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ABB_Product_Manual_IRBP_D2009_Spare_Parts
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf
| 67
|
The spare part kit connection box complete contains:
Note
Qty.
Description
Pos
1
Connection box FS130
2
1
Cover box FS130
3
1
Connector bracket MP
4
1
Connector bracket 9p Dsub
5
Nitrile Rubber D119x3
2
O-ring
6
Steel 8.8-A2F M6x16
7
Torx pan head screw
7
Steel 8.8-A2F M5x12
4
Torx pan head screw
8
Color depends on which spare part kit is
ordered.
50 ml
Surface treatment, Graphite White
-
66
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
3 Motor units
3.5 Motor units for MTD 5000
Continued
3.6 Motor unit for MID 1.2
Motor units for MID 1.2
Components valid from these serial numbers, onwards:
SEROP: POF-110001 -
CNAUS: POF-510001 -
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Material, type, etc.
Qty
Description
Component
Item
Complete
Graphite White
1
Motor unit for MID 1.2
3HAC038210-007
1
Complete
ABB Orange
1
Motor unit for MID 1.2
3HAC038210-011
1
Components valid up to these serial numbers:
SEROP: - POF-110000
CNAUS: - POF-510000
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Material, type, etc.
Qty
Description
Component
Item
Complete
ABB Orange
1
Motor unit for MID 1.2
3HAC038210-004
1
1
Rot. AC motor incl. pinion
3HAC034280-001
Seal and isolation kit 3HAC038214-002
Note
These components are valid for all serial numbers of the positioner.
Note
Description
Qty.
Spare parts
Pos
Nitrile Rubber D102x3
O-ring
2
3HAB3772-107
11
Insulating material
4
3HAC034268-001
12
Insulating tube
7
3HAC036835-002
13
Insulating material
4
3HAC037222-001
14
Washer
4
3HAC037202-001
15
Steel 12.9 Gle. 603+Geo500 /M8x30
Hex socket head cap screw
4
3HAB3409-38
16
Spare part kit connection box, complete - Components valid from these serial numbers, onwards:
SEROP: POF-110001 -
Continues on next page
Product manual, spare parts - IRBP /D2009
67
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
3 Motor units
3.6 Motor unit for MID 1.2
CNAUS: POF-510001 -
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Qty.
Description
Spare part number
Graphite White
1
Spare part kit connection
box, complete
3HAC038209-003
ABB Orange
1
Spare part kit connection
box, complete
3HAC038209-005
Spare part kit connection box, complete - Components valid up to these serial numbers:
SEROP: - POF-110000
CNAUS: - POF-510000
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Qty.
Description
Spare part number
ABB Orange
1
Spare part kit connection
box, complete
3HAC038209-002
Continues on next page
68
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
3 Motor units
3.6 Motor unit for MID 1.2
Continued
|
ABB_Product_Manual_IRBP_D2009_Spare_Parts
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf
| 68
|
3.6 Motor unit for MID 1.2
Motor units for MID 1.2
Components valid from these serial numbers, onwards:
SEROP: POF-110001 -
CNAUS: POF-510001 -
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Material, type, etc.
Qty
Description
Component
Item
Complete
Graphite White
1
Motor unit for MID 1.2
3HAC038210-007
1
Complete
ABB Orange
1
Motor unit for MID 1.2
3HAC038210-011
1
Components valid up to these serial numbers:
SEROP: - POF-110000
CNAUS: - POF-510000
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Material, type, etc.
Qty
Description
Component
Item
Complete
ABB Orange
1
Motor unit for MID 1.2
3HAC038210-004
1
1
Rot. AC motor incl. pinion
3HAC034280-001
Seal and isolation kit 3HAC038214-002
Note
These components are valid for all serial numbers of the positioner.
Note
Description
Qty.
Spare parts
Pos
Nitrile Rubber D102x3
O-ring
2
3HAB3772-107
11
Insulating material
4
3HAC034268-001
12
Insulating tube
7
3HAC036835-002
13
Insulating material
4
3HAC037222-001
14
Washer
4
3HAC037202-001
15
Steel 12.9 Gle. 603+Geo500 /M8x30
Hex socket head cap screw
4
3HAB3409-38
16
Spare part kit connection box, complete - Components valid from these serial numbers, onwards:
SEROP: POF-110001 -
Continues on next page
Product manual, spare parts - IRBP /D2009
67
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
3 Motor units
3.6 Motor unit for MID 1.2
CNAUS: POF-510001 -
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Qty.
Description
Spare part number
Graphite White
1
Spare part kit connection
box, complete
3HAC038209-003
ABB Orange
1
Spare part kit connection
box, complete
3HAC038209-005
Spare part kit connection box, complete - Components valid up to these serial numbers:
SEROP: - POF-110000
CNAUS: - POF-510000
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Qty.
Description
Spare part number
ABB Orange
1
Spare part kit connection
box, complete
3HAC038209-002
Continues on next page
68
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
3 Motor units
3.6 Motor unit for MID 1.2
Continued
Spare part kit connection boxes - Valid for all serial numbers of the positioner:
![Image]
2
3
4
5
6
7
8
6
xx1400002556
The spare part kit connection box complete, contains:
Note
Description
Qty.
Pos
Connection box FS130
1
2
Cover box FS130
1
3
Connector bracket MP
1
4
Connector bracket 9p Dsub
1
5
Nitrile Rubber D119x3
O-ring
2
6
Steel 8.8-A2F M6x16
Torx pan head screw
7
7
Steel 8.8-A2F M5x12
Torx pan head screw
4
8
Color depends on which spare part kit is ordered.
Surface treatment, Graphite White
Color depends on which spare part kit is ordered.
Surface treatment, ABB Orange
Product manual, spare parts - IRBP /D2009
69
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
3 Motor units
3.6 Motor unit for MID 1.2
Continued
|
ABB_Product_Manual_IRBP_D2009_Spare_Parts
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf
| 69
|
CNAUS: POF-510001 -
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Qty.
Description
Spare part number
Graphite White
1
Spare part kit connection
box, complete
3HAC038209-003
ABB Orange
1
Spare part kit connection
box, complete
3HAC038209-005
Spare part kit connection box, complete - Components valid up to these serial numbers:
SEROP: - POF-110000
CNAUS: - POF-510000
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Qty.
Description
Spare part number
ABB Orange
1
Spare part kit connection
box, complete
3HAC038209-002
Continues on next page
68
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
3 Motor units
3.6 Motor unit for MID 1.2
Continued
Spare part kit connection boxes - Valid for all serial numbers of the positioner:
![Image]
2
3
4
5
6
7
8
6
xx1400002556
The spare part kit connection box complete, contains:
Note
Description
Qty.
Pos
Connection box FS130
1
2
Cover box FS130
1
3
Connector bracket MP
1
4
Connector bracket 9p Dsub
1
5
Nitrile Rubber D119x3
O-ring
2
6
Steel 8.8-A2F M6x16
Torx pan head screw
7
7
Steel 8.8-A2F M5x12
Torx pan head screw
4
8
Color depends on which spare part kit is ordered.
Surface treatment, Graphite White
Color depends on which spare part kit is ordered.
Surface treatment, ABB Orange
Product manual, spare parts - IRBP /D2009
69
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
3 Motor units
3.6 Motor unit for MID 1.2
Continued
3.7 Motor unit for MID 2.1-2.2
Motor units for MID 2.1 - 2.2
Components valid from these serial numbers, onwards:
SEROP: POF-110001 -
CNAUS: POF-510001 -
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Material, type, etc.
Qty
Description
Component
Item
Complete
Graphite White
1
Motor unit for MID 2.1-2-2
3HAC038210-008
1
Complete
ABB Orange
1
Motor unit for MID 2.1-2-2
3HAC038210-012
1
Components valid up to these serial numbers:
SEROP: - POF-110000
CNAUS: - POF-510000
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Material, type, etc.
Qty
Description
Component
Item
Complete
ABB Orange
1
Motor unit for MID 1.2
3HAC038210-005
1
1
Rot. AC motor incl. pinion
3HAC034274-001
Seal and isolation kit 3HAC038214-002
Note
Description
Qty.
Spare parts
Nitrile Rubber D102x3
O-ring
1
3HAC038214-002
The seal and isolation kit contains:
Note
These components are valid for all serial numbers of the positioner.
Note
Description
Qty.
Pos
Nitrile Rubber D102x3
O-ring
2
11
Insulating material
4
12
Insulating tube
7
13
Insulating material
4
14
Washer
4
15
Steel 12.9 Gle. 603+Geo500 /M8x30
Hex socket head cap screw
4
16
Continues on next page
70
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
3 Motor units
3.7 Motor unit for MID 2.1-2.2
|
ABB_Product_Manual_IRBP_D2009_Spare_Parts
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf
| 70
|
Spare part kit connection boxes - Valid for all serial numbers of the positioner:
![Image]
2
3
4
5
6
7
8
6
xx1400002556
The spare part kit connection box complete, contains:
Note
Description
Qty.
Pos
Connection box FS130
1
2
Cover box FS130
1
3
Connector bracket MP
1
4
Connector bracket 9p Dsub
1
5
Nitrile Rubber D119x3
O-ring
2
6
Steel 8.8-A2F M6x16
Torx pan head screw
7
7
Steel 8.8-A2F M5x12
Torx pan head screw
4
8
Color depends on which spare part kit is ordered.
Surface treatment, Graphite White
Color depends on which spare part kit is ordered.
Surface treatment, ABB Orange
Product manual, spare parts - IRBP /D2009
69
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
3 Motor units
3.6 Motor unit for MID 1.2
Continued
3.7 Motor unit for MID 2.1-2.2
Motor units for MID 2.1 - 2.2
Components valid from these serial numbers, onwards:
SEROP: POF-110001 -
CNAUS: POF-510001 -
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Material, type, etc.
Qty
Description
Component
Item
Complete
Graphite White
1
Motor unit for MID 2.1-2-2
3HAC038210-008
1
Complete
ABB Orange
1
Motor unit for MID 2.1-2-2
3HAC038210-012
1
Components valid up to these serial numbers:
SEROP: - POF-110000
CNAUS: - POF-510000
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Material, type, etc.
Qty
Description
Component
Item
Complete
ABB Orange
1
Motor unit for MID 1.2
3HAC038210-005
1
1
Rot. AC motor incl. pinion
3HAC034274-001
Seal and isolation kit 3HAC038214-002
Note
Description
Qty.
Spare parts
Nitrile Rubber D102x3
O-ring
1
3HAC038214-002
The seal and isolation kit contains:
Note
These components are valid for all serial numbers of the positioner.
Note
Description
Qty.
Pos
Nitrile Rubber D102x3
O-ring
2
11
Insulating material
4
12
Insulating tube
7
13
Insulating material
4
14
Washer
4
15
Steel 12.9 Gle. 603+Geo500 /M8x30
Hex socket head cap screw
4
16
Continues on next page
70
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
3 Motor units
3.7 Motor unit for MID 2.1-2.2
Spare part kit connection box, complete - Components valid from these serial numbers, onwards:
SEROP: - POF-110001
CNAUS: - POF-510001
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Qty.
Description
Spare part number
Graphite White
1
Spare part kit connection
box, complete
3HAC038209-003
ABB Orange
1
Spare part kit connection
box, complete
3HAC038209-005
Spare part kit connection box, complete - Components valid up to these serial numbers:
SEROP: - POF-110000
CNAUS: - POF-510000
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Qty.
Description
Spare part number
ABB Orange
1
Spare part kit connection
box, complete
3HAC038209-002
Continues on next page
Product manual, spare parts - IRBP /D2009
71
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
3 Motor units
3.7 Motor unit for MID 2.1-2.2
Continued
|
ABB_Product_Manual_IRBP_D2009_Spare_Parts
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf
| 71
|
3.7 Motor unit for MID 2.1-2.2
Motor units for MID 2.1 - 2.2
Components valid from these serial numbers, onwards:
SEROP: POF-110001 -
CNAUS: POF-510001 -
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Material, type, etc.
Qty
Description
Component
Item
Complete
Graphite White
1
Motor unit for MID 2.1-2-2
3HAC038210-008
1
Complete
ABB Orange
1
Motor unit for MID 2.1-2-2
3HAC038210-012
1
Components valid up to these serial numbers:
SEROP: - POF-110000
CNAUS: - POF-510000
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Material, type, etc.
Qty
Description
Component
Item
Complete
ABB Orange
1
Motor unit for MID 1.2
3HAC038210-005
1
1
Rot. AC motor incl. pinion
3HAC034274-001
Seal and isolation kit 3HAC038214-002
Note
Description
Qty.
Spare parts
Nitrile Rubber D102x3
O-ring
1
3HAC038214-002
The seal and isolation kit contains:
Note
These components are valid for all serial numbers of the positioner.
Note
Description
Qty.
Pos
Nitrile Rubber D102x3
O-ring
2
11
Insulating material
4
12
Insulating tube
7
13
Insulating material
4
14
Washer
4
15
Steel 12.9 Gle. 603+Geo500 /M8x30
Hex socket head cap screw
4
16
Continues on next page
70
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
3 Motor units
3.7 Motor unit for MID 2.1-2.2
Spare part kit connection box, complete - Components valid from these serial numbers, onwards:
SEROP: - POF-110001
CNAUS: - POF-510001
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Qty.
Description
Spare part number
Graphite White
1
Spare part kit connection
box, complete
3HAC038209-003
ABB Orange
1
Spare part kit connection
box, complete
3HAC038209-005
Spare part kit connection box, complete - Components valid up to these serial numbers:
SEROP: - POF-110000
CNAUS: - POF-510000
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Qty.
Description
Spare part number
ABB Orange
1
Spare part kit connection
box, complete
3HAC038209-002
Continues on next page
Product manual, spare parts - IRBP /D2009
71
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
3 Motor units
3.7 Motor unit for MID 2.1-2.2
Continued
Spare part kit connection boxcomplete - Valid for all serial numbers of the positioner:
![Image]
2
3
4
5
6
7
8
6
xx1400002556
The spare part kit connection box complete, contains:
Note
Description
Qty.
Pos
Connection box FS130
1
2
Cover box FS130
1
3
Connector bracket MP
1
4
Connector bracket 9p Dsub
1
5
Nitrile Rubber D119x3
O-ring
2
6
Steel 8.8-A2F M6x16
Torx pan head screw
7
7
Steel 8.8-A2F M5x12
Torx pan head screw
4
8
Color depends on which spare part kit is ordered.
Surface treatment, Graphite White
Color depends on which spare part kit is ordered.
Surface treatment, ABB Orange
72
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
3 Motor units
3.7 Motor unit for MID 2.1-2.2
Continued
|
ABB_Product_Manual_IRBP_D2009_Spare_Parts
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf
| 72
|
Spare part kit connection box, complete - Components valid from these serial numbers, onwards:
SEROP: - POF-110001
CNAUS: - POF-510001
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Qty.
Description
Spare part number
Graphite White
1
Spare part kit connection
box, complete
3HAC038209-003
ABB Orange
1
Spare part kit connection
box, complete
3HAC038209-005
Spare part kit connection box, complete - Components valid up to these serial numbers:
SEROP: - POF-110000
CNAUS: - POF-510000
Note
Before ordering these components, make sure that they match the serial number
of the positioner.
Note
Qty.
Description
Spare part number
ABB Orange
1
Spare part kit connection
box, complete
3HAC038209-002
Continues on next page
Product manual, spare parts - IRBP /D2009
71
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
3 Motor units
3.7 Motor unit for MID 2.1-2.2
Continued
Spare part kit connection boxcomplete - Valid for all serial numbers of the positioner:
![Image]
2
3
4
5
6
7
8
6
xx1400002556
The spare part kit connection box complete, contains:
Note
Description
Qty.
Pos
Connection box FS130
1
2
Cover box FS130
1
3
Connector bracket MP
1
4
Connector bracket 9p Dsub
1
5
Nitrile Rubber D119x3
O-ring
2
6
Steel 8.8-A2F M6x16
Torx pan head screw
7
7
Steel 8.8-A2F M5x12
Torx pan head screw
4
8
Color depends on which spare part kit is ordered.
Surface treatment, Graphite White
Color depends on which spare part kit is ordered.
Surface treatment, ABB Orange
72
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
3 Motor units
3.7 Motor unit for MID 2.1-2.2
Continued
4 Electrical spare parts
4.1 External connectors
4.1.1 Spare parts, cables
Spare parts, floor cables
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1000000245
Note
Length
Spare part
Description
Pos
7
3HAC068917-001
Control cable signal positioner
1
10
3HEA800800-001
15
3HAC068918-001
22
3HAC068919-001
30
3HAC068920-001
Only positioner L with SMB box
3HAC061824
7
3HAC061329-001
10
3HAC061329-002
15
3HAC061329-003
22
3HAC061329-004
30
3HAC061329-005
Continues on next page
Product manual, spare parts - IRBP /D2009
73
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.1.1 Spare parts, cables
|
ABB_Product_Manual_IRBP_D2009_Spare_Parts
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf
| 73
|
Spare part kit connection boxcomplete - Valid for all serial numbers of the positioner:
![Image]
2
3
4
5
6
7
8
6
xx1400002556
The spare part kit connection box complete, contains:
Note
Description
Qty.
Pos
Connection box FS130
1
2
Cover box FS130
1
3
Connector bracket MP
1
4
Connector bracket 9p Dsub
1
5
Nitrile Rubber D119x3
O-ring
2
6
Steel 8.8-A2F M6x16
Torx pan head screw
7
7
Steel 8.8-A2F M5x12
Torx pan head screw
4
8
Color depends on which spare part kit is ordered.
Surface treatment, Graphite White
Color depends on which spare part kit is ordered.
Surface treatment, ABB Orange
72
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
3 Motor units
3.7 Motor unit for MID 2.1-2.2
Continued
4 Electrical spare parts
4.1 External connectors
4.1.1 Spare parts, cables
Spare parts, floor cables
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1000000245
Note
Length
Spare part
Description
Pos
7
3HAC068917-001
Control cable signal positioner
1
10
3HEA800800-001
15
3HAC068918-001
22
3HAC068919-001
30
3HAC068920-001
Only positioner L with SMB box
3HAC061824
7
3HAC061329-001
10
3HAC061329-002
15
3HAC061329-003
22
3HAC061329-004
30
3HAC061329-005
Continues on next page
Product manual, spare parts - IRBP /D2009
73
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.1.1 Spare parts, cables
Note
Length
Spare part
Description
Pos
Not for positioner L
7
3HAC035346-001
Cable motor positioner
2
10
3HAC035346-002
15
3HAC035346-003
22
3HAC035346-006
30
3HAC035346-007
7
418620884
Return Cable 95mm 2 , 2x OKC
5
10
418620885
Return Cable 95mm 2 , 2x OKC
15
418620887
Return Cable 95mm 2 , 2x OKC
7
504540880
Return Cable 95mm 2 , 1x OKC
6
10
504540881
Return Cable 95mm 2 , 1x OKC
15
504540882
Return Cable 95mm 2 ,1x OKC
2.5
3HEA802203-004
CAN bus
7
15
3HEA802217-003
Cable control panel manual jog
8
15
Cable operator panel
9
15
3HAC030122-001
Cable Light Beam
11
15
3HEA800782-001
Cable gate switch
13
7
3HEA800781-001
Cable PB Complete
14
10
3HEA800781-002
Cable PB Complete
15
3HEA800781-003
Cable PB Complete
74
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.1.1 Spare parts, cables
Continued
|
ABB_Product_Manual_IRBP_D2009_Spare_Parts
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf
| 74
|
4 Electrical spare parts
4.1 External connectors
4.1.1 Spare parts, cables
Spare parts, floor cables
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1000000245
Note
Length
Spare part
Description
Pos
7
3HAC068917-001
Control cable signal positioner
1
10
3HEA800800-001
15
3HAC068918-001
22
3HAC068919-001
30
3HAC068920-001
Only positioner L with SMB box
3HAC061824
7
3HAC061329-001
10
3HAC061329-002
15
3HAC061329-003
22
3HAC061329-004
30
3HAC061329-005
Continues on next page
Product manual, spare parts - IRBP /D2009
73
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.1.1 Spare parts, cables
Note
Length
Spare part
Description
Pos
Not for positioner L
7
3HAC035346-001
Cable motor positioner
2
10
3HAC035346-002
15
3HAC035346-003
22
3HAC035346-006
30
3HAC035346-007
7
418620884
Return Cable 95mm 2 , 2x OKC
5
10
418620885
Return Cable 95mm 2 , 2x OKC
15
418620887
Return Cable 95mm 2 , 2x OKC
7
504540880
Return Cable 95mm 2 , 1x OKC
6
10
504540881
Return Cable 95mm 2 , 1x OKC
15
504540882
Return Cable 95mm 2 ,1x OKC
2.5
3HEA802203-004
CAN bus
7
15
3HEA802217-003
Cable control panel manual jog
8
15
Cable operator panel
9
15
3HAC030122-001
Cable Light Beam
11
15
3HEA800782-001
Cable gate switch
13
7
3HEA800781-001
Cable PB Complete
14
10
3HEA800781-002
Cable PB Complete
15
3HEA800781-003
Cable PB Complete
74
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.1.1 Spare parts, cables
Continued
4.2 Internal connectors
4.2.1 Cable harnesses
Overview
![Image]
xx1000000281
Current collector cable
1
Cable harness on page 76
2
Cable limit switch on page 79
3
Cable slipring (option) on page 81
4
Continues on next page
Product manual, spare parts - IRBP /D2009
75
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
|
ABB_Product_Manual_IRBP_D2009_Spare_Parts
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf
| 75
|
Note
Length
Spare part
Description
Pos
Not for positioner L
7
3HAC035346-001
Cable motor positioner
2
10
3HAC035346-002
15
3HAC035346-003
22
3HAC035346-006
30
3HAC035346-007
7
418620884
Return Cable 95mm 2 , 2x OKC
5
10
418620885
Return Cable 95mm 2 , 2x OKC
15
418620887
Return Cable 95mm 2 , 2x OKC
7
504540880
Return Cable 95mm 2 , 1x OKC
6
10
504540881
Return Cable 95mm 2 , 1x OKC
15
504540882
Return Cable 95mm 2 ,1x OKC
2.5
3HEA802203-004
CAN bus
7
15
3HEA802217-003
Cable control panel manual jog
8
15
Cable operator panel
9
15
3HAC030122-001
Cable Light Beam
11
15
3HEA800782-001
Cable gate switch
13
7
3HEA800781-001
Cable PB Complete
14
10
3HEA800781-002
Cable PB Complete
15
3HEA800781-003
Cable PB Complete
74
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.1.1 Spare parts, cables
Continued
4.2 Internal connectors
4.2.1 Cable harnesses
Overview
![Image]
xx1000000281
Current collector cable
1
Cable harness on page 76
2
Cable limit switch on page 79
3
Cable slipring (option) on page 81
4
Continues on next page
Product manual, spare parts - IRBP /D2009
75
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Cable harness
Note
These cables are valid with SMB box 3HAC046493-001 and 3HAC046492-001,
see Spare part list SMB box 3HAC046493-001 on page 83 .
xx1000000279
Note
Description
Spare part
Pos.
Length=0.8 m
Cable harness MTD, Complete
3HAC035219-001
1
Length=1.1 m
Cable harness MTD, Complete
3HAC035219-002
1
Length=2.2 m
Cable harness MTD, Complete
3HAC035219-003
1
Length=3.7 m
Cable harness MTD, Complete
3HAC035219-004
1
Length=3.1 m
Cable set int.positioner (Type A/B/D only)
3HAC035399-001
2
Length=4.3 m
Cable set int.positioner (Type A/B/D only)
3HAC035399-002
2
Length=5.3 m
Cable set int.positioner (Type A/B/D only)
3HAC035399-003
2
Continues on next page
76
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
|
ABB_Product_Manual_IRBP_D2009_Spare_Parts
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf
| 76
|
4.2 Internal connectors
4.2.1 Cable harnesses
Overview
![Image]
xx1000000281
Current collector cable
1
Cable harness on page 76
2
Cable limit switch on page 79
3
Cable slipring (option) on page 81
4
Continues on next page
Product manual, spare parts - IRBP /D2009
75
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Cable harness
Note
These cables are valid with SMB box 3HAC046493-001 and 3HAC046492-001,
see Spare part list SMB box 3HAC046493-001 on page 83 .
xx1000000279
Note
Description
Spare part
Pos.
Length=0.8 m
Cable harness MTD, Complete
3HAC035219-001
1
Length=1.1 m
Cable harness MTD, Complete
3HAC035219-002
1
Length=2.2 m
Cable harness MTD, Complete
3HAC035219-003
1
Length=3.7 m
Cable harness MTD, Complete
3HAC035219-004
1
Length=3.1 m
Cable set int.positioner (Type A/B/D only)
3HAC035399-001
2
Length=4.3 m
Cable set int.positioner (Type A/B/D only)
3HAC035399-002
2
Length=5.3 m
Cable set int.positioner (Type A/B/D only)
3HAC035399-003
2
Continues on next page
76
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
3
xx1700000381
Note
Description
Spare part
Pos.
Length=7 m
Cable harness motor/resolver (Type L only)
3HAC035347-001
3
Length=10 m
Cable harness motor/resolver (Type L only)
3HAC035347-002
Length=15 m
Cable harness motor/resolver (Type L only)
3HAC035347-003
Length=22 m
Cable harness motor/resolver (Type L only)
3HAC035347-006
Length=30 m
Cable harness motor/resolver (Type L only)
3HAC035347-007
Continues on next page
Product manual, spare parts - IRBP /D2009
77
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
|
ABB_Product_Manual_IRBP_D2009_Spare_Parts
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf
| 77
|
Cable harness
Note
These cables are valid with SMB box 3HAC046493-001 and 3HAC046492-001,
see Spare part list SMB box 3HAC046493-001 on page 83 .
xx1000000279
Note
Description
Spare part
Pos.
Length=0.8 m
Cable harness MTD, Complete
3HAC035219-001
1
Length=1.1 m
Cable harness MTD, Complete
3HAC035219-002
1
Length=2.2 m
Cable harness MTD, Complete
3HAC035219-003
1
Length=3.7 m
Cable harness MTD, Complete
3HAC035219-004
1
Length=3.1 m
Cable set int.positioner (Type A/B/D only)
3HAC035399-001
2
Length=4.3 m
Cable set int.positioner (Type A/B/D only)
3HAC035399-002
2
Length=5.3 m
Cable set int.positioner (Type A/B/D only)
3HAC035399-003
2
Continues on next page
76
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
3
xx1700000381
Note
Description
Spare part
Pos.
Length=7 m
Cable harness motor/resolver (Type L only)
3HAC035347-001
3
Length=10 m
Cable harness motor/resolver (Type L only)
3HAC035347-002
Length=15 m
Cable harness motor/resolver (Type L only)
3HAC035347-003
Length=22 m
Cable harness motor/resolver (Type L only)
3HAC035347-006
Length=30 m
Cable harness motor/resolver (Type L only)
3HAC035347-007
Continues on next page
Product manual, spare parts - IRBP /D2009
77
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
Cable harness
Note
These cables are valid with SMB box 3HAC061824-003 and 3HAC061824-004,
see Spare part list SMB box 3HAC061824-00X on page 84 .
2
1
xx1700000352
Note
Description
Spare part
Pos.
Length=1.1 m
Cable harness MTD, Complete
3HAC060343-002
1
Length=2.2 m
Cable harness MTD, Complete
3HAC060343-003
1
Length=3.7 m
Cable harness MTD, Complete
3HAC060343-004
1
Length=3.1 m
Cable set int.positioner (Type A/B/C only)
3HAC061318-001
2
Length=4.3 m
Cable set int.positioner (Type A/B/C only)
3HAC061318-002
2
Length=5.3 m
Cable set int.positioner (Type A/B/C only)
3HAC061318-003
2
Continues on next page
78
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
|
ABB_Product_Manual_IRBP_D2009_Spare_Parts
|
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| 78
|
3
xx1700000381
Note
Description
Spare part
Pos.
Length=7 m
Cable harness motor/resolver (Type L only)
3HAC035347-001
3
Length=10 m
Cable harness motor/resolver (Type L only)
3HAC035347-002
Length=15 m
Cable harness motor/resolver (Type L only)
3HAC035347-003
Length=22 m
Cable harness motor/resolver (Type L only)
3HAC035347-006
Length=30 m
Cable harness motor/resolver (Type L only)
3HAC035347-007
Continues on next page
Product manual, spare parts - IRBP /D2009
77
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
Cable harness
Note
These cables are valid with SMB box 3HAC061824-003 and 3HAC061824-004,
see Spare part list SMB box 3HAC061824-00X on page 84 .
2
1
xx1700000352
Note
Description
Spare part
Pos.
Length=1.1 m
Cable harness MTD, Complete
3HAC060343-002
1
Length=2.2 m
Cable harness MTD, Complete
3HAC060343-003
1
Length=3.7 m
Cable harness MTD, Complete
3HAC060343-004
1
Length=3.1 m
Cable set int.positioner (Type A/B/C only)
3HAC061318-001
2
Length=4.3 m
Cable set int.positioner (Type A/B/C only)
3HAC061318-002
2
Length=5.3 m
Cable set int.positioner (Type A/B/C only)
3HAC061318-003
2
Continues on next page
78
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
3
xx1700000382
Note
Description
Spare part
Pos.
Length=7 m
Cable harness motor/resolver (Type L only)
3HAC061402-001
3
Length=10 m
Cable harness motor/resolver (Type L only)
3HAC061402-002
Length=15 m
Cable harness motor/resolver (Type L only)
3HAC061402-003
Length=22 m
Cable harness motor/resolver (Type L only)
3HAC061402-004
Length=30 m
Cable harness motor/resolver (Type L only)
3HAC061402-005
Cable limit switch
xx1000000278
Continues on next page
Product manual, spare parts - IRBP /D2009
79
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
|
ABB_Product_Manual_IRBP_D2009_Spare_Parts
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf
| 79
|
Cable harness
Note
These cables are valid with SMB box 3HAC061824-003 and 3HAC061824-004,
see Spare part list SMB box 3HAC061824-00X on page 84 .
2
1
xx1700000352
Note
Description
Spare part
Pos.
Length=1.1 m
Cable harness MTD, Complete
3HAC060343-002
1
Length=2.2 m
Cable harness MTD, Complete
3HAC060343-003
1
Length=3.7 m
Cable harness MTD, Complete
3HAC060343-004
1
Length=3.1 m
Cable set int.positioner (Type A/B/C only)
3HAC061318-001
2
Length=4.3 m
Cable set int.positioner (Type A/B/C only)
3HAC061318-002
2
Length=5.3 m
Cable set int.positioner (Type A/B/C only)
3HAC061318-003
2
Continues on next page
78
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
3
xx1700000382
Note
Description
Spare part
Pos.
Length=7 m
Cable harness motor/resolver (Type L only)
3HAC061402-001
3
Length=10 m
Cable harness motor/resolver (Type L only)
3HAC061402-002
Length=15 m
Cable harness motor/resolver (Type L only)
3HAC061402-003
Length=22 m
Cable harness motor/resolver (Type L only)
3HAC061402-004
Length=30 m
Cable harness motor/resolver (Type L only)
3HAC061402-005
Cable limit switch
xx1000000278
Continues on next page
Product manual, spare parts - IRBP /D2009
79
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
Note
Description
Spare part
Pos.
L=1.0 m
Cable Limit Switch Complete
3HAC035494-001
1
Continues on next page
80
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
|
ABB_Product_Manual_IRBP_D2009_Spare_Parts
|
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| 80
|
3
xx1700000382
Note
Description
Spare part
Pos.
Length=7 m
Cable harness motor/resolver (Type L only)
3HAC061402-001
3
Length=10 m
Cable harness motor/resolver (Type L only)
3HAC061402-002
Length=15 m
Cable harness motor/resolver (Type L only)
3HAC061402-003
Length=22 m
Cable harness motor/resolver (Type L only)
3HAC061402-004
Length=30 m
Cable harness motor/resolver (Type L only)
3HAC061402-005
Cable limit switch
xx1000000278
Continues on next page
Product manual, spare parts - IRBP /D2009
79
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
Note
Description
Spare part
Pos.
