In the list of mechanical units, check the calibration status.
2
What kind of calibration is needed?
then...
If the calibration status is...
the robot must be calibrated by a qualified
service technician.
Not calibrated
You must update the revolution counters.
Rev. counter update needed
How to update the revolution counters is de-
scribed in the product manual for the robot.
No calibration is needed.
Calibrated
DANGER
Do not attempt to perform the fine calibration procedure without the proper
training and tools. Doing so may result in incorrect positioning that may cause
injuries and property damage.
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7 Calibrating
7.2 How to check if the robot needs calibration
7.3 Loading calibration data using the FlexPendant
Overview
This section describes how to load calibration data for using the FlexPendant.
The calibration data is normally stored on the serial measurement board of each
robot, regardless of whether the robot runs an absolute measurement system
( Absolute Accuracy option is installed, AbsAcc ) or not. This data is normally
transferred automatically to the controller when the system is powered up, and in
such cases no action is required by the operator.
Verify that the correct Serial Measurement Board (SMB) data has been loaded into
the system as detailed below. In a MultiMove system, this procedure must be
repeated for each robot.
Load calibration data
This table describes how to load the calibration data.
Action
On the FlexPendant, tap the ABB menu, tap Calibration , and then select a mechanical
unit.
1
Tap Manual Method (Advanced) .
2
The calibration window for the selected mechanical unit is displayed.
Tap Robot memory and then tap Show status .
3
The status for controller and robot memory is displayed.
If Valid is displayed under the headings Controller Memory and Robot memory , cal-
ibration data is correct.
4
If not, the data (on the SMB board or in the controller) must be replaced with the correct
data as detailed below:
•
If, for instance, the SMB board has been replaced, transfer the data from con-
troller to SMB board. If the controller has been replaced, transfer the data from
the SMB board to the controller.
•
Transfer data by tapping Robot Memory , Update , and then selecting which
data to update.
After loading the calibration data, proceed with updating the revolution counters.
5
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7 Calibrating
7.3 Loading calibration data using the FlexPendant
7.4 Editing motor calibration offset
Editing motor calibration offset
This procedure should be used when no specific file with motor calibration data is
available, but only the numerical values. These values are normally found on a
sticker on the rear of the robot.
Entering motor calibration values can be done in three ways:
•
From a disk, using the FlexPendant (as detailed in section Loading calibration
data using the FlexPendant on page 187 ).
•
From a disk, using RobotStudio (as detailed in Operating
manual - RobotStudio ).
•
Manually entering the values, using the FlexPendant (as detailed in section
Editing motor calibration offset on page 188 ).
Information
Action
On the ABB menu, tap Calibration .
1
Tap to select mechanical unit and then tap Calibration
Parameters .
2
Tap Edit motor calibration offset... .
3
A dialog box is displayed, warning that updating the revolu-
tion counters may change programmed robot positions:
•
Tap Yes to proceed.
•
Tap No to cancel.
Tapping Yes results in displaying a file selection view.
Tap the axis to have its motor calibration offset edited.
4
The offset value box is opened for that particular axis.
Use the numerical keyboard to enter the value and then
tap OK .
5
After entering new offset values, a dialog box is displayed,
urging you to restart the system to make use of the new
values.
Do a warm restart if required.
Described in section Serial
measurement board
memory on page 189
After restarting, the contents of the calibration data in the
controller cabinet and on the serial measurement board
will differ.
Update the calibration data.
6
Described in the product
manual for the robot.
Update the revolution counters.
7
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7.3 Loading calibration data using the FlexPendant
Overview
This section describes how to load calibration data for using the FlexPendant.
The calibration data is normally stored on the serial measurement board of each
robot, regardless of whether the robot runs an absolute measurement system
( Absolute Accuracy option is installed, AbsAcc ) or not. This data is normally
transferred automatically to the controller when the system is powered up, and in
such cases no action is required by the operator.
Verify that the correct Serial Measurement Board (SMB) data has been loaded into
the system as detailed below. In a MultiMove system, this procedure must be
repeated for each robot.
Load calibration data
This table describes how to load the calibration data.
Action
On the FlexPendant, tap the ABB menu, tap Calibration , and then select a mechanical
unit.
1
Tap Manual Method (Advanced) .
2
The calibration window for the selected mechanical unit is displayed.
Tap Robot memory and then tap Show status .
3
The status for controller and robot memory is displayed.
If Valid is displayed under the headings Controller Memory and Robot memory , cal-
ibration data is correct.
4
If not, the data (on the SMB board or in the controller) must be replaced with the correct
data as detailed below:
•
If, for instance, the SMB board has been replaced, transfer the data from con-
troller to SMB board. If the controller has been replaced, transfer the data from
the SMB board to the controller.
•
Transfer data by tapping Robot Memory , Update , and then selecting which
data to update.
After loading the calibration data, proceed with updating the revolution counters.
5
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7 Calibrating
7.3 Loading calibration data using the FlexPendant
7.4 Editing motor calibration offset
Editing motor calibration offset
This procedure should be used when no specific file with motor calibration data is
available, but only the numerical values. These values are normally found on a
sticker on the rear of the robot.
Entering motor calibration values can be done in three ways:
•
From a disk, using the FlexPendant (as detailed in section Loading calibration
data using the FlexPendant on page 187 ).
•
From a disk, using RobotStudio (as detailed in Operating
manual - RobotStudio ).
•
Manually entering the values, using the FlexPendant (as detailed in section
Editing motor calibration offset on page 188 ).
Information
Action
On the ABB menu, tap Calibration .
1
Tap to select mechanical unit and then tap Calibration
Parameters .
2
Tap Edit motor calibration offset... .
3
A dialog box is displayed, warning that updating the revolu-
tion counters may change programmed robot positions:
•
Tap Yes to proceed.
•
Tap No to cancel.
Tapping Yes results in displaying a file selection view.
Tap the axis to have its motor calibration offset edited.
4
The offset value box is opened for that particular axis.
Use the numerical keyboard to enter the value and then
tap OK .
5
After entering new offset values, a dialog box is displayed,
urging you to restart the system to make use of the new
values.
Do a warm restart if required.
Described in section Serial
measurement board
memory on page 189
After restarting, the contents of the calibration data in the
controller cabinet and on the serial measurement board
will differ.
Update the calibration data.
6
Described in the product
manual for the robot.
Update the revolution counters.
7
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7 Calibrating
7.4 Editing motor calibration offset
7.5 Serial measurement board memory
Serial measurement board (SMB)
The serial measurement board (SMB) primarily gathers resolver data from the
robot’s (or additional axes) motors. This data is used to measure the speed and
position of each axis. Each SMB is capable of measuring up to 7 axes. It also stores
a number of data pertaining to each robot.
This data is used by the controller and can be transferred between the SMB and
the controller. Normally, the data is transferred automatically, but it can also be
done manually.
The SMB data is affected when:
•
The robot is replaced
•
The SMB is replaced
•
The controller (or its flash disk or mass memory unit) is replaced.
•
Updating with new calibration data
The following data is stored on the SMB:
•
Serial number for the mechanical unit
•
Joint calibration data
•
Absolute accuracy data
•
SIS data (Service Information System)
Note that if the IRC5 controller is to be connected to a robot with an older SMB,
not equipped with data storage capability, the SMB must be replaced.
SMB data update
then...
If...
the data stored in the SMB is automatically
copied to the controller memory.
the flash disk or mass memory or the com-
plete controller is new or replaced by an un-
used spare part...
the data stored in the controller memory is
automatically copied to the robot SMB
memory.
the SMB is replaced by a new, unused, spare
part SMB...
the data in the controller memory and the
robot SMB memory is different. You must
update the controller memory manually
from the the robot SMB memory.
the flash disk or the complete controller is
replaced by a spare part, previously used in
another system...
the data in the controller memory and the
robot SMB memory is different. You must
first clear the data in the new robot SMB
memory , and then update the robot SMB
memory with the data from the controller
memory.
the SMB is replaced by a spare part SMB,
previously used in another system...
the data in the controller memory and the
robot SMB memory is different. You must
update the robot SMB memory manually
from the controller memory.
new calibration data has been loaded via
RobotStudio or using the FlexPendant and
the system has been restarted...
Check that the new calibration values belong
to a manipulator with the serial number
defined in your system.
Continues on next page
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7.4 Editing motor calibration offset
Editing motor calibration offset
This procedure should be used when no specific file with motor calibration data is
available, but only the numerical values. These values are normally found on a
sticker on the rear of the robot.
Entering motor calibration values can be done in three ways:
•
From a disk, using the FlexPendant (as detailed in section Loading calibration
data using the FlexPendant on page 187 ).
•
From a disk, using RobotStudio (as detailed in Operating
manual - RobotStudio ).
•
Manually entering the values, using the FlexPendant (as detailed in section
Editing motor calibration offset on page 188 ).
Information
Action
On the ABB menu, tap Calibration .
1
Tap to select mechanical unit and then tap Calibration
Parameters .
2
Tap Edit motor calibration offset... .
3
A dialog box is displayed, warning that updating the revolu-
tion counters may change programmed robot positions:
•
Tap Yes to proceed.
•
Tap No to cancel.
Tapping Yes results in displaying a file selection view.
Tap the axis to have its motor calibration offset edited.
4
The offset value box is opened for that particular axis.
Use the numerical keyboard to enter the value and then
tap OK .
5
After entering new offset values, a dialog box is displayed,
urging you to restart the system to make use of the new
values.
Do a warm restart if required.
Described in section Serial
measurement board
memory on page 189
After restarting, the contents of the calibration data in the
controller cabinet and on the serial measurement board
will differ.
Update the calibration data.
6
Described in the product
manual for the robot.
Update the revolution counters.
7
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7 Calibrating
7.4 Editing motor calibration offset
7.5 Serial measurement board memory
Serial measurement board (SMB)
The serial measurement board (SMB) primarily gathers resolver data from the
robot’s (or additional axes) motors. This data is used to measure the speed and
position of each axis. Each SMB is capable of measuring up to 7 axes. It also stores
a number of data pertaining to each robot.
This data is used by the controller and can be transferred between the SMB and
the controller. Normally, the data is transferred automatically, but it can also be
done manually.
The SMB data is affected when:
•
The robot is replaced
•
The SMB is replaced
•
The controller (or its flash disk or mass memory unit) is replaced.
•
Updating with new calibration data
The following data is stored on the SMB:
•
Serial number for the mechanical unit
•
Joint calibration data
•
Absolute accuracy data
•
SIS data (Service Information System)
Note that if the IRC5 controller is to be connected to a robot with an older SMB,
not equipped with data storage capability, the SMB must be replaced.
SMB data update
then...
If...
the data stored in the SMB is automatically
copied to the controller memory.
the flash disk or mass memory or the com-
plete controller is new or replaced by an un-
used spare part...
the data stored in the controller memory is
automatically copied to the robot SMB
memory.
the SMB is replaced by a new, unused, spare
part SMB...
the data in the controller memory and the
robot SMB memory is different. You must
update the controller memory manually
from the the robot SMB memory.
the flash disk or the complete controller is
replaced by a spare part, previously used in
another system...
the data in the controller memory and the
robot SMB memory is different. You must
first clear the data in the new robot SMB
memory , and then update the robot SMB
memory with the data from the controller
memory.
the SMB is replaced by a spare part SMB,
previously used in another system...
the data in the controller memory and the
robot SMB memory is different. You must
update the robot SMB memory manually
from the controller memory.
new calibration data has been loaded via
RobotStudio or using the FlexPendant and
the system has been restarted...
Check that the new calibration values belong
to a manipulator with the serial number
defined in your system.
Continues on next page
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7 Calibrating
7.5 Serial measurement board memory
View SMB data status
This section describes how to view the data status in the serial measurement board
and the controller.
Action
On the ABB menu, tap Calibration and select a mechanical unit.
1
Tap Robot Memory and then tap Show status .
2
The data is displayed with status on the controller memory and on the robot SMB
memory.
Update controller data from robot SMB memory
This section describes how to load data from the serial measurement board to the
controller.
Information
Action
On the ABB menu, tap Calibration and select a mechan-
ical unit.
1
Tap Robot Memory and then tap Update .
2
It is vital that you load calib-
ration data correctly.
Tap the button Cabinet or manipulator has been ex-
changed .
3
A warning is displayed. Tap Yes to proceed or No to
cancel.
The following data is up-
dated:
•
Serial numbers for
mechanical units
•
Calibration data
•
Absolute accuracy
data
•
SIS data
The data is loaded. Tap Yes to acknowledge and restart
the robot system.
4
Update data in robot SMB memory
This section describes how to update data on the serial measurement board from
the controller. This is e.g. after calibration data has been loaded to the controller
via RobotStudio or using the FlexPendant.
If the SMB already contains data, you must first clear the memory, see Delete SMB
data on page 191 .
Information
Action
On the ABB menu, tap Calibration and select a mechan-
ical unit.
1
Tap Robot Memory and then tap Update .
2
It is vital that you load calibra-
tion data correctly.
Tap the button Serial measurement board has been
replaced .
3
A warning is displayed. Tap Yes to proceed or No to
cancel.
The data is updated.
4
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7 Calibrating
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7.5 Serial measurement board memory
Serial measurement board (SMB)
The serial measurement board (SMB) primarily gathers resolver data from the
robot’s (or additional axes) motors. This data is used to measure the speed and
position of each axis. Each SMB is capable of measuring up to 7 axes. It also stores
a number of data pertaining to each robot.
This data is used by the controller and can be transferred between the SMB and
the controller. Normally, the data is transferred automatically, but it can also be
done manually.
The SMB data is affected when:
•
The robot is replaced
•
The SMB is replaced
•
The controller (or its flash disk or mass memory unit) is replaced.
•
Updating with new calibration data
The following data is stored on the SMB:
•
Serial number for the mechanical unit
•
Joint calibration data
•
Absolute accuracy data
•
SIS data (Service Information System)
Note that if the IRC5 controller is to be connected to a robot with an older SMB,
not equipped with data storage capability, the SMB must be replaced.
SMB data update
then...
If...
the data stored in the SMB is automatically
copied to the controller memory.
the flash disk or mass memory or the com-
plete controller is new or replaced by an un-
used spare part...
the data stored in the controller memory is
automatically copied to the robot SMB
memory.
the SMB is replaced by a new, unused, spare
part SMB...
the data in the controller memory and the
robot SMB memory is different. You must
update the controller memory manually
from the the robot SMB memory.
the flash disk or the complete controller is
replaced by a spare part, previously used in
another system...
the data in the controller memory and the
robot SMB memory is different. You must
first clear the data in the new robot SMB
memory , and then update the robot SMB
memory with the data from the controller
memory.
the SMB is replaced by a spare part SMB,
previously used in another system...
the data in the controller memory and the
robot SMB memory is different. You must
update the robot SMB memory manually
from the controller memory.
new calibration data has been loaded via
RobotStudio or using the FlexPendant and
the system has been restarted...
Check that the new calibration values belong
to a manipulator with the serial number
defined in your system.
Continues on next page
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7 Calibrating
7.5 Serial measurement board memory
View SMB data status
This section describes how to view the data status in the serial measurement board
and the controller.
Action
On the ABB menu, tap Calibration and select a mechanical unit.
1
Tap Robot Memory and then tap Show status .
2
The data is displayed with status on the controller memory and on the robot SMB
memory.
Update controller data from robot SMB memory
This section describes how to load data from the serial measurement board to the
controller.
Information
Action
On the ABB menu, tap Calibration and select a mechan-
ical unit.
1
Tap Robot Memory and then tap Update .
2
It is vital that you load calib-
ration data correctly.
Tap the button Cabinet or manipulator has been ex-
changed .
3
A warning is displayed. Tap Yes to proceed or No to
cancel.
The following data is up-
dated:
•
Serial numbers for
mechanical units
•
Calibration data
•
Absolute accuracy
data
•
SIS data
The data is loaded. Tap Yes to acknowledge and restart
the robot system.