L=1.0 m
Cable Limit Switch Complete
3HAC035494-001
1
Continues on next page
80
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
Cable slipring (option)
xx1000000290
Note
Description
Spare part
Pos.
L=0.8m
Cable slipring WCP1/WCP2
3HAC035339-001
1
Continues on next page
Product manual, spare parts - IRBP /D2009
81
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
|
ABB_Product_Manual_IRBP_D2009_Spare_Parts
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf
| 81
|
Note
Description
Spare part
Pos.
L=1.0 m
Cable Limit Switch Complete
3HAC035494-001
1
Continues on next page
80
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
Cable slipring (option)
xx1000000290
Note
Description
Spare part
Pos.
L=0.8m
Cable slipring WCP1/WCP2
3HAC035339-001
1
Continues on next page
Product manual, spare parts - IRBP /D2009
81
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
Note
Description
Spare part
Pos.
L=2.6m
Cable slipring WCP1/WCP2
3HAC035339-002
1
L=3.2m
Cable slipring WCP1/WCP2
3HAC035339-003
1
L=3.7m
Cable slipring WCP1/WCP2
3HAC035339-004
1
L=2m
Cable WCP3/WCP4
3HAC035708-001
2
L=3.7m
Cable WCP3/WCP4
3HAC035708-002
2
L=0.8m
Cable WCS1/WCS2
3HAC035370-001
3
L=2.6m
Cable WCS1/WCS2
3HAC035370-002
3
L=3.2m
Cable WCS1/WCS2
3HAC035370-003
3
L=3.7m
Cable WCS1/WCS2
3HAC035370-004
3
L=2m
Cable slipring WCS3/WCS4
3HAC035881-001
4
L=3.7m
Cable slipring WCS3/WCS4
3HAC035881-002
4
Connector set CP/CS
3HAC035432-001
82
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
|
ABB_Product_Manual_IRBP_D2009_Spare_Parts
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf
| 82
|
Cable slipring (option)
xx1000000290
Note
Description
Spare part
Pos.
L=0.8m
Cable slipring WCP1/WCP2
3HAC035339-001
1
Continues on next page
Product manual, spare parts - IRBP /D2009
81
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
Note
Description
Spare part
Pos.
L=2.6m
Cable slipring WCP1/WCP2
3HAC035339-002
1
L=3.2m
Cable slipring WCP1/WCP2
3HAC035339-003
1
L=3.7m
Cable slipring WCP1/WCP2
3HAC035339-004
1
L=2m
Cable WCP3/WCP4
3HAC035708-001
2
L=3.7m
Cable WCP3/WCP4
3HAC035708-002
2
L=0.8m
Cable WCS1/WCS2
3HAC035370-001
3
L=2.6m
Cable WCS1/WCS2
3HAC035370-002
3
L=3.2m
Cable WCS1/WCS2
3HAC035370-003
3
L=3.7m
Cable WCS1/WCS2
3HAC035370-004
3
L=2m
Cable slipring WCS3/WCS4
3HAC035881-001
4
L=3.7m
Cable slipring WCS3/WCS4
3HAC035881-002
4
Connector set CP/CS
3HAC035432-001
82
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3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
4.2.2 Spare part, SMB box
Spare part list SMB box 3HAC046493-001
![Image]
![Image]
5
xx1000000248
Note
Description
Sparepart
Pos.
Not as spare part
SMB box complete, For positioner Type
A/B/C/D/K/R
3HAC046493-001
Not as spare part
SMB box complete For positioner Type L
3HAC046492-001
Not valid for variant positioner Type L
Cable SMB Internal, positioner
3HAC035397-001
1
Battery unit
3HAC044075-001
2
Only with SMB unit DSQC633A
Battery unit
3HAC16831-1
2
SMB unit DSQC63C
3HAC043904-001
3
Node splitter
3HEA800906-001
4
Only valid for positioner Type L
Cable SMB, connection in box
3HEA800786-001
5
Continues on next page
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83
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4 Electrical spare parts
4.2.2 Spare part, SMB box
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| 83
|
Note
Description
Spare part
Pos.
L=2.6m
Cable slipring WCP1/WCP2
3HAC035339-002
1
L=3.2m
Cable slipring WCP1/WCP2
3HAC035339-003
1
L=3.7m
Cable slipring WCP1/WCP2
3HAC035339-004
1
L=2m
Cable WCP3/WCP4
3HAC035708-001
2
L=3.7m
Cable WCP3/WCP4
3HAC035708-002
2
L=0.8m
Cable WCS1/WCS2
3HAC035370-001
3
L=2.6m
Cable WCS1/WCS2
3HAC035370-002
3
L=3.2m
Cable WCS1/WCS2
3HAC035370-003
3
L=3.7m
Cable WCS1/WCS2
3HAC035370-004
3
L=2m
Cable slipring WCS3/WCS4
3HAC035881-001
4
L=3.7m
Cable slipring WCS3/WCS4
3HAC035881-002
4
Connector set CP/CS
3HAC035432-001
82
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3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.1 Cable harnesses
Continued
4.2.2 Spare part, SMB box
Spare part list SMB box 3HAC046493-001
![Image]
![Image]
5
xx1000000248
Note
Description
Sparepart
Pos.
Not as spare part
SMB box complete, For positioner Type
A/B/C/D/K/R
3HAC046493-001
Not as spare part
SMB box complete For positioner Type L
3HAC046492-001
Not valid for variant positioner Type L
Cable SMB Internal, positioner
3HAC035397-001
1
Battery unit
3HAC044075-001
2
Only with SMB unit DSQC633A
Battery unit
3HAC16831-1
2
SMB unit DSQC63C
3HAC043904-001
3
Node splitter
3HEA800906-001
4
Only valid for positioner Type L
Cable SMB, connection in box
3HEA800786-001
5
Continues on next page
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83
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.2 Spare part, SMB box
Spare part list SMB box 3HAC061824-00X
![Image]
3
4
5
6
2
1
7
xx1700000350
Note
Description
Sparepart
Pos.
Valid for positioner Type
L/K/A/R/C
SMB box complete (3 Nodes)
3HAC061824-003
Valid for positioner Type B/D
SMB box complete (6 Nodes)
3HAC061824-004
SMB unit DSQC633C
3HAC043904-001
1
Battery unit
3HAC044075-001
2
M12 - D-sub adapter harness, Node 1, 2 and 3
3HAC060837-001
3
M12 - D-sub adapter harness, Node 4, 5 and 6
3HAC060838-001
4
Only on request
M12 - D-sub adapter harness, Node 7
3HAC060839-001
5
M12 - D-sub adapter harness, Bus
3HAC060840-001
6
Not valid for positioner Type
L
Cable SMB Internal, positioner
3HAC060342-001
7
84
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
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4 Electrical spare parts
4.2.2 Spare part, SMB box
Continued
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| 84
|
4.2.2 Spare part, SMB box
Spare part list SMB box 3HAC046493-001
![Image]
![Image]
5
xx1000000248
Note
Description
Sparepart
Pos.
Not as spare part
SMB box complete, For positioner Type
A/B/C/D/K/R
3HAC046493-001
Not as spare part
SMB box complete For positioner Type L
3HAC046492-001
Not valid for variant positioner Type L
Cable SMB Internal, positioner
3HAC035397-001
1
Battery unit
3HAC044075-001
2
Only with SMB unit DSQC633A
Battery unit
3HAC16831-1
2
SMB unit DSQC63C
3HAC043904-001
3
Node splitter
3HEA800906-001
4
Only valid for positioner Type L
Cable SMB, connection in box
3HEA800786-001
5
Continues on next page
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83
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.2 Spare part, SMB box
Spare part list SMB box 3HAC061824-00X
![Image]
3
4
5
6
2
1
7
xx1700000350
Note
Description
Sparepart
Pos.
Valid for positioner Type
L/K/A/R/C
SMB box complete (3 Nodes)
3HAC061824-003
Valid for positioner Type B/D
SMB box complete (6 Nodes)
3HAC061824-004
SMB unit DSQC633C
3HAC043904-001
1
Battery unit
3HAC044075-001
2
M12 - D-sub adapter harness, Node 1, 2 and 3
3HAC060837-001
3
M12 - D-sub adapter harness, Node 4, 5 and 6
3HAC060838-001
4
Only on request
M12 - D-sub adapter harness, Node 7
3HAC060839-001
5
M12 - D-sub adapter harness, Bus
3HAC060840-001
6
Not valid for positioner Type
L
Cable SMB Internal, positioner
3HAC060342-001
7
84
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4 Electrical spare parts
4.2.2 Spare part, SMB box
Continued
4.3 Electrical options
4.3.1 SIB V , spare parts
SIB V types
xx1000000291
Note
Description
Spare parts
Pos
SIB V.Type 3
3HEA504996880
1
SIB V.Type 1
3HEA504994880
2
Continues on next page
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85
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© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.3.1 SIB V , spare parts
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| 85
|
Spare part list SMB box 3HAC061824-00X
![Image]
3
4
5
6
2
1
7
xx1700000350
Note
Description
Sparepart
Pos.
Valid for positioner Type
L/K/A/R/C
SMB box complete (3 Nodes)
3HAC061824-003
Valid for positioner Type B/D
SMB box complete (6 Nodes)
3HAC061824-004
SMB unit DSQC633C
3HAC043904-001
1
Battery unit
3HAC044075-001
2
M12 - D-sub adapter harness, Node 1, 2 and 3
3HAC060837-001
3
M12 - D-sub adapter harness, Node 4, 5 and 6
3HAC060838-001
4
Only on request
M12 - D-sub adapter harness, Node 7
3HAC060839-001
5
M12 - D-sub adapter harness, Bus
3HAC060840-001
6
Not valid for positioner Type
L
Cable SMB Internal, positioner
3HAC060342-001
7
84
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.2.2 Spare part, SMB box
Continued
4.3 Electrical options
4.3.1 SIB V , spare parts
SIB V types
xx1000000291
Note
Description
Spare parts
Pos
SIB V.Type 3
3HEA504996880
1
SIB V.Type 1
3HEA504994880
2
Continues on next page
Product manual, spare parts - IRBP /D2009
85
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© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.3.1 SIB V , spare parts
SIB harness
![Image]
xx1000000292
Note
Description
Spare part
Pos.
Harness Safety B/C/Ci/D/K/R
3HEA802196-001
1
Harness Safety A/L/S
3HEA802195-001
1
Harness SIB A/L/S
3HEA802197-001
1
Harness EPS
3HAC037833-001
2
86
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4 Electrical spare parts
4.3.1 SIB V , spare parts
Continued
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| 86
|
4.3 Electrical options
4.3.1 SIB V , spare parts
SIB V types
xx1000000291
Note
Description
Spare parts
Pos
SIB V.Type 3
3HEA504996880
1
SIB V.Type 1
3HEA504994880
2
Continues on next page
Product manual, spare parts - IRBP /D2009
85
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.3.1 SIB V , spare parts
SIB harness
![Image]
xx1000000292
Note
Description
Spare part
Pos.
Harness Safety B/C/Ci/D/K/R
3HEA802196-001
1
Harness Safety A/L/S
3HEA802195-001
1
Harness SIB A/L/S
3HEA802197-001
1
Harness EPS
3HAC037833-001
2
86
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4 Electrical spare parts
4.3.1 SIB V , spare parts
Continued
4.3.2 Spare parts, SIB V option board 1 and 2
Spare part list
![Image]
![Image]
xx1000000260
Note
Description
Spare part
Pos
PreReset
SIB V Option bard 2
3HEA800464-001
1
SIB V Option bard 1
504997880
2
Product manual, spare parts - IRBP /D2009
87
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© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.3.2 Spare parts, SIB V option board 1 and 2
|
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|
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| 87
|
SIB harness
![Image]
xx1000000292
Note
Description
Spare part
Pos.
Harness Safety B/C/Ci/D/K/R
3HEA802196-001
1
Harness Safety A/L/S
3HEA802195-001
1
Harness SIB A/L/S
3HEA802197-001
1
Harness EPS
3HAC037833-001
2
86
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4 Electrical spare parts
4.3.1 SIB V , spare parts
Continued
4.3.2 Spare parts, SIB V option board 1 and 2
Spare part list
![Image]
![Image]
xx1000000260
Note
Description
Spare part
Pos
PreReset
SIB V Option bard 2
3HEA800464-001
1
SIB V Option bard 1
504997880
2
Product manual, spare parts - IRBP /D2009
87
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.3.2 Spare parts, SIB V option board 1 and 2
4.3.3 Spare parts, manual jog L/K/R
Spare parts
![Image]
xx1000000277
Note
Description
Spare parts
Pos
Control Panel Manual Jog
3HAC028129-001
1
Safety Relay RT6 24V DC
3HAC088991-001
2
Cable Manual Jog K/R,DC
3HAC029925-001
3
Harness Manual Jog positioner K/R
3HEA802189-001
4
Harness Manual Jog positioner 2xL
3HAC037498-001
Cable Manual Jog 15m
3HEA802217-003
5
Safety Ball 2NO
3HEA802497-001
6
88
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4 Electrical spare parts
4.3.3 Spare parts, manual jog L/K/R
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ABB_Product_Manual_IRBP_D2009_Spare_Parts
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| 88
|
4.3.2 Spare parts, SIB V option board 1 and 2
Spare part list
![Image]
![Image]
xx1000000260
Note
Description
Spare part
Pos
PreReset
SIB V Option bard 2
3HEA800464-001
1
SIB V Option bard 1
504997880
2
Product manual, spare parts - IRBP /D2009
87
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.3.2 Spare parts, SIB V option board 1 and 2
4.3.3 Spare parts, manual jog L/K/R
Spare parts
![Image]
xx1000000277
Note
Description
Spare parts
Pos
Control Panel Manual Jog
3HAC028129-001
1
Safety Relay RT6 24V DC
3HAC088991-001
2
Cable Manual Jog K/R,DC
3HAC029925-001
3
Harness Manual Jog positioner K/R
3HEA802189-001
4
Harness Manual Jog positioner 2xL
3HAC037498-001
Cable Manual Jog 15m
3HEA802217-003
5
Safety Ball 2NO
3HEA802497-001
6
88
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3HAC038416-001 Revision: M
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4 Electrical spare parts
4.3.3 Spare parts, manual jog L/K/R
4.3.4 Spare parts station sync
Cable sync switch
xx1000000294
Note
Description
Spare part
Pos.
Cable Sync switch
3HAC037826-001
1
Cable EPS
3HAC037550-001
2
Product manual, spare parts - IRBP /D2009
89
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© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.3.4 Spare parts station sync
|
ABB_Product_Manual_IRBP_D2009_Spare_Parts
|
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| 89
|
4.3.3 Spare parts, manual jog L/K/R
Spare parts
![Image]
xx1000000277
Note
Description
Spare parts
Pos
Control Panel Manual Jog
3HAC028129-001
1
Safety Relay RT6 24V DC
3HAC088991-001
2
Cable Manual Jog K/R,DC
3HAC029925-001
3
Harness Manual Jog positioner K/R
3HEA802189-001
4
Harness Manual Jog positioner 2xL
3HAC037498-001
Cable Manual Jog 15m
3HEA802217-003
5
Safety Ball 2NO
3HEA802497-001
6
88
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3HAC038416-001 Revision: M
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4 Electrical spare parts
4.3.3 Spare parts, manual jog L/K/R
4.3.4 Spare parts station sync
Cable sync switch
xx1000000294
Note
Description
Spare part
Pos.
Cable Sync switch
3HAC037826-001
1
Cable EPS
3HAC037550-001
2
Product manual, spare parts - IRBP /D2009
89
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.3.4 Spare parts station sync
4.3.5 Spare parts, active relay supervision
Harness MI Interface
![Image]
xx1000000296
Dimension
Material, type, etc.
Qty
Description
Component
Item
0.45 m
1
Harness MI Interface
3HAC028483-001
1
90
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.3.5 Spare parts, active relay supervision
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ABB_Product_Manual_IRBP_D2009_Spare_Parts
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| 90
|
4.3.4 Spare parts station sync
Cable sync switch
xx1000000294
Note
Description
Spare part
Pos.
Cable Sync switch
3HAC037826-001
1
Cable EPS
3HAC037550-001
2
Product manual, spare parts - IRBP /D2009
89
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.3.4 Spare parts station sync
4.3.5 Spare parts, active relay supervision
Harness MI Interface
![Image]
xx1000000296
Dimension
Material, type, etc.
Qty
Description
Component
Item
0.45 m
1
Harness MI Interface
3HAC028483-001
1
90
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.3.5 Spare parts, active relay supervision
5 Controller
5.1 Spare parts, controller
Spare parts, axis selector
xx1000000230
Note
Description
Spare part
Pos
Drive Module I/O RS485
3HEA800439-002
1
(24VDC)
Contactor DILM12-10
3HEA800447-001
2
Auxiliary Contact 1NO/3NC DILA-XHI13
3HEA800447-003
3
(24VDC LED) (1 pcs)
Relay D2.5/5-R121L
3HEA800448-001
4
Harness Positioner Type C
3HAC035611-001
5
Harness Positioner Type L
3HAC035612-001
5
Harness Positioner Type K/R
3HAC035613-001
5
Harness Positioner Type A
3HAC035614-001
5
Harness Positioner Type B/D
3HAC035615-001
5
Continues on next page
Product manual, spare parts - IRBP /D2009
91
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
5 Controller
5.1 Spare parts, controller
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ABB_Product_Manual_IRBP_D2009_Spare_Parts
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| 91
|
4.3.5 Spare parts, active relay supervision
Harness MI Interface
![Image]
xx1000000296
Dimension
Material, type, etc.
Qty
Description
Component
Item
0.45 m
1
Harness MI Interface
3HAC028483-001
1
90
Product manual, spare parts - IRBP /D2009
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
4 Electrical spare parts
4.3.5 Spare parts, active relay supervision
5 Controller
5.1 Spare parts, controller
Spare parts, axis selector
xx1000000230
Note
Description
Spare part
Pos
Drive Module I/O RS485
3HEA800439-002
1
(24VDC)
Contactor DILM12-10
3HEA800447-001
2
Auxiliary Contact 1NO/3NC DILA-XHI13
3HEA800447-003
3
(24VDC LED) (1 pcs)
Relay D2.5/5-R121L
3HEA800448-001
4
Harness Positioner Type C
3HAC035611-001
5
Harness Positioner Type L
3HAC035612-001
5
Harness Positioner Type K/R
3HAC035613-001
5
Harness Positioner Type A
3HAC035614-001
5
Harness Positioner Type B/D
3HAC035615-001
5
Continues on next page
Product manual, spare parts - IRBP /D2009
91
3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
5 Controller
5.1 Spare parts, controller
Additional drives
xx1000000249
Note
Description
Spare part
Pos
DSQC664 HV ADU Drive unit
3HAC030923-001
1
Harness-ADU 24V
3HAC032601-001
2
Harness-MDU/ADU DC-bus
3HAC032612-001
3
Harness-MDU/ADU 24V
3HAC032595-001
4
Ethernet cable straight connection
3HAC024254-007
5
Continues on next page
92
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3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
5 Controller
5.1 Spare parts, controller
Continued
|
ABB_Product_Manual_IRBP_D2009_Spare_Parts
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| 92
|
5 Controller
5.1 Spare parts, controller
Spare parts, axis selector
xx1000000230
Note
Description
Spare part
Pos
Drive Module I/O RS485
3HEA800439-002
1
(24VDC)
Contactor DILM12-10
3HEA800447-001
2
Auxiliary Contact 1NO/3NC DILA-XHI13
3HEA800447-003
3
(24VDC LED) (1 pcs)
Relay D2.5/5-R121L
3HEA800448-001
4
Harness Positioner Type C
3HAC035611-001
5
Harness Positioner Type L
3HAC035612-001
5
Harness Positioner Type K/R
3HAC035613-001
5
Harness Positioner Type A
3HAC035614-001
5
Harness Positioner Type B/D
3HAC035615-001
5
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5 Controller
5.1 Spare parts, controller
Additional drives
xx1000000249
Note
Description
Spare part
Pos
DSQC664 HV ADU Drive unit
3HAC030923-001
1
Harness-ADU 24V
3HAC032601-001
2
Harness-MDU/ADU DC-bus
3HAC032612-001
3
Harness-MDU/ADU 24V
3HAC032595-001
4
Ethernet cable straight connection
3HAC024254-007
5
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5 Controller
5.1 Spare parts, controller
Continued
Note
Description
Spare part
Pos
Ethernet cable straight connection
3HAC024254-008
6
ELAN EPS unit,DSQC646
3HAC026271-003
7
Harness-Axis board/XS41
3HAC020677-001
8
3-way RJ45 8P/8C Shielded MPK 402
3HEA802183-001
9
Spare parts, ELAN
xx1000000276
Note
Description
Spare parts
Pos
ELAN EPS unit, DSQC646
3HAC026271-003
1
Harness-Ethernet ELAN/MC
3HAC026292-001
2
Harness-Ethernet cross connection
3HAC026218-001
3
Harness-SMB AXC/ELAN
3HAC026193-001
4
Harness-Adapter 24V ELAN/AXC
3HAC026413-001
5
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93
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5 Controller
5.1 Spare parts, controller
Continued
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|
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|
Additional drives
xx1000000249
Note
Description
Spare part
Pos
DSQC664 HV ADU Drive unit
3HAC030923-001
1
Harness-ADU 24V
3HAC032601-001
2
Harness-MDU/ADU DC-bus
3HAC032612-001
3
Harness-MDU/ADU 24V
3HAC032595-001
4
Ethernet cable straight connection
3HAC024254-007
5
Continues on next page
92
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5 Controller
5.1 Spare parts, controller
Continued
Note
Description
Spare part
Pos
Ethernet cable straight connection
3HAC024254-008
6
ELAN EPS unit,DSQC646
3HAC026271-003
7
Harness-Axis board/XS41
3HAC020677-001
8
3-way RJ45 8P/8C Shielded MPK 402
3HEA802183-001
9
Spare parts, ELAN
xx1000000276
Note
Description
Spare parts
Pos
ELAN EPS unit, DSQC646
3HAC026271-003
1
Harness-Ethernet ELAN/MC
3HAC026292-001
2
Harness-Ethernet cross connection
3HAC026218-001
3
Harness-SMB AXC/ELAN
3HAC026193-001
4
Harness-Adapter 24V ELAN/AXC
3HAC026413-001
5
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5 Controller
5.1 Spare parts, controller
Continued
Spare parts external emergency stop
![Image]
4
1
2
3
xx1000000293
Note
Description
Spare part
Pos
DIL ER-31-G
Relay contactor
193825029
1
ECO30-24V
Relay
193540004
2
TS35
Connection Block
193541001
3
Harness Opt. Ext. Emergency Stop
3HEA800519-001
4
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5 Controller
5.1 Spare parts, controller
Continued
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ABB_Product_Manual_IRBP_D2009_Spare_Parts
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| 94
|
Note
Description
Spare part
Pos
Ethernet cable straight connection
3HAC024254-008
6
ELAN EPS unit,DSQC646
3HAC026271-003
7
Harness-Axis board/XS41
3HAC020677-001
8
3-way RJ45 8P/8C Shielded MPK 402
3HEA802183-001
9
Spare parts, ELAN
xx1000000276
Note
Description
Spare parts
Pos
ELAN EPS unit, DSQC646
3HAC026271-003
1
Harness-Ethernet ELAN/MC
3HAC026292-001
2
Harness-Ethernet cross connection
3HAC026218-001
3
Harness-SMB AXC/ELAN
3HAC026193-001
4
Harness-Adapter 24V ELAN/AXC
3HAC026413-001
5
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93
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© Copyright 2010-2024 ABB. All rights reserved.
5 Controller
5.1 Spare parts, controller
Continued
Spare parts external emergency stop
![Image]
4
1
2
3
xx1000000293
Note
Description
Spare part
Pos
DIL ER-31-G
Relay contactor
193825029
1
ECO30-24V
Relay
193540004
2
TS35
Connection Block
193541001
3
Harness Opt. Ext. Emergency Stop
3HEA800519-001
4
Continues on next page
94
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3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
5 Controller
5.1 Spare parts, controller
Continued
Spare parts cable MS XS41/XS41.2
xx1000000284
Note
Description
Spare parts
Pos
Cable MS XS41/XS41.2
3HEA800461-001
1
1xA/L
Jumper Connector XP41.2
3HAC028434-001
2
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95
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5 Controller
5.1 Spare parts, controller
Continued
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ABB_Product_Manual_IRBP_D2009_Spare_Parts
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| 95
|
Spare parts external emergency stop
![Image]
4
1
2
3
xx1000000293
Note
Description
Spare part
Pos
DIL ER-31-G
Relay contactor
193825029
1
ECO30-24V
Relay
193540004
2
TS35
Connection Block
193541001
3
Harness Opt. Ext. Emergency Stop
3HEA800519-001
4
Continues on next page
94
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© Copyright 2010-2024 ABB. All rights reserved.
5 Controller
5.1 Spare parts, controller
Continued
Spare parts cable MS XS41/XS41.2
xx1000000284
Note
Description
Spare parts
Pos
Cable MS XS41/XS41.2
3HEA800461-001
1
1xA/L
Jumper Connector XP41.2
3HAC028434-001
2
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95
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© Copyright 2010-2024 ABB. All rights reserved.
5 Controller
5.1 Spare parts, controller
Continued
Cables axis selector
xx1000000285
Note
Description
Spare parts
Pos
L= 0.1 m
Cable Patch
3HEA802215-001
1
Cable I/O RS485
3HEA802201-001
2
Continues on next page
96
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5 Controller
5.1 Spare parts, controller
Continued
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ABB_Product_Manual_IRBP_D2009_Spare_Parts
|
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| 96
|
Spare parts cable MS XS41/XS41.2
xx1000000284
Note
Description
Spare parts
Pos
Cable MS XS41/XS41.2
3HEA800461-001
1
1xA/L
Jumper Connector XP41.2
3HAC028434-001
2
Continues on next page
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95
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© Copyright 2010-2024 ABB. All rights reserved.
5 Controller
5.1 Spare parts, controller
Continued
Cables axis selector
xx1000000285
Note
Description
Spare parts
Pos
L= 0.1 m
Cable Patch
3HEA802215-001
1
Cable I/O RS485
3HEA802201-001
2
Continues on next page
96
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3HAC038416-001 Revision: M
© Copyright 2010-2024 ABB. All rights reserved.
5 Controller
5.1 Spare parts, controller
Continued
Harness controller
xx1000000286
Note
Description
Spare part
Pos
L= 0.55m
Harness Drive unit Positioner
3HAC035806-001
1
L= 0.36m
Harness Motor Positioner type A/B/C/Ci/D/K/R
3HAC035551-001
2
L= 0.36m
Harness Motor Positioner type L
3HEA800450-001
2
Cover Hood
3HAC036197-001
3
Product manual, spare parts - IRBP /D2009
97
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5 Controller
5.1 Spare parts, controller
Continued
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ABB_Product_Manual_IRBP_D2009_Spare_Parts
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| 97
|
Cables axis selector
xx1000000285
Note
Description
Spare parts
Pos
L= 0.1 m
Cable Patch
3HEA802215-001
1
Cable I/O RS485
3HEA802201-001
2
Continues on next page
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5 Controller
5.1 Spare parts, controller
Continued
Harness controller
xx1000000286
Note
Description
Spare part
Pos
L= 0.55m
Harness Drive unit Positioner
3HAC035806-001
1
L= 0.36m
Harness Motor Positioner type A/B/C/Ci/D/K/R
3HAC035551-001
2
L= 0.36m
Harness Motor Positioner type L
3HEA800450-001
2
Cover Hood
3HAC036197-001
3
Product manual, spare parts - IRBP /D2009
97
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5 Controller
5.1 Spare parts, controller
Continued
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| 98
|
Harness controller
xx1000000286
Note
Description
Spare part
Pos
L= 0.55m
Harness Drive unit Positioner
3HAC035806-001
1
L= 0.36m
Harness Motor Positioner type A/B/C/Ci/D/K/R
3HAC035551-001
2
L= 0.36m
Harness Motor Positioner type L
3HEA800450-001
2
Cover Hood
3HAC036197-001
3
Product manual, spare parts - IRBP /D2009
97
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© Copyright 2010-2024 ABB. All rights reserved.
5 Controller
5.1 Spare parts, controller
Continued
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6 Safety equipment
6.1 Spare parts, light beam
Spare parts, light beam
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1000000247
Spare part
Pos
Sender/Receiver, Light Beam
3HAC030116-001
1
Mirror, Light Beam
3HAC030117-001
2
Post, Light Beam
3HAC030120-001
3
L=15m
Cable, Light Beam
3HAC030122-001
4
Product manual, spare parts - IRBP /D2009
99
3HAC038416-001 Revision: M
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6 Safety equipment
6.1 Spare parts, light beam
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6 Safety equipment
6.1 Spare parts, light beam
Spare parts, light beam
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1000000247
Spare part
Pos
Sender/Receiver, Light Beam
3HAC030116-001
1
Mirror, Light Beam
3HAC030117-001
2
Post, Light Beam
3HAC030120-001
3
L=15m
Cable, Light Beam
3HAC030122-001
4
Product manual, spare parts - IRBP /D2009
99
3HAC038416-001 Revision: M
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6 Safety equipment
6.1 Spare parts, light beam
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| 100
|
6 Safety equipment
6.1 Spare parts, light beam
Spare parts, light beam
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1000000247
Spare part
Pos
Sender/Receiver, Light Beam
3HAC030116-001
1
Mirror, Light Beam
3HAC030117-001
2
Post, Light Beam
3HAC030120-001
3
L=15m
Cable, Light Beam
3HAC030122-001
4
Product manual, spare parts - IRBP /D2009
99
3HAC038416-001 Revision: M
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6 Safety equipment
6.1 Spare parts, light beam
|
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| 101
|
ABB AB
Robotics & Discrete Automation
S-721 68 VÄSTERÅS, Sweden
Telephone +46 10-732 50 00
ABB AS
Robotics & Discrete Automation
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.
Robotics & Discrete Automation
No. 4528 Kangxin Highway
PuDong New District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics & Discrete Automation
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics
3HAC038416-001, Rev M, en
© Copyright 2010-2024 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_Product_Manual_IRBP_D2009_Spare_Parts
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Workpiece%20Positioners/en/3HAC038416-001.pdf
| 102
|
ABB AB
Robotics & Discrete Automation
S-721 68 VÄSTERÅS, Sweden
Telephone +46 10-732 50 00
ABB AS
Robotics & Discrete Automation
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.
Robotics & Discrete Automation
No. 4528 Kangxin Highway
PuDong New District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics & Discrete Automation
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics
3HAC038416-001, Rev M, en
© Copyright 2010-2024 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 1
|
ROBOTICS
Application manual
Controller software IRC5
![Image]
Trace back information:
Workspace Main version a644
Checked in 2025-02-06
Skribenta version 5.6.018
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 2
|
ROBOTICS
Application manual
Controller software IRC5
![Image]
Trace back information:
Workspace Main version a644
Checked in 2025-02-06
Skribenta version 5.6.018
Application manual
Controller software IRC5
RobotWare 6.16
Document ID: 3HAC050798-001
Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 3
|
Trace back information:
Workspace Main version a644
Checked in 2025-02-06
Skribenta version 5.6.018
Application manual
Controller software IRC5
RobotWare 6.16
Document ID: 3HAC050798-001
Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Specifications subject to change without notice.
The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damage to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2014-2025 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 4
|
Application manual
Controller software IRC5
RobotWare 6.16
Document ID: 3HAC050798-001
Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Specifications subject to change without notice.
The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damage to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2014-2025 ABB. All rights reserved.