4
Update data in robot SMB memory
This section describes how to update data on the serial measurement board from
the controller. This is e.g. after calibration data has been loaded to the controller
via RobotStudio or using the FlexPendant.
If the SMB already contains data, you must first clear the memory, see Delete SMB
data on page 191 .
Information
Action
On the ABB menu, tap Calibration and select a mechan-
ical unit.
1
Tap Robot Memory and then tap Update .
2
It is vital that you load calibra-
tion data correctly.
Tap the button Serial measurement board has been
replaced .
3
A warning is displayed. Tap Yes to proceed or No to
cancel.
The data is updated.
4
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7 Calibrating
7.5 Serial measurement board memory
Continued
Delete SMB data
This section describes how to delete the data stored on the robot SMB memory or
the controller memory when creating spare parts.
Action
On the ABB menu, tap Calibration and tap to select a mechanical unit.
1
Tap Robot Memory and then tap Advanced .
2
The following functions are available:
•
Clear controller memory
•
Clear robot memory
Tap Clear Controller Memory if the controller should be replaced and used as a spare
part.
3
A list of the SMB data stored in the controller is displayed. Tap Clear to delete the
controller memory for the selected robot. Repeat the procedure for all robots in the
controller memory.
Tap Clear Robot Memory if the SMB should be replaced and used as a spare part.
4
A list of the SMB data stored in the robot SMB memory is displayed. Tap Clear to delete
the memory for the selected robot. Repeat the procedure for all robots using this SMB
board.
Related information
Operating manual - RobotStudio .
Operating manual - Service Information System .
Application manual - Controller software IRC5
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7 Calibrating
7.5 Serial measurement board memory
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View SMB data status
This section describes how to view the data status in the serial measurement board
and the controller.
Action
On the ABB menu, tap Calibration and select a mechanical unit.
1
Tap Robot Memory and then tap Show status .
2
The data is displayed with status on the controller memory and on the robot SMB
memory.
Update controller data from robot SMB memory
This section describes how to load data from the serial measurement board to the
controller.
Information
Action
On the ABB menu, tap Calibration and select a mechan-
ical unit.
1
Tap Robot Memory and then tap Update .
2
It is vital that you load calib-
ration data correctly.
Tap the button Cabinet or manipulator has been ex-
changed .
3
A warning is displayed. Tap Yes to proceed or No to
cancel.
The following data is up-
dated:
•
Serial numbers for
mechanical units
•
Calibration data
•
Absolute accuracy
data
•
SIS data
The data is loaded. Tap Yes to acknowledge and restart
the robot system.
4
Update data in robot SMB memory
This section describes how to update data on the serial measurement board from
the controller. This is e.g. after calibration data has been loaded to the controller
via RobotStudio or using the FlexPendant.
If the SMB already contains data, you must first clear the memory, see Delete SMB
data on page 191 .
Information
Action
On the ABB menu, tap Calibration and select a mechan-
ical unit.
1
Tap Robot Memory and then tap Update .
2
It is vital that you load calibra-
tion data correctly.
Tap the button Serial measurement board has been
replaced .
3
A warning is displayed. Tap Yes to proceed or No to
cancel.
The data is updated.
4
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7 Calibrating
7.5 Serial measurement board memory
Continued
Delete SMB data
This section describes how to delete the data stored on the robot SMB memory or
the controller memory when creating spare parts.
Action
On the ABB menu, tap Calibration and tap to select a mechanical unit.
1
Tap Robot Memory and then tap Advanced .
2
The following functions are available:
•
Clear controller memory
•
Clear robot memory
Tap Clear Controller Memory if the controller should be replaced and used as a spare
part.
3
A list of the SMB data stored in the controller is displayed. Tap Clear to delete the
controller memory for the selected robot. Repeat the procedure for all robots in the
controller memory.
Tap Clear Robot Memory if the SMB should be replaced and used as a spare part.
4
A list of the SMB data stored in the robot SMB memory is displayed. Tap Clear to delete
the memory for the selected robot. Repeat the procedure for all robots using this SMB
board.
Related information
Operating manual - RobotStudio .
Operating manual - Service Information System .
Application manual - Controller software IRC5
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7 Calibrating
7.5 Serial measurement board memory
Continued
7.6 4 points XZ calibration
Base Frame calibration
This section describes the 4 points XZ calibration, in the Base Frame calibration
options. Other calibration methods can be available in this menu depending on
your installed options.
Overview
This section describes how to define the base frame using the 4 points XZ method.
This method can move and rotate the base frame in relation to the world frame.
Normally the base frame is centered and aligned with the world frame. Note that
the base frame is fixed to the base of the robot.
xx0400000782
Displacement distance between base frame and world frame
A
Elongator point Z’
B
Elongator point X’
C
X-axis in the base frame
X
Y-axis in the base frame
Y
Z-axis in the base frame
Z
X-axis in the world frame
X'
Y-axis in the world frame
Y'
Z-axis in the world frame
Z'
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7 Calibrating
7.6 4 points XZ calibration
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Delete SMB data
This section describes how to delete the data stored on the robot SMB memory or
the controller memory when creating spare parts.
Action
On the ABB menu, tap Calibration and tap to select a mechanical unit.
1
Tap Robot Memory and then tap Advanced .
2
The following functions are available:
•
Clear controller memory
•
Clear robot memory
Tap Clear Controller Memory if the controller should be replaced and used as a spare
part.
3
A list of the SMB data stored in the controller is displayed. Tap Clear to delete the
controller memory for the selected robot. Repeat the procedure for all robots in the
controller memory.
Tap Clear Robot Memory if the SMB should be replaced and used as a spare part.
4
A list of the SMB data stored in the robot SMB memory is displayed. Tap Clear to delete
the memory for the selected robot. Repeat the procedure for all robots using this SMB
board.
Related information
Operating manual - RobotStudio .
Operating manual - Service Information System .
Application manual - Controller software IRC5
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191
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7 Calibrating
7.5 Serial measurement board memory
Continued
7.6 4 points XZ calibration
Base Frame calibration
This section describes the 4 points XZ calibration, in the Base Frame calibration
options. Other calibration methods can be available in this menu depending on
your installed options.
Overview
This section describes how to define the base frame using the 4 points XZ method.
This method can move and rotate the base frame in relation to the world frame.
Normally the base frame is centered and aligned with the world frame. Note that
the base frame is fixed to the base of the robot.
xx0400000782
Displacement distance between base frame and world frame
A
Elongator point Z’
B
Elongator point X’
C
X-axis in the base frame
X
Y-axis in the base frame
Y
Z-axis in the base frame
Z
X-axis in the world frame
X'
Y-axis in the world frame
Y'
Z-axis in the world frame
Z'
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7 Calibrating
7.6 4 points XZ calibration
Fixed reference Position
The calibration procedure requires that the tip of the tool is calibrated against a
fixed reference position. The fixed position could be a manufactured World fixed
tip device to facilitate finding the elongator points. The fixed reference position is
the distance in meters (in (x,y,z)) between the fixed position and the world frame.
Calibrate_xx
Running 4 points XZ calibration
Information
Action
On the ABB menu, tap Calibration and select a mechan-
ical unit. Then tap Base Frame .
1
Tap 4 points XZ... .
2
Set up a fixed reference position within the working range
of the robot.
3
Tap ... to change reference point. Enter the coordinates
of the fixed reference position (in meters).
4
A numerical keyboard and boxes for X, Y and Z values
are displayed.
If the calibration positions exists in a file, follow the in-
structions below. Otherwise proceed to the next step
•
Tap Positions menu and then Load the file con-
taining the values.
5
Tap Point 1 to highlight the line.
6
Manually jog the robot to the previously fixed reference
point.
7
Tap Modify position .
8
Modified is displayed on the status line.
Repeat these steps until
points 1, 2, 3, and 4 have
been modified.
Re-orient the robot and again, run it to the reference point
but from a different angle.
9
The imaginary X-axis is
shown in the illustration
above.
Tap Elongator X and manually run the robot to a position
where the tool center point (TCP) touches an imaginary
extension of the X-axis.
10
Repeat these steps to modify
Elongator Z .
Tap Modify position .
Modified is displayed on the status line.
11
To save the entered transformation data to a file, tap the
Positions menu and then Save . Enter the name of the
file and then tap OK .
12
Continues on next page
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7 Calibrating
7.6 4 points XZ calibration
Continued
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7.6 4 points XZ calibration
Base Frame calibration
This section describes the 4 points XZ calibration, in the Base Frame calibration
options. Other calibration methods can be available in this menu depending on
your installed options.
Overview
This section describes how to define the base frame using the 4 points XZ method.
This method can move and rotate the base frame in relation to the world frame.
Normally the base frame is centered and aligned with the world frame. Note that
the base frame is fixed to the base of the robot.
xx0400000782
Displacement distance between base frame and world frame
A
Elongator point Z’
B
Elongator point X’
C
X-axis in the base frame
X
Y-axis in the base frame
Y
Z-axis in the base frame
Z
X-axis in the world frame
X'
Y-axis in the world frame
Y'
Z-axis in the world frame
Z'
Continues on next page
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7 Calibrating
7.6 4 points XZ calibration
Fixed reference Position
The calibration procedure requires that the tip of the tool is calibrated against a
fixed reference position. The fixed position could be a manufactured World fixed
tip device to facilitate finding the elongator points. The fixed reference position is
the distance in meters (in (x,y,z)) between the fixed position and the world frame.
Calibrate_xx
Running 4 points XZ calibration
Information
Action
On the ABB menu, tap Calibration and select a mechan-
ical unit. Then tap Base Frame .
1
Tap 4 points XZ... .
2
Set up a fixed reference position within the working range
of the robot.
3
Tap ... to change reference point. Enter the coordinates
of the fixed reference position (in meters).
4
A numerical keyboard and boxes for X, Y and Z values
are displayed.
If the calibration positions exists in a file, follow the in-
structions below. Otherwise proceed to the next step
•
Tap Positions menu and then Load the file con-
taining the values.
5
Tap Point 1 to highlight the line.
6
Manually jog the robot to the previously fixed reference
point.
7
Tap Modify position .
8
Modified is displayed on the status line.
Repeat these steps until
points 1, 2, 3, and 4 have
been modified.
Re-orient the robot and again, run it to the reference point
but from a different angle.
9
The imaginary X-axis is
shown in the illustration
above.
Tap Elongator X and manually run the robot to a position
where the tool center point (TCP) touches an imaginary
extension of the X-axis.
10
Repeat these steps to modify
Elongator Z .
Tap Modify position .
Modified is displayed on the status line.
11
To save the entered transformation data to a file, tap the
Positions menu and then Save . Enter the name of the
file and then tap OK .
12
Continues on next page
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7 Calibrating
7.6 4 points XZ calibration
Continued
Information
Action
To delete all entered transformation data, tap the Posi-
tions menu and then Reset All .
13
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7 Calibrating
7.6 4 points XZ calibration
Continued
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| 194
|
Fixed reference Position
The calibration procedure requires that the tip of the tool is calibrated against a
fixed reference position. The fixed position could be a manufactured World fixed
tip device to facilitate finding the elongator points. The fixed reference position is
the distance in meters (in (x,y,z)) between the fixed position and the world frame.
Calibrate_xx
Running 4 points XZ calibration
Information
Action
On the ABB menu, tap Calibration and select a mechan-
ical unit. Then tap Base Frame .
1
Tap 4 points XZ... .
2
Set up a fixed reference position within the working range
of the robot.
3
Tap ... to change reference point. Enter the coordinates
of the fixed reference position (in meters).
4
A numerical keyboard and boxes for X, Y and Z values
are displayed.
If the calibration positions exists in a file, follow the in-
structions below. Otherwise proceed to the next step
•
Tap Positions menu and then Load the file con-
taining the values.
5
Tap Point 1 to highlight the line.
6
Manually jog the robot to the previously fixed reference
point.
7
Tap Modify position .
8
Modified is displayed on the status line.
Repeat these steps until
points 1, 2, 3, and 4 have
been modified.
Re-orient the robot and again, run it to the reference point
but from a different angle.
9
The imaginary X-axis is
shown in the illustration
above.
Tap Elongator X and manually run the robot to a position
where the tool center point (TCP) touches an imaginary
extension of the X-axis.
10
Repeat these steps to modify
Elongator Z .
Tap Modify position .
Modified is displayed on the status line.
11
To save the entered transformation data to a file, tap the
Positions menu and then Save . Enter the name of the
file and then tap OK .
12
Continues on next page
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7 Calibrating
7.6 4 points XZ calibration
Continued
Information
Action
To delete all entered transformation data, tap the Posi-
tions menu and then Reset All .
13
194
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7 Calibrating
7.6 4 points XZ calibration
Continued
8 Descriptions of terms and concepts
8.1 What is the tool center point?
Illustration
The illustration shows how the tool center point (TCP) is the point around which
the orientation of the tool/manipulator wrist is being defined.
xx0300000604
Description
The tool center point (TCP) is the point in relation to which all robot positioning is
defined. Usually the TCP is defined as relative to a position on the manipulator
turning disk.
CAUTION
Incorrect settings for the TCP will result in incorrect speed. Always verify the
speed after changing the settings.
The TCP will be jogged or moved to the programmed target position. The tool
center point also constitutes the origin of the tool coordinate system.
The robot system can handle a number of TCP definitions, but only one can be
active at any one time.
There are two basic types of TCPs: moveable or stationary.
Moving TCP
The vast majority of all applications deal with moving TCP, i.e. a TCP that moves
in space along with the manipulator.
A typical moving TCP can be defined in relation to, for example the tip of a arc
welding gun, the center of a spot welding gun, or the end of a grading tool.
Continues on next page
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8 Descriptions of terms and concepts
8.1 What is the tool center point?
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Information
Action
To delete all entered transformation data, tap the Posi-
tions menu and then Reset All .
13
194
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7 Calibrating
7.6 4 points XZ calibration
Continued
8 Descriptions of terms and concepts
8.1 What is the tool center point?
Illustration
The illustration shows how the tool center point (TCP) is the point around which
the orientation of the tool/manipulator wrist is being defined.
xx0300000604
Description
The tool center point (TCP) is the point in relation to which all robot positioning is
defined. Usually the TCP is defined as relative to a position on the manipulator
turning disk.
CAUTION
Incorrect settings for the TCP will result in incorrect speed. Always verify the
speed after changing the settings.
The TCP will be jogged or moved to the programmed target position. The tool
center point also constitutes the origin of the tool coordinate system.
The robot system can handle a number of TCP definitions, but only one can be
active at any one time.
There are two basic types of TCPs: moveable or stationary.
Moving TCP
The vast majority of all applications deal with moving TCP, i.e. a TCP that moves
in space along with the manipulator.
A typical moving TCP can be defined in relation to, for example the tip of a arc
welding gun, the center of a spot welding gun, or the end of a grading tool.
Continues on next page
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8 Descriptions of terms and concepts
8.1 What is the tool center point?
Stationary TCP
In some applications a stationary TCP is used, for example when a stationary spot
welding gun is used. In such cases the TCP can be defined in relation to the
stationary equipment instead of the moving manipulator.
196
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8 Descriptions of terms and concepts
8.1 What is the tool center point?
Continued
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| 196
|
8 Descriptions of terms and concepts
8.1 What is the tool center point?
Illustration
The illustration shows how the tool center point (TCP) is the point around which
the orientation of the tool/manipulator wrist is being defined.
xx0300000604
Description
The tool center point (TCP) is the point in relation to which all robot positioning is
defined. Usually the TCP is defined as relative to a position on the manipulator
turning disk.
CAUTION
Incorrect settings for the TCP will result in incorrect speed. Always verify the
speed after changing the settings.
The TCP will be jogged or moved to the programmed target position. The tool
center point also constitutes the origin of the tool coordinate system.
The robot system can handle a number of TCP definitions, but only one can be
active at any one time.