Specifications subject to change without notice.
Table of contents
11
Overview of this manual ...................................................................................................................
15
Open source and 3rd party components .........................................................................................
17
1
Introduction to RobotWare
17
1.1
Products, classes, and options ............................................................................
19
1.2
RAPID language and programming environment .....................................................
23
2
RobotWare-OS
23
2.1
Advanced RAPID ..............................................................................................
23
2.1.1
Introduction to Advanced RAPID ................................................................
24
2.1.2
Bit functionality .......................................................................................
24
2.1.2.1
Overview ...................................................................................
25
2.1.2.2
RAPID components ......................................................................
26
2.1.2.3
Bit functionality example ...............................................................
27
2.1.3
Data search functionality ..........................................................................
27
2.1.3.1
Overview ...................................................................................
28
2.1.3.2
RAPID components ......................................................................
29
2.1.3.3
Data search functionality examples .................................................
30
2.1.4
Alias I/O signals ......................................................................................
30
2.1.4.1
Overview ...................................................................................
31
2.1.4.2
RAPID components ......................................................................
32
2.1.4.3
Alias I/O functionality example .......................................................
33
2.1.5
Configuration functionality ........................................................................
33
2.1.5.1
Overview ...................................................................................
34
2.1.5.2
RAPID components ......................................................................
35
2.1.5.3
Configuration functionality example ................................................
36
2.1.6
Power failure functionality .........................................................................
36
2.1.6.1
Overview ...................................................................................
37
2.1.6.2
RAPID components and system parameters .....................................
38
2.1.6.3
Power failure functionality example .................................................
39
2.1.7
Process support functionality ....................................................................
39
2.1.7.1
Overview ...................................................................................
40
2.1.7.2
RAPID components ......................................................................
41
2.1.7.3
Process support functionality examples ...........................................
43
2.1.8
Interrupt functionality ...............................................................................
43
2.1.8.1
Overview ...................................................................................
44
2.1.8.2
RAPID components ......................................................................
45
2.1.8.3
Interrupt functionality examples .....................................................
46
2.1.9
User message functionality .......................................................................
46
2.1.9.1
Overview ...................................................................................
47
2.1.9.2
RAPID components ......................................................................
48
2.1.9.3
User message functionality examples ..............................................
50
2.1.9.4
Text table files ............................................................................
51
2.1.10 RAPID support functionality ......................................................................
51
2.1.10.1 Overview ...................................................................................
52
2.1.10.2 RAPID components ......................................................................
53
2.1.10.3 RAPID support functionality examples .............................................
54
2.2
Analog Signal Interrupt .......................................................................................
54
2.2.1
Introduction to Analog Signal Interrupt ........................................................
55
2.2.2
RAPID components .................................................................................
56
2.2.3
Code example ........................................................................................
57
2.3
Cyclic bool .......................................................................................................
57
2.3.1
Cyclically evaluated logical conditions ........................................................
60
2.3.2
Cyclic bool examples ...............................................................................
63
2.3.3
System parameters .................................................................................
64
2.3.4
RAPID components .................................................................................
Application manual - Controller software IRC5
5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Table of contents
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 5
|
The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damage to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2014-2025 ABB. All rights reserved.
Specifications subject to change without notice.
Table of contents
11
Overview of this manual ...................................................................................................................
15
Open source and 3rd party components .........................................................................................
17
1
Introduction to RobotWare
17
1.1
Products, classes, and options ............................................................................
19
1.2
RAPID language and programming environment .....................................................
23
2
RobotWare-OS
23
2.1
Advanced RAPID ..............................................................................................
23
2.1.1
Introduction to Advanced RAPID ................................................................
24
2.1.2
Bit functionality .......................................................................................
24
2.1.2.1
Overview ...................................................................................
25
2.1.2.2
RAPID components ......................................................................
26
2.1.2.3
Bit functionality example ...............................................................
27
2.1.3
Data search functionality ..........................................................................
27
2.1.3.1
Overview ...................................................................................
28
2.1.3.2
RAPID components ......................................................................
29
2.1.3.3
Data search functionality examples .................................................
30
2.1.4
Alias I/O signals ......................................................................................
30
2.1.4.1
Overview ...................................................................................
31
2.1.4.2
RAPID components ......................................................................
32
2.1.4.3
Alias I/O functionality example .......................................................
33
2.1.5
Configuration functionality ........................................................................
33
2.1.5.1
Overview ...................................................................................
34
2.1.5.2
RAPID components ......................................................................
35
2.1.5.3
Configuration functionality example ................................................
36
2.1.6
Power failure functionality .........................................................................
36
2.1.6.1
Overview ...................................................................................
37
2.1.6.2
RAPID components and system parameters .....................................
38
2.1.6.3
Power failure functionality example .................................................
39
2.1.7
Process support functionality ....................................................................
39
2.1.7.1
Overview ...................................................................................
40
2.1.7.2
RAPID components ......................................................................
41
2.1.7.3
Process support functionality examples ...........................................
43
2.1.8
Interrupt functionality ...............................................................................
43
2.1.8.1
Overview ...................................................................................
44
2.1.8.2
RAPID components ......................................................................
45
2.1.8.3
Interrupt functionality examples .....................................................
46
2.1.9
User message functionality .......................................................................
46
2.1.9.1
Overview ...................................................................................
47
2.1.9.2
RAPID components ......................................................................
48
2.1.9.3
User message functionality examples ..............................................
50
2.1.9.4
Text table files ............................................................................
51
2.1.10 RAPID support functionality ......................................................................
51
2.1.10.1 Overview ...................................................................................
52
2.1.10.2 RAPID components ......................................................................
53
2.1.10.3 RAPID support functionality examples .............................................
54
2.2
Analog Signal Interrupt .......................................................................................
54
2.2.1
Introduction to Analog Signal Interrupt ........................................................
55
2.2.2
RAPID components .................................................................................
56
2.2.3
Code example ........................................................................................
57
2.3
Cyclic bool .......................................................................................................
57
2.3.1
Cyclically evaluated logical conditions ........................................................
60
2.3.2
Cyclic bool examples ...............................................................................
63
2.3.3
System parameters .................................................................................
64
2.3.4
RAPID components .................................................................................
Application manual - Controller software IRC5
5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Table of contents
65
2.4
Electronically Linked Motors ................................................................................
65
2.4.1
Overview ...............................................................................................
67
2.4.2
Configuration .........................................................................................
67
2.4.2.1
System parameters ......................................................................
69
2.4.2.2
Configuration example ..................................................................
70
2.4.3
Managing a follower axis ..........................................................................
70
2.4.3.1
Using the service routine for a follower axis ......................................
72
2.4.3.2
Calibrate follower axis position .......................................................
74
2.4.3.3
Reset follower axis ......................................................................
75
2.4.4
Tuning a torque follower ...........................................................................
75
2.4.4.1
Torque follower descriptions ..........................................................
76
2.4.4.2
Using the service routine to tune a torque follower .............................
78
2.4.5
Data setup .............................................................................................
78
2.4.5.1
Set up data for the service routine ..................................................
80
2.4.5.2
Example of data setup ..................................................................
82
2.5
Fixed Position Events ........................................................................................
82
2.5.1
Overview ...............................................................................................
83
2.5.2
RAPID components and system parameters .................................................
86
2.5.3
Code examples .......................................................................................
88
2.6
File and I/O device handling ................................................................................
88
2.6.1
Introduction to file and I/O device handling ...................................................
89
2.6.2
Binary and character based communication .................................................
89
2.6.2.1
Overview ...................................................................................
90
2.6.2.2
RAPID components ......................................................................
91
2.6.2.3
Code examples ...........................................................................
93
2.6.3
Raw data communication ..........................................................................
93
2.6.3.1
Overview ...................................................................................
94
2.6.3.2
RAPID components ......................................................................
95
2.6.3.3
Code examples ...........................................................................
97
2.6.4
File and directory management ..................................................................
97
2.6.4.1
Overview ...................................................................................
98
2.6.4.2
RAPID components ......................................................................
99
2.6.4.3
Code examples ...........................................................................
101
2.7
Device Command Interface .................................................................................
101
2.7.1
Introduction to Device Command Interface ...................................................
102
2.7.2
RAPID components and system parameters .................................................
103
2.7.3
Code example ........................................................................................
105
2.8
Logical Cross Connections .................................................................................
105
2.8.1
Introduction to Logical Cross Connections ...................................................
106
2.8.2
Configuring Logical Cross Connections .......................................................
107
2.8.3
Examples ..............................................................................................
109
2.8.4
Limitations .............................................................................................
110
2.9
Connected Services ...........................................................................................
110
2.9.1
Overview ...............................................................................................
112
2.9.2
Connected Services connectivity ................................................................
114
2.9.3
Configuration - system parameters .............................................................
116
2.9.4
Configuring Connected Services ................................................................
119
2.9.5
Configuring Connected Services using gateway box ......................................
123
2.9.6
Connected Services on LAN 3 ...................................................................
125
2.9.7
Connected Services registration ................................................................
127
2.9.8
Connected Services information ................................................................
132
2.10
User logs .........................................................................................................
132
2.10.1 Introduction to User logs ..........................................................................
135
3
Motion performance
135
3.1
Absolute Accuracy [603-1, 603-2] .........................................................................
135
3.1.1
About Absolute Accuracy .........................................................................
137
3.1.2
Useful tools ............................................................................................
138
3.1.3
Configuration .........................................................................................
6
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Table of contents
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 6
|
Table of contents
11
Overview of this manual ...................................................................................................................
15
Open source and 3rd party components .........................................................................................
17
1
Introduction to RobotWare
17
1.1
Products, classes, and options ............................................................................
19
1.2
RAPID language and programming environment .....................................................
23
2
RobotWare-OS
23
2.1
Advanced RAPID ..............................................................................................
23
2.1.1
Introduction to Advanced RAPID ................................................................
24
2.1.2
Bit functionality .......................................................................................
24
2.1.2.1
Overview ...................................................................................
25
2.1.2.2
RAPID components ......................................................................
26
2.1.2.3
Bit functionality example ...............................................................
27
2.1.3
Data search functionality ..........................................................................
27
2.1.3.1
Overview ...................................................................................
28
2.1.3.2
RAPID components ......................................................................
29
2.1.3.3
Data search functionality examples .................................................
30
2.1.4
Alias I/O signals ......................................................................................
30
2.1.4.1
Overview ...................................................................................
31
2.1.4.2
RAPID components ......................................................................
32
2.1.4.3
Alias I/O functionality example .......................................................
33
2.1.5
Configuration functionality ........................................................................
33
2.1.5.1
Overview ...................................................................................
34
2.1.5.2
RAPID components ......................................................................
35
2.1.5.3
Configuration functionality example ................................................
36
2.1.6
Power failure functionality .........................................................................
36
2.1.6.1
Overview ...................................................................................
37
2.1.6.2
RAPID components and system parameters .....................................
38
2.1.6.3
Power failure functionality example .................................................
39
2.1.7
Process support functionality ....................................................................
39
2.1.7.1
Overview ...................................................................................
40
2.1.7.2
RAPID components ......................................................................
41
2.1.7.3
Process support functionality examples ...........................................
43
2.1.8
Interrupt functionality ...............................................................................
43
2.1.8.1
Overview ...................................................................................
44
2.1.8.2
RAPID components ......................................................................
45
2.1.8.3
Interrupt functionality examples .....................................................
46
2.1.9
User message functionality .......................................................................
46
2.1.9.1
Overview ...................................................................................
47
2.1.9.2
RAPID components ......................................................................
48
2.1.9.3
User message functionality examples ..............................................
50
2.1.9.4
Text table files ............................................................................
51
2.1.10 RAPID support functionality ......................................................................
51
2.1.10.1 Overview ...................................................................................
52
2.1.10.2 RAPID components ......................................................................
53
2.1.10.3 RAPID support functionality examples .............................................
54
2.2
Analog Signal Interrupt .......................................................................................
54
2.2.1
Introduction to Analog Signal Interrupt ........................................................
55
2.2.2
RAPID components .................................................................................
56
2.2.3
Code example ........................................................................................
57
2.3
Cyclic bool .......................................................................................................
57
2.3.1
Cyclically evaluated logical conditions ........................................................
60
2.3.2
Cyclic bool examples ...............................................................................
63
2.3.3
System parameters .................................................................................
64
2.3.4
RAPID components .................................................................................
Application manual - Controller software IRC5
5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Table of contents
65
2.4
Electronically Linked Motors ................................................................................
65
2.4.1
Overview ...............................................................................................
67
2.4.2
Configuration .........................................................................................
67
2.4.2.1
System parameters ......................................................................
69
2.4.2.2
Configuration example ..................................................................
70
2.4.3
Managing a follower axis ..........................................................................
70
2.4.3.1
Using the service routine for a follower axis ......................................
72
2.4.3.2
Calibrate follower axis position .......................................................
74
2.4.3.3
Reset follower axis ......................................................................
75
2.4.4
Tuning a torque follower ...........................................................................
75
2.4.4.1
Torque follower descriptions ..........................................................
76
2.4.4.2
Using the service routine to tune a torque follower .............................
78
2.4.5
Data setup .............................................................................................
78
2.4.5.1
Set up data for the service routine ..................................................
80
2.4.5.2
Example of data setup ..................................................................
82
2.5
Fixed Position Events ........................................................................................
82
2.5.1
Overview ...............................................................................................
83
2.5.2
RAPID components and system parameters .................................................
86
2.5.3
Code examples .......................................................................................
88
2.6
File and I/O device handling ................................................................................
88
2.6.1
Introduction to file and I/O device handling ...................................................
89
2.6.2
Binary and character based communication .................................................
89
2.6.2.1
Overview ...................................................................................
90
2.6.2.2
RAPID components ......................................................................
91
2.6.2.3
Code examples ...........................................................................
93
2.6.3
Raw data communication ..........................................................................
93
2.6.3.1
Overview ...................................................................................
94
2.6.3.2
RAPID components ......................................................................
95
2.6.3.3
Code examples ...........................................................................
97
2.6.4
File and directory management ..................................................................
97
2.6.4.1
Overview ...................................................................................
98
2.6.4.2
RAPID components ......................................................................
99
2.6.4.3
Code examples ...........................................................................
101
2.7
Device Command Interface .................................................................................
101
2.7.1
Introduction to Device Command Interface ...................................................
102
2.7.2
RAPID components and system parameters .................................................
103
2.7.3
Code example ........................................................................................
105
2.8
Logical Cross Connections .................................................................................
105
2.8.1
Introduction to Logical Cross Connections ...................................................
106
2.8.2
Configuring Logical Cross Connections .......................................................
107
2.8.3
Examples ..............................................................................................
109
2.8.4
Limitations .............................................................................................
110
2.9
Connected Services ...........................................................................................
110
2.9.1
Overview ...............................................................................................
112
2.9.2
Connected Services connectivity ................................................................
114
2.9.3
Configuration - system parameters .............................................................
116
2.9.4
Configuring Connected Services ................................................................
119
2.9.5
Configuring Connected Services using gateway box ......................................
123
2.9.6
Connected Services on LAN 3 ...................................................................
125
2.9.7
Connected Services registration ................................................................
127
2.9.8
Connected Services information ................................................................
132
2.10
User logs .........................................................................................................
132
2.10.1 Introduction to User logs ..........................................................................
135
3
Motion performance
135
3.1
Absolute Accuracy [603-1, 603-2] .........................................................................
135
3.1.1
About Absolute Accuracy .........................................................................
137
3.1.2
Useful tools ............................................................................................
138
3.1.3
Configuration .........................................................................................
6
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Table of contents
140
3.1.4
Maintenance ..........................................................................................
140
3.1.4.1
Maintenance that affect the accuracy ..............................................
142
3.1.4.2
Loss of accuracy .........................................................................
143
3.1.5
Compensation theory ...............................................................................
143
3.1.5.1
Error sources ..............................................................................
144
3.1.5.2
Absolute Accuracy compensation ...................................................
146
3.1.6
Preparation of Absolute Accuracy robot ......................................................
146
3.1.6.1
ABB calibration process ................................................................
148
3.1.6.2
Birth certificate ............................................................................
149
3.1.6.3
Compensation parameters ............................................................
150
3.1.7
Cell alignment ........................................................................................
150
3.1.7.1
Overview ...................................................................................
151
3.1.7.2
Measure fixture alignment .............................................................
152
3.1.7.3
Measure robot alignment ..............................................................
153
3.1.7.4
Frame relationships .....................................................................
154
3.1.7.5
Tool calibration ...........................................................................
155
3.2
Advanced Robot Motion [687-1] ...........................................................................
156
3.3
Advanced Shape Tuning [included in 687-1] ...........................................................
156
3.3.1
About Advanced Shape Tuning ..................................................................
157
3.3.2
Automatic friction tuning ...........................................................................
159
3.3.3
Manual friction tuning ..............................................................................
161
3.3.4
System parameters .................................................................................
161
3.3.4.1
System parameters ......................................................................
162
3.3.4.2
Setting tuning system parameters ...................................................
163
3.3.5
RAPID components .................................................................................
164
3.4
Motion Process Mode [included in 687-1] ...............................................................
164
3.4.1
About Motion Process Mode .....................................................................
166
3.4.2
User-defined modes ................................................................................
168
3.4.3
General information about robot tuning .......................................................
171
3.4.4
Additional information ..............................................................................
172
3.5
Wrist Move [included in 687-1] .............................................................................
172
3.5.1
Introduction to Wrist Move ........................................................................
174
3.5.2
Cut plane frame ......................................................................................
176
3.5.3
RAPID components .................................................................................
177
3.5.4
RAPID code, examples .............................................................................
179
3.5.5
Troubleshooting ......................................................................................
181
4
Motion coordination
181
4.1
Machine Synchronization [607-1], [607-2] ...............................................................
181
4.1.1
Overview ...............................................................................................
183
4.1.2
What is needed .......................................................................................
185
4.1.3
Synchronization features ..........................................................................
186
4.1.4
General description of the synchronization process .......................................
187
4.1.5
Limitations .............................................................................................
188
4.1.6
Hardware installation for Sensor Synchronization ..........................................
188
4.1.6.1
Encoder specification ...................................................................
189
4.1.6.2
Encoder description .....................................................................
190
4.1.6.3
Installation recommendations ........................................................
191
4.1.6.4
Connecting encoder and encoder interface unit .................................
193
4.1.7
Hardware installation for Analog Synchronization ..........................................
193
4.1.7.1
Required hardware ......................................................................
194
4.1.8
Software installation ................................................................................
194
4.1.8.1
Sensor installation .......................................................................
196
4.1.8.2
Reloading saved Motion parameters ...............................................
197
4.1.8.3
Installation of several sensors ........................................................
198
4.1.9
Programming the synchronization ..............................................................
198
4.1.9.1
General issues when programming with the synchronization option ......
200
4.1.9.2
Programming examples ................................................................
202
4.1.9.3
Entering and exiting coordinated motion in corner zones ....................
Application manual - Controller software IRC5
7
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Table of contents
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 7
|
65
2.4
Electronically Linked Motors ................................................................................
65
2.4.1
Overview ...............................................................................................
67
2.4.2
Configuration .........................................................................................
67
2.4.2.1
System parameters ......................................................................
69
2.4.2.2
Configuration example ..................................................................
70
2.4.3
Managing a follower axis ..........................................................................
70
2.4.3.1
Using the service routine for a follower axis ......................................
72
2.4.3.2
Calibrate follower axis position .......................................................
74
2.4.3.3
Reset follower axis ......................................................................
75
2.4.4
Tuning a torque follower ...........................................................................
75
2.4.4.1
Torque follower descriptions ..........................................................
76
2.4.4.2
Using the service routine to tune a torque follower .............................
78
2.4.5
Data setup .............................................................................................
78
2.4.5.1
Set up data for the service routine ..................................................
80
2.4.5.2
Example of data setup ..................................................................
82
2.5
Fixed Position Events ........................................................................................
82
2.5.1
Overview ...............................................................................................
83
2.5.2
RAPID components and system parameters .................................................
86
2.5.3
Code examples .......................................................................................
88
2.6
File and I/O device handling ................................................................................
88
2.6.1
Introduction to file and I/O device handling ...................................................
89
2.6.2
Binary and character based communication .................................................
89
2.6.2.1
Overview ...................................................................................
90
2.6.2.2
RAPID components ......................................................................
91
2.6.2.3
Code examples ...........................................................................
93
2.6.3
Raw data communication ..........................................................................
93
2.6.3.1
Overview ...................................................................................
94
2.6.3.2
RAPID components ......................................................................
95
2.6.3.3
Code examples ...........................................................................
97
2.6.4
File and directory management ..................................................................
97
2.6.4.1
Overview ...................................................................................
98
2.6.4.2
RAPID components ......................................................................
99
2.6.4.3
Code examples ...........................................................................
101
2.7
Device Command Interface .................................................................................
101
2.7.1
Introduction to Device Command Interface ...................................................
102
2.7.2
RAPID components and system parameters .................................................
103
2.7.3
Code example ........................................................................................
105
2.8
Logical Cross Connections .................................................................................
105
2.8.1
Introduction to Logical Cross Connections ...................................................
106
2.8.2
Configuring Logical Cross Connections .......................................................
107
2.8.3
Examples ..............................................................................................
109
2.8.4
Limitations .............................................................................................
110
2.9
Connected Services ...........................................................................................
110
2.9.1
Overview ...............................................................................................
112
2.9.2
Connected Services connectivity ................................................................
114
2.9.3
Configuration - system parameters .............................................................
116
2.9.4
Configuring Connected Services ................................................................
119
2.9.5
Configuring Connected Services using gateway box ......................................
123
2.9.6
Connected Services on LAN 3 ...................................................................
125
2.9.7
Connected Services registration ................................................................
127
2.9.8
Connected Services information ................................................................
132
2.10
User logs .........................................................................................................
132
2.10.1 Introduction to User logs ..........................................................................
135
3
Motion performance
135
3.1
Absolute Accuracy [603-1, 603-2] .........................................................................
135
3.1.1
About Absolute Accuracy .........................................................................
137
3.1.2
Useful tools ............................................................................................
138
3.1.3
Configuration .........................................................................................
6
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Table of contents
140
3.1.4
Maintenance ..........................................................................................
140
3.1.4.1
Maintenance that affect the accuracy ..............................................
142
3.1.4.2
Loss of accuracy .........................................................................
143
3.1.5
Compensation theory ...............................................................................
143
3.1.5.1
Error sources ..............................................................................
144
3.1.5.2
Absolute Accuracy compensation ...................................................
146
3.1.6
Preparation of Absolute Accuracy robot ......................................................
146
3.1.6.1
ABB calibration process ................................................................
148
3.1.6.2
Birth certificate ............................................................................
149
3.1.6.3
Compensation parameters ............................................................
150
3.1.7
Cell alignment ........................................................................................
150
3.1.7.1
Overview ...................................................................................
151
3.1.7.2
Measure fixture alignment .............................................................
152
3.1.7.3
Measure robot alignment ..............................................................
153
3.1.7.4
Frame relationships .....................................................................
154
3.1.7.5
Tool calibration ...........................................................................
155
3.2
Advanced Robot Motion [687-1] ...........................................................................
156
3.3
Advanced Shape Tuning [included in 687-1] ...........................................................
156
3.3.1
About Advanced Shape Tuning ..................................................................
157
3.3.2
Automatic friction tuning ...........................................................................
159
3.3.3
Manual friction tuning ..............................................................................
161
3.3.4
System parameters .................................................................................
161
3.3.4.1
System parameters ......................................................................
162
3.3.4.2
Setting tuning system parameters ...................................................
163
3.3.5
RAPID components .................................................................................
164
3.4
Motion Process Mode [included in 687-1] ...............................................................
164
3.4.1
About Motion Process Mode .....................................................................
166
3.4.2
User-defined modes ................................................................................
168
3.4.3
General information about robot tuning .......................................................
171
3.4.4
Additional information ..............................................................................
172
3.5
Wrist Move [included in 687-1] .............................................................................
172
3.5.1
Introduction to Wrist Move ........................................................................
174
3.5.2
Cut plane frame ......................................................................................
176
3.5.3
RAPID components .................................................................................
177
3.5.4
RAPID code, examples .............................................................................
179
3.5.5
Troubleshooting ......................................................................................
181
4
Motion coordination
181
4.1
Machine Synchronization [607-1], [607-2] ...............................................................
181
4.1.1
Overview ...............................................................................................
183
4.1.2
What is needed .......................................................................................
185
4.1.3
Synchronization features ..........................................................................
186
4.1.4
General description of the synchronization process .......................................
187
4.1.5
Limitations .............................................................................................
188
4.1.6
Hardware installation for Sensor Synchronization ..........................................
188
4.1.6.1
Encoder specification ...................................................................
189
4.1.6.2
Encoder description .....................................................................
190
4.1.6.3
Installation recommendations ........................................................
191
4.1.6.4
Connecting encoder and encoder interface unit .................................
193
4.1.7
Hardware installation for Analog Synchronization ..........................................
193
4.1.7.1
Required hardware ......................................................................
194
4.1.8
Software installation ................................................................................
194
4.1.8.1
Sensor installation .......................................................................
196
4.1.8.2
Reloading saved Motion parameters ...............................................
197
4.1.8.3
Installation of several sensors ........................................................
198
4.1.9
Programming the synchronization ..............................................................
198
4.1.9.1
General issues when programming with the synchronization option ......
200
4.1.9.2
Programming examples ................................................................
202
4.1.9.3
Entering and exiting coordinated motion in corner zones ....................
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203
4.1.9.4
Use several sensors .....................................................................
204
4.1.9.5
Finepoint programming .................................................................
205
4.1.9.6
Drop sensor object ......................................................................
206
4.1.9.7
Information on the FlexPendant ......................................................
207
4.1.9.8
Programming considerations .........................................................
209
4.1.9.9
Modes of operation ......................................................................
211
4.1.10 Robot to robot synchronization ..................................................................
211
4.1.10.1 Introduction ................................................................................
212
4.1.10.2 The concept of robot to robot synchronization ..................................
213
4.1.10.3 Master robot configuration parameters ............................................
216
4.1.10.4 Slave robot configuration parameters ..............................................
219
4.1.10.5 Programming example for master robot ...........................................
221
4.1.10.6 Programming example for slave robot .............................................
222
4.1.11 Synchronize with hydraulic press using recorded profile .................................
222
4.1.11.1 Introduction ................................................................................
223
4.1.11.2 Configuration of system parameters ................................................
225
4.1.11.3 Program example ........................................................................
226
4.1.12 Synchronize with molding machine using recorded profile ..............................
226
4.1.12.1 Introduction ................................................................................
227
4.1.12.2 Configuration of system parameters ................................................
229
4.1.12.3 Program example ........................................................................
230
4.1.13 Supervision ............................................................................................
231
4.1.14 System parameters .................................................................................
234
4.1.15 I/O signals .............................................................................................
235
4.1.16 RAPID components .................................................................................
237
5
Motion Events
237
5.1
World Zones [608-1] ..........................................................................................
237
5.1.1
Overview of World Zones ..........................................................................
239
5.1.2
RAPID components .................................................................................
241
5.1.3
Code examples .......................................................................................
243
6
Motion functions
243
6.1
Independent Axis [610-1] ....................................................................................
243
6.1.1
Overview ...............................................................................................
245
6.1.2
System parameters .................................................................................
246
6.1.3
RAPID components .................................................................................
247
6.1.4
Code examples .......................................................................................
249
6.2
Path Recovery [611-1] ........................................................................................
249
6.2.1
Overview ...............................................................................................
250
6.2.2
RAPID components .................................................................................
251
6.2.3
Store current path ...................................................................................
257
6.2.4
Path recorder .........................................................................................
264
6.3
Path Offset [612-1] .............................................................................................
264
6.3.1
Overview ...............................................................................................
266
6.3.2
RAPID components .................................................................................
267
6.3.3
Related RAPID functionality ......................................................................
268
6.3.4
Code example ........................................................................................
269
7
Motion Supervision
269
7.1
Collision Detection [613-1] ..................................................................................
269
7.1.1
Overview ...............................................................................................
271
7.1.2
Limitations .............................................................................................
272
7.1.3
What happens at a collision .......................................................................
274
7.1.4
Additional information ..............................................................................
275
7.1.5
Configuration and programming facilities .....................................................
275
7.1.5.1
System parameters ......................................................................
277
7.1.5.2
RAPID components ......................................................................
8
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Table of contents
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ABB_Application_Manual_Controller_Software_IRC5
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| 8
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140
3.1.4
Maintenance ..........................................................................................
140
3.1.4.1
Maintenance that affect the accuracy ..............................................
142
3.1.4.2
Loss of accuracy .........................................................................
143
3.1.5
Compensation theory ...............................................................................
143
3.1.5.1
Error sources ..............................................................................
144
3.1.5.2
Absolute Accuracy compensation ...................................................
146
3.1.6
Preparation of Absolute Accuracy robot ......................................................
146
3.1.6.1
ABB calibration process ................................................................
148
3.1.6.2
Birth certificate ............................................................................
149
3.1.6.3
Compensation parameters ............................................................
150
3.1.7
Cell alignment ........................................................................................
150
3.1.7.1
Overview ...................................................................................
151
3.1.7.2
Measure fixture alignment .............................................................
152
3.1.7.3
Measure robot alignment ..............................................................
153
3.1.7.4
Frame relationships .....................................................................
154
3.1.7.5
Tool calibration ...........................................................................
155
3.2
Advanced Robot Motion [687-1] ...........................................................................
156
3.3
Advanced Shape Tuning [included in 687-1] ...........................................................
156
3.3.1
About Advanced Shape Tuning ..................................................................
157
3.3.2
Automatic friction tuning ...........................................................................
159
3.3.3
Manual friction tuning ..............................................................................
161
3.3.4
System parameters .................................................................................
161
3.3.4.1
System parameters ......................................................................
162
3.3.4.2
Setting tuning system parameters ...................................................
163
3.3.5
RAPID components .................................................................................
164
3.4
Motion Process Mode [included in 687-1] ...............................................................
164
3.4.1
About Motion Process Mode .....................................................................
166
3.4.2
User-defined modes ................................................................................
168
3.4.3
General information about robot tuning .......................................................
171
3.4.4
Additional information ..............................................................................
172
3.5
Wrist Move [included in 687-1] .............................................................................
172
3.5.1
Introduction to Wrist Move ........................................................................
174
3.5.2
Cut plane frame ......................................................................................
176
3.5.3
RAPID components .................................................................................
177
3.5.4
RAPID code, examples .............................................................................
179
3.5.5
Troubleshooting ......................................................................................
181
4
Motion coordination
181
4.1
Machine Synchronization [607-1], [607-2] ...............................................................
181
4.1.1
Overview ...............................................................................................
183
4.1.2
What is needed .......................................................................................
185
4.1.3
Synchronization features ..........................................................................
186
4.1.4
General description of the synchronization process .......................................
187
4.1.5
Limitations .............................................................................................
188
4.1.6
Hardware installation for Sensor Synchronization ..........................................
188
4.1.6.1
Encoder specification ...................................................................
189
4.1.6.2
Encoder description .....................................................................
190
4.1.6.3
Installation recommendations ........................................................
191
4.1.6.4
Connecting encoder and encoder interface unit .................................
193
4.1.7
Hardware installation for Analog Synchronization ..........................................
193
4.1.7.1
Required hardware ......................................................................
194
4.1.8
Software installation ................................................................................
194
4.1.8.1
Sensor installation .......................................................................
196
4.1.8.2
Reloading saved Motion parameters ...............................................
197
4.1.8.3
Installation of several sensors ........................................................
198
4.1.9
Programming the synchronization ..............................................................
198
4.1.9.1
General issues when programming with the synchronization option ......
200
4.1.9.2
Programming examples ................................................................
202
4.1.9.3
Entering and exiting coordinated motion in corner zones ....................
Application manual - Controller software IRC5
7
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© Copyright 2014-2025 ABB. All rights reserved.