There are two basic types of TCPs: moveable or stationary.
Moving TCP
The vast majority of all applications deal with moving TCP, i.e. a TCP that moves
in space along with the manipulator.
A typical moving TCP can be defined in relation to, for example the tip of a arc
welding gun, the center of a spot welding gun, or the end of a grading tool.
Continues on next page
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8 Descriptions of terms and concepts
8.1 What is the tool center point?
Stationary TCP
In some applications a stationary TCP is used, for example when a stationary spot
welding gun is used. In such cases the TCP can be defined in relation to the
stationary equipment instead of the moving manipulator.
196
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8 Descriptions of terms and concepts
8.1 What is the tool center point?
Continued
8.2 What is a work object?
Illustration
Z
X
Y
Z
X
Y
Z
X
Y
en0400000819
Description
A work object is a coordinate system with specific properties attached to it. It is
mainly used to simplify programming when editing programs due to displacements
of specific tasks, objects processes etc.
The work object coordinate system must be defined in two frames, the user frame
(related to the world frame) and the object frame (related to the user frame).
Work objects are often created to simplify jogging along the object’s surfaces.
There might be several different work objects created so you must choose which
one to use for jogging.
Payloads are important when working with grippers. In order to position and
manipulate an object as accurate as possible its weight must be accounted for.
You must choose which one to use for jogging.
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8 Descriptions of terms and concepts
8.2 What is a work object?
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| 197
|
Stationary TCP
In some applications a stationary TCP is used, for example when a stationary spot
welding gun is used. In such cases the TCP can be defined in relation to the
stationary equipment instead of the moving manipulator.
196
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8 Descriptions of terms and concepts
8.1 What is the tool center point?
Continued
8.2 What is a work object?
Illustration
Z
X
Y
Z
X
Y
Z
X
Y
en0400000819
Description
A work object is a coordinate system with specific properties attached to it. It is
mainly used to simplify programming when editing programs due to displacements
of specific tasks, objects processes etc.
The work object coordinate system must be defined in two frames, the user frame
(related to the world frame) and the object frame (related to the user frame).
Work objects are often created to simplify jogging along the object’s surfaces.
There might be several different work objects created so you must choose which
one to use for jogging.
Payloads are important when working with grippers. In order to position and
manipulate an object as accurate as possible its weight must be accounted for.
You must choose which one to use for jogging.
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8 Descriptions of terms and concepts
8.2 What is a work object?
8.3 What is a coordinate system?
Overview
A coordinate system defines a plane or space by axes from a fixed point called
the origin. Robot targets and positions are located by measurements along the
axes of coordinate systems.
A robot uses several coordinate systems, each suitable for specific types of jogging
or programming.
•
The base coordinate system is located at the base of the robot. It is the
easiest one for just moving the robot from one position to another. See The
base coordinate system on page 199 for more information.
•
The world coordinate system that defines the robot cell, all other coordinate
systems are related to the world coordinate system, either directly or
indirectly. It is useful for jogging, general movements and for handling stations
and cells with several robots or robots moved by additional axes. See The
world coordinate system on page 200 for more information.
•
The user coordinate system is useful for representing equipment that holds
other coordinate systems, like work objects. See The user coordinate system
on page 201 for more information.
•
The work object coordinate system is related to the work piece and is often
the best one for programming the robot. See The work object coordinate
system on page 202 for more information.
•
The tool coordinate system defines the position of the tool the robot uses
when reaching the programmed targets. See The tool coordinate system on
page 203 for more information.
Continues on next page
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8 Descriptions of terms and concepts
8.3 What is a coordinate system?
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| 198
|
8.2 What is a work object?
Illustration
Z
X
Y
Z
X
Y
Z
X
Y
en0400000819
Description
A work object is a coordinate system with specific properties attached to it. It is
mainly used to simplify programming when editing programs due to displacements
of specific tasks, objects processes etc.
The work object coordinate system must be defined in two frames, the user frame
(related to the world frame) and the object frame (related to the user frame).
Work objects are often created to simplify jogging along the object’s surfaces.
There might be several different work objects created so you must choose which
one to use for jogging.
Payloads are important when working with grippers. In order to position and
manipulate an object as accurate as possible its weight must be accounted for.
You must choose which one to use for jogging.
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8 Descriptions of terms and concepts
8.2 What is a work object?
8.3 What is a coordinate system?
Overview
A coordinate system defines a plane or space by axes from a fixed point called
the origin. Robot targets and positions are located by measurements along the
axes of coordinate systems.
A robot uses several coordinate systems, each suitable for specific types of jogging
or programming.
•
The base coordinate system is located at the base of the robot. It is the
easiest one for just moving the robot from one position to another. See The
base coordinate system on page 199 for more information.
•
The world coordinate system that defines the robot cell, all other coordinate
systems are related to the world coordinate system, either directly or
indirectly. It is useful for jogging, general movements and for handling stations
and cells with several robots or robots moved by additional axes. See The
world coordinate system on page 200 for more information.
•
The user coordinate system is useful for representing equipment that holds
other coordinate systems, like work objects. See The user coordinate system
on page 201 for more information.
•
The work object coordinate system is related to the work piece and is often
the best one for programming the robot. See The work object coordinate
system on page 202 for more information.
•
The tool coordinate system defines the position of the tool the robot uses
when reaching the programmed targets. See The tool coordinate system on
page 203 for more information.
Continues on next page
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8 Descriptions of terms and concepts
8.3 What is a coordinate system?
The base coordinate system
xx0300000495
The base coordinate system has its zero point in the base of the robot, which makes
movements predictable for fixed mounted robots. It is therefore useful for jogging
a robot from one position to another. For programming a robot, other coordinate
systems, like the work object coordinate system are often better choices. See The
work object coordinate system on page 202 for more information.
When you are standing in front of the robot and jog in the base coordinate system,
in a normally configured robot system, pulling the joystick towards you will move
the robot along the X axis, while moving the joystick to the sides will move the
robot along the Y axis. Twisting the joystick will move the robot along the Z axis.
Continues on next page
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8 Descriptions of terms and concepts
8.3 What is a coordinate system?
Continued
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| 199
|
8.3 What is a coordinate system?
Overview
A coordinate system defines a plane or space by axes from a fixed point called
the origin. Robot targets and positions are located by measurements along the
axes of coordinate systems.
A robot uses several coordinate systems, each suitable for specific types of jogging
or programming.
•
The base coordinate system is located at the base of the robot. It is the
easiest one for just moving the robot from one position to another. See The
base coordinate system on page 199 for more information.
•
The world coordinate system that defines the robot cell, all other coordinate
systems are related to the world coordinate system, either directly or
indirectly. It is useful for jogging, general movements and for handling stations
and cells with several robots or robots moved by additional axes. See The
world coordinate system on page 200 for more information.
•
The user coordinate system is useful for representing equipment that holds
other coordinate systems, like work objects. See The user coordinate system
on page 201 for more information.
•
The work object coordinate system is related to the work piece and is often
the best one for programming the robot. See The work object coordinate
system on page 202 for more information.
•
The tool coordinate system defines the position of the tool the robot uses
when reaching the programmed targets. See The tool coordinate system on
page 203 for more information.
Continues on next page
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8 Descriptions of terms and concepts
8.3 What is a coordinate system?
The base coordinate system
xx0300000495
The base coordinate system has its zero point in the base of the robot, which makes
movements predictable for fixed mounted robots. It is therefore useful for jogging
a robot from one position to another. For programming a robot, other coordinate
systems, like the work object coordinate system are often better choices. See The
work object coordinate system on page 202 for more information.
When you are standing in front of the robot and jog in the base coordinate system,
in a normally configured robot system, pulling the joystick towards you will move
the robot along the X axis, while moving the joystick to the sides will move the
robot along the Y axis. Twisting the joystick will move the robot along the Z axis.
Continues on next page
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8 Descriptions of terms and concepts
8.3 What is a coordinate system?
Continued
The world coordinate system
en0300000496
Base coordinate system for robot 1
A
World coordinate
B
Base coordinate system for robot 2
C
The world coordinate system has its zero point on a fixed position in the cell or
station. This makes it useful for handling several robots or robots moved by
additional axes.
By default the world coordinate system coincides with the base coordinate system.
Continues on next page
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8 Descriptions of terms and concepts
8.3 What is a coordinate system?
Continued
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| 200
|
The base coordinate system
xx0300000495
The base coordinate system has its zero point in the base of the robot, which makes
movements predictable for fixed mounted robots. It is therefore useful for jogging
a robot from one position to another. For programming a robot, other coordinate
systems, like the work object coordinate system are often better choices. See The
work object coordinate system on page 202 for more information.
When you are standing in front of the robot and jog in the base coordinate system,
in a normally configured robot system, pulling the joystick towards you will move
the robot along the X axis, while moving the joystick to the sides will move the
robot along the Y axis. Twisting the joystick will move the robot along the Z axis.
Continues on next page
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8 Descriptions of terms and concepts
8.3 What is a coordinate system?
Continued
The world coordinate system
en0300000496
Base coordinate system for robot 1
A
World coordinate
B
Base coordinate system for robot 2
C
The world coordinate system has its zero point on a fixed position in the cell or
station. This makes it useful for handling several robots or robots moved by
additional axes.
By default the world coordinate system coincides with the base coordinate system.
Continues on next page
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8 Descriptions of terms and concepts
8.3 What is a coordinate system?
Continued
The user coordinate system
A
B
C
D
en0400001225
User coordinate system
A
World coordinate system
B
Base object coordinate system
C
Moved user coordinate system
D
Work object coordinate system, moved with user coordinate system
E
The user coordinate system can be used for representing equipment like fixtures,
workbenches. This gives an extra level in the chain of related coordinate systems,
which might be useful for handling equipment that hold work objects or other
coordinate systems.
For information on how to define the user coordinate system, see information about
the data type wobjdata in Technical reference manual - RAPID Instructions,
Functions and Data types .
Continues on next page
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8 Descriptions of terms and concepts
8.3 What is a coordinate system?
Continued
|
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|
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| 201
|
The world coordinate system
en0300000496
Base coordinate system for robot 1
A
World coordinate
B
Base coordinate system for robot 2
C
The world coordinate system has its zero point on a fixed position in the cell or
station. This makes it useful for handling several robots or robots moved by
additional axes.
By default the world coordinate system coincides with the base coordinate system.
Continues on next page
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8 Descriptions of terms and concepts
8.3 What is a coordinate system?
Continued
The user coordinate system
A
B
C
D
en0400001225
User coordinate system
A
World coordinate system
B
Base object coordinate system
C
Moved user coordinate system
D
Work object coordinate system, moved with user coordinate system
E
The user coordinate system can be used for representing equipment like fixtures,
workbenches. This gives an extra level in the chain of related coordinate systems,
which might be useful for handling equipment that hold work objects or other
coordinate systems.
For information on how to define the user coordinate system, see information about
the data type wobjdata in Technical reference manual - RAPID Instructions,
Functions and Data types .
Continues on next page
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201
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8 Descriptions of terms and concepts
8.3 What is a coordinate system?
Continued
The work object coordinate system
xx0600002738
World coordinate system
A
Work Object coordinate system 1
B
Work Object coordinate system 2
C
The work object coordinate system corresponds to the work piece: It defines the
placement of the work piece in relation to the world coordinate system (or any
other coordinate system).
A robot can have several work object coordinate systems, either for representing
different work pieces or several copies of the same work piece at different locations.
It is in work object coordinate systems you create targets and paths when
programming the robot. This gives a lot of advantages:
•
When repositioning the work piece in the station you just change the position
of the work object coordinate system and all paths are updated at once.
•
Enables work on work pieces moved by additional axes or conveyor tracks,
since the entire work object with its paths can be moved.
For information on how to define the work object coordinate system, see information
about the data type wobjdata in Technical reference manual - RAPID Instructions,
Functions and Data types .
Continues on next page
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8 Descriptions of terms and concepts
8.3 What is a coordinate system?
Continued
|
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|
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| 202
|
The user coordinate system
A
B
C
D
en0400001225
User coordinate system
A
World coordinate system
B
Base object coordinate system
C
Moved user coordinate system
D
Work object coordinate system, moved with user coordinate system
E
The user coordinate system can be used for representing equipment like fixtures,
workbenches. This gives an extra level in the chain of related coordinate systems,
which might be useful for handling equipment that hold work objects or other
coordinate systems.
For information on how to define the user coordinate system, see information about
the data type wobjdata in Technical reference manual - RAPID Instructions,
Functions and Data types .
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8 Descriptions of terms and concepts
8.3 What is a coordinate system?
Continued
The work object coordinate system
xx0600002738
World coordinate system
A
Work Object coordinate system 1
B
Work Object coordinate system 2
C
The work object coordinate system corresponds to the work piece: It defines the
placement of the work piece in relation to the world coordinate system (or any
other coordinate system).
A robot can have several work object coordinate systems, either for representing
different work pieces or several copies of the same work piece at different locations.
It is in work object coordinate systems you create targets and paths when
programming the robot. This gives a lot of advantages:
•
When repositioning the work piece in the station you just change the position
of the work object coordinate system and all paths are updated at once.
•
Enables work on work pieces moved by additional axes or conveyor tracks,
since the entire work object with its paths can be moved.
For information on how to define the work object coordinate system, see information
about the data type wobjdata in Technical reference manual - RAPID Instructions,
Functions and Data types .
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8 Descriptions of terms and concepts
8.3 What is a coordinate system?
Continued
The displacement coordinate system
A
C
B
D
en0400001227
Original position
A
Object coordinate system
B
New position
C
Displacement coordinate system
D
Sometimes, the same path is to be performed at several places on the same object,
or on several work pieces located next to each other. To avoid having to reprogram
all positions each time a displacement coordinate system can be defined.
This coordinate system can also be used in conjunction with searches, to
compensate for differences in the positions of the individual parts.
The displacement coordinate system is defined based on the work object coordinate
system.
The tool coordinate system
![Image]
en0300000497
The tool coordinate system has its zero position at the center point of the tool. It
thereby defines the position and orientation of the tool. The tool coordinate system
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8 Descriptions of terms and concepts
8.3 What is a coordinate system?
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The work object coordinate system
xx0600002738
World coordinate system
A
Work Object coordinate system 1
B
Work Object coordinate system 2
C
The work object coordinate system corresponds to the work piece: It defines the
placement of the work piece in relation to the world coordinate system (or any
other coordinate system).
A robot can have several work object coordinate systems, either for representing
different work pieces or several copies of the same work piece at different locations.
It is in work object coordinate systems you create targets and paths when
programming the robot. This gives a lot of advantages:
•
When repositioning the work piece in the station you just change the position
of the work object coordinate system and all paths are updated at once.
•
Enables work on work pieces moved by additional axes or conveyor tracks,
since the entire work object with its paths can be moved.
For information on how to define the work object coordinate system, see information
about the data type wobjdata in Technical reference manual - RAPID Instructions,
Functions and Data types .
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8 Descriptions of terms and concepts
8.3 What is a coordinate system?
Continued
The displacement coordinate system
A
C
B
D
en0400001227
Original position
A
Object coordinate system
B
New position
C
Displacement coordinate system
D
Sometimes, the same path is to be performed at several places on the same object,
or on several work pieces located next to each other. To avoid having to reprogram
all positions each time a displacement coordinate system can be defined.
This coordinate system can also be used in conjunction with searches, to
compensate for differences in the positions of the individual parts.
The displacement coordinate system is defined based on the work object coordinate
system.
The tool coordinate system
![Image]
en0300000497
The tool coordinate system has its zero position at the center point of the tool. It
thereby defines the position and orientation of the tool. The tool coordinate system
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8 Descriptions of terms and concepts
8.3 What is a coordinate system?
Continued
is often abbreviated TCPF (Tool Center Point Frame) and the center of the tool
coordinate system is abbreviated TCP (Tool Center Point).