Table of contents
203
4.1.9.4
Use several sensors .....................................................................
204
4.1.9.5
Finepoint programming .................................................................
205
4.1.9.6
Drop sensor object ......................................................................
206
4.1.9.7
Information on the FlexPendant ......................................................
207
4.1.9.8
Programming considerations .........................................................
209
4.1.9.9
Modes of operation ......................................................................
211
4.1.10 Robot to robot synchronization ..................................................................
211
4.1.10.1 Introduction ................................................................................
212
4.1.10.2 The concept of robot to robot synchronization ..................................
213
4.1.10.3 Master robot configuration parameters ............................................
216
4.1.10.4 Slave robot configuration parameters ..............................................
219
4.1.10.5 Programming example for master robot ...........................................
221
4.1.10.6 Programming example for slave robot .............................................
222
4.1.11 Synchronize with hydraulic press using recorded profile .................................
222
4.1.11.1 Introduction ................................................................................
223
4.1.11.2 Configuration of system parameters ................................................
225
4.1.11.3 Program example ........................................................................
226
4.1.12 Synchronize with molding machine using recorded profile ..............................
226
4.1.12.1 Introduction ................................................................................
227
4.1.12.2 Configuration of system parameters ................................................
229
4.1.12.3 Program example ........................................................................
230
4.1.13 Supervision ............................................................................................
231
4.1.14 System parameters .................................................................................
234
4.1.15 I/O signals .............................................................................................
235
4.1.16 RAPID components .................................................................................
237
5
Motion Events
237
5.1
World Zones [608-1] ..........................................................................................
237
5.1.1
Overview of World Zones ..........................................................................
239
5.1.2
RAPID components .................................................................................
241
5.1.3
Code examples .......................................................................................
243
6
Motion functions
243
6.1
Independent Axis [610-1] ....................................................................................
243
6.1.1
Overview ...............................................................................................
245
6.1.2
System parameters .................................................................................
246
6.1.3
RAPID components .................................................................................
247
6.1.4
Code examples .......................................................................................
249
6.2
Path Recovery [611-1] ........................................................................................
249
6.2.1
Overview ...............................................................................................
250
6.2.2
RAPID components .................................................................................
251
6.2.3
Store current path ...................................................................................
257
6.2.4
Path recorder .........................................................................................
264
6.3
Path Offset [612-1] .............................................................................................
264
6.3.1
Overview ...............................................................................................
266
6.3.2
RAPID components .................................................................................
267
6.3.3
Related RAPID functionality ......................................................................
268
6.3.4
Code example ........................................................................................
269
7
Motion Supervision
269
7.1
Collision Detection [613-1] ..................................................................................
269
7.1.1
Overview ...............................................................................................
271
7.1.2
Limitations .............................................................................................
272
7.1.3
What happens at a collision .......................................................................
274
7.1.4
Additional information ..............................................................................
275
7.1.5
Configuration and programming facilities .....................................................
275
7.1.5.1
System parameters ......................................................................
277
7.1.5.2
RAPID components ......................................................................
8
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© Copyright 2014-2025 ABB. All rights reserved.
Table of contents
278
7.1.5.3
Signals ......................................................................................
279
7.1.6
How to use Collision Detection ..................................................................
279
7.1.6.1
Set up system parameters .............................................................
280
7.1.6.2
Adjust supervision from FlexPendant ..............................................
281
7.1.6.3
Adjust supervision from RAPID program ..........................................
282
7.1.6.4
How to avoid false triggering .........................................................
283
7.1.7
Collision Avoidance ................................................................................
286
7.2
SafeMove Assistant ...........................................................................................
289
8
Communication
289
8.1
FTP Client [614-1] .............................................................................................
289
8.1.1
Introduction to FTP Client .........................................................................
291
8.1.2
System parameters .................................................................................
292
8.1.3
Examples ..............................................................................................
293
8.2
SFTP Client [614-1] ............................................................................................
293
8.2.1
Introduction to SFTP Client .......................................................................
295
8.2.2
System parameters .................................................................................
296
8.2.3
Examples ..............................................................................................
297
8.3
NFS Client [614-1] .............................................................................................
297
8.3.1
Introduction to NFS Client .........................................................................
299
8.3.2
System parameters .................................................................................
300
8.3.3
Examples ..............................................................................................
301
8.4
PC Interface [616-1] ...........................................................................................
301
8.4.1
Introduction to PC Interface .......................................................................
302
8.4.2
Send variable from RAPID ........................................................................
304
8.4.3
ABB software using PC Interface ...............................................................
305
8.5
Socket Messaging [616-1] ...................................................................................
305
8.5.1
Introduction to Socket Messaging ..............................................................
306
8.5.2
Schematic picture of socket communication .................................................
307
8.5.3
Technical facts about Socket Messaging .....................................................
308
8.5.4
RAPID components .................................................................................
310
8.5.5
Code examples for Socket Messaging .........................................................
312
8.6
RAPID Message Queue [included in 616-1, 623-1] ...................................................
312
8.6.1
Introduction to RAPID Message Queue .......................................................
313
8.6.2
RAPID Message Queue behavior ...............................................................
317
8.6.3
System parameters .................................................................................
318
8.6.4
RAPID components .................................................................................
319
8.6.5
Code examples .......................................................................................
323
9
Engineering tools
323
9.1
Multitasking [623-1] ...........................................................................................
323
9.1.1
Introduction to Multitasking .......................................................................
325
9.1.2
System parameters .................................................................................
327
9.1.3
RAPID components .................................................................................
328
9.1.4
Task configuration ...................................................................................
328
9.1.4.1
Debug strategies for setting up tasks ..............................................
330
9.1.4.2
Priorities ....................................................................................
332
9.1.4.3
Task Panel Settings .....................................................................
333
9.1.4.4
Select which tasks to start with START button ..................................
335
9.1.5
Communication between tasks ..................................................................
335
9.1.5.1
Persistent variables .....................................................................
337
9.1.5.2
Waiting for other tasks ..................................................................
339
9.1.5.3
Synchronizing between tasks .........................................................
341
9.1.5.4
Using a dispatcher .......................................................................
343
9.1.6
Other programming issues ........................................................................
343
9.1.6.1
Share resource between tasks .......................................................
344
9.1.6.2
Test if task controls mechanical unit ................................................
345
9.1.6.3
taskid ........................................................................................
346
9.1.6.4
Avoid heavy loops .......................................................................
Application manual - Controller software IRC5
9
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Table of contents
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 9
|
203
4.1.9.4
Use several sensors .....................................................................
204
4.1.9.5
Finepoint programming .................................................................
205
4.1.9.6
Drop sensor object ......................................................................
206
4.1.9.7
Information on the FlexPendant ......................................................
207
4.1.9.8
Programming considerations .........................................................
209
4.1.9.9
Modes of operation ......................................................................
211
4.1.10 Robot to robot synchronization ..................................................................
211
4.1.10.1 Introduction ................................................................................
212
4.1.10.2 The concept of robot to robot synchronization ..................................
213
4.1.10.3 Master robot configuration parameters ............................................
216
4.1.10.4 Slave robot configuration parameters ..............................................
219
4.1.10.5 Programming example for master robot ...........................................
221
4.1.10.6 Programming example for slave robot .............................................
222
4.1.11 Synchronize with hydraulic press using recorded profile .................................
222
4.1.11.1 Introduction ................................................................................
223
4.1.11.2 Configuration of system parameters ................................................
225
4.1.11.3 Program example ........................................................................
226
4.1.12 Synchronize with molding machine using recorded profile ..............................
226
4.1.12.1 Introduction ................................................................................
227
4.1.12.2 Configuration of system parameters ................................................
229
4.1.12.3 Program example ........................................................................
230
4.1.13 Supervision ............................................................................................
231
4.1.14 System parameters .................................................................................
234
4.1.15 I/O signals .............................................................................................
235
4.1.16 RAPID components .................................................................................
237
5
Motion Events
237
5.1
World Zones [608-1] ..........................................................................................
237
5.1.1
Overview of World Zones ..........................................................................
239
5.1.2
RAPID components .................................................................................
241
5.1.3
Code examples .......................................................................................
243
6
Motion functions
243
6.1
Independent Axis [610-1] ....................................................................................
243
6.1.1
Overview ...............................................................................................
245
6.1.2
System parameters .................................................................................
246
6.1.3
RAPID components .................................................................................
247
6.1.4
Code examples .......................................................................................
249
6.2
Path Recovery [611-1] ........................................................................................
249
6.2.1
Overview ...............................................................................................
250
6.2.2
RAPID components .................................................................................
251
6.2.3
Store current path ...................................................................................
257
6.2.4
Path recorder .........................................................................................
264
6.3
Path Offset [612-1] .............................................................................................
264
6.3.1
Overview ...............................................................................................
266
6.3.2
RAPID components .................................................................................
267
6.3.3
Related RAPID functionality ......................................................................
268
6.3.4
Code example ........................................................................................
269
7
Motion Supervision
269
7.1
Collision Detection [613-1] ..................................................................................
269
7.1.1
Overview ...............................................................................................
271
7.1.2
Limitations .............................................................................................
272
7.1.3
What happens at a collision .......................................................................
274
7.1.4
Additional information ..............................................................................
275
7.1.5
Configuration and programming facilities .....................................................
275
7.1.5.1
System parameters ......................................................................
277
7.1.5.2
RAPID components ......................................................................
8
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Table of contents
278
7.1.5.3
Signals ......................................................................................
279
7.1.6
How to use Collision Detection ..................................................................
279
7.1.6.1
Set up system parameters .............................................................
280
7.1.6.2
Adjust supervision from FlexPendant ..............................................
281
7.1.6.3
Adjust supervision from RAPID program ..........................................
282
7.1.6.4
How to avoid false triggering .........................................................
283
7.1.7
Collision Avoidance ................................................................................
286
7.2
SafeMove Assistant ...........................................................................................
289
8
Communication
289
8.1
FTP Client [614-1] .............................................................................................
289
8.1.1
Introduction to FTP Client .........................................................................
291
8.1.2
System parameters .................................................................................
292
8.1.3
Examples ..............................................................................................
293
8.2
SFTP Client [614-1] ............................................................................................
293
8.2.1
Introduction to SFTP Client .......................................................................
295
8.2.2
System parameters .................................................................................
296
8.2.3
Examples ..............................................................................................
297
8.3
NFS Client [614-1] .............................................................................................
297
8.3.1
Introduction to NFS Client .........................................................................
299
8.3.2
System parameters .................................................................................
300
8.3.3
Examples ..............................................................................................
301
8.4
PC Interface [616-1] ...........................................................................................
301
8.4.1
Introduction to PC Interface .......................................................................
302
8.4.2
Send variable from RAPID ........................................................................
304
8.4.3
ABB software using PC Interface ...............................................................
305
8.5
Socket Messaging [616-1] ...................................................................................
305
8.5.1
Introduction to Socket Messaging ..............................................................
306
8.5.2
Schematic picture of socket communication .................................................
307
8.5.3
Technical facts about Socket Messaging .....................................................
308
8.5.4
RAPID components .................................................................................
310
8.5.5
Code examples for Socket Messaging .........................................................
312
8.6
RAPID Message Queue [included in 616-1, 623-1] ...................................................
312
8.6.1
Introduction to RAPID Message Queue .......................................................
313
8.6.2
RAPID Message Queue behavior ...............................................................
317
8.6.3
System parameters .................................................................................
318
8.6.4
RAPID components .................................................................................
319
8.6.5
Code examples .......................................................................................
323
9
Engineering tools
323
9.1
Multitasking [623-1] ...........................................................................................
323
9.1.1
Introduction to Multitasking .......................................................................
325
9.1.2
System parameters .................................................................................
327
9.1.3
RAPID components .................................................................................
328
9.1.4
Task configuration ...................................................................................
328
9.1.4.1
Debug strategies for setting up tasks ..............................................
330
9.1.4.2
Priorities ....................................................................................
332
9.1.4.3
Task Panel Settings .....................................................................
333
9.1.4.4
Select which tasks to start with START button ..................................
335
9.1.5
Communication between tasks ..................................................................
335
9.1.5.1
Persistent variables .....................................................................
337
9.1.5.2
Waiting for other tasks ..................................................................
339
9.1.5.3
Synchronizing between tasks .........................................................
341
9.1.5.4
Using a dispatcher .......................................................................
343
9.1.6
Other programming issues ........................................................................
343
9.1.6.1
Share resource between tasks .......................................................
344
9.1.6.2
Test if task controls mechanical unit ................................................
345
9.1.6.3
taskid ........................................................................................
346
9.1.6.4
Avoid heavy loops .......................................................................
Application manual - Controller software IRC5
9
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Table of contents
347
9.2
Sensor Interface [628-1] .....................................................................................
347
9.2.1
Introduction to Sensor Interface .................................................................
348
9.2.2
Configuring sensors ................................................................................
348
9.2.2.1
About the sensors .......................................................................
349
9.2.2.2
Configuring sensors on serial channels ...........................................
350
9.2.2.3
Configuring sensors on Ethernet channels .......................................
351
9.2.3
RAPID ...................................................................................................
351
9.2.3.1
RAPID components ......................................................................
354
9.2.4
Examples ..............................................................................................
354
9.2.4.1
Code examples ...........................................................................
356
9.3
Robot Reference Interface [included in 689-1] ........................................................
356
9.3.1
Introduction to Robot Reference Interface ....................................................
357
9.3.2
Installation .............................................................................................
357
9.3.2.1
Connecting the communication cable ..............................................
358
9.3.2.2
Prerequisites ..............................................................................
359
9.3.2.3
Data orchestration .......................................................................
361
9.3.2.4
Supported data types ...................................................................
362
9.3.3
Configuration .........................................................................................
362
9.3.3.1
Interface configuration ..................................................................
363
9.3.3.2
Interface settings .........................................................................
364
9.3.3.3
Device description .......................................................................
367
9.3.3.4
Device configuration ....................................................................
370
9.3.4
Configuration examples ............................................................................
370
9.3.4.1
RAPID programming ....................................................................
371
9.3.4.2
Example configuration ..................................................................
376
9.3.5
RAPID components .................................................................................
377
9.4
Auto Acknowledge Input .....................................................................................
379
10 Tool control options
379
10.1
Servo Tool Change [630-1] ..................................................................................
379
10.1.1 Overview ...............................................................................................
380
10.1.2 Requirements and limitations ....................................................................
382
10.1.3 Configuration .........................................................................................
383
10.1.4 Connection relay .....................................................................................
385
10.1.5 Tool change procedure ............................................................................
386
10.1.6 Jogging servo tools with activation disabled .................................................
387
10.2
Tool Control [1180-1] .........................................................................................
387
10.2.1 Overview ...............................................................................................
388
10.2.2 Servo tool movements .............................................................................
389
10.2.3 Tip management .....................................................................................
391
10.2.4 Supervision ............................................................................................
392
10.2.5 RAPID components .................................................................................
393
10.2.6 System parameters .................................................................................
398
10.2.7 Commissioning and service ......................................................................
400
10.2.8 Mechanical unit calibrations ......................................................................
401
10.2.9 RAPID code example ...............................................................................
402
10.2.10 Using tool control for gripper applications ....................................................
404
10.3
I/O Controlled Axes [included in 1180-1] ................................................................
404
10.3.1 Overview ...............................................................................................
405
10.3.2 Contouring error .....................................................................................
406
10.3.3 Correcting the position .............................................................................
407
10.3.4 Tool changing .........................................................................................
408
10.3.5 Installation .............................................................................................
409
10.3.6 Configuration .........................................................................................
411
10.3.7 System parameters .................................................................................
413
10.3.8 RAPID programming ................................................................................
415
Index
10
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Table of contents
|
ABB_Application_Manual_Controller_Software_IRC5
|
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| 10
|
278
7.1.5.3
Signals ......................................................................................
279
7.1.6
How to use Collision Detection ..................................................................
279
7.1.6.1
Set up system parameters .............................................................
280
7.1.6.2
Adjust supervision from FlexPendant ..............................................
281
7.1.6.3
Adjust supervision from RAPID program ..........................................
282
7.1.6.4
How to avoid false triggering .........................................................
283
7.1.7
Collision Avoidance ................................................................................
286
7.2
SafeMove Assistant ...........................................................................................
289
8
Communication
289
8.1
FTP Client [614-1] .............................................................................................
289
8.1.1
Introduction to FTP Client .........................................................................
291
8.1.2
System parameters .................................................................................
292
8.1.3
Examples ..............................................................................................
293
8.2
SFTP Client [614-1] ............................................................................................
293
8.2.1
Introduction to SFTP Client .......................................................................
295
8.2.2
System parameters .................................................................................
296
8.2.3
Examples ..............................................................................................
297
8.3
NFS Client [614-1] .............................................................................................
297
8.3.1
Introduction to NFS Client .........................................................................
299
8.3.2
System parameters .................................................................................
300
8.3.3
Examples ..............................................................................................
301
8.4
PC Interface [616-1] ...........................................................................................
301
8.4.1
Introduction to PC Interface .......................................................................
302
8.4.2
Send variable from RAPID ........................................................................
304
8.4.3
ABB software using PC Interface ...............................................................
305
8.5
Socket Messaging [616-1] ...................................................................................
305
8.5.1
Introduction to Socket Messaging ..............................................................
306
8.5.2
Schematic picture of socket communication .................................................
307
8.5.3
Technical facts about Socket Messaging .....................................................
308
8.5.4
RAPID components .................................................................................
310
8.5.5
Code examples for Socket Messaging .........................................................
312
8.6
RAPID Message Queue [included in 616-1, 623-1] ...................................................
312
8.6.1
Introduction to RAPID Message Queue .......................................................
313
8.6.2
RAPID Message Queue behavior ...............................................................
317
8.6.3
System parameters .................................................................................
318
8.6.4
RAPID components .................................................................................
319
8.6.5
Code examples .......................................................................................
323
9
Engineering tools
323
9.1
Multitasking [623-1] ...........................................................................................
323
9.1.1
Introduction to Multitasking .......................................................................
325
9.1.2
System parameters .................................................................................
327
9.1.3
RAPID components .................................................................................
328
9.1.4
Task configuration ...................................................................................
328
9.1.4.1
Debug strategies for setting up tasks ..............................................
330
9.1.4.2
Priorities ....................................................................................
332
9.1.4.3
Task Panel Settings .....................................................................
333
9.1.4.4
Select which tasks to start with START button ..................................
335
9.1.5
Communication between tasks ..................................................................
335
9.1.5.1
Persistent variables .....................................................................
337
9.1.5.2
Waiting for other tasks ..................................................................
339
9.1.5.3
Synchronizing between tasks .........................................................
341
9.1.5.4
Using a dispatcher .......................................................................
343
9.1.6
Other programming issues ........................................................................
343
9.1.6.1
Share resource between tasks .......................................................
344
9.1.6.2
Test if task controls mechanical unit ................................................
345
9.1.6.3
taskid ........................................................................................
346
9.1.6.4
Avoid heavy loops .......................................................................
Application manual - Controller software IRC5
9
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Table of contents
347
9.2
Sensor Interface [628-1] .....................................................................................
347
9.2.1
Introduction to Sensor Interface .................................................................
348
9.2.2
Configuring sensors ................................................................................
348
9.2.2.1
About the sensors .......................................................................
349
9.2.2.2
Configuring sensors on serial channels ...........................................
350
9.2.2.3
Configuring sensors on Ethernet channels .......................................
351
9.2.3
RAPID ...................................................................................................
351
9.2.3.1
RAPID components ......................................................................
354
9.2.4
Examples ..............................................................................................
354
9.2.4.1
Code examples ...........................................................................
356
9.3
Robot Reference Interface [included in 689-1] ........................................................
356
9.3.1
Introduction to Robot Reference Interface ....................................................
357
9.3.2
Installation .............................................................................................
357
9.3.2.1
Connecting the communication cable ..............................................
358
9.3.2.2
Prerequisites ..............................................................................
359
9.3.2.3
Data orchestration .......................................................................
361
9.3.2.4
Supported data types ...................................................................
362
9.3.3
Configuration .........................................................................................
362
9.3.3.1
Interface configuration ..................................................................
363
9.3.3.2
Interface settings .........................................................................
364
9.3.3.3
Device description .......................................................................
367
9.3.3.4
Device configuration ....................................................................
370
9.3.4
Configuration examples ............................................................................
370
9.3.4.1
RAPID programming ....................................................................
371
9.3.4.2
Example configuration ..................................................................
376
9.3.5
RAPID components .................................................................................
377
9.4
Auto Acknowledge Input .....................................................................................
379
10 Tool control options
379
10.1
Servo Tool Change [630-1] ..................................................................................
379
10.1.1 Overview ...............................................................................................
380
10.1.2 Requirements and limitations ....................................................................
382
10.1.3 Configuration .........................................................................................
383
10.1.4 Connection relay .....................................................................................
385
10.1.5 Tool change procedure ............................................................................
386
10.1.6 Jogging servo tools with activation disabled .................................................
387
10.2
Tool Control [1180-1] .........................................................................................
387
10.2.1 Overview ...............................................................................................
388
10.2.2 Servo tool movements .............................................................................
389
10.2.3 Tip management .....................................................................................
391
10.2.4 Supervision ............................................................................................
392
10.2.5 RAPID components .................................................................................
393
10.2.6 System parameters .................................................................................
398
10.2.7 Commissioning and service ......................................................................
400
10.2.8 Mechanical unit calibrations ......................................................................
401
10.2.9 RAPID code example ...............................................................................
402
10.2.10 Using tool control for gripper applications ....................................................
404
10.3
I/O Controlled Axes [included in 1180-1] ................................................................
404
10.3.1 Overview ...............................................................................................
405
10.3.2 Contouring error .....................................................................................
406
10.3.3 Correcting the position .............................................................................
407
10.3.4 Tool changing .........................................................................................
408
10.3.5 Installation .............................................................................................
409
10.3.6 Configuration .........................................................................................
411
10.3.7 System parameters .................................................................................
413
10.3.8 RAPID programming ................................................................................
415
Index
10
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Table of contents
Overview of this manual
About this manual
This manual explains the basics of when and how to use various RobotWare options
and functions.
Usage
This manual can be used either as a reference to find out if an option is the right
choice for solving a problem, or as a description of how to use an option. Detailed
information regarding syntax for RAPID routines, and similar, is not described here,
but can be found in the respective reference manual.
Who should read this manual?
This manual is intended for robot programmers.
Prerequisites
The reader should...
•
be familiar with industrial robots and their terminology.
•
be familiar with the RAPID programming language.
•
be familiar with system parameters and how to configure them.
References
Document ID
Reference
3HAC050945-001
Product specification - Controller software IRC5
IRC5 with main computer DSQC1000 (or later) and RobotWare 6.
3HAC047400-001
Product specification - Controller IRC5
IRC5 with main computer DSQC1000 or later.
3HAC032104-001
Operating manual - RobotStudio
3HAC050941-001
Operating manual - IRC5 with FlexPendant
3HAC050917-001
Technical reference manual - RAPID Instructions, Functions and
Data types
3HAC050947-001
Technical reference manual - RAPID Overview
3HAC050948-001
Technical reference manual - System parameters
Revisions
Description
Revision
Released with RobotWare 6.0.
-
First release.
Released with RobotWare 6.01.
A
•
Added Auto Acknowledge Input, see Auto Acknowledge Input on
page 377 .
•
The functionality of RAPID Message Queue is corrected, see RAPID
Message Queue [included in 616-1, 623-1] on page 312 .
•
Minor corrections.
Continues on next page
Application manual - Controller software IRC5
11
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Overview of this manual
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 11
|
347
9.2
Sensor Interface [628-1] .....................................................................................
347
9.2.1
Introduction to Sensor Interface .................................................................
348
9.2.2
Configuring sensors ................................................................................
348
9.2.2.1
About the sensors .......................................................................
349
9.2.2.2
Configuring sensors on serial channels ...........................................
350
9.2.2.3
Configuring sensors on Ethernet channels .......................................
351
9.2.3
RAPID ...................................................................................................
351
9.2.3.1
RAPID components ......................................................................
354
9.2.4
Examples ..............................................................................................
354
9.2.4.1
Code examples ...........................................................................
356
9.3
Robot Reference Interface [included in 689-1] ........................................................
356
9.3.1
Introduction to Robot Reference Interface ....................................................
357
9.3.2
Installation .............................................................................................
357
9.3.2.1
Connecting the communication cable ..............................................
358
9.3.2.2
Prerequisites ..............................................................................
359
9.3.2.3
Data orchestration .......................................................................
361
9.3.2.4
Supported data types ...................................................................
362
9.3.3
Configuration .........................................................................................
362
9.3.3.1
Interface configuration ..................................................................
363
9.3.3.2
Interface settings .........................................................................
364
9.3.3.3
Device description .......................................................................
367
9.3.3.4
Device configuration ....................................................................
370
9.3.4
Configuration examples ............................................................................
370
9.3.4.1
RAPID programming ....................................................................
371
9.3.4.2
Example configuration ..................................................................
376
9.3.5
RAPID components .................................................................................
377
9.4
Auto Acknowledge Input .....................................................................................
379
10 Tool control options
379
10.1
Servo Tool Change [630-1] ..................................................................................
379
10.1.1 Overview ...............................................................................................
380
10.1.2 Requirements and limitations ....................................................................
382
10.1.3 Configuration .........................................................................................
383
10.1.4 Connection relay .....................................................................................
385
10.1.5 Tool change procedure ............................................................................
386
10.1.6 Jogging servo tools with activation disabled .................................................
387
10.2
Tool Control [1180-1] .........................................................................................
387
10.2.1 Overview ...............................................................................................
388
10.2.2 Servo tool movements .............................................................................
389
10.2.3 Tip management .....................................................................................
391
10.2.4 Supervision ............................................................................................
392
10.2.5 RAPID components .................................................................................
393
10.2.6 System parameters .................................................................................
398
10.2.7 Commissioning and service ......................................................................
400
10.2.8 Mechanical unit calibrations ......................................................................
401
10.2.9 RAPID code example ...............................................................................
402
10.2.10 Using tool control for gripper applications ....................................................
404
10.3
I/O Controlled Axes [included in 1180-1] ................................................................
404
10.3.1 Overview ...............................................................................................
405
10.3.2 Contouring error .....................................................................................
406
10.3.3 Correcting the position .............................................................................
407
10.3.4 Tool changing .........................................................................................
408
10.3.5 Installation .............................................................................................
409
10.3.6 Configuration .........................................................................................
411
10.3.7 System parameters .................................................................................
413
10.3.8 RAPID programming ................................................................................
415
Index
10
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Table of contents
Overview of this manual
About this manual
This manual explains the basics of when and how to use various RobotWare options
and functions.
Usage
This manual can be used either as a reference to find out if an option is the right
choice for solving a problem, or as a description of how to use an option. Detailed
information regarding syntax for RAPID routines, and similar, is not described here,
but can be found in the respective reference manual.
Who should read this manual?
This manual is intended for robot programmers.
Prerequisites
The reader should...
•
be familiar with industrial robots and their terminology.
•
be familiar with the RAPID programming language.
•
be familiar with system parameters and how to configure them.
References
Document ID
Reference
3HAC050945-001
Product specification - Controller software IRC5
IRC5 with main computer DSQC1000 (or later) and RobotWare 6.
3HAC047400-001
Product specification - Controller IRC5
IRC5 with main computer DSQC1000 or later.
3HAC032104-001
Operating manual - RobotStudio
3HAC050941-001
Operating manual - IRC5 with FlexPendant
3HAC050917-001
Technical reference manual - RAPID Instructions, Functions and
Data types
3HAC050947-001
Technical reference manual - RAPID Overview
3HAC050948-001
Technical reference manual - System parameters
Revisions
Description
Revision
Released with RobotWare 6.0.
-
First release.
Released with RobotWare 6.01.
A
•
Added Auto Acknowledge Input, see Auto Acknowledge Input on
page 377 .
•
The functionality of RAPID Message Queue is corrected, see RAPID
Message Queue [included in 616-1, 623-1] on page 312 .
•
Minor corrections.
Continues on next page
Application manual - Controller software IRC5
11
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Overview of this manual
Description
Revision
Released with RobotWare 6.02.
B
•
Updated the path to the template files, for UdpUc code examples and
Commissioning and service on page 398 .
•
The TCP ports and protocols are updated for the option Sensor Interface
[628-1], see Configuring sensors on Ethernet channels on page 350 .
•
Added the functionality EGM Path Correction with corresponding
RAPID instructions.
•
Bundled options are reordered in the manual according to the parent
option.
•
Updated the LTAPP variable list available for optical tracking, see
Constants on page 352 .
Released with RobotWare 6.03.
C
•
Added the functionality Cyclic bool on page 57 .
•
Added the functionality Remote Service Embedded .
•
Functionality is added and updated for option Motion Process Mode
[included in 687-1] on page 164 .
•
The option Servo Tool Control [included in 635-6] is replaced by the
option Tool Control [1180-1] on page 387 .
•
Added the option I/O Controlled Axes [included in 1180-1] on page404 .
•
Minor corrections.
Released with RobotWare 6.04.
D
•
Added the possibility to configure Cyclic bool, see Configuration on
page 58 .
•
Updated the section Common limitations for EGM .
•
Added information on how a 7-axis robot can be used with EGM joint
mode.
•
Added new constants for the option Sensor Interface , see Constants
on page 352 .
•
Updated the option I/O Controlled Axes , see I/O Controlled Axes [in-
cluded in 1180-1] on page 404 .
•
Remote Service Embedded is updated and renamed to Connected
Services. See Connected Services on page 110 .
•
Added procedure for Configuring Connected Services. See Configuring
Connected Services on page 116 .
Released with RobotWare 6.05.
E
•
Added the functionality User logs on page 132 .
•
Added new section, Connected Services on LAN 3 on page 123 .
•
Added the functionality Remote control of operating mode on page377 .
•
Minor corrections.
Released with RobotWare 6.06.
F
•
Minor corrections.
Released with RobotWare 6.07.
G
•
Corrections in the code examples for Robot Reference Interface.
•
Added info about copying service program file and loading cfg files for
the function Electronically Linked Motors on page 65 .
•
Added protocol LTPROTOBUF to Sensor Interface [628-1] on page347 .
•
Added section SFTP Client [614-1] on page 293 .
•
Added information about EGM Position Stream.
Released with RobotWare 6.08.
H
•
Added Press tending mode to Motion Process Mode.
•
Added information about directory listing style to FTP Client .
Continues on next page
12
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Overview of this manual
Continued
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 12
|
Overview of this manual
About this manual
This manual explains the basics of when and how to use various RobotWare options
and functions.
Usage
This manual can be used either as a reference to find out if an option is the right
choice for solving a problem, or as a description of how to use an option. Detailed
information regarding syntax for RAPID routines, and similar, is not described here,
but can be found in the respective reference manual.
Who should read this manual?
This manual is intended for robot programmers.
Prerequisites
The reader should...
•
be familiar with industrial robots and their terminology.
•
be familiar with the RAPID programming language.
•
be familiar with system parameters and how to configure them.
References
Document ID
Reference
3HAC050945-001
Product specification - Controller software IRC5
IRC5 with main computer DSQC1000 (or later) and RobotWare 6.
3HAC047400-001
Product specification - Controller IRC5
IRC5 with main computer DSQC1000 or later.
3HAC032104-001
Operating manual - RobotStudio
3HAC050941-001
Operating manual - IRC5 with FlexPendant
3HAC050917-001
Technical reference manual - RAPID Instructions, Functions and
Data types
3HAC050947-001
Technical reference manual - RAPID Overview
3HAC050948-001
Technical reference manual - System parameters
Revisions
Description
Revision
Released with RobotWare 6.0.
-
First release.
Released with RobotWare 6.01.
A
•
Added Auto Acknowledge Input, see Auto Acknowledge Input on
page 377 .
•
The functionality of RAPID Message Queue is corrected, see RAPID
Message Queue [included in 616-1, 623-1] on page 312 .
•
Minor corrections.
Continues on next page
Application manual - Controller software IRC5
11
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Overview of this manual
Description
Revision
Released with RobotWare 6.02.
B
•
Updated the path to the template files, for UdpUc code examples and
Commissioning and service on page 398 .
•
The TCP ports and protocols are updated for the option Sensor Interface
[628-1], see Configuring sensors on Ethernet channels on page 350 .
•
Added the functionality EGM Path Correction with corresponding
RAPID instructions.
•
Bundled options are reordered in the manual according to the parent
option.
•
Updated the LTAPP variable list available for optical tracking, see
Constants on page 352 .
Released with RobotWare 6.03.
C
•
Added the functionality Cyclic bool on page 57 .
•
Added the functionality Remote Service Embedded .
•
Functionality is added and updated for option Motion Process Mode
[included in 687-1] on page 164 .
•
The option Servo Tool Control [included in 635-6] is replaced by the
option Tool Control [1180-1] on page 387 .
•
Added the option I/O Controlled Axes [included in 1180-1] on page404 .
•
Minor corrections.
Released with RobotWare 6.04.
D
•
Added the possibility to configure Cyclic bool, see Configuration on
page 58 .
•
Updated the section Common limitations for EGM .
•
Added information on how a 7-axis robot can be used with EGM joint
mode.
•
Added new constants for the option Sensor Interface , see Constants
on page 352 .
•
Updated the option I/O Controlled Axes , see I/O Controlled Axes [in-
cluded in 1180-1] on page 404 .
•
Remote Service Embedded is updated and renamed to Connected
Services. See Connected Services on page 110 .
•
Added procedure for Configuring Connected Services. See Configuring
Connected Services on page 116 .
Released with RobotWare 6.05.
E
•
Added the functionality User logs on page 132 .
•
Added new section, Connected Services on LAN 3 on page 123 .
•
Added the functionality Remote control of operating mode on page377 .
•
Minor corrections.
Released with RobotWare 6.06.
F
•
Minor corrections.
Released with RobotWare 6.07.
G
•
Corrections in the code examples for Robot Reference Interface.
•
Added info about copying service program file and loading cfg files for
the function Electronically Linked Motors on page 65 .
•
Added protocol LTPROTOBUF to Sensor Interface [628-1] on page347 .
•
Added section SFTP Client [614-1] on page 293 .
•
Added information about EGM Position Stream.
Released with RobotWare 6.08.
H
•
Added Press tending mode to Motion Process Mode.
•
Added information about directory listing style to FTP Client .
Continues on next page
12
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Overview of this manual
Continued
Description
Revision
•
Added information about multiple mechanical units and motion tasks
to Externally Guided Motion [689-1] .
•
Maximum length for file paths in NFS Client increased to 248 characters.
•
Added information about SFTP setting to SFTP Client [614-1] on
page 293 .
•
Added Collision Avoidance on page 283 .
•
EGM RAPID instructions EGMStreamStart and EGMStreamStop
corrected.
Released with RobotWare 6.09.
J
•
Section Independent Axis [610-1] on page 243 updated with detailed
information about limitations for option Independent Axes .
•
Section EGM updated with information about sampling time.
•
Section ABB software using PC Interface on page 304 corrected.
•
Updated information about Absolute Accuracy .
Released with RobotWare 6.10.
K
•
Updated information in Advanced RAPID about encoding of text table
files.
•
The information regarding Externally Guided Motion is moved to a
separate manual, 3HAC073319-001 .
•
List of limitations of supported robots updated in section Collision
Avoidance on page 283 .
Released with RobotWare 6.10.01.
L
•
Information regarding disabling of Collision Avoidance updated in
section Collision Avoidance on page 283 .
Released with RobotWare 6.11.
M
•
Added information regarding servo tool in the following sections:
Overview on page387 , Tip management on page389 , RAPID components
on page 392
•
Added accuracy limitation for Absolute Accuracy and MultiMove, see
About Absolute Accuracy on page 135 .
Released with RobotWare 6.12.
N
•
NOTE added in section Data orchestration on page359 that work object
data needs to refer to a fixed work object.
•
Minor change in section Text table files on page 50 .
•
Information about the digital output MotSupOn updated in section
Signals on page 278 .
•
Section System parameters on page317 updated with information about
how to adjust the values of the attributes RMQ Max Message Size and
RMQ Max No Of Messages.
•
Limitation for MultiMove removed in section About Absolute Accuracy
on page 135 .
Released with RobotWare 6.13.
P
•
Minor corrections in sections FTP Client [614-1] on page 289 , SFTP
Client [614-1] on page 293 and NFS Client [614-1] on page 297 .
•
Updated limitation for Collision Avoidance on page 283 .
Released with RobotWare 6.13.02.
Q
•
Updated the section Connected Services on LAN 3 on page 123 .
•
Updated limitation regarding lead-through, see Overview of World
Zones on page 237 .
•
Added the section SafeMove Assistant on page 286 .
Released with RobotWare 6.14.
R
•
An incorrect prerequisite regarding a software option is removed for
Tool Control [1180-1] on page 387 .
Continues on next page
Application manual - Controller software IRC5
13
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Overview of this manual
Continued
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 13
|
Description
Revision
Released with RobotWare 6.02.
B
•
Updated the path to the template files, for UdpUc code examples and
Commissioning and service on page 398 .
•
The TCP ports and protocols are updated for the option Sensor Interface
[628-1], see Configuring sensors on Ethernet channels on page 350 .
•
Added the functionality EGM Path Correction with corresponding
RAPID instructions.
•
Bundled options are reordered in the manual according to the parent
option.
•
Updated the LTAPP variable list available for optical tracking, see
Constants on page 352 .
Released with RobotWare 6.03.
C
•
Added the functionality Cyclic bool on page 57 .
•
Added the functionality Remote Service Embedded .
•
Functionality is added and updated for option Motion Process Mode
[included in 687-1] on page 164 .
•
The option Servo Tool Control [included in 635-6] is replaced by the
option Tool Control [1180-1] on page 387 .
•
Added the option I/O Controlled Axes [included in 1180-1] on page404 .
•
Minor corrections.
Released with RobotWare 6.04.
D
•
Added the possibility to configure Cyclic bool, see Configuration on
page 58 .
•
Updated the section Common limitations for EGM .
•
Added information on how a 7-axis robot can be used with EGM joint
mode.
•
Added new constants for the option Sensor Interface , see Constants
on page 352 .
•
Updated the option I/O Controlled Axes , see I/O Controlled Axes [in-
cluded in 1180-1] on page 404 .
•
Remote Service Embedded is updated and renamed to Connected
Services. See Connected Services on page 110 .
•
Added procedure for Configuring Connected Services. See Configuring
Connected Services on page 116 .
Released with RobotWare 6.05.
E
•
Added the functionality User logs on page 132 .
•
Added new section, Connected Services on LAN 3 on page 123 .
•
Added the functionality Remote control of operating mode on page377 .
•
Minor corrections.
Released with RobotWare 6.06.
F
•
Minor corrections.
Released with RobotWare 6.07.
G
•
Corrections in the code examples for Robot Reference Interface.
•
Added info about copying service program file and loading cfg files for
the function Electronically Linked Motors on page 65 .
•
Added protocol LTPROTOBUF to Sensor Interface [628-1] on page347 .
•
Added section SFTP Client [614-1] on page 293 .
•
Added information about EGM Position Stream.
Released with RobotWare 6.08.
H
•
Added Press tending mode to Motion Process Mode.
•
Added information about directory listing style to FTP Client .
Continues on next page
12
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Overview of this manual
Continued
Description
Revision
•
Added information about multiple mechanical units and motion tasks
to Externally Guided Motion [689-1] .
•
Maximum length for file paths in NFS Client increased to 248 characters.
•
Added information about SFTP setting to SFTP Client [614-1] on
page 293 .
•
Added Collision Avoidance on page 283 .
•
EGM RAPID instructions EGMStreamStart and EGMStreamStop
corrected.
Released with RobotWare 6.09.
J
•
Section Independent Axis [610-1] on page 243 updated with detailed
information about limitations for option Independent Axes .
•
Section EGM updated with information about sampling time.
•
Section ABB software using PC Interface on page 304 corrected.
•
Updated information about Absolute Accuracy .
Released with RobotWare 6.10.
K
•
Updated information in Advanced RAPID about encoding of text table
files.
•
The information regarding Externally Guided Motion is moved to a
separate manual, 3HAC073319-001 .
•
List of limitations of supported robots updated in section Collision
Avoidance on page 283 .
Released with RobotWare 6.10.01.
L
•
Information regarding disabling of Collision Avoidance updated in
section Collision Avoidance on page 283 .
Released with RobotWare 6.11.
M
•
Added information regarding servo tool in the following sections:
Overview on page387 , Tip management on page389 , RAPID components
on page 392
•
Added accuracy limitation for Absolute Accuracy and MultiMove, see
About Absolute Accuracy on page 135 .
Released with RobotWare 6.12.
N
•
NOTE added in section Data orchestration on page359 that work object
data needs to refer to a fixed work object.
•
Minor change in section Text table files on page 50 .
•
Information about the digital output MotSupOn updated in section
Signals on page 278 .
•
Section System parameters on page317 updated with information about
how to adjust the values of the attributes RMQ Max Message Size and
RMQ Max No Of Messages.
•
Limitation for MultiMove removed in section About Absolute Accuracy
on page 135 .
Released with RobotWare 6.13.
P
•
Minor corrections in sections FTP Client [614-1] on page 289 , SFTP
Client [614-1] on page 293 and NFS Client [614-1] on page 297 .
•
Updated limitation for Collision Avoidance on page 283 .
Released with RobotWare 6.13.02.
Q
•
Updated the section Connected Services on LAN 3 on page 123 .
•
Updated limitation regarding lead-through, see Overview of World
Zones on page 237 .
•
Added the section SafeMove Assistant on page 286 .
Released with RobotWare 6.14.
R
•
An incorrect prerequisite regarding a software option is removed for
Tool Control [1180-1] on page 387 .
Continues on next page
Application manual - Controller software IRC5
13
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Overview of this manual
Continued
Description
Revision
Released with RobotWare 6.15.
S
•
Added information about deactivation/deactivation and trigger signals,
see Collision Avoidance on page 283 .
•
Corrected graphic in section Connected Services registration on
page 125 .
Released with RobotWare 6.15.07.
T
•
Updated the server error details in the section Advanced page on
page 130 .
•
Added clarification regarding the option PC Interface .
Released with RobotWare 6.15.08.
U
•
Added limitation in Independent Axis regarding tool control.
Released with RobotWare 6.16.
V
•
Added the section RAPID language and programming environment on
page 19 .
•
Minor corrections.
14
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Overview of this manual
Continued
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 14
|
Description
Revision
•
Added information about multiple mechanical units and motion tasks
to Externally Guided Motion [689-1] .
•
Maximum length for file paths in NFS Client increased to 248 characters.
•
Added information about SFTP setting to SFTP Client [614-1] on
page 293 .
•
Added Collision Avoidance on page 283 .
•
EGM RAPID instructions EGMStreamStart and EGMStreamStop
corrected.
Released with RobotWare 6.09.
J
•
Section Independent Axis [610-1] on page 243 updated with detailed
information about limitations for option Independent Axes .
•
Section EGM updated with information about sampling time.
•
Section ABB software using PC Interface on page 304 corrected.
•
Updated information about Absolute Accuracy .
Released with RobotWare 6.10.
K
•
Updated information in Advanced RAPID about encoding of text table
files.
•
The information regarding Externally Guided Motion is moved to a
separate manual, 3HAC073319-001 .
•
List of limitations of supported robots updated in section Collision
Avoidance on page 283 .
Released with RobotWare 6.10.01.
L
•
Information regarding disabling of Collision Avoidance updated in
section Collision Avoidance on page 283 .
Released with RobotWare 6.11.
M
•
Added information regarding servo tool in the following sections:
Overview on page387 , Tip management on page389 , RAPID components
on page 392
•
Added accuracy limitation for Absolute Accuracy and MultiMove, see
About Absolute Accuracy on page 135 .
Released with RobotWare 6.12.
N
•
NOTE added in section Data orchestration on page359 that work object
data needs to refer to a fixed work object.
•
Minor change in section Text table files on page 50 .
•
Information about the digital output MotSupOn updated in section
Signals on page 278 .
•
Section System parameters on page317 updated with information about
how to adjust the values of the attributes RMQ Max Message Size and
RMQ Max No Of Messages.
•
Limitation for MultiMove removed in section About Absolute Accuracy
on page 135 .
Released with RobotWare 6.13.
P
•
Minor corrections in sections FTP Client [614-1] on page 289 , SFTP
Client [614-1] on page 293 and NFS Client [614-1] on page 297 .
•
Updated limitation for Collision Avoidance on page 283 .
Released with RobotWare 6.13.02.
Q
•
Updated the section Connected Services on LAN 3 on page 123 .
•
Updated limitation regarding lead-through, see Overview of World
Zones on page 237 .
•
Added the section SafeMove Assistant on page 286 .
Released with RobotWare 6.14.
R
•
An incorrect prerequisite regarding a software option is removed for
Tool Control [1180-1] on page 387 .
Continues on next page
Application manual - Controller software IRC5
13
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Overview of this manual
Continued
Description
Revision
Released with RobotWare 6.15.
S
•
Added information about deactivation/deactivation and trigger signals,
see Collision Avoidance on page 283 .
•
Corrected graphic in section Connected Services registration on
page 125 .
Released with RobotWare 6.15.07.
T
•
Updated the server error details in the section Advanced page on
page 130 .
•
Added clarification regarding the option PC Interface .
Released with RobotWare 6.15.08.
U
•
Added limitation in Independent Axis regarding tool control.
Released with RobotWare 6.16.
V
•
Added the section RAPID language and programming environment on
page 19 .
•
Minor corrections.
14
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Overview of this manual
Continued
Open source and 3rd party components
Open source and 3rd party components
ABB products use software provided by third parties, including open source
software. The following copyright statements and licenses apply to various
components that are distributed inside the ABB software. Each ABB product does
not necessarily use all of the listed third party software components. Licensee
must fully agree and comply with these license terms or the user is not entitled to
use the product. Start using the ABB software means accepting also referred
license terms. The third party license terms apply only to the respective software
to which the license pertains, and the third party license terms do not apply to ABB
products. With regard to programs provided under the GNU general public license
and the GNU lesser general public license licensor will provide licensee on demand,
a machine-readable copy of the corresponding source code. This offer is valid for
a period of three years after delivery of the product.
ABB software is licensed under the ABB end user license agreement, which is
provided separately.
RobotWare
For RobotWare, there is license information in the folder \licenses in the RobotWare
distribution package.
OpenSSL
This product includes software developed by the OpenSSL Project for use in the
OpenSSL Toolkit. (http://www.openssl.org/)
This product includes cryptographic software written by Eric Young
(eay@cryptsoft.com).
This product includes software written by Tim Hudson (tjh@cryptsoft.com).
CTM
For OleOS, the Linux based operating system used on the conveyor tracking
module (CTM), a list of copyright statements and licenses is available in the file
/etc/licenses.txt located on the CTM board and accessible via the console port or
by downloading the file over SFTP.
For the CTM application, a list of copyright statements and licenses is available in
the file /opt/ABB.com/ctm/licenses.txt located on the CTM board and accessible
via the console port or by downloading the file over SFTP.
Application manual - Controller software IRC5
15
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Open source and 3rd party components
|
ABB_Application_Manual_Controller_Software_IRC5
|
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| 15
|
Description
Revision
Released with RobotWare 6.15.
S
•
Added information about deactivation/deactivation and trigger signals,
see Collision Avoidance on page 283 .
•
Corrected graphic in section Connected Services registration on
page 125 .
Released with RobotWare 6.15.07.
T
•
Updated the server error details in the section Advanced page on
page 130 .
•
Added clarification regarding the option PC Interface .
Released with RobotWare 6.15.08.
U
•
Added limitation in Independent Axis regarding tool control.
Released with RobotWare 6.16.
V
•
Added the section RAPID language and programming environment on
page 19 .
•
Minor corrections.
14
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Overview of this manual
Continued
Open source and 3rd party components
Open source and 3rd party components
ABB products use software provided by third parties, including open source
software. The following copyright statements and licenses apply to various
components that are distributed inside the ABB software. Each ABB product does
not necessarily use all of the listed third party software components. Licensee
must fully agree and comply with these license terms or the user is not entitled to
use the product. Start using the ABB software means accepting also referred
license terms. The third party license terms apply only to the respective software
to which the license pertains, and the third party license terms do not apply to ABB
products. With regard to programs provided under the GNU general public license
and the GNU lesser general public license licensor will provide licensee on demand,
a machine-readable copy of the corresponding source code. This offer is valid for
a period of three years after delivery of the product.
ABB software is licensed under the ABB end user license agreement, which is
provided separately.
RobotWare
For RobotWare, there is license information in the folder \licenses in the RobotWare
distribution package.
OpenSSL
This product includes software developed by the OpenSSL Project for use in the
OpenSSL Toolkit. (http://www.openssl.org/)
This product includes cryptographic software written by Eric Young
(eay@cryptsoft.com).
This product includes software written by Tim Hudson (tjh@cryptsoft.com).
CTM
For OleOS, the Linux based operating system used on the conveyor tracking
module (CTM), a list of copyright statements and licenses is available in the file
/etc/licenses.txt located on the CTM board and accessible via the console port or
by downloading the file over SFTP.
For the CTM application, a list of copyright statements and licenses is available in
the file /opt/ABB.com/ctm/licenses.txt located on the CTM board and accessible
via the console port or by downloading the file over SFTP.
Application manual - Controller software IRC5
15
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Open source and 3rd party components
This page is intentionally left blank
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 16
|
Open source and 3rd party components
Open source and 3rd party components
ABB products use software provided by third parties, including open source
software. The following copyright statements and licenses apply to various
components that are distributed inside the ABB software. Each ABB product does
not necessarily use all of the listed third party software components. Licensee
must fully agree and comply with these license terms or the user is not entitled to
use the product. Start using the ABB software means accepting also referred
license terms. The third party license terms apply only to the respective software
to which the license pertains, and the third party license terms do not apply to ABB
products. With regard to programs provided under the GNU general public license
and the GNU lesser general public license licensor will provide licensee on demand,
a machine-readable copy of the corresponding source code. This offer is valid for
a period of three years after delivery of the product.
ABB software is licensed under the ABB end user license agreement, which is
provided separately.
RobotWare
For RobotWare, there is license information in the folder \licenses in the RobotWare
distribution package.
OpenSSL
This product includes software developed by the OpenSSL Project for use in the
OpenSSL Toolkit. (http://www.openssl.org/)
This product includes cryptographic software written by Eric Young
(eay@cryptsoft.com).
This product includes software written by Tim Hudson (tjh@cryptsoft.com).
CTM
For OleOS, the Linux based operating system used on the conveyor tracking
module (CTM), a list of copyright statements and licenses is available in the file
/etc/licenses.txt located on the CTM board and accessible via the console port or
by downloading the file over SFTP.
For the CTM application, a list of copyright statements and licenses is available in
the file /opt/ABB.com/ctm/licenses.txt located on the CTM board and accessible
via the console port or by downloading the file over SFTP.
Application manual - Controller software IRC5
15
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Open source and 3rd party components
This page is intentionally left blank
1 Introduction to RobotWare
1.1 Products, classes, and options
Software products
RobotWare is a family of software products from ABB Robotics. The products are
designed to make you more productive and lower your cost of owning and operating
a robot. ABB Robotics has invested many years into the development of these
products and they represent knowledge and experience based on several thousands
of robot installations.
Product classes
Within the RobotWare family, there are different classes of products:
Description
Product classes
This is the operating system of the robot. RobotWare-OS provides
all the necessary features for fundamental robot programming and
operation. It is an inherent part of the robot, but can be provided
separately for upgrading purposes.
RobotWare-OS
For a description of RobotWare-OS, see the product specification
for the robot controller.
These products are options that run on top of RobotWare-OS. They
are intended for robot users that need additional functionality for
motion control, communication, system engineering, or applications.
Note
Not all RobotWare options are described in this manual. Some op-
tions are more comprehensive and are therefore described in sep-
arate manuals.
RobotWare options
These are extensive packages for specific process application like
spot welding, arc welding, and dispensing. They are primarily de-
signed to improve the process result and to simplify installation and
programming of the application.
Process application
options
The process application options are all described in separate
manuals.
A RobotWare Add-in is a self-contained package that extends the
functionality of the robot system.
RobotWare Add-ins
Some software products from ABB Robotics are delivered as Add-
ins. For example track motion (IRT), positioner (IRP), and standalone
controller. For more information see the product specification for
the robot controller.
The purpose of RobotWare Add-ins is also that a robot program
developer outside of ABB can create options for the ABB robots,
and sell the options to their customers. For more information on
creating RobotWare Add-ins, contact your local ABB Robotics rep-
resentative at www.abb.com/contacts .
Continues on next page
Application manual - Controller software IRC5
17
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
1 Introduction to RobotWare
1.1 Products, classes, and options
|
ABB_Application_Manual_Controller_Software_IRC5
|
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| 17
|
This page is intentionally left blank
1 Introduction to RobotWare
1.1 Products, classes, and options
Software products
RobotWare is a family of software products from ABB Robotics. The products are
designed to make you more productive and lower your cost of owning and operating
a robot. ABB Robotics has invested many years into the development of these
products and they represent knowledge and experience based on several thousands
of robot installations.
Product classes
Within the RobotWare family, there are different classes of products:
Description
Product classes
This is the operating system of the robot. RobotWare-OS provides
all the necessary features for fundamental robot programming and
operation. It is an inherent part of the robot, but can be provided
separately for upgrading purposes.
RobotWare-OS
For a description of RobotWare-OS, see the product specification
for the robot controller.
These products are options that run on top of RobotWare-OS. They
are intended for robot users that need additional functionality for
motion control, communication, system engineering, or applications.
Note
Not all RobotWare options are described in this manual. Some op-
tions are more comprehensive and are therefore described in sep-
arate manuals.
RobotWare options
These are extensive packages for specific process application like
spot welding, arc welding, and dispensing. They are primarily de-
signed to improve the process result and to simplify installation and
programming of the application.
Process application
options
The process application options are all described in separate
manuals.
A RobotWare Add-in is a self-contained package that extends the
functionality of the robot system.
RobotWare Add-ins
Some software products from ABB Robotics are delivered as Add-
ins. For example track motion (IRT), positioner (IRP), and standalone
controller. For more information see the product specification for
the robot controller.
The purpose of RobotWare Add-ins is also that a robot program
developer outside of ABB can create options for the ABB robots,
and sell the options to their customers. For more information on
creating RobotWare Add-ins, contact your local ABB Robotics rep-
resentative at www.abb.com/contacts .
Continues on next page
Application manual - Controller software IRC5
17
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
1 Introduction to RobotWare
1.1 Products, classes, and options
Option groups
For OmniCore, the RobotWare options have been gathered in groups, depending
on the customer benefit. The goal is to make it easier to understand the customer
value of the options. However, all options are purchased individually. The groups
are as follows:
Description
Option groups
Options that optimize the performance of your robot.
Motion performance
Options that make your robot coordinated with external equipment
or other robots.
Motion coordination
Options that supervises the position of the robot.
Motion Events
Options that control the path of the robot.
Motion functions
Options that supervises the movement of the robot.
Motion Supervision
Options that make the robot communicate with other equipment.
(External PCs etc.)
Communication
Options for the advanced robot integrator.
Engineering tools
Options that make the robot controller operate external motors, in-
dependent of the robot.
Servo motor control
Note
Not all RobotWare options are described in this manual. Some options are more
comprehensive and are therefore described in separate manuals.
18
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
1 Introduction to RobotWare
1.1 Products, classes, and options
Continued
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 18
|
1 Introduction to RobotWare
1.1 Products, classes, and options
Software products
RobotWare is a family of software products from ABB Robotics. The products are
designed to make you more productive and lower your cost of owning and operating
a robot. ABB Robotics has invested many years into the development of these
products and they represent knowledge and experience based on several thousands
of robot installations.
Product classes
Within the RobotWare family, there are different classes of products:
Description
Product classes
This is the operating system of the robot. RobotWare-OS provides
all the necessary features for fundamental robot programming and
operation. It is an inherent part of the robot, but can be provided
separately for upgrading purposes.
RobotWare-OS
For a description of RobotWare-OS, see the product specification
for the robot controller.
These products are options that run on top of RobotWare-OS. They
are intended for robot users that need additional functionality for
motion control, communication, system engineering, or applications.
Note
Not all RobotWare options are described in this manual. Some op-
tions are more comprehensive and are therefore described in sep-
arate manuals.
RobotWare options
These are extensive packages for specific process application like
spot welding, arc welding, and dispensing. They are primarily de-
signed to improve the process result and to simplify installation and
programming of the application.
Process application
options
The process application options are all described in separate
manuals.
A RobotWare Add-in is a self-contained package that extends the
functionality of the robot system.
RobotWare Add-ins
Some software products from ABB Robotics are delivered as Add-
ins. For example track motion (IRT), positioner (IRP), and standalone
controller. For more information see the product specification for
the robot controller.
The purpose of RobotWare Add-ins is also that a robot program
developer outside of ABB can create options for the ABB robots,
and sell the options to their customers. For more information on
creating RobotWare Add-ins, contact your local ABB Robotics rep-
resentative at www.abb.com/contacts .
Continues on next page
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© Copyright 2014-2025 ABB. All rights reserved.
1 Introduction to RobotWare
1.1 Products, classes, and options
Option groups
For OmniCore, the RobotWare options have been gathered in groups, depending
on the customer benefit. The goal is to make it easier to understand the customer
value of the options. However, all options are purchased individually. The groups
are as follows:
Description
Option groups
Options that optimize the performance of your robot.
Motion performance
Options that make your robot coordinated with external equipment
or other robots.
Motion coordination
Options that supervises the position of the robot.
Motion Events
Options that control the path of the robot.
Motion functions
Options that supervises the movement of the robot.
Motion Supervision
Options that make the robot communicate with other equipment.
(External PCs etc.)
Communication
Options for the advanced robot integrator.
Engineering tools
Options that make the robot controller operate external motors, in-
dependent of the robot.
Servo motor control
Note
Not all RobotWare options are described in this manual. Some options are more
comprehensive and are therefore described in separate manuals.
18
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© Copyright 2014-2025 ABB. All rights reserved.
1 Introduction to RobotWare
1.1 Products, classes, and options
Continued
1.2 RAPID language and programming environment
General
RAPID is the primary programming language used for ABB Robotics, designed to
facilitate the control and automation of industrial robots. It is a high-level language
that is both powerful and user-friendly, making it accessible for both novice and
experienced programmers. Its syntax and structure are designed to be intuitive,
reducing the learning curve for new users.
RAPID is suitable for a wide range of applications, from simple pick-and-place
tasks to complex assembly operations. The language is designed to be reliable
and robust, ensuring consistent performance in industrial environments.
Key features of RAPID
RAPID uses a structured text format similar to other programming languages like
Python or C, which includes loops, conditionals, and variable handling. It excels
in handling complex motion commands, allowing precise control over robot
movements.
RAPID supports various data types and operations, enabling efficient data handling
and processing. Users can create custom functions and procedures, enhancing
the flexibility and adaptability of the programming environment.
It allows seamless communication with external devices and systems, making it
ideal for integrated automation solutions.
Overall, RAPID is a versatile and powerful tool that enhances the capabilities of
ABB robots, making automation more efficient and accessible.
Summary of the RAPID concept
•
Hierarchical and modular program structure to support structured
programming and reuse
•
Routines can be Functions or Procedures
•
Local or global data and routines
•
Data typing, including structured and array data types
•
User defined names on variables, routines, and I/O
•
Extensive program flow control
•
Arithmetic and logical expressions
•
Interrupt handling
•
Error handling
•
User defined instructions (appear as an inherent part of the system)
•
Backward handler (user definition of how a procedure should behave when
stepping backwards)
•
Many powerful built-in functions, for example mathematics and robot specific
•
Unlimited language (no maximum number of variables etc., only memory
limited). Built-in RAPID support in user interfaces, for example user defined
pick lists, facilitate working with RAPID.
•
Support for Unicode symbols in strings and comments
Continues on next page
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19
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
1 Introduction to RobotWare
1.2 RAPID language and programming environment
|
ABB_Application_Manual_Controller_Software_IRC5
|
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| 19
|
Option groups
For OmniCore, the RobotWare options have been gathered in groups, depending
on the customer benefit. The goal is to make it easier to understand the customer
value of the options. However, all options are purchased individually. The groups
are as follows:
Description
Option groups
Options that optimize the performance of your robot.
Motion performance
Options that make your robot coordinated with external equipment
or other robots.
Motion coordination
Options that supervises the position of the robot.
Motion Events
Options that control the path of the robot.
Motion functions
Options that supervises the movement of the robot.
Motion Supervision
Options that make the robot communicate with other equipment.
(External PCs etc.)
Communication
Options for the advanced robot integrator.
Engineering tools
Options that make the robot controller operate external motors, in-
dependent of the robot.
Servo motor control
Note
Not all RobotWare options are described in this manual. Some options are more
comprehensive and are therefore described in separate manuals.
18
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© Copyright 2014-2025 ABB. All rights reserved.
1 Introduction to RobotWare
1.1 Products, classes, and options
Continued
1.2 RAPID language and programming environment
General
RAPID is the primary programming language used for ABB Robotics, designed to
facilitate the control and automation of industrial robots. It is a high-level language
that is both powerful and user-friendly, making it accessible for both novice and
experienced programmers. Its syntax and structure are designed to be intuitive,
reducing the learning curve for new users.
RAPID is suitable for a wide range of applications, from simple pick-and-place
tasks to complex assembly operations. The language is designed to be reliable
and robust, ensuring consistent performance in industrial environments.
Key features of RAPID
RAPID uses a structured text format similar to other programming languages like
Python or C, which includes loops, conditionals, and variable handling. It excels
in handling complex motion commands, allowing precise control over robot
movements.
RAPID supports various data types and operations, enabling efficient data handling
and processing. Users can create custom functions and procedures, enhancing
the flexibility and adaptability of the programming environment.
It allows seamless communication with external devices and systems, making it
ideal for integrated automation solutions.
Overall, RAPID is a versatile and powerful tool that enhances the capabilities of
ABB robots, making automation more efficient and accessible.
Summary of the RAPID concept
•
Hierarchical and modular program structure to support structured
programming and reuse
•
Routines can be Functions or Procedures
•
Local or global data and routines
•
Data typing, including structured and array data types
•
User defined names on variables, routines, and I/O
•
Extensive program flow control
•
Arithmetic and logical expressions
•
Interrupt handling
•
Error handling
•
User defined instructions (appear as an inherent part of the system)
•
Backward handler (user definition of how a procedure should behave when
stepping backwards)
•
Many powerful built-in functions, for example mathematics and robot specific
•
Unlimited language (no maximum number of variables etc., only memory
limited). Built-in RAPID support in user interfaces, for example user defined
pick lists, facilitate working with RAPID.
•
Support for Unicode symbols in strings and comments
Continues on next page
Application manual - Controller software IRC5
19
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
1 Introduction to RobotWare
1.2 RAPID language and programming environment
Ease of use
Creating and editing RAPID programs is done using the integrated code editors
in RobotStudio or on the FlexPendant. Additionally, there is an app for the
FlexPendant called Wizard, where RAPID programming is further simplified to
block programming.
RAPID programs can range from simple movement procedures to complex
structures including sending and receiving data from sensors, cameras, I/O devices,
other machines, and more. This to enable a highly flexible automation, utilizing the
robot's capability.
Simple RAPID program examples
Hello world
MODULE HelloWorld
PROC main()
TPWrite "Hello, World!";
ENDPROC
ENDMODULE
In this example:
The module HelloWorld defines a module named HelloWorld.
PROC main() defines a procedure named main.