It is the TCP the robot moves to the programmed positions, when executing
programs. This means that if you change the tool (and the tool coordinate system)
the robot’s movements will be changed so that the new TCP will reach the target.
All robots have a predefined tool coordinate system, called tool0 , located at the
wrist of the robot. One or many new tool coordinate systems can then defined as
offsets from tool0 .
When jogging a robot the tool coordinate system is useful when you don’t want to
change the orientation of the tool during the movement, for instance moving a saw
blade without bending it.
For information on how to define the tool coordinate system, see information about
the data type tooldata in Technical reference manual - RAPID Instructions,
Functions and Data types .
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8.3 What is a coordinate system?
Continued
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The displacement coordinate system
A
C
B
D
en0400001227
Original position
A
Object coordinate system
B
New position
C
Displacement coordinate system
D
Sometimes, the same path is to be performed at several places on the same object,
or on several work pieces located next to each other. To avoid having to reprogram
all positions each time a displacement coordinate system can be defined.
This coordinate system can also be used in conjunction with searches, to
compensate for differences in the positions of the individual parts.
The displacement coordinate system is defined based on the work object coordinate
system.
The tool coordinate system
![Image]
en0300000497
The tool coordinate system has its zero position at the center point of the tool. It
thereby defines the position and orientation of the tool. The tool coordinate system
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8 Descriptions of terms and concepts
8.3 What is a coordinate system?
Continued
is often abbreviated TCPF (Tool Center Point Frame) and the center of the tool
coordinate system is abbreviated TCP (Tool Center Point).
It is the TCP the robot moves to the programmed positions, when executing
programs. This means that if you change the tool (and the tool coordinate system)
the robot’s movements will be changed so that the new TCP will reach the target.
All robots have a predefined tool coordinate system, called tool0 , located at the
wrist of the robot. One or many new tool coordinate systems can then defined as
offsets from tool0 .
When jogging a robot the tool coordinate system is useful when you don’t want to
change the orientation of the tool during the movement, for instance moving a saw
blade without bending it.
For information on how to define the tool coordinate system, see information about
the data type tooldata in Technical reference manual - RAPID Instructions,
Functions and Data types .
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8 Descriptions of terms and concepts
8.3 What is a coordinate system?
Continued
8.4 What is mirroring?
Description
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.
Note
The mirroring function recognizes the used workobject in all predefined motion
instructions and in user made procedures with the same argument declaration:
•
an argument for the robtarget,
•
an argument for the tooldata with name 'Tool ' and
•
an optional argument for the wobjdata with the name 'Wobj' .
The following descriptions of mirroring describes advanced mirroring.
Mirror plane
The mirror function will mirror all positions (robtargets) in the mirror plane, i.e. the
mirrored position will be located symmetrically on the other side of the plane,
relative to the original position. The mirror plane is always the xy-plane of an object
frame, used for mirroring. This object frame is defined by a work object data, e.g.
with the name MIRROR_FRAME.
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|
is often abbreviated TCPF (Tool Center Point Frame) and the center of the tool
coordinate system is abbreviated TCP (Tool Center Point).
It is the TCP the robot moves to the programmed positions, when executing
programs. This means that if you change the tool (and the tool coordinate system)
the robot’s movements will be changed so that the new TCP will reach the target.
All robots have a predefined tool coordinate system, called tool0 , located at the
wrist of the robot. One or many new tool coordinate systems can then defined as
offsets from tool0 .
When jogging a robot the tool coordinate system is useful when you don’t want to
change the orientation of the tool during the movement, for instance moving a saw
blade without bending it.
For information on how to define the tool coordinate system, see information about
the data type tooldata in Technical reference manual - RAPID Instructions,
Functions and Data types .
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8 Descriptions of terms and concepts
8.3 What is a coordinate system?
Continued
8.4 What is mirroring?
Description
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.
Note
The mirroring function recognizes the used workobject in all predefined motion
instructions and in user made procedures with the same argument declaration:
•
an argument for the robtarget,
•
an argument for the tooldata with name 'Tool ' and
•
an optional argument for the wobjdata with the name 'Wobj' .
The following descriptions of mirroring describes advanced mirroring.
Mirror plane
The mirror function will mirror all positions (robtargets) in the mirror plane, i.e. the
mirrored position will be located symmetrically on the other side of the plane,
relative to the original position. The mirror plane is always the xy-plane of an object
frame, used for mirroring. This object frame is defined by a work object data, e.g.
with the name MIRROR_FRAME.
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8 Descriptions of terms and concepts
8.4 What is mirroring?
xx0600002815
Mirror plane
Ym, Xm
World frame
A
Work object frame
B
Original point
p1
Mirrored point
p1_m
Mirroring routines
Mirroring creates a copy of a routine with all positions (robtargets) mirrored in a
specific mirror plane. In general, all data of the type robtarget used in the routine,
both local and global, will be mirrored. It makes no difference whether the robtarget
data is declared as a constant (which it should be), as a persistent, or as an ordinary
variable. Any other data, e.g. of type pos, pose, orient, etc., will not be mirrored.
Mirroring data only affects the initialization value, i.e. any current value will be
ignored. This means that if a robtarget variable has been defined without an init
value, this variable will not be mirrored.
The new, mirrored routine will be given a new name (a default name is proposed).
All stored data of type robtarget, used in the routine, will be mirrored and stored
with a new name (the old name ending with “_m”). All immediate robtarget data,
shown with an “*”, in movement instructions will also be mirrored.
Mirrored values and arguments
When mirroring a routine, the new routine is scanned for any local robtarget data,
declared inside the routine with an init value. All init values of such data are
mirrored. Then the new routine is scanned for statements with one or more
arguments of type robtarget.
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8 Descriptions of terms and concepts
8.4 What is mirroring?
Continued
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8.4 What is mirroring?
Description
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.
Note
The mirroring function recognizes the used workobject in all predefined motion
instructions and in user made procedures with the same argument declaration:
•
an argument for the robtarget,
•
an argument for the tooldata with name 'Tool ' and
•
an optional argument for the wobjdata with the name 'Wobj' .
The following descriptions of mirroring describes advanced mirroring.
Mirror plane
The mirror function will mirror all positions (robtargets) in the mirror plane, i.e. the
mirrored position will be located symmetrically on the other side of the plane,
relative to the original position. The mirror plane is always the xy-plane of an object
frame, used for mirroring. This object frame is defined by a work object data, e.g.
with the name MIRROR_FRAME.
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8 Descriptions of terms and concepts
8.4 What is mirroring?
xx0600002815
Mirror plane
Ym, Xm
World frame
A
Work object frame
B
Original point
p1
Mirrored point
p1_m
Mirroring routines
Mirroring creates a copy of a routine with all positions (robtargets) mirrored in a
specific mirror plane. In general, all data of the type robtarget used in the routine,
both local and global, will be mirrored. It makes no difference whether the robtarget
data is declared as a constant (which it should be), as a persistent, or as an ordinary
variable. Any other data, e.g. of type pos, pose, orient, etc., will not be mirrored.
Mirroring data only affects the initialization value, i.e. any current value will be
ignored. This means that if a robtarget variable has been defined without an init
value, this variable will not be mirrored.
The new, mirrored routine will be given a new name (a default name is proposed).
All stored data of type robtarget, used in the routine, will be mirrored and stored
with a new name (the old name ending with “_m”). All immediate robtarget data,
shown with an “*”, in movement instructions will also be mirrored.
Mirrored values and arguments
When mirroring a routine, the new routine is scanned for any local robtarget data,
declared inside the routine with an init value. All init values of such data are
mirrored. Then the new routine is scanned for statements with one or more
arguments of type robtarget.
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8 Descriptions of terms and concepts
8.4 What is mirroring?
Continued
When such a statement is found, the following actions will take place:
•
If the argument is programmed with a reference to a local variable or a
constant, this argument will be ignored, since it has already been mirrored
as described above.
•
If the argument is programmed with an immediate robtarget data, shown with
an asterisk“ *”, then this value will be mirrored directly.