TPWrite "Hello, World!"; is the command that outputs "Hello, World!" to the
FlexPendant.
Displaying messages on the FlexPendant
MODULE MainModule
VAR num length;
VAR num width;
VAR num area;
PROC main()
length := 10;
width := 5;
area := length * width;
TPWrite "The area of the rectangle is " \Num:=area;
ENDPROC
ENDMODULE
This program will calculate the area of a rectangle and show the answer on the
FlexPendant.
The area of the rectangle is 50
Continues on next page
20
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1 Introduction to RobotWare
1.2 RAPID language and programming environment
Continued
|
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| 20
|
1.2 RAPID language and programming environment
General
RAPID is the primary programming language used for ABB Robotics, designed to
facilitate the control and automation of industrial robots. It is a high-level language
that is both powerful and user-friendly, making it accessible for both novice and
experienced programmers. Its syntax and structure are designed to be intuitive,
reducing the learning curve for new users.
RAPID is suitable for a wide range of applications, from simple pick-and-place
tasks to complex assembly operations. The language is designed to be reliable
and robust, ensuring consistent performance in industrial environments.
Key features of RAPID
RAPID uses a structured text format similar to other programming languages like
Python or C, which includes loops, conditionals, and variable handling. It excels
in handling complex motion commands, allowing precise control over robot
movements.
RAPID supports various data types and operations, enabling efficient data handling
and processing. Users can create custom functions and procedures, enhancing
the flexibility and adaptability of the programming environment.
It allows seamless communication with external devices and systems, making it
ideal for integrated automation solutions.
Overall, RAPID is a versatile and powerful tool that enhances the capabilities of
ABB robots, making automation more efficient and accessible.
Summary of the RAPID concept
•
Hierarchical and modular program structure to support structured
programming and reuse
•
Routines can be Functions or Procedures
•
Local or global data and routines
•
Data typing, including structured and array data types
•
User defined names on variables, routines, and I/O
•
Extensive program flow control
•
Arithmetic and logical expressions
•
Interrupt handling
•
Error handling
•
User defined instructions (appear as an inherent part of the system)
•
Backward handler (user definition of how a procedure should behave when
stepping backwards)
•
Many powerful built-in functions, for example mathematics and robot specific
•
Unlimited language (no maximum number of variables etc., only memory
limited). Built-in RAPID support in user interfaces, for example user defined
pick lists, facilitate working with RAPID.
•
Support for Unicode symbols in strings and comments
Continues on next page
Application manual - Controller software IRC5
19
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
1 Introduction to RobotWare
1.2 RAPID language and programming environment
Ease of use
Creating and editing RAPID programs is done using the integrated code editors
in RobotStudio or on the FlexPendant. Additionally, there is an app for the
FlexPendant called Wizard, where RAPID programming is further simplified to
block programming.
RAPID programs can range from simple movement procedures to complex
structures including sending and receiving data from sensors, cameras, I/O devices,
other machines, and more. This to enable a highly flexible automation, utilizing the
robot's capability.
Simple RAPID program examples
Hello world
MODULE HelloWorld
PROC main()
TPWrite "Hello, World!";
ENDPROC
ENDMODULE
In this example:
The module HelloWorld defines a module named HelloWorld.
PROC main() defines a procedure named main.
TPWrite "Hello, World!"; is the command that outputs "Hello, World!" to the
FlexPendant.
Displaying messages on the FlexPendant
MODULE MainModule
VAR num length;
VAR num width;
VAR num area;
PROC main()
length := 10;
width := 5;
area := length * width;
TPWrite "The area of the rectangle is " \Num:=area;
ENDPROC
ENDMODULE
This program will calculate the area of a rectangle and show the answer on the
FlexPendant.
The area of the rectangle is 50
Continues on next page
20
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© Copyright 2014-2025 ABB. All rights reserved.
1 Introduction to RobotWare
1.2 RAPID language and programming environment
Continued
Draw a square
The robot is holding a pen above a piece of paper on a table. This program will
make the robot move the tip of the pen down to the paper and then draw a square.
xx0700000362
PERS tooldata tPen := [ TRUE, [[200, 0, 30], [1, 0, 0 ,0]], [0.8,
[62, 0, 17], [1, 0, 0, 0], 0, 0, 0]];
CONST robtarget p10 := [ [600, -100, 800], [0.707170, 0, 0.707170,
0], [0, 0, 0, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
CONST robtarget p20 := [ [600, 100, 800], [0.707170, 0, 0.707170,
0], [0, 0, 0, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
CONST robtarget p30 := [ [800, 100, 800], [0.707170, 0, 0.707170,
0], [0, 0, 0, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
CONST robtarget p40 := [ [800, -100, 800], [0.707170, 0, 0.707170,
0], [0, 0, 0, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
PROC main()
MoveL p10, v200, fine, tPen;
MoveL p20, v200, fine, tPen;
MoveL p30, v200, fine, tPen;
MoveL p40, v200, fine, tPen;
MoveL p10, v200, fine, tPen;
ENDPROC
Draw an arc
To add a curve or arc to the previous program, the instruction MoveC is added.
MoveL p10, v500, fine, tPen;
MoveC p20, p30, v500, fine, tPen;
MoveL p40, v500, fine, tPen;
Continues on next page
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1 Introduction to RobotWare
1.2 RAPID language and programming environment
Continued
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| 21
|
Ease of use
Creating and editing RAPID programs is done using the integrated code editors
in RobotStudio or on the FlexPendant. Additionally, there is an app for the
FlexPendant called Wizard, where RAPID programming is further simplified to
block programming.
RAPID programs can range from simple movement procedures to complex
structures including sending and receiving data from sensors, cameras, I/O devices,
other machines, and more. This to enable a highly flexible automation, utilizing the
robot's capability.
Simple RAPID program examples
Hello world
MODULE HelloWorld
PROC main()
TPWrite "Hello, World!";
ENDPROC
ENDMODULE
In this example:
The module HelloWorld defines a module named HelloWorld.
PROC main() defines a procedure named main.
TPWrite "Hello, World!"; is the command that outputs "Hello, World!" to the
FlexPendant.
Displaying messages on the FlexPendant
MODULE MainModule
VAR num length;
VAR num width;
VAR num area;
PROC main()
length := 10;
width := 5;
area := length * width;
TPWrite "The area of the rectangle is " \Num:=area;
ENDPROC
ENDMODULE
This program will calculate the area of a rectangle and show the answer on the
FlexPendant.
The area of the rectangle is 50
Continues on next page
20
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
1 Introduction to RobotWare
1.2 RAPID language and programming environment
Continued
Draw a square
The robot is holding a pen above a piece of paper on a table. This program will
make the robot move the tip of the pen down to the paper and then draw a square.
xx0700000362
PERS tooldata tPen := [ TRUE, [[200, 0, 30], [1, 0, 0 ,0]], [0.8,
[62, 0, 17], [1, 0, 0, 0], 0, 0, 0]];
CONST robtarget p10 := [ [600, -100, 800], [0.707170, 0, 0.707170,
0], [0, 0, 0, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
CONST robtarget p20 := [ [600, 100, 800], [0.707170, 0, 0.707170,
0], [0, 0, 0, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
CONST robtarget p30 := [ [800, 100, 800], [0.707170, 0, 0.707170,
0], [0, 0, 0, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
CONST robtarget p40 := [ [800, -100, 800], [0.707170, 0, 0.707170,
0], [0, 0, 0, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
PROC main()
MoveL p10, v200, fine, tPen;
MoveL p20, v200, fine, tPen;
MoveL p30, v200, fine, tPen;
MoveL p40, v200, fine, tPen;
MoveL p10, v200, fine, tPen;
ENDPROC
Draw an arc
To add a curve or arc to the previous program, the instruction MoveC is added.
MoveL p10, v500, fine, tPen;
MoveC p20, p30, v500, fine, tPen;
MoveL p40, v500, fine, tPen;
Continues on next page
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21
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
1 Introduction to RobotWare
1.2 RAPID language and programming environment
Continued
xx0700000364
References
The RAPID programming language is described in detail in the following documents.
Where to read about it
What do you want to know
Technical reference manual - RAP-
ID Overview
•
More detailed information about the functionality
•
What instructions are there for a specific cat-
egory, for example, move instructions
•
Descriptions of specific functionality, for example,
interrupts or error handling
Technical reference manual - RAP-
ID Instructions, Functions and
Data types
•
Information about a specific instruction, function,
or data type
Technical reference manual - RAP-
ID kernel
•
Details about how the robot controller handles
different parts of RAPID
22
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1 Introduction to RobotWare
1.2 RAPID language and programming environment
Continued
|
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| 22
|
Draw a square
The robot is holding a pen above a piece of paper on a table. This program will
make the robot move the tip of the pen down to the paper and then draw a square.
xx0700000362
PERS tooldata tPen := [ TRUE, [[200, 0, 30], [1, 0, 0 ,0]], [0.8,
[62, 0, 17], [1, 0, 0, 0], 0, 0, 0]];
CONST robtarget p10 := [ [600, -100, 800], [0.707170, 0, 0.707170,
0], [0, 0, 0, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
CONST robtarget p20 := [ [600, 100, 800], [0.707170, 0, 0.707170,
0], [0, 0, 0, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
CONST robtarget p30 := [ [800, 100, 800], [0.707170, 0, 0.707170,
0], [0, 0, 0, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
CONST robtarget p40 := [ [800, -100, 800], [0.707170, 0, 0.707170,
0], [0, 0, 0, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
PROC main()
MoveL p10, v200, fine, tPen;
MoveL p20, v200, fine, tPen;
MoveL p30, v200, fine, tPen;
MoveL p40, v200, fine, tPen;
MoveL p10, v200, fine, tPen;
ENDPROC
Draw an arc
To add a curve or arc to the previous program, the instruction MoveC is added.
MoveL p10, v500, fine, tPen;
MoveC p20, p30, v500, fine, tPen;
MoveL p40, v500, fine, tPen;
Continues on next page
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21
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
1 Introduction to RobotWare
1.2 RAPID language and programming environment
Continued
xx0700000364
References
The RAPID programming language is described in detail in the following documents.
Where to read about it
What do you want to know
Technical reference manual - RAP-
ID Overview
•
More detailed information about the functionality
•
What instructions are there for a specific cat-
egory, for example, move instructions
•
Descriptions of specific functionality, for example,
interrupts or error handling
Technical reference manual - RAP-
ID Instructions, Functions and
Data types
•
Information about a specific instruction, function,
or data type
Technical reference manual - RAP-
ID kernel
•
Details about how the robot controller handles
different parts of RAPID
22
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© Copyright 2014-2025 ABB. All rights reserved.
1 Introduction to RobotWare
1.2 RAPID language and programming environment
Continued
2 RobotWare-OS
2.1 Advanced RAPID
2.1.1 Introduction to Advanced RAPID
Introduction to Advanced RAPID
The RobotWare base functionality Advanced RAPID is intended for robot
programmers who develop applications that require advanced functionality.
Advanced RAPID includes many different types of functionality, which can be
divided into these groups:
Description
Functionality group
Bitwise operations on a byte.
Bit functionality
Search and get/set data objects (e.g. variables).
Data search functionality
Give an I/O signal an optional alias name.
Alias I/O functionality
Get/set system parameters.
Configuration functionality
Restore signals after power failure.
Power failure functionality
Useful when creating process applications.
Process support functionality
More interrupt functionality than included in Robot-
Ware base functionality.
Interrupt functionality
Error messages and other texts.
User message functionality
Miscellaneous support for the programmer.
RAPID support functionality
Application manual - Controller software IRC5
23
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© Copyright 2014-2025 ABB. All rights reserved.
2 RobotWare-OS
2.1.1 Introduction to Advanced RAPID
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| 23
|
xx0700000364
References
The RAPID programming language is described in detail in the following documents.
Where to read about it
What do you want to know
Technical reference manual - RAP-
ID Overview
•
More detailed information about the functionality
•
What instructions are there for a specific cat-
egory, for example, move instructions
•
Descriptions of specific functionality, for example,
interrupts or error handling
Technical reference manual - RAP-
ID Instructions, Functions and
Data types
•
Information about a specific instruction, function,
or data type
Technical reference manual - RAP-
ID kernel
•
Details about how the robot controller handles
different parts of RAPID
22
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© Copyright 2014-2025 ABB. All rights reserved.
1 Introduction to RobotWare
1.2 RAPID language and programming environment
Continued
2 RobotWare-OS
2.1 Advanced RAPID
2.1.1 Introduction to Advanced RAPID
Introduction to Advanced RAPID
The RobotWare base functionality Advanced RAPID is intended for robot
programmers who develop applications that require advanced functionality.
Advanced RAPID includes many different types of functionality, which can be
divided into these groups:
Description
Functionality group
Bitwise operations on a byte.
Bit functionality
Search and get/set data objects (e.g. variables).
Data search functionality
Give an I/O signal an optional alias name.
Alias I/O functionality
Get/set system parameters.
Configuration functionality
Restore signals after power failure.
Power failure functionality
Useful when creating process applications.
Process support functionality
More interrupt functionality than included in Robot-
Ware base functionality.
Interrupt functionality
Error messages and other texts.
User message functionality
Miscellaneous support for the programmer.
RAPID support functionality
Application manual - Controller software IRC5
23
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
2 RobotWare-OS
2.1.1 Introduction to Advanced RAPID
2.1.2 Bit functionality
2.1.2.1 Overview
Purpose
The purpose of the bit functionality is to be able to make operations on a byte,
seen as 8 digital bits. It is possible to get or set a single bit, or make logical
operations on a byte. These operations are useful, for example, when handling
serial communication or group of digital I/O signals.
What is included
Bit functionality includes:
•
The data type byte .
•
Instructions used set a bit value: BitSet and BitClear .
•
Function used to get a bit value: BitCheck .
•
Functions used to make logical operations on a byte: BitAnd , BitOr ,
BitXOr , BitNeg , BitLSh , and BitRSh .
24
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2 RobotWare-OS
2.1.2.1 Overview
|
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| 24
|
2 RobotWare-OS
2.1 Advanced RAPID
2.1.1 Introduction to Advanced RAPID
Introduction to Advanced RAPID
The RobotWare base functionality Advanced RAPID is intended for robot
programmers who develop applications that require advanced functionality.
Advanced RAPID includes many different types of functionality, which can be
divided into these groups:
Description
Functionality group
Bitwise operations on a byte.
Bit functionality
Search and get/set data objects (e.g. variables).
Data search functionality
Give an I/O signal an optional alias name.
Alias I/O functionality
Get/set system parameters.
Configuration functionality
Restore signals after power failure.
Power failure functionality
Useful when creating process applications.
Process support functionality
More interrupt functionality than included in Robot-
Ware base functionality.
Interrupt functionality
Error messages and other texts.
User message functionality
Miscellaneous support for the programmer.
RAPID support functionality
Application manual - Controller software IRC5
23
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
2 RobotWare-OS
2.1.1 Introduction to Advanced RAPID
2.1.2 Bit functionality
2.1.2.1 Overview
Purpose
The purpose of the bit functionality is to be able to make operations on a byte,
seen as 8 digital bits. It is possible to get or set a single bit, or make logical
operations on a byte. These operations are useful, for example, when handling
serial communication or group of digital I/O signals.
What is included
Bit functionality includes:
•
The data type byte .
•
Instructions used set a bit value: BitSet and BitClear .
•
Function used to get a bit value: BitCheck .
•
Functions used to make logical operations on a byte: BitAnd , BitOr ,
BitXOr , BitNeg , BitLSh , and BitRSh .
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2.1.2.2 RAPID components
Data types
This is a brief description of each data type used for the bit functionality. For more
information, see the respective data type in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Data type
The data type byte represent a decimal value between 0 and 255.
byte
Instructions
This is a brief description of each instruction used for the bit functionality. For more
information, see the respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
BitSet is used to set a specified bit to 1 in a defined byte data.
BitSet
BitClear is used to clear (set to 0) a specified bit in a defined byte data.
BitClear
Functions
This is a brief description of each function used for the bit functionality. For more
information, see the respective function in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Function
BitAnd is used to execute a logical bitwise AND operation on data types
byte.
BitAnd
BitOr is used to execute a logical bitwise OR operation on data types byte.
BitOr
BitXOr (Bit eXclusive Or) is used to execute a logical bitwise XOR operation
on data types byte.
BitXOr
BitNeg is used to execute a logical bitwise negation operation (one’s
complement) on data types byte.
BitNeg
BitLSh (Bit Left Shift) is used to execute a logical bitwise left shift operation
on data types byte.
BitLSh
BitRSh (Bit Right Shift) is used to execute a logical bitwise right shift oper-
ation on data types byte.
BitRSh
BitCheck is used to check if a specified bit in a defined byte data is set to
1.
BitCheck
Tip
Even though not part of the option, the functions for conversion between a byte
and a string, StrToByte and ByteToStr , are often used together with the bit
functionality.
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2.1.2 Bit functionality
2.1.2.1 Overview
Purpose
The purpose of the bit functionality is to be able to make operations on a byte,
seen as 8 digital bits. It is possible to get or set a single bit, or make logical
operations on a byte. These operations are useful, for example, when handling
serial communication or group of digital I/O signals.
What is included
Bit functionality includes:
•
The data type byte .
•
Instructions used set a bit value: BitSet and BitClear .
•
Function used to get a bit value: BitCheck .
•
Functions used to make logical operations on a byte: BitAnd , BitOr ,
BitXOr , BitNeg , BitLSh , and BitRSh .
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2.1.2.2 RAPID components
Data types
This is a brief description of each data type used for the bit functionality. For more
information, see the respective data type in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Data type
The data type byte represent a decimal value between 0 and 255.
byte
Instructions
This is a brief description of each instruction used for the bit functionality. For more
information, see the respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
BitSet is used to set a specified bit to 1 in a defined byte data.
BitSet
BitClear is used to clear (set to 0) a specified bit in a defined byte data.
BitClear
Functions
This is a brief description of each function used for the bit functionality. For more
information, see the respective function in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Function
BitAnd is used to execute a logical bitwise AND operation on data types
byte.
BitAnd
BitOr is used to execute a logical bitwise OR operation on data types byte.
BitOr
BitXOr (Bit eXclusive Or) is used to execute a logical bitwise XOR operation
on data types byte.
BitXOr
BitNeg is used to execute a logical bitwise negation operation (one’s
complement) on data types byte.
BitNeg
BitLSh (Bit Left Shift) is used to execute a logical bitwise left shift operation
on data types byte.
BitLSh
BitRSh (Bit Right Shift) is used to execute a logical bitwise right shift oper-
ation on data types byte.
BitRSh
BitCheck is used to check if a specified bit in a defined byte data is set to
1.
BitCheck
Tip
Even though not part of the option, the functions for conversion between a byte
and a string, StrToByte and ByteToStr , are often used together with the bit
functionality.
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2.1.2.3 Bit functionality example
Program code
CONST num parity_bit := 8;
!Set data1 to 00100110
VAR byte data1 := 38;
!Set data2 to 00100010
VAR byte data2 := 34;
VAR byte data3;
!Set data3 to 00100010
data3 := BitAnd(data1, data2);
!Set data3 to 00100110
data3 := BitOr(data1, data2);
!Set data3 to 00000100
data3 := BitXOr(data1, data2);
!Set data3 to 11011001
data3 := BitNeg(data1);
!Set data3 to 10011000
data3 := BitLSh(data1, 2);
!Set data3 to 00010011
data3 := BitRSh(data1, 1);
!Set data1 to 10100110
BitSet data1, parity_bit;
!Set data1 to 00100110
BitClear data1, parity_bit;
!If parity_bit is 0, set it to 1
IF BitCheck(data1, parity_bit) = FALSE THEN
BitSet data1, parity_bit;
ENDIF
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2.1.2.2 RAPID components
Data types
This is a brief description of each data type used for the bit functionality. For more
information, see the respective data type in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Data type
The data type byte represent a decimal value between 0 and 255.
byte
Instructions
This is a brief description of each instruction used for the bit functionality. For more
information, see the respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
BitSet is used to set a specified bit to 1 in a defined byte data.
BitSet
BitClear is used to clear (set to 0) a specified bit in a defined byte data.
BitClear
Functions
This is a brief description of each function used for the bit functionality. For more
information, see the respective function in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Function
BitAnd is used to execute a logical bitwise AND operation on data types
byte.
BitAnd
BitOr is used to execute a logical bitwise OR operation on data types byte.
BitOr
BitXOr (Bit eXclusive Or) is used to execute a logical bitwise XOR operation
on data types byte.
BitXOr
BitNeg is used to execute a logical bitwise negation operation (one’s
complement) on data types byte.
BitNeg
BitLSh (Bit Left Shift) is used to execute a logical bitwise left shift operation
on data types byte.
BitLSh
BitRSh (Bit Right Shift) is used to execute a logical bitwise right shift oper-
ation on data types byte.
BitRSh
BitCheck is used to check if a specified bit in a defined byte data is set to
1.
BitCheck
Tip
Even though not part of the option, the functions for conversion between a byte
and a string, StrToByte and ByteToStr , are often used together with the bit
functionality.
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2.1.2.3 Bit functionality example
Program code
CONST num parity_bit := 8;
!Set data1 to 00100110
VAR byte data1 := 38;
!Set data2 to 00100010
VAR byte data2 := 34;
VAR byte data3;
!Set data3 to 00100010
data3 := BitAnd(data1, data2);
!Set data3 to 00100110
data3 := BitOr(data1, data2);
!Set data3 to 00000100
data3 := BitXOr(data1, data2);
!Set data3 to 11011001
data3 := BitNeg(data1);
!Set data3 to 10011000
data3 := BitLSh(data1, 2);
!Set data3 to 00010011
data3 := BitRSh(data1, 1);
!Set data1 to 10100110
BitSet data1, parity_bit;
!Set data1 to 00100110
BitClear data1, parity_bit;
!If parity_bit is 0, set it to 1
IF BitCheck(data1, parity_bit) = FALSE THEN
BitSet data1, parity_bit;
ENDIF
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2.1.3 Data search functionality
2.1.3.1 Overview
Purpose
The purpose of the data search functionality is to search and get/set values for
data objects of a certain type.
Here are some examples of applications for the data search functionality:
•
Setting a value to a variable, when the variable name is only available in a
string.
•
List all variables of a certain type.
•
Set a new value for a set of similar variables with similar names.
What is included
Data search functionality includes:
•
The data type datapos .
•
Instructions used to find a set of data objects and get or set their
values: SetDataSearch , GetDataVal , SetDataVal , and SetAllDataVal .
•
A function for traversing the search result: GetNextSym .
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2.1.2.3 Bit functionality example
Program code
CONST num parity_bit := 8;
!Set data1 to 00100110
VAR byte data1 := 38;
!Set data2 to 00100010
VAR byte data2 := 34;
VAR byte data3;
!Set data3 to 00100010
data3 := BitAnd(data1, data2);
!Set data3 to 00100110
data3 := BitOr(data1, data2);
!Set data3 to 00000100
data3 := BitXOr(data1, data2);
!Set data3 to 11011001
data3 := BitNeg(data1);
!Set data3 to 10011000
data3 := BitLSh(data1, 2);
!Set data3 to 00010011
data3 := BitRSh(data1, 1);
!Set data1 to 10100110
BitSet data1, parity_bit;
!Set data1 to 00100110
BitClear data1, parity_bit;
!If parity_bit is 0, set it to 1
IF BitCheck(data1, parity_bit) = FALSE THEN
BitSet data1, parity_bit;
ENDIF
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2.1.3 Data search functionality
2.1.3.1 Overview
Purpose
The purpose of the data search functionality is to search and get/set values for
data objects of a certain type.
Here are some examples of applications for the data search functionality:
•
Setting a value to a variable, when the variable name is only available in a
string.
•
List all variables of a certain type.
•
Set a new value for a set of similar variables with similar names.
What is included
Data search functionality includes:
•
The data type datapos .
•
Instructions used to find a set of data objects and get or set their
values: SetDataSearch , GetDataVal , SetDataVal , and SetAllDataVal .
•
A function for traversing the search result: GetNextSym .
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2.1.3.1 Overview
2.1.3.2 RAPID components
Data types
This is a brief description of each data type used for the data search functionality.
For more information, see the respective data type in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Data type
datapos is the enclosing block to a data object (internal system data)
retrieved with the function GetNextSym .
datapos
Instructions
This is a brief description of each instruction used for the data search functionality.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
SetDataSearch is used together with GetNextSym to retrieve data ob-
jects from the system.
SetDataSearch
GetDataVal makes it possible to get a value from a data object that is
specified with a string variable, or from a data object retrieved with
GetNextSym .
GetDataVal
SetDataVal makes it possible to set a value for a data object that is
specified with a string variable, or from a data object retrieved with
GetNextSym .
SetDataVal
SetAllDataVal make it possible to set a new value to all data objects
of a certain type that match the given grammar.
SetAllDataVal
Functions
This is a brief description of each function used for the data search functionality.
For more information, see the respective function in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Function
GetNextSym (Get Next Symbol) is used together with SetDataSearch to
retrieve data objects from the system.
GetNextSym
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2.1.3 Data search functionality
2.1.3.1 Overview
Purpose
The purpose of the data search functionality is to search and get/set values for
data objects of a certain type.
Here are some examples of applications for the data search functionality:
•
Setting a value to a variable, when the variable name is only available in a
string.
•
List all variables of a certain type.
•
Set a new value for a set of similar variables with similar names.
What is included
Data search functionality includes:
•
The data type datapos .
•
Instructions used to find a set of data objects and get or set their
values: SetDataSearch , GetDataVal , SetDataVal , and SetAllDataVal .
•
A function for traversing the search result: GetNextSym .
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2.1.3.1 Overview
2.1.3.2 RAPID components
Data types
This is a brief description of each data type used for the data search functionality.
For more information, see the respective data type in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Data type
datapos is the enclosing block to a data object (internal system data)
retrieved with the function GetNextSym .
datapos
Instructions
This is a brief description of each instruction used for the data search functionality.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
SetDataSearch is used together with GetNextSym to retrieve data ob-
jects from the system.
SetDataSearch
GetDataVal makes it possible to get a value from a data object that is
specified with a string variable, or from a data object retrieved with
GetNextSym .
GetDataVal
SetDataVal makes it possible to set a value for a data object that is
specified with a string variable, or from a data object retrieved with
GetNextSym .
SetDataVal
SetAllDataVal make it possible to set a new value to all data objects
of a certain type that match the given grammar.
SetAllDataVal
Functions
This is a brief description of each function used for the data search functionality.
For more information, see the respective function in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Function
GetNextSym (Get Next Symbol) is used together with SetDataSearch to
retrieve data objects from the system.
GetNextSym
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2.1.3.3 Data search functionality examples
Set unknown variable
This is an example of how to set the value of a variable when the name of the
variable is unknown when programming, and only provided in a string.
VAR string my_string;
VAR num my_number;
VAR num new_value:=10;
my_string := "my_number";
!Set value to 10 for variable specified by my_string
SetDataVal my_string,new_value;
Reset a range of variables
This is an example where all numeric variables starting with "my" is reset to 0.
VAR string my_string:="my.*";
VAR num zerovar:=0;
SetAllDataVal "num"\Object:=my_string,zerovar;
List/set certain variables
In this example, all numeric variables in the module "mymod" starting with "my"
are listed on the FlexPendant and then reset to 0.
VAR datapos block;
VAR string name;
VAR num valuevar;
VAR num zerovar:=0;
!Search for all num variables starting with "my" in the module
"mymod"
SetDataSearch "num"\Object:="my.*"\InMod:="mymod";
!Loop through the search result
WHILE GetNextSym(name,block) DO
!Read the value from each found variable
GetDataVal name\Block:=block,valuevar;
!Write name and value for each found variable
TPWrite name+" = "\Num:=valuevar;
!Set the value to 0 for each found variables
SetDataVal name\Block:=block,zerovar;
ENDWHILE
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2.1.3.2 RAPID components
Data types
This is a brief description of each data type used for the data search functionality.
For more information, see the respective data type in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Data type
datapos is the enclosing block to a data object (internal system data)
retrieved with the function GetNextSym .
datapos
Instructions
This is a brief description of each instruction used for the data search functionality.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
SetDataSearch is used together with GetNextSym to retrieve data ob-
jects from the system.
SetDataSearch
GetDataVal makes it possible to get a value from a data object that is
specified with a string variable, or from a data object retrieved with
GetNextSym .
GetDataVal
SetDataVal makes it possible to set a value for a data object that is
specified with a string variable, or from a data object retrieved with
GetNextSym .
SetDataVal
SetAllDataVal make it possible to set a new value to all data objects
of a certain type that match the given grammar.
SetAllDataVal
Functions
This is a brief description of each function used for the data search functionality.
For more information, see the respective function in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Function
GetNextSym (Get Next Symbol) is used together with SetDataSearch to
retrieve data objects from the system.
GetNextSym
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2.1.3.3 Data search functionality examples
Set unknown variable
This is an example of how to set the value of a variable when the name of the
variable is unknown when programming, and only provided in a string.
VAR string my_string;
VAR num my_number;
VAR num new_value:=10;
my_string := "my_number";
!Set value to 10 for variable specified by my_string
SetDataVal my_string,new_value;
Reset a range of variables
This is an example where all numeric variables starting with "my" is reset to 0.
VAR string my_string:="my.*";
VAR num zerovar:=0;
SetAllDataVal "num"\Object:=my_string,zerovar;
List/set certain variables
In this example, all numeric variables in the module "mymod" starting with "my"
are listed on the FlexPendant and then reset to 0.
VAR datapos block;
VAR string name;
VAR num valuevar;
VAR num zerovar:=0;
!Search for all num variables starting with "my" in the module
"mymod"
SetDataSearch "num"\Object:="my.*"\InMod:="mymod";
!Loop through the search result
WHILE GetNextSym(name,block) DO
!Read the value from each found variable
GetDataVal name\Block:=block,valuevar;
!Write name and value for each found variable
TPWrite name+" = "\Num:=valuevar;
!Set the value to 0 for each found variables
SetDataVal name\Block:=block,zerovar;
ENDWHILE
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2.1.4 Alias I/O signals
2.1.4.1 Overview
Purpose
The Alias I/O functionality gives the programmer the ability to use any name on a
signal and connect that name to a configured I/O signal.
This is useful when a RAPID program is reused between different systems. Instead
of rewriting the code, using a signal name that exist on the new system, the signal
name used in the program can be defined as an alias name.
What is included
Alias I/O functionality consists of the instruction AliasIO .
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2.1.3.3 Data search functionality examples
Set unknown variable
This is an example of how to set the value of a variable when the name of the
variable is unknown when programming, and only provided in a string.
VAR string my_string;
VAR num my_number;
VAR num new_value:=10;
my_string := "my_number";
!Set value to 10 for variable specified by my_string
SetDataVal my_string,new_value;
Reset a range of variables
This is an example where all numeric variables starting with "my" is reset to 0.
VAR string my_string:="my.*";
VAR num zerovar:=0;
SetAllDataVal "num"\Object:=my_string,zerovar;
List/set certain variables
In this example, all numeric variables in the module "mymod" starting with "my"
are listed on the FlexPendant and then reset to 0.
VAR datapos block;
VAR string name;
VAR num valuevar;
VAR num zerovar:=0;
!Search for all num variables starting with "my" in the module
"mymod"
SetDataSearch "num"\Object:="my.*"\InMod:="mymod";
!Loop through the search result
WHILE GetNextSym(name,block) DO
!Read the value from each found variable
GetDataVal name\Block:=block,valuevar;
!Write name and value for each found variable
TPWrite name+" = "\Num:=valuevar;
!Set the value to 0 for each found variables
SetDataVal name\Block:=block,zerovar;
ENDWHILE
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2.1.4 Alias I/O signals
2.1.4.1 Overview
Purpose
The Alias I/O functionality gives the programmer the ability to use any name on a
signal and connect that name to a configured I/O signal.