•
If the argument is programmed with a reference to a global variable, persistent
or a constant, defined outside the routine with an init value, then a duplicate
is created and stored in the module with a new name (the old name ending
with “_m”). The init value of this new data is mirrored, and then the argument
in the statement is changed to the new name. This means that the module
data list will expand with a number of new mirrored robtarget data.
Error handlers or backward handlers in the routine are not mirrored.
Work object frame
All positions which are to be mirrored are related to a specific work object frame
(B in figure above). This means that the coordinates of the robtarget data are
expressed relative to this work object frame. Furthermore, the mirrored position
will be related to the same work object frame.
Before mirroring, this specific work object must be stated. This work object will be
used as the reference frame for all variables that are to be mirrored.
Make sure to state the same work object as was originally used when defining the
robtarget data, and which was used as a parameter in the movement instructions.
If no work object was used, the wobj0 should be stated.
Orientation of mirrored positions
The orientation of the robtarget position is also mirrored. This mirroring of the
orientation can be done in two different ways, where either the x and z axes are
mirrored or the y and z axes. The method used, x or y axis (the z axis is always
mirrored), is dependent on the tool used and how the tool coordinate system is
defined.
xx0600002816
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8.4 What is mirroring?
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xx0600002815
Mirror plane
Ym, Xm
World frame
A
Work object frame
B
Original point
p1
Mirrored point
p1_m
Mirroring routines
Mirroring creates a copy of a routine with all positions (robtargets) mirrored in a
specific mirror plane. In general, all data of the type robtarget used in the routine,
both local and global, will be mirrored. It makes no difference whether the robtarget
data is declared as a constant (which it should be), as a persistent, or as an ordinary
variable. Any other data, e.g. of type pos, pose, orient, etc., will not be mirrored.
Mirroring data only affects the initialization value, i.e. any current value will be
ignored. This means that if a robtarget variable has been defined without an init
value, this variable will not be mirrored.
The new, mirrored routine will be given a new name (a default name is proposed).
All stored data of type robtarget, used in the routine, will be mirrored and stored
with a new name (the old name ending with “_m”). All immediate robtarget data,
shown with an “*”, in movement instructions will also be mirrored.
Mirrored values and arguments
When mirroring a routine, the new routine is scanned for any local robtarget data,
declared inside the routine with an init value. All init values of such data are
mirrored. Then the new routine is scanned for statements with one or more
arguments of type robtarget.
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8 Descriptions of terms and concepts
8.4 What is mirroring?
Continued
When such a statement is found, the following actions will take place:
•
If the argument is programmed with a reference to a local variable or a
constant, this argument will be ignored, since it has already been mirrored
as described above.
•
If the argument is programmed with an immediate robtarget data, shown with
an asterisk“ *”, then this value will be mirrored directly.
•
If the argument is programmed with a reference to a global variable, persistent
or a constant, defined outside the routine with an init value, then a duplicate
is created and stored in the module with a new name (the old name ending
with “_m”). The init value of this new data is mirrored, and then the argument
in the statement is changed to the new name. This means that the module
data list will expand with a number of new mirrored robtarget data.
Error handlers or backward handlers in the routine are not mirrored.
Work object frame
All positions which are to be mirrored are related to a specific work object frame
(B in figure above). This means that the coordinates of the robtarget data are
expressed relative to this work object frame. Furthermore, the mirrored position
will be related to the same work object frame.
Before mirroring, this specific work object must be stated. This work object will be
used as the reference frame for all variables that are to be mirrored.
Make sure to state the same work object as was originally used when defining the
robtarget data, and which was used as a parameter in the movement instructions.
If no work object was used, the wobj0 should be stated.
Orientation of mirrored positions
The orientation of the robtarget position is also mirrored. This mirroring of the
orientation can be done in two different ways, where either the x and z axes are
mirrored or the y and z axes. The method used, x or y axis (the z axis is always
mirrored), is dependent on the tool used and how the tool coordinate system is
defined.
xx0600002816
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8 Descriptions of terms and concepts
8.4 What is mirroring?
Continued
Mirroring of x and z axes.
xx0600002817
Mirroring of y and z axes.
Arm configurations
The arm configuration will not be mirrored, which means that after mirroring, it has
to be carefully checked by executing the path in manual mode. If the arm
configuration has to be changed, this must be done manually and the position
corrected with a modpos command.
Example 1: Mirroring with one robot
A mirrored copy of the routine org is to be created and stored with the name mir .
All positions are related to the work object, wobj3. The mirror plane is known from
three positions in the plane, p1, p2, and p3.
An original position in org , A, is mirrored to A_m.
xx0600002818
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When such a statement is found, the following actions will take place:
•
If the argument is programmed with a reference to a local variable or a
constant, this argument will be ignored, since it has already been mirrored
as described above.
•
If the argument is programmed with an immediate robtarget data, shown with
an asterisk“ *”, then this value will be mirrored directly.
•
If the argument is programmed with a reference to a global variable, persistent
or a constant, defined outside the routine with an init value, then a duplicate
is created and stored in the module with a new name (the old name ending
with “_m”). The init value of this new data is mirrored, and then the argument
in the statement is changed to the new name. This means that the module
data list will expand with a number of new mirrored robtarget data.
Error handlers or backward handlers in the routine are not mirrored.
Work object frame
All positions which are to be mirrored are related to a specific work object frame
(B in figure above). This means that the coordinates of the robtarget data are
expressed relative to this work object frame. Furthermore, the mirrored position
will be related to the same work object frame.
Before mirroring, this specific work object must be stated. This work object will be
used as the reference frame for all variables that are to be mirrored.
Make sure to state the same work object as was originally used when defining the
robtarget data, and which was used as a parameter in the movement instructions.
If no work object was used, the wobj0 should be stated.
Orientation of mirrored positions
The orientation of the robtarget position is also mirrored. This mirroring of the
orientation can be done in two different ways, where either the x and z axes are
mirrored or the y and z axes. The method used, x or y axis (the z axis is always
mirrored), is dependent on the tool used and how the tool coordinate system is
defined.
xx0600002816
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8 Descriptions of terms and concepts
8.4 What is mirroring?
Continued
Mirroring of x and z axes.
xx0600002817
Mirroring of y and z axes.
Arm configurations
The arm configuration will not be mirrored, which means that after mirroring, it has
to be carefully checked by executing the path in manual mode. If the arm
configuration has to be changed, this must be done manually and the position
corrected with a modpos command.
Example 1: Mirroring with one robot
A mirrored copy of the routine org is to be created and stored with the name mir .
All positions are related to the work object, wobj3. The mirror plane is known from
three positions in the plane, p1, p2, and p3.
An original position in org , A, is mirrored to A_m.
xx0600002818
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8 Descriptions of terms and concepts
8.4 What is mirroring?
Continued
Original position
A
Mirrored position
A_m
Object frame wobj3
B
Mirror plane
C
To perform this mirroring, the mirror frame must first be defined. To do this, create
a new work object and name it (e.g. mirror ). Then, use the three points, p1 to p3,
to define the object coordinate system by using the robot. This procedure is
described in Defining the work object coordinate system on page 78 .
After this, the routine, org , can be mirrored using wobj3 and mirror as input data.
Example 2: Mirroring with two robots
The routine org was created on one robot and should be mirrored and used on
another robot. Suppose that a spot welding robot, robot 1, is used for the left side
of a car body. When the program for the left side is done, it should be mirrored
and used again for the right side by robot 2.
The original program, org , is programmed relative to a work object, wobj1, which
is defined with the help of three points, A, B and C on the left side of the car body.
The mirrored program, mir , is to be related to a corresponding work object, wobj1,
defined by the corresponding points D, E and F on the right side of the car body.
Wobj1 for robot 2 is defined with robot 2.
Note that since the points D, E, F are mirrored images of points A, B, and C, the
wobj1 for robot 2 will also be mirrored. One of the consequences of this is that the
z-axis will point downwards.
Continues on next page
Operating manual - IRC5 Integrator's guide
209
3HAC050940-001 Revision: S
© Copyright 2025 ABB. All rights reserved.
8 Descriptions of terms and concepts
8.4 What is mirroring?
Continued
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