This is useful when a RAPID program is reused between different systems. Instead
of rewriting the code, using a signal name that exist on the new system, the signal
name used in the program can be defined as an alias name.
What is included
Alias I/O functionality consists of the instruction AliasIO .
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2.1.4.2 RAPID components
Data types
There are no RAPID data types for the Alias I/O functionality.
Instructions
This is a brief description of each instruction used for the Alias I/O functionality.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
AliasIO is used to define a signal of any type with an alias name, or to
use signals in built-in task modules. The alias name is connected to a
configured I/O signal.
AliasIO
The instruction AliasIO must be run before any use of the actual signal.
Functions
There are no RAPID functions for the Alias I/O functionality.
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2.1.4 Alias I/O signals
2.1.4.1 Overview
Purpose
The Alias I/O functionality gives the programmer the ability to use any name on a
signal and connect that name to a configured I/O signal.
This is useful when a RAPID program is reused between different systems. Instead
of rewriting the code, using a signal name that exist on the new system, the signal
name used in the program can be defined as an alias name.
What is included
Alias I/O functionality consists of the instruction AliasIO .
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2.1.4.1 Overview
2.1.4.2 RAPID components
Data types
There are no RAPID data types for the Alias I/O functionality.
Instructions
This is a brief description of each instruction used for the Alias I/O functionality.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
AliasIO is used to define a signal of any type with an alias name, or to
use signals in built-in task modules. The alias name is connected to a
configured I/O signal.
AliasIO
The instruction AliasIO must be run before any use of the actual signal.
Functions
There are no RAPID functions for the Alias I/O functionality.
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2.1.4.3 Alias I/O functionality example
Assign alias name to signal
This example shows how to define the digital output signal alias_do to be
connected to the configured digital output I/O signal config_do .
The routine prog_start is connected to the START event.
This will ensure that "alias_do" can be used in the RAPID code even though there
is no configured signal with that name.
VAR signaldo alias_do;
PROC prog_start()
AliasIO config_do, alias_do;
ENDPROC
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2.1.4.2 RAPID components
Data types
There are no RAPID data types for the Alias I/O functionality.
Instructions
This is a brief description of each instruction used for the Alias I/O functionality.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
AliasIO is used to define a signal of any type with an alias name, or to
use signals in built-in task modules. The alias name is connected to a
configured I/O signal.
AliasIO
The instruction AliasIO must be run before any use of the actual signal.
Functions
There are no RAPID functions for the Alias I/O functionality.
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2.1.4.2 RAPID components
2.1.4.3 Alias I/O functionality example
Assign alias name to signal
This example shows how to define the digital output signal alias_do to be
connected to the configured digital output I/O signal config_do .
The routine prog_start is connected to the START event.
This will ensure that "alias_do" can be used in the RAPID code even though there
is no configured signal with that name.
VAR signaldo alias_do;
PROC prog_start()
AliasIO config_do, alias_do;
ENDPROC
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2.1.4.3 Alias I/O functionality example
2.1.5 Configuration functionality
2.1.5.1 Overview
Purpose
The configuration functionality gives the programmer access to the system
parameters at run time. The parameter values can be read and edited. The controller
can be restarted in order for the new parameter values to take effect.
What is included
Configuration functionality includes the instructions: ReadCfgData , WriteCfgData ,
and WarmStart .
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2.1.4.3 Alias I/O functionality example
Assign alias name to signal
This example shows how to define the digital output signal alias_do to be
connected to the configured digital output I/O signal config_do .
The routine prog_start is connected to the START event.
This will ensure that "alias_do" can be used in the RAPID code even though there
is no configured signal with that name.
VAR signaldo alias_do;
PROC prog_start()
AliasIO config_do, alias_do;
ENDPROC
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2.1.4.3 Alias I/O functionality example
2.1.5 Configuration functionality
2.1.5.1 Overview
Purpose
The configuration functionality gives the programmer access to the system
parameters at run time. The parameter values can be read and edited. The controller
can be restarted in order for the new parameter values to take effect.
What is included
Configuration functionality includes the instructions: ReadCfgData , WriteCfgData ,
and WarmStart .
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2.1.5.1 Overview
2.1.5.2 RAPID components
Data types
There are no RAPID data types for the configuration functionality.
Instructions
This is a brief description of each instruction used for the configuration functionality.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
ReadCfgData is used to read one attribute of a named system parameter
(configuration data).
ReadCfgData
WriteCfgData is used to write one attribute of a named system para-
meter (configuration data).
WriteCfgData
WarmStart is used to restart the controller at run time.
WarmStart
This is useful after changing system parameters with the instruction
WriteCfgData .
Functions
There are no RAPID functions for the configuration functionality.
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2.1.5 Configuration functionality
2.1.5.1 Overview
Purpose
The configuration functionality gives the programmer access to the system
parameters at run time. The parameter values can be read and edited. The controller
can be restarted in order for the new parameter values to take effect.
What is included
Configuration functionality includes the instructions: ReadCfgData , WriteCfgData ,
and WarmStart .
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2.1.5.1 Overview
2.1.5.2 RAPID components
Data types
There are no RAPID data types for the configuration functionality.
Instructions
This is a brief description of each instruction used for the configuration functionality.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
ReadCfgData is used to read one attribute of a named system parameter
(configuration data).
ReadCfgData
WriteCfgData is used to write one attribute of a named system para-
meter (configuration data).
WriteCfgData
WarmStart is used to restart the controller at run time.
WarmStart
This is useful after changing system parameters with the instruction
WriteCfgData .
Functions
There are no RAPID functions for the configuration functionality.
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2.1.5.2 RAPID components
2.1.5.3 Configuration functionality example
Configure system parameters
This is an example where the system parameter cal_offset for rob1_1 is read,
increased by 0.2 mm and then written back. To make this change take effect, the
controller is restarted.
VAR num old_offset;
VAR num new_offset;
ReadCfgData "/MOC/MOTOR_CALIB/rob1_1", "cal_offset",old_offset;
new_offset := old_offset + (0.2/1000);
WriteCfgData "/MOC/MOTOR_CALIB/rob1_1", "cal_offset",new_offset;
WarmStart;
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2.1.5.2 RAPID components
Data types
There are no RAPID data types for the configuration functionality.
Instructions
This is a brief description of each instruction used for the configuration functionality.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
ReadCfgData is used to read one attribute of a named system parameter
(configuration data).
ReadCfgData
WriteCfgData is used to write one attribute of a named system para-
meter (configuration data).
WriteCfgData
WarmStart is used to restart the controller at run time.
WarmStart
This is useful after changing system parameters with the instruction
WriteCfgData .
Functions
There are no RAPID functions for the configuration functionality.
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2.1.5.2 RAPID components
2.1.5.3 Configuration functionality example
Configure system parameters
This is an example where the system parameter cal_offset for rob1_1 is read,
increased by 0.2 mm and then written back. To make this change take effect, the
controller is restarted.
VAR num old_offset;
VAR num new_offset;
ReadCfgData "/MOC/MOTOR_CALIB/rob1_1", "cal_offset",old_offset;
new_offset := old_offset + (0.2/1000);
WriteCfgData "/MOC/MOTOR_CALIB/rob1_1", "cal_offset",new_offset;
WarmStart;
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2.1.5.3 Configuration functionality example
2.1.6 Power failure functionality
2.1.6.1 Overview
Purpose
If the robot was in the middle of a path movement when the power fail occurred,
some extra actions may need to be taken when the robot motion is resumed. The
power failure functionality helps you detect if the power fail occurred during a path
movement.
Note
For more information see the type Signal Safe Level , which belongs to the topic
I/O System , in Technical reference manual - System parameters .
What is included
The power failure functionality includes a function that checks for interrupted path:
PFRestart
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2.1.5.3 Configuration functionality example
Configure system parameters
This is an example where the system parameter cal_offset for rob1_1 is read,
increased by 0.2 mm and then written back. To make this change take effect, the
controller is restarted.
VAR num old_offset;
VAR num new_offset;
ReadCfgData "/MOC/MOTOR_CALIB/rob1_1", "cal_offset",old_offset;
new_offset := old_offset + (0.2/1000);
WriteCfgData "/MOC/MOTOR_CALIB/rob1_1", "cal_offset",new_offset;
WarmStart;
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2.1.5.3 Configuration functionality example
2.1.6 Power failure functionality
2.1.6.1 Overview
Purpose
If the robot was in the middle of a path movement when the power fail occurred,
some extra actions may need to be taken when the robot motion is resumed. The
power failure functionality helps you detect if the power fail occurred during a path
movement.
Note
For more information see the type Signal Safe Level , which belongs to the topic
I/O System , in Technical reference manual - System parameters .
What is included
The power failure functionality includes a function that checks for interrupted path:
PFRestart
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2.1.6.1 Overview
2.1.6.2 RAPID components and system parameters
Data types
There are no RAPID data types in the power failure functionality.
Instructions
There are no RAPID instructions in the power failure functionality.
Functions
This is a brief description of each function in the power failure functionality. For
more information, see the respective function in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Function
PFRestart (Power Failure Restart) is used to check if the path was inter-
rupted at power failure. If so it might be necessary to make some specific
actions. The function checks the path on current level, base level or on in-
terrupt level.
PFRestart
System parameters
There are no system parameters in the power failure functionality. However,
regardless of whether you have any options installed, you can use the parameter
Store signal at power fail .
For more information, see Technical reference manual - System parameters .
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2.1.6 Power failure functionality
2.1.6.1 Overview
Purpose
If the robot was in the middle of a path movement when the power fail occurred,
some extra actions may need to be taken when the robot motion is resumed. The
power failure functionality helps you detect if the power fail occurred during a path
movement.
Note
For more information see the type Signal Safe Level , which belongs to the topic
I/O System , in Technical reference manual - System parameters .
What is included
The power failure functionality includes a function that checks for interrupted path:
PFRestart
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2.1.6.1 Overview
2.1.6.2 RAPID components and system parameters
Data types
There are no RAPID data types in the power failure functionality.
Instructions
There are no RAPID instructions in the power failure functionality.
Functions
This is a brief description of each function in the power failure functionality. For
more information, see the respective function in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Function
PFRestart (Power Failure Restart) is used to check if the path was inter-
rupted at power failure. If so it might be necessary to make some specific
actions. The function checks the path on current level, base level or on in-
terrupt level.
PFRestart
System parameters
There are no system parameters in the power failure functionality. However,
regardless of whether you have any options installed, you can use the parameter
Store signal at power fail .
For more information, see Technical reference manual - System parameters .
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2.1.6.2 RAPID components and system parameters
2.1.6.3 Power failure functionality example
Test for interrupted path
When resuming work after a power failure, this example tests if the power failure
occurred during a path (i.e. when the robot was moving).
!Test if path was interrupted
IF PFRestart() = TRUE THEN
SetDO do5,1;
ELSE
SetDO do5,0;
ENDIF
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2.1.6.2 RAPID components and system parameters
Data types
There are no RAPID data types in the power failure functionality.
Instructions
There are no RAPID instructions in the power failure functionality.
Functions
This is a brief description of each function in the power failure functionality. For
more information, see the respective function in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Function
PFRestart (Power Failure Restart) is used to check if the path was inter-
rupted at power failure. If so it might be necessary to make some specific
actions. The function checks the path on current level, base level or on in-
terrupt level.
PFRestart
System parameters
There are no system parameters in the power failure functionality. However,
regardless of whether you have any options installed, you can use the parameter
Store signal at power fail .
For more information, see Technical reference manual - System parameters .
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2.1.6.2 RAPID components and system parameters
2.1.6.3 Power failure functionality example
Test for interrupted path
When resuming work after a power failure, this example tests if the power failure
occurred during a path (i.e. when the robot was moving).
!Test if path was interrupted
IF PFRestart() = TRUE THEN
SetDO do5,1;
ELSE
SetDO do5,0;
ENDIF
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2.1.6.3 Power failure functionality example
2.1.7 Process support functionality
2.1.7.1 Overview
Purpose
Process support functionality provides some RAPID instructions that can be useful
when creating process applications. Examples of its use are:
•
Analog output signals, used in continuous process application, can be set
to be proportional to the robot TCP speed.
•
A continuous process application that is stopped with program stop or
emergency stop can be continued from where it stopped.
What is included
The process support functionality includes:
•
The data type restartdata .
•
Instruction for setting analog output signal: TriggSpeed .
•
Instructions used in connection with restart: TriggStopProc and
StepBwdPath .
Limitations
The instruction TriggSpeed can only be used if you have the base functionality
Fixed Position Events .
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2.1.6.3 Power failure functionality example
Test for interrupted path
When resuming work after a power failure, this example tests if the power failure
occurred during a path (i.e. when the robot was moving).
!Test if path was interrupted
IF PFRestart() = TRUE THEN
SetDO do5,1;
ELSE
SetDO do5,0;
ENDIF
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2.1.6.3 Power failure functionality example
2.1.7 Process support functionality
2.1.7.1 Overview
Purpose
Process support functionality provides some RAPID instructions that can be useful
when creating process applications. Examples of its use are:
•
Analog output signals, used in continuous process application, can be set
to be proportional to the robot TCP speed.
•
A continuous process application that is stopped with program stop or
emergency stop can be continued from where it stopped.
What is included
The process support functionality includes:
•
The data type restartdata .
•
Instruction for setting analog output signal: TriggSpeed .
•
Instructions used in connection with restart: TriggStopProc and
StepBwdPath .
Limitations
The instruction TriggSpeed can only be used if you have the base functionality
Fixed Position Events .
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2.1.7.1 Overview
2.1.7.2 RAPID components
Data types
This is a brief description of each data type used for the process support
functionality. For more information, see the respective data type in Technical
reference manual - RAPID Instructions, Functions and Data types .
Description
Data type
restartdata can contain the pre- and post-values of specified I/O sig-
nals (process signals) at the stop sequence of the robot movements.
restartdata
restartdata , together with the instruction TriggStopProc is used to
preserve data for the restart after program stop or emergency stop of
self-developed process instructions.
Instructions
This is a brief description of each instruction used for the process support
functionality. For more information, see the respective instruction in Technical
reference manual - RAPID Instructions, Functions and Data types .
Description
Instruction
TriggSpeed is used to define the setting of an analog output to a value
proportional to the TCP speed.
TriggSpeed
TriggSpeed can only be used together with the option Fixed Position
Events.
TriggStopProc is used to store the pre- and post-values of all used
process signals.
TriggStopProc
TriggStopProc and the data type restartdata are used to preserve
data for the restart after program stop or emergency stop of self-de-
veloped process instructions.
StepBwdPath is used to move the TCP backwards on the robot path
from a RESTART event routine.
StepBwdPath
Functions
There are no RAPID functions for the process support functionality.
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2.1.7 Process support functionality
2.1.7.1 Overview
Purpose
Process support functionality provides some RAPID instructions that can be useful
when creating process applications. Examples of its use are:
•
Analog output signals, used in continuous process application, can be set
to be proportional to the robot TCP speed.
•
A continuous process application that is stopped with program stop or
emergency stop can be continued from where it stopped.
What is included
The process support functionality includes:
•
The data type restartdata .
•
Instruction for setting analog output signal: TriggSpeed .
•
Instructions used in connection with restart: TriggStopProc and
StepBwdPath .
Limitations
The instruction TriggSpeed can only be used if you have the base functionality
Fixed Position Events .
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2.1.7.1 Overview
2.1.7.2 RAPID components
Data types
This is a brief description of each data type used for the process support
functionality. For more information, see the respective data type in Technical
reference manual - RAPID Instructions, Functions and Data types .
Description
Data type
restartdata can contain the pre- and post-values of specified I/O sig-
nals (process signals) at the stop sequence of the robot movements.
restartdata
restartdata , together with the instruction TriggStopProc is used to
preserve data for the restart after program stop or emergency stop of
self-developed process instructions.
Instructions
This is a brief description of each instruction used for the process support
functionality. For more information, see the respective instruction in Technical
reference manual - RAPID Instructions, Functions and Data types .
Description
Instruction
TriggSpeed is used to define the setting of an analog output to a value
proportional to the TCP speed.
TriggSpeed
TriggSpeed can only be used together with the option Fixed Position
Events.
TriggStopProc is used to store the pre- and post-values of all used
process signals.
TriggStopProc
TriggStopProc and the data type restartdata are used to preserve
data for the restart after program stop or emergency stop of self-de-
veloped process instructions.
StepBwdPath is used to move the TCP backwards on the robot path
from a RESTART event routine.
StepBwdPath
Functions
There are no RAPID functions for the process support functionality.
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2.1.7.2 RAPID components
2.1.7.3 Process support functionality examples
Signal proportional to speed
In this example, the analog output signal that controls the amount of glue is set to
be proportional to the speed.
Any speed dip by the robot is time compensated in such a way that the analog
output signal glue_ao is affected 0.04 s before the TCP speed dip occurs. If
overflow of the calculated logical analog output value in glue_ao , the digital output
signal glue_err is set.
VAR triggdata glueflow;
!The glue flow is set to scale value 0.8 0.05 s before point p1
TriggSpeed glueflow, 0, 0.05, glue_ao, 0.8 \DipLag=:0.04,
\ErrDO:=glue_err;
TriggL p1, v500, glueflow, z50, gun1;
!The glue flow is set to scale value 1 10 mm plus 0.05 s
! before point p2
TriggSpeed glueflow, 10, 0.05, glue_ao, 1;
TriggL p2, v500, glueflow, z10, gun1;
!The glue flow ends (scale value 0) 0.05 s before point p3
TriggSpeed glueflow, 0, 0.05, glue_ao, 0;
TriggL p3, v500, glueflow, z50, gun1;
Tip
Note that it is also possible to create self-developed process instructions with
TriggSpeed using the NOSTEPIN routine concept.
Resume signals after stop
In this example, an output signal resumes its value after a program stop or
emergency stop.
The procedure supervise is defined as a POWER ON event routine and
resume_signals as a RESTART event routine.
PERS restartdata myproc_data :=
[FALSE,FALSE,0,0,0,0,0,0,0,0,0,0,0,0,0];
...
PROC myproc()
MoveJ p1, vmax, fine, my_gun;
SetDO do_close_gun, 1;
MoveL p2,v1000,z50,my_gun;
MoveL p3,v1000,fine,my_gun;
SetDO do_close_gun, 0;
ENDPROC
...
PROC supervise()
TriggStopProc myproc_data \DO1:=do_close_gun, do_close_gun;
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2.1.7.2 RAPID components
Data types
This is a brief description of each data type used for the process support
functionality. For more information, see the respective data type in Technical
reference manual - RAPID Instructions, Functions and Data types .
Description
Data type
restartdata can contain the pre- and post-values of specified I/O sig-
nals (process signals) at the stop sequence of the robot movements.
restartdata
restartdata , together with the instruction TriggStopProc is used to
preserve data for the restart after program stop or emergency stop of
self-developed process instructions.
Instructions
This is a brief description of each instruction used for the process support
functionality. For more information, see the respective instruction in Technical
reference manual - RAPID Instructions, Functions and Data types .
Description
Instruction
TriggSpeed is used to define the setting of an analog output to a value
proportional to the TCP speed.
TriggSpeed
TriggSpeed can only be used together with the option Fixed Position
Events.
TriggStopProc is used to store the pre- and post-values of all used
process signals.
TriggStopProc
TriggStopProc and the data type restartdata are used to preserve
data for the restart after program stop or emergency stop of self-de-
veloped process instructions.
StepBwdPath is used to move the TCP backwards on the robot path
from a RESTART event routine.
StepBwdPath
Functions
There are no RAPID functions for the process support functionality.
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2.1.7.3 Process support functionality examples
Signal proportional to speed
In this example, the analog output signal that controls the amount of glue is set to
be proportional to the speed.
Any speed dip by the robot is time compensated in such a way that the analog
output signal glue_ao is affected 0.04 s before the TCP speed dip occurs. If
overflow of the calculated logical analog output value in glue_ao , the digital output
signal glue_err is set.
VAR triggdata glueflow;
!The glue flow is set to scale value 0.8 0.05 s before point p1
TriggSpeed glueflow, 0, 0.05, glue_ao, 0.8 \DipLag=:0.04,
\ErrDO:=glue_err;
TriggL p1, v500, glueflow, z50, gun1;
!The glue flow is set to scale value 1 10 mm plus 0.05 s
! before point p2
TriggSpeed glueflow, 10, 0.05, glue_ao, 1;
TriggL p2, v500, glueflow, z10, gun1;
!The glue flow ends (scale value 0) 0.05 s before point p3
TriggSpeed glueflow, 0, 0.05, glue_ao, 0;
TriggL p3, v500, glueflow, z50, gun1;
Tip
Note that it is also possible to create self-developed process instructions with
TriggSpeed using the NOSTEPIN routine concept.
Resume signals after stop
In this example, an output signal resumes its value after a program stop or
emergency stop.
The procedure supervise is defined as a POWER ON event routine and
resume_signals as a RESTART event routine.
PERS restartdata myproc_data :=
[FALSE,FALSE,0,0,0,0,0,0,0,0,0,0,0,0,0];
...
PROC myproc()
MoveJ p1, vmax, fine, my_gun;
SetDO do_close_gun, 1;
MoveL p2,v1000,z50,my_gun;
MoveL p3,v1000,fine,my_gun;
SetDO do_close_gun, 0;
ENDPROC
...
PROC supervise()
TriggStopProc myproc_data \DO1:=do_close_gun, do_close_gun;
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ENDPROC
PROC resume_signals()
IF myproc_data.preshadowval = 1 THEN
SetDO do_close_gun,1;
ELSE
SetDO do_close_gun,0;
ENDIF
ENDPROC
Move TCP backwards
In this example, the TCP is moved backwards 30 mm in 1 second, along the same
path as before the restart.
The procedure move_backward is defined as a RESTART event routine.
PROC move_backward()
StepBwdPath 30, 1;
ENDPROC
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2.1.7.3 Process support functionality examples
Signal proportional to speed
In this example, the analog output signal that controls the amount of glue is set to
be proportional to the speed.
Any speed dip by the robot is time compensated in such a way that the analog
output signal glue_ao is affected 0.04 s before the TCP speed dip occurs. If
overflow of the calculated logical analog output value in glue_ao , the digital output
signal glue_err is set.
VAR triggdata glueflow;
!The glue flow is set to scale value 0.8 0.05 s before point p1
TriggSpeed glueflow, 0, 0.05, glue_ao, 0.8 \DipLag=:0.04,
\ErrDO:=glue_err;
TriggL p1, v500, glueflow, z50, gun1;
!The glue flow is set to scale value 1 10 mm plus 0.05 s
! before point p2
TriggSpeed glueflow, 10, 0.05, glue_ao, 1;
TriggL p2, v500, glueflow, z10, gun1;
!The glue flow ends (scale value 0) 0.05 s before point p3
TriggSpeed glueflow, 0, 0.05, glue_ao, 0;
TriggL p3, v500, glueflow, z50, gun1;
Tip
Note that it is also possible to create self-developed process instructions with
TriggSpeed using the NOSTEPIN routine concept.
Resume signals after stop
In this example, an output signal resumes its value after a program stop or
emergency stop.
The procedure supervise is defined as a POWER ON event routine and
resume_signals as a RESTART event routine.
PERS restartdata myproc_data :=
[FALSE,FALSE,0,0,0,0,0,0,0,0,0,0,0,0,0];
...
PROC myproc()
MoveJ p1, vmax, fine, my_gun;
SetDO do_close_gun, 1;
MoveL p2,v1000,z50,my_gun;
MoveL p3,v1000,fine,my_gun;
SetDO do_close_gun, 0;
ENDPROC
...
PROC supervise()
TriggStopProc myproc_data \DO1:=do_close_gun, do_close_gun;
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ENDPROC
PROC resume_signals()
IF myproc_data.preshadowval = 1 THEN
SetDO do_close_gun,1;
ELSE
SetDO do_close_gun,0;
ENDIF
ENDPROC
Move TCP backwards
In this example, the TCP is moved backwards 30 mm in 1 second, along the same
path as before the restart.
The procedure move_backward is defined as a RESTART event routine.
PROC move_backward()
StepBwdPath 30, 1;
ENDPROC
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Continued
2.1.8 Interrupt functionality
2.1.8.1 Overview
Purpose
The interrupt functionality in Advanced RAPID has some extra features, in addition
to the interrupt features always included in RAPID. For more information on the
basic interrupt functionality, see Technical reference manual - RAPID Overview .
Here are some examples of interrupt applications that Advanced RAPID facilitates:
•
Generate an interrupt when a persistent variable change value.
•
Generate an interrupt when an error occurs, and find out more about the
error.
What is included
The interrupt functionality in Advanced RAPID includes:
•
Data types for error interrupts: trapdata , errdomain , and errtype .
•
Instructions for generating interrupts: IPers and IError .
•
Instructions for finding out more about an error interrupt: GetTrapData and
ReadErrData .
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ENDPROC
PROC resume_signals()
IF myproc_data.preshadowval = 1 THEN
SetDO do_close_gun,1;
ELSE
SetDO do_close_gun,0;
ENDIF
ENDPROC
Move TCP backwards
In this example, the TCP is moved backwards 30 mm in 1 second, along the same
path as before the restart.
The procedure move_backward is defined as a RESTART event routine.
PROC move_backward()
StepBwdPath 30, 1;
ENDPROC
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Continued
2.1.8 Interrupt functionality
2.1.8.1 Overview
Purpose
The interrupt functionality in Advanced RAPID has some extra features, in addition
to the interrupt features always included in RAPID. For more information on the
basic interrupt functionality, see Technical reference manual - RAPID Overview .
Here are some examples of interrupt applications that Advanced RAPID facilitates:
•
Generate an interrupt when a persistent variable change value.
•
Generate an interrupt when an error occurs, and find out more about the
error.
What is included
The interrupt functionality in Advanced RAPID includes:
•
Data types for error interrupts: trapdata , errdomain , and errtype .
•
Instructions for generating interrupts: IPers and IError .
•
Instructions for finding out more about an error interrupt: GetTrapData and
ReadErrData .
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2.1.8.1 Overview
2.1.8.2 RAPID components
Data types
This is a brief description of each data type in the interrupt functionality. For more
information, see the respective data type in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Data type
trapdata represents internal information related to the interrupt that caused
the current trap routine to be executed.
trapdata
errdomain is used to specify an error domain. Depending on the nature
of the error, it is logged in different domains.
errdomain
errtype is used to specify an error type (error, warning, state change).
errtype
Instructions
This is a brief description of each instruction in the interrupt functionality. For more
information, see the respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
IPers (Interrupt Persistent) is used to order an interrupt to be generated
each time the value of a persistent variable is changed.
IPers
IError (Interrupt Errors) is used to order an interrupt to be generated each
time an error occurs.
IError
GetTrapData is used in trap routines generated by the instruction IError .
GetTrapData obtains all information about the interrupt that caused the
trap routine to be executed.
GetTrapData
ReadErrData is used in trap routines generated by the instruction IError .
ReadErrData read the information obtained by GetTrapData .
ReadErrData
ErrRaise is used to create an error in the program and the call the error
handler of the routine. ErrRaise can also be used in the error handler to
propagate the current error to the error handler of the calling routine.
ErrRaise
Functions
There are no RAPID functions for the interrupt functionality.
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2.1.8 Interrupt functionality
2.1.8.1 Overview
Purpose
The interrupt functionality in Advanced RAPID has some extra features, in addition
to the interrupt features always included in RAPID. For more information on the
basic interrupt functionality, see Technical reference manual - RAPID Overview .
Here are some examples of interrupt applications that Advanced RAPID facilitates:
•
Generate an interrupt when a persistent variable change value.
•
Generate an interrupt when an error occurs, and find out more about the
error.
What is included
The interrupt functionality in Advanced RAPID includes:
•
Data types for error interrupts: trapdata , errdomain , and errtype .
•
Instructions for generating interrupts: IPers and IError .
•
Instructions for finding out more about an error interrupt: GetTrapData and
ReadErrData .
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2.1.8.1 Overview
2.1.8.2 RAPID components
Data types
This is a brief description of each data type in the interrupt functionality. For more
information, see the respective data type in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Data type
trapdata represents internal information related to the interrupt that caused
the current trap routine to be executed.
trapdata
errdomain is used to specify an error domain. Depending on the nature
of the error, it is logged in different domains.
errdomain
errtype is used to specify an error type (error, warning, state change).
errtype
Instructions
This is a brief description of each instruction in the interrupt functionality. For more
information, see the respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
IPers (Interrupt Persistent) is used to order an interrupt to be generated
each time the value of a persistent variable is changed.
IPers
IError (Interrupt Errors) is used to order an interrupt to be generated each
time an error occurs.
IError
GetTrapData is used in trap routines generated by the instruction IError .
GetTrapData obtains all information about the interrupt that caused the
trap routine to be executed.
GetTrapData
ReadErrData is used in trap routines generated by the instruction IError .
ReadErrData read the information obtained by GetTrapData .
ReadErrData
ErrRaise is used to create an error in the program and the call the error
handler of the routine. ErrRaise can also be used in the error handler to
propagate the current error to the error handler of the calling routine.
ErrRaise
Functions
There are no RAPID functions for the interrupt functionality.
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2.1.8.2 RAPID components
2.1.8.3 Interrupt functionality examples
Interrupt when persistent variable changes
In this example, a trap routine is called when the value of the persistent variable
counter changes.
VAR intnum int1;
PERS num counter := 0;
PROC main()
CONNECT int1 WITH iroutine1;
IPers counter, int1;
...
counter := counter + 1;
...
Idelete int1;
ENDPROC
TRAP iroutine1
TPWrite "Current value of counter = " \Num:=counter;
ENDTRAP
Error interrupt
In this example, a trap routine is called when an error occurs. The trap routine
determines the error domain and the error number and communicates them via
output signals.
VAR intnum err_interrupt;
VAR trapdata err_data;
VAR errdomain err_domain;
VAR num err_number;
VAR errtype err_type;
PROC main()
CONNECT err_interrupt WITH trap_err;
IError COMMON_ERR, TYPE_ERR, err_interrupt;
...
a:=3;
b:=0;
c:=a/b;
...
IDelete err_interrupt;
ENDPROC
TRAP trap_err
GetTrapData err_data;
ReadErrData err_data, err_domain, err_number, err_type;
SetGO go_err1, err_domain;
SetGO go_err2, err_number;
ENDTRAP
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2.1.8.2 RAPID components
Data types
This is a brief description of each data type in the interrupt functionality. For more
information, see the respective data type in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Data type
trapdata represents internal information related to the interrupt that caused
the current trap routine to be executed.
trapdata
errdomain is used to specify an error domain. Depending on the nature
of the error, it is logged in different domains.
errdomain
errtype is used to specify an error type (error, warning, state change).
errtype
Instructions
This is a brief description of each instruction in the interrupt functionality. For more
information, see the respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
IPers (Interrupt Persistent) is used to order an interrupt to be generated
each time the value of a persistent variable is changed.
IPers
IError (Interrupt Errors) is used to order an interrupt to be generated each
time an error occurs.
IError
GetTrapData is used in trap routines generated by the instruction IError .
GetTrapData obtains all information about the interrupt that caused the
trap routine to be executed.
GetTrapData
ReadErrData is used in trap routines generated by the instruction IError .
ReadErrData read the information obtained by GetTrapData .
ReadErrData
ErrRaise is used to create an error in the program and the call the error
handler of the routine. ErrRaise can also be used in the error handler to
propagate the current error to the error handler of the calling routine.
ErrRaise
Functions
There are no RAPID functions for the interrupt functionality.
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2.1.8.3 Interrupt functionality examples
Interrupt when persistent variable changes
In this example, a trap routine is called when the value of the persistent variable
counter changes.
VAR intnum int1;
PERS num counter := 0;
PROC main()
CONNECT int1 WITH iroutine1;
IPers counter, int1;
...
counter := counter + 1;
...
Idelete int1;
ENDPROC
TRAP iroutine1
TPWrite "Current value of counter = " \Num:=counter;
ENDTRAP
Error interrupt
In this example, a trap routine is called when an error occurs. The trap routine
determines the error domain and the error number and communicates them via
output signals.
VAR intnum err_interrupt;
VAR trapdata err_data;
VAR errdomain err_domain;
VAR num err_number;
VAR errtype err_type;
PROC main()
CONNECT err_interrupt WITH trap_err;
IError COMMON_ERR, TYPE_ERR, err_interrupt;
...
a:=3;
b:=0;
c:=a/b;
...
IDelete err_interrupt;
ENDPROC
TRAP trap_err
GetTrapData err_data;
ReadErrData err_data, err_domain, err_number, err_type;
SetGO go_err1, err_domain;
SetGO go_err2, err_number;
ENDTRAP
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2.1.8.3 Interrupt functionality examples
2.1.9 User message functionality
2.1.9.1 Overview
Purpose
The user message functionality is used to set up event numbers and facilitate the
handling of event messages and other texts to be presented in the user interface.
Here are some examples of applications:
•
Get user messages from a text table file, which simplifies updates and
translations.
•
Add system error number to be used as error recovery constants in RAISE
instructions and for test in ERROR handlers.
What is included
The user message functionality includes:
•
Text table operating instruction TextTabInstall .
•
Text table operating functions: TextTabFreeToUse , TextTabGet , and
TextGet .
•
Instruction for error number handling: BookErrNo .
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2.1.8.3 Interrupt functionality examples
Interrupt when persistent variable changes
In this example, a trap routine is called when the value of the persistent variable
counter changes.
VAR intnum int1;
PERS num counter := 0;
PROC main()
CONNECT int1 WITH iroutine1;
IPers counter, int1;
...
counter := counter + 1;
...
Idelete int1;
ENDPROC
TRAP iroutine1
TPWrite "Current value of counter = " \Num:=counter;
ENDTRAP
Error interrupt
In this example, a trap routine is called when an error occurs. The trap routine
determines the error domain and the error number and communicates them via
output signals.
VAR intnum err_interrupt;
VAR trapdata err_data;
VAR errdomain err_domain;
VAR num err_number;
VAR errtype err_type;
PROC main()
CONNECT err_interrupt WITH trap_err;
IError COMMON_ERR, TYPE_ERR, err_interrupt;
...
a:=3;
b:=0;
c:=a/b;
...
IDelete err_interrupt;
ENDPROC
TRAP trap_err
GetTrapData err_data;
ReadErrData err_data, err_domain, err_number, err_type;
SetGO go_err1, err_domain;
SetGO go_err2, err_number;
ENDTRAP
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2.1.8.3 Interrupt functionality examples
2.1.9 User message functionality
2.1.9.1 Overview
Purpose
The user message functionality is used to set up event numbers and facilitate the
handling of event messages and other texts to be presented in the user interface.
Here are some examples of applications:
•
Get user messages from a text table file, which simplifies updates and
translations.
•
Add system error number to be used as error recovery constants in RAISE
instructions and for test in ERROR handlers.
What is included
The user message functionality includes:
•
Text table operating instruction TextTabInstall .
•
Text table operating functions: TextTabFreeToUse , TextTabGet , and
TextGet .
•
Instruction for error number handling: BookErrNo .
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2.1.9.2 RAPID components
Data types
There are no RAPID data types for the user message functionality.
Instructions
This is a brief description of each instruction used for the user message
functionality. For more information, see the respective instruction in Technical
reference manual - RAPID Instructions, Functions and Data types .
Description
Instruction
BookErrNo is used to define a new RAPID system error number.
BookErrNo
TextTabInstall is used to install a text table in the system.
TextTabInstall
Functions
This is a brief description of each function used for the user message functionality.
For more information, see the respective function in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Function
TextTabFreeToUse is used to test whether the text table name is free
to use (not already installed in the system).
TextTabFreeToUse
TextTabGet is used to get the text table number of a user defined text
table.
TextTabGet
TextGet is used to get a text string from the system text tables.
TextGet
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2.1.9 User message functionality
2.1.9.1 Overview
Purpose
The user message functionality is used to set up event numbers and facilitate the
handling of event messages and other texts to be presented in the user interface.
Here are some examples of applications:
•
Get user messages from a text table file, which simplifies updates and
translations.
•
Add system error number to be used as error recovery constants in RAISE
instructions and for test in ERROR handlers.
What is included
The user message functionality includes:
•
Text table operating instruction TextTabInstall .
•
Text table operating functions: TextTabFreeToUse , TextTabGet , and
TextGet .
•
Instruction for error number handling: BookErrNo .
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2.1.9.1 Overview
2.1.9.2 RAPID components
Data types
There are no RAPID data types for the user message functionality.
Instructions
This is a brief description of each instruction used for the user message
functionality. For more information, see the respective instruction in Technical
reference manual - RAPID Instructions, Functions and Data types .
Description
Instruction
BookErrNo is used to define a new RAPID system error number.
BookErrNo
TextTabInstall is used to install a text table in the system.
TextTabInstall
Functions
This is a brief description of each function used for the user message functionality.
For more information, see the respective function in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Function
TextTabFreeToUse is used to test whether the text table name is free
to use (not already installed in the system).
TextTabFreeToUse
TextTabGet is used to get the text table number of a user defined text
table.
TextTabGet
TextGet is used to get a text string from the system text tables.
TextGet
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2.1.9.2 RAPID components
2.1.9.3 User message functionality examples
Book error number
This example shows how to add a new error number.
VAR intnum sig1int;
!Introduce a new error number in a glue system.
!Note: The new error variable must be declared with the
! initial value -1
VAR errnum ERR_GLUEFLOW := -1;
PROC main()
!Book the new RAPID system error number
BookErrNo ERR_GLUEFLOW;
!Raise glue flow error if di1=1
IF di1=1 THEN
RAISE ERR_GLUEFLOW;
ENDIF
ENDPROC
!Error handling
ERROR
IF ERRNO = ERR_GLUEFLOW THEN
ErrWrite "Glue error", "There is a problem with the glue flow";
ENDIF
Error message from text table file
This example shows how to get user messages from a text table file.
There is a text table named text_table_name in a file named
HOME:/language/en/text_file.xml. This table contains error messages in english.
The procedure install_text is executed at event POWER ON. The first time it
is executed, the text table file text_file.xml is installed. The next time it is executed,
the function TextTabFreeToUse returns FALSE and the installation is not repeated.
The table is then used for getting user interface messages.
VAR num text_res_no;
PROC install_text()
!Test if text_table_name is already installed
IF TextTabFreeToUse("text_table_name") THEN
!Install the table from the file HOME:/language/en/text_file.xml
TextTabInstall "HOME:/language/en/text_file.xml";
ENDIF
!Assign the text table number for text_table_name to text_res_no
text_res_no := TextTabGet("text_table_name");
ENDPROC
...
!Write error message with two strings from the table text_res_no
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2.1.9.2 RAPID components
Data types
There are no RAPID data types for the user message functionality.
Instructions
This is a brief description of each instruction used for the user message
functionality. For more information, see the respective instruction in Technical
reference manual - RAPID Instructions, Functions and Data types .
Description
Instruction
BookErrNo is used to define a new RAPID system error number.
BookErrNo
TextTabInstall is used to install a text table in the system.
TextTabInstall
Functions
This is a brief description of each function used for the user message functionality.
For more information, see the respective function in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Function
TextTabFreeToUse is used to test whether the text table name is free
to use (not already installed in the system).
TextTabFreeToUse
TextTabGet is used to get the text table number of a user defined text
table.
TextTabGet
TextGet is used to get a text string from the system text tables.
TextGet
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2.1.9.3 User message functionality examples
Book error number
This example shows how to add a new error number.
VAR intnum sig1int;
!Introduce a new error number in a glue system.
!Note: The new error variable must be declared with the
! initial value -1
VAR errnum ERR_GLUEFLOW := -1;
PROC main()
!Book the new RAPID system error number
BookErrNo ERR_GLUEFLOW;
!Raise glue flow error if di1=1
IF di1=1 THEN
RAISE ERR_GLUEFLOW;
ENDIF
ENDPROC
!Error handling
ERROR
IF ERRNO = ERR_GLUEFLOW THEN
ErrWrite "Glue error", "There is a problem with the glue flow";
ENDIF
Error message from text table file
This example shows how to get user messages from a text table file.
There is a text table named text_table_name in a file named
HOME:/language/en/text_file.xml. This table contains error messages in english.
The procedure install_text is executed at event POWER ON. The first time it
is executed, the text table file text_file.xml is installed. The next time it is executed,
the function TextTabFreeToUse returns FALSE and the installation is not repeated.
The table is then used for getting user interface messages.
VAR num text_res_no;
PROC install_text()
!Test if text_table_name is already installed
IF TextTabFreeToUse("text_table_name") THEN
!Install the table from the file HOME:/language/en/text_file.xml
TextTabInstall "HOME:/language/en/text_file.xml";
ENDIF
!Assign the text table number for text_table_name to text_res_no
text_res_no := TextTabGet("text_table_name");
ENDPROC
...
!Write error message with two strings from the table text_res_no
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ErrWrite TextGet(text_res_no, 1), TextGet(text_res_no, 2);
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2.1.9.3 User message functionality examples
Book error number
This example shows how to add a new error number.
VAR intnum sig1int;
!Introduce a new error number in a glue system.
!Note: The new error variable must be declared with the
! initial value -1
VAR errnum ERR_GLUEFLOW := -1;
PROC main()
!Book the new RAPID system error number
BookErrNo ERR_GLUEFLOW;
!Raise glue flow error if di1=1
IF di1=1 THEN
RAISE ERR_GLUEFLOW;
ENDIF
ENDPROC
!Error handling
ERROR
IF ERRNO = ERR_GLUEFLOW THEN
ErrWrite "Glue error", "There is a problem with the glue flow";
ENDIF
Error message from text table file
This example shows how to get user messages from a text table file.
There is a text table named text_table_name in a file named
HOME:/language/en/text_file.xml. This table contains error messages in english.
The procedure install_text is executed at event POWER ON. The first time it
is executed, the text table file text_file.xml is installed. The next time it is executed,
the function TextTabFreeToUse returns FALSE and the installation is not repeated.
The table is then used for getting user interface messages.
VAR num text_res_no;
PROC install_text()
!Test if text_table_name is already installed
IF TextTabFreeToUse("text_table_name") THEN
!Install the table from the file HOME:/language/en/text_file.xml
TextTabInstall "HOME:/language/en/text_file.xml";
ENDIF
!Assign the text table number for text_table_name to text_res_no
text_res_no := TextTabGet("text_table_name");
ENDPROC
...
!Write error message with two strings from the table text_res_no
Continues on next page
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ErrWrite TextGet(text_res_no, 1), TextGet(text_res_no, 2);
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Continued
2.1.9.4 Text table files
Overview
A text table is stored in an XML file (each file can contain one table in one language).
This table can contain any number of text strings with encoding ISO-8859-1.
Explanation of the text table file
This is a description of the XML tags and arguments used in the text table file.
Description
Argument
Tag
Represents a text table. A file can only contain one instance of
Resource.
Resource
The name of the text table. Used by the RAPID instruction
TextTabGet .
Name
Language code for the language of the text strings.
Language
Currently this argument is not being used. The RAPID instruction
TextTabInstall can only handle English texts.
Represents a text string.
Text
The number of the text string in the table.
Name
The text string to be used.
Value
Comments about the text string and its usage.
Comment
Example of text table file
<?xml version="1.0" encoding="iso-8859-1" ?>
<Resource Name="text_table_name" Language="en">
<Text Name="1">
<Value>This is a text that is </Value>
<Comment>The first part of my text</Comment>
</Text>
<Text Name="2">
<Value>displayed in the user interface.</Value>
<Comment>The second part of my text</Comment>
</Text>
</Resource>
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ErrWrite TextGet(text_res_no, 1), TextGet(text_res_no, 2);
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Continued
2.1.9.4 Text table files
Overview
A text table is stored in an XML file (each file can contain one table in one language).
This table can contain any number of text strings with encoding ISO-8859-1.
Explanation of the text table file
This is a description of the XML tags and arguments used in the text table file.
Description
Argument
Tag
Represents a text table. A file can only contain one instance of
Resource.
Resource
The name of the text table. Used by the RAPID instruction
TextTabGet .
Name
Language code for the language of the text strings.
Language
Currently this argument is not being used. The RAPID instruction
TextTabInstall can only handle English texts.
Represents a text string.
Text
The number of the text string in the table.
Name
The text string to be used.
Value
Comments about the text string and its usage.
Comment
Example of text table file
<?xml version="1.0" encoding="iso-8859-1" ?>
<Resource Name="text_table_name" Language="en">
<Text Name="1">
<Value>This is a text that is </Value>
<Comment>The first part of my text</Comment>
</Text>
<Text Name="2">
<Value>displayed in the user interface.</Value>
<Comment>The second part of my text</Comment>
</Text>
</Resource>
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2.1.9.4 Text table files
2.1.10 RAPID support functionality
2.1.10.1 Overview
Purpose
The RAPID support functionality consists of miscellaneous routines that might be
helpful for an advanced robot programmer.
Here are some examples of applications:
•
Activate a new tool, work object or payload.
•
Find out what an argument is called outside the current routine.
•
Test if the program pointer has been moved during the last program stop.
What is included
RAPID support functionality includes:
•
Instruction for activating specified system data: SetSysData .
•
Function that gets original data object name: ArgName .
•
Function for information about program pointer movement:
IsStopStateEvent .
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2.1.9.4 Text table files
Overview
A text table is stored in an XML file (each file can contain one table in one language).
This table can contain any number of text strings with encoding ISO-8859-1.
Explanation of the text table file
This is a description of the XML tags and arguments used in the text table file.
Description
Argument
Tag
Represents a text table. A file can only contain one instance of
Resource.
Resource
The name of the text table. Used by the RAPID instruction
TextTabGet .
Name
Language code for the language of the text strings.
Language
Currently this argument is not being used. The RAPID instruction
TextTabInstall can only handle English texts.
Represents a text string.
Text
The number of the text string in the table.
Name
The text string to be used.
Value
Comments about the text string and its usage.
Comment
Example of text table file
<?xml version="1.0" encoding="iso-8859-1" ?>
<Resource Name="text_table_name" Language="en">
<Text Name="1">
<Value>This is a text that is </Value>
<Comment>The first part of my text</Comment>
</Text>
<Text Name="2">
<Value>displayed in the user interface.</Value>
<Comment>The second part of my text</Comment>
</Text>
</Resource>
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2.1.9.4 Text table files
2.1.10 RAPID support functionality
2.1.10.1 Overview
Purpose
The RAPID support functionality consists of miscellaneous routines that might be
helpful for an advanced robot programmer.
Here are some examples of applications:
•
Activate a new tool, work object or payload.
•
Find out what an argument is called outside the current routine.
•
Test if the program pointer has been moved during the last program stop.
What is included
RAPID support functionality includes:
•
Instruction for activating specified system data: SetSysData .
•
Function that gets original data object name: ArgName .
•
Function for information about program pointer movement:
IsStopStateEvent .
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2.1.10.1 Overview
2.1.10.2 RAPID components
Data types
There are no data types for RAPID support functionality.
Instructions
This is a brief description of each instruction used for RAPID support functionality.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
SetSysData activates (or changes the current active) tool, work object,
or payload for the robot.
SetSysData
Functions
This is a brief description of each function used for RAPID support functionality.
For more information, see the respective function in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Function
ArgName is used to get the name of the original data object for the
current argument or the current data.
ArgName
IsStopStateEvent returns information about the movement of the
program pointer.
IsStopStateEvent
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2.1.10 RAPID support functionality
2.1.10.1 Overview
Purpose
The RAPID support functionality consists of miscellaneous routines that might be
helpful for an advanced robot programmer.
Here are some examples of applications:
•
Activate a new tool, work object or payload.
•
Find out what an argument is called outside the current routine.
•
Test if the program pointer has been moved during the last program stop.
What is included
RAPID support functionality includes:
•
Instruction for activating specified system data: SetSysData .
•
Function that gets original data object name: ArgName .
•
Function for information about program pointer movement:
IsStopStateEvent .
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2.1.10.1 Overview
2.1.10.2 RAPID components
Data types
There are no data types for RAPID support functionality.
Instructions
This is a brief description of each instruction used for RAPID support functionality.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
SetSysData activates (or changes the current active) tool, work object,
or payload for the robot.
SetSysData
Functions
This is a brief description of each function used for RAPID support functionality.
For more information, see the respective function in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Function
ArgName is used to get the name of the original data object for the
current argument or the current data.
ArgName
IsStopStateEvent returns information about the movement of the
program pointer.
IsStopStateEvent
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2.1.10.3 RAPID support functionality examples
Activate tool
This is an example of how to activate a known tool:
!Activate tool1
SetSysData tool1;
This is an example of how to activate a tool when the name of the tool is only
available in a string:
VAR string tool_string := "tool2";
!Activate the tool specified in tool_string
SetSysData tool0 \ObjectName := tool_string;
Get argument name
In this example, the original name of par1 is fetched. The output will be "Argument
name my_nbr with value 5".
VAR num my_nbr :=5;
proc1 my_nbr;
PROC proc1 (num par1)
VAR string name;
name:=ArgName(par1);
TPWrite "Argument name "+name+" with value " \Num:=par1;
ENDPROC
Test if program pointer has been moved
This example tests if the program pointer was moved during the last program stop.
IF IsStopStateEvent (\PPMoved) = TRUE THEN
TPWrite "The program pointer has been moved.";
ENDIF
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2.1.10.2 RAPID components
Data types
There are no data types for RAPID support functionality.
Instructions
This is a brief description of each instruction used for RAPID support functionality.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
SetSysData activates (or changes the current active) tool, work object,
or payload for the robot.
SetSysData
Functions
This is a brief description of each function used for RAPID support functionality.
For more information, see the respective function in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Function
ArgName is used to get the name of the original data object for the
current argument or the current data.
ArgName
IsStopStateEvent returns information about the movement of the
program pointer.
IsStopStateEvent
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2.1.10.3 RAPID support functionality examples
Activate tool
This is an example of how to activate a known tool:
!Activate tool1
SetSysData tool1;
This is an example of how to activate a tool when the name of the tool is only
available in a string:
VAR string tool_string := "tool2";
!Activate the tool specified in tool_string
SetSysData tool0 \ObjectName := tool_string;
Get argument name
In this example, the original name of par1 is fetched. The output will be "Argument
name my_nbr with value 5".
VAR num my_nbr :=5;
proc1 my_nbr;
PROC proc1 (num par1)
VAR string name;
name:=ArgName(par1);
TPWrite "Argument name "+name+" with value " \Num:=par1;
ENDPROC
Test if program pointer has been moved
This example tests if the program pointer was moved during the last program stop.
IF IsStopStateEvent (\PPMoved) = TRUE THEN
TPWrite "The program pointer has been moved.";
ENDIF
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2.2 Analog Signal Interrupt
2.2.1 Introduction to Analog Signal Interrupt
Purpose
The purpose of Analog Signal Interrupt is to supervise an analog signal and
generate an interrupt when a specified value is reached.
Analog Signal Interrupt is faster, easier to implement, and require less computer
capacity than polling methods.
Here are some examples of applications:
•
Save cycle time with better timing (start robot movement exactly when a
signal reach the specified value, instead of waiting for polling).
•
Show warning or error messages if a signal value is outside its allowed range.
•
Stop the robot if a signal value reaches a dangerous level.
What is included
The RobotWare base functionality Analog Signal Interrupt gives you access to the
instructions:
•
ISignalAI
•
ISignalAO
Basic approach
This is the general approach for using Analog Signal Interrupt. For a more detailed
example of how this is done, see Code example on page 56 .
1
Create a trap routine.
2
Connect the trap routine using the instruction CONNECT .
3
Define the interrupt conditions with the instruction ISignalAI or ISignalAO .
Limitations
Analog signals can only be used if you have an industrial network option (for
example DeviceNet).
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2.1.10.3 RAPID support functionality examples
Activate tool
This is an example of how to activate a known tool:
!Activate tool1
SetSysData tool1;
This is an example of how to activate a tool when the name of the tool is only
available in a string:
VAR string tool_string := "tool2";
!Activate the tool specified in tool_string
SetSysData tool0 \ObjectName := tool_string;
Get argument name
In this example, the original name of par1 is fetched. The output will be "Argument
name my_nbr with value 5".
VAR num my_nbr :=5;
proc1 my_nbr;
PROC proc1 (num par1)
VAR string name;
name:=ArgName(par1);
TPWrite "Argument name "+name+" with value " \Num:=par1;
ENDPROC
Test if program pointer has been moved
This example tests if the program pointer was moved during the last program stop.
IF IsStopStateEvent (\PPMoved) = TRUE THEN
TPWrite "The program pointer has been moved.";
ENDIF
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2.2 Analog Signal Interrupt
2.2.1 Introduction to Analog Signal Interrupt
Purpose
The purpose of Analog Signal Interrupt is to supervise an analog signal and
generate an interrupt when a specified value is reached.
Analog Signal Interrupt is faster, easier to implement, and require less computer
capacity than polling methods.
Here are some examples of applications:
•
Save cycle time with better timing (start robot movement exactly when a
signal reach the specified value, instead of waiting for polling).
•
Show warning or error messages if a signal value is outside its allowed range.
•
Stop the robot if a signal value reaches a dangerous level.
What is included
The RobotWare base functionality Analog Signal Interrupt gives you access to the
instructions:
•
ISignalAI
•
ISignalAO
Basic approach
This is the general approach for using Analog Signal Interrupt. For a more detailed
example of how this is done, see Code example on page 56 .
1
Create a trap routine.
2
Connect the trap routine using the instruction CONNECT .
3
Define the interrupt conditions with the instruction ISignalAI or ISignalAO .
Limitations
Analog signals can only be used if you have an industrial network option (for
example DeviceNet).
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2.2.1 Introduction to Analog Signal Interrupt
2.2.2 RAPID components
Data types
Analog Signal Interrupt includes no data types.
Instructions
This is a brief description of each instruction in Analog Signal Interrupt. For more
information, see the respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
Defines the values of an analog input signal, for which an interrupt routine
shall be called.
ISignalAI
An interrupt can be set to occur when the signal value is above or below a
specified value, or inside or outside a specified range. It can also be spe-
cified if the interrupt shall occur once or repeatedly.
Defines the values of an analog output signal, for which an interrupt routine
shall be called.
ISignalAO
An interrupt can be set to occur when the signal value is above or below a
specified value, or inside or outside a specified range. It can also be spe-
cified if the interrupt shall occur once or repeatedly.
Functions
Analog Signal Interrupt includes no RAPID functions.
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2.2 Analog Signal Interrupt
2.2.1 Introduction to Analog Signal Interrupt
Purpose
The purpose of Analog Signal Interrupt is to supervise an analog signal and
generate an interrupt when a specified value is reached.
Analog Signal Interrupt is faster, easier to implement, and require less computer
capacity than polling methods.
Here are some examples of applications:
•
Save cycle time with better timing (start robot movement exactly when a
signal reach the specified value, instead of waiting for polling).
•
Show warning or error messages if a signal value is outside its allowed range.
•
Stop the robot if a signal value reaches a dangerous level.
What is included
The RobotWare base functionality Analog Signal Interrupt gives you access to the
instructions:
•
ISignalAI
•
ISignalAO
Basic approach
This is the general approach for using Analog Signal Interrupt. For a more detailed
example of how this is done, see Code example on page 56 .
1
Create a trap routine.
2
Connect the trap routine using the instruction CONNECT .
3
Define the interrupt conditions with the instruction ISignalAI or ISignalAO .
Limitations
Analog signals can only be used if you have an industrial network option (for
example DeviceNet).
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2.2.1 Introduction to Analog Signal Interrupt
2.2.2 RAPID components
Data types
Analog Signal Interrupt includes no data types.
Instructions
This is a brief description of each instruction in Analog Signal Interrupt. For more
information, see the respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
Defines the values of an analog input signal, for which an interrupt routine
shall be called.
ISignalAI
An interrupt can be set to occur when the signal value is above or below a
specified value, or inside or outside a specified range. It can also be spe-
cified if the interrupt shall occur once or repeatedly.
Defines the values of an analog output signal, for which an interrupt routine
shall be called.
ISignalAO
An interrupt can be set to occur when the signal value is above or below a
specified value, or inside or outside a specified range. It can also be spe-
cified if the interrupt shall occur once or repeatedly.
Functions
Analog Signal Interrupt includes no RAPID functions.
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2.2.2 RAPID components
2.2.3 Code example
Temperature surveillance
In this example a temperature sensor is connected to the signal ai1 .
An interrupt routine with a warning is set to execute every time the temperature
rises 0.5 degrees in the range 120-130 degrees. Another trap routine, stopping the
robot, is set to execute as soon as the temperature rise above 130 degrees.
VAR intnum ai1_warning;
VAR intnum ai1_exeeded;
PROC main()
CONNECT ai1_warning WITH temp_warning;
CONNECT ai1_exeeded WITH temp_exeeded;
ISignalAI ai1, AIO_BETWEEN, 130, 120, 0.5, \DPos, ai1_warning;
ISignalAI \Single, ai1, AIO_ABOVE_HIGH, 130, 120, 0, ai1_exeeded;
...
IDelete ai1_warning;
IDelete ai1_exeeded;
ENDPROC
TRAP temp_warning
TPWrite "Warning: Temperature is "\Num:=ai1;
ENDTRAP
TRAP temp_exeeded
TPWrite "Temperature is too high";
Stop;
ENDTRAP
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2.2.2 RAPID components
Data types
Analog Signal Interrupt includes no data types.
Instructions
This is a brief description of each instruction in Analog Signal Interrupt. For more
information, see the respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
Defines the values of an analog input signal, for which an interrupt routine
shall be called.
ISignalAI
An interrupt can be set to occur when the signal value is above or below a
specified value, or inside or outside a specified range. It can also be spe-
cified if the interrupt shall occur once or repeatedly.
Defines the values of an analog output signal, for which an interrupt routine
shall be called.
ISignalAO
An interrupt can be set to occur when the signal value is above or below a
specified value, or inside or outside a specified range. It can also be spe-
cified if the interrupt shall occur once or repeatedly.
Functions
Analog Signal Interrupt includes no RAPID functions.
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2.2.3 Code example
Temperature surveillance
In this example a temperature sensor is connected to the signal ai1 .
An interrupt routine with a warning is set to execute every time the temperature
rises 0.5 degrees in the range 120-130 degrees. Another trap routine, stopping the
robot, is set to execute as soon as the temperature rise above 130 degrees.
VAR intnum ai1_warning;
VAR intnum ai1_exeeded;
PROC main()
CONNECT ai1_warning WITH temp_warning;
CONNECT ai1_exeeded WITH temp_exeeded;
ISignalAI ai1, AIO_BETWEEN, 130, 120, 0.5, \DPos, ai1_warning;
ISignalAI \Single, ai1, AIO_ABOVE_HIGH, 130, 120, 0, ai1_exeeded;
...
IDelete ai1_warning;
IDelete ai1_exeeded;
ENDPROC
TRAP temp_warning
TPWrite "Warning: Temperature is "\Num:=ai1;
ENDTRAP
TRAP temp_exeeded
TPWrite "Temperature is too high";
Stop;
ENDTRAP
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2.2.3 Code example
2.3 Cyclic bool
2.3.1 Cyclically evaluated logical conditions
Purpose
The purpose of cyclically evaluated logical conditions, Cyclic bool , is to allow a
RAPID programmer to connect a logical condition to a persistent boolean variable.
The logical condition will be evaluated every 12 ms and the result will be written
to the connected variable.
What is included
The RobotWare base functionality Cyclic bool includes:
•
instructions for setting up Cyclic bool : SetupCyclicBool ,
RemoveCyclicBool , RemoveAllCyclicBool
•
functions for retrieving the status of Cyclic bool :
GetMaxNumberOfCyclicBool , GetNextCyclicBool ,
GetNumberOfCyclicBool .
Basic approach
This is the general approach for using Cyclic bool . For more detailed examples of
how this is done, see Cyclic bool examples on page 60 .
1
Declare a persistent boolean variable, for example:
PERS bool cyclicbool1;
2
Connect a logical condition to the variable, for example:
SetupCyclicBool cyclicbool1, doSafetyIsOk = 1;
3
Use the variable when programming, for example:
WHILE cyclicbool1 = 1 DO
! Do what’s only allowed when all safety is ok
...
ENDWHILE
4
Remove connection when no longer useful, for example:
RemoveCyclicBool cyclicbool1;
Restart and reset behavior
The table below describes the functionality of Cyclic bool when the program pointer
is moved or when the controller is restarted.
Description
Action
The behavior when the program pointer is set to main is configur-
able, see Configuration on page 58 .
Program pointer to
main
This will have no effect.
Restart or power fail
All connected Cyclic bool conditions will remain and the evaluation
will be restarted immediately.
This will remove all connected Cyclic bool conditions.
Reset RAPID
Reset system
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2.2.3 Code example
Temperature surveillance
In this example a temperature sensor is connected to the signal ai1 .
An interrupt routine with a warning is set to execute every time the temperature
rises 0.5 degrees in the range 120-130 degrees. Another trap routine, stopping the
robot, is set to execute as soon as the temperature rise above 130 degrees.
VAR intnum ai1_warning;
VAR intnum ai1_exeeded;
PROC main()
CONNECT ai1_warning WITH temp_warning;
CONNECT ai1_exeeded WITH temp_exeeded;
ISignalAI ai1, AIO_BETWEEN, 130, 120, 0.5, \DPos, ai1_warning;
ISignalAI \Single, ai1, AIO_ABOVE_HIGH, 130, 120, 0, ai1_exeeded;
...
IDelete ai1_warning;
IDelete ai1_exeeded;
ENDPROC
TRAP temp_warning
TPWrite "Warning: Temperature is "\Num:=ai1;
ENDTRAP
TRAP temp_exeeded
TPWrite "Temperature is too high";
Stop;
ENDTRAP
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2.2.3 Code example
2.3 Cyclic bool
2.3.1 Cyclically evaluated logical conditions
Purpose
The purpose of cyclically evaluated logical conditions, Cyclic bool , is to allow a
RAPID programmer to connect a logical condition to a persistent boolean variable.
The logical condition will be evaluated every 12 ms and the result will be written
to the connected variable.
What is included
The RobotWare base functionality Cyclic bool includes:
•
instructions for setting up Cyclic bool : SetupCyclicBool ,
RemoveCyclicBool , RemoveAllCyclicBool
•
functions for retrieving the status of Cyclic bool :
GetMaxNumberOfCyclicBool , GetNextCyclicBool ,
GetNumberOfCyclicBool .
Basic approach
This is the general approach for using Cyclic bool . For more detailed examples of
how this is done, see Cyclic bool examples on page 60 .
1
Declare a persistent boolean variable, for example:
PERS bool cyclicbool1;
2
Connect a logical condition to the variable, for example:
SetupCyclicBool cyclicbool1, doSafetyIsOk = 1;
3
Use the variable when programming, for example:
WHILE cyclicbool1 = 1 DO
! Do what’s only allowed when all safety is ok
...
ENDWHILE
4
Remove connection when no longer useful, for example:
RemoveCyclicBool cyclicbool1;
Restart and reset behavior
The table below describes the functionality of Cyclic bool when the program pointer
is moved or when the controller is restarted.
Description
Action
The behavior when the program pointer is set to main is configur-
able, see Configuration on page 58 .
Program pointer to
main
This will have no effect.
Restart or power fail
All connected Cyclic bool conditions will remain and the evaluation
will be restarted immediately.
This will remove all connected Cyclic bool conditions.
Reset RAPID
Reset system
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Configuration
The following behavior of the Cyclic bool functionality can be configured:
Description
Parameter
It is possible to configure if the cyclically evaluated logical conditions
shall be removed or not when setting the program pointer to main .
•
On - remove.
•
Off - do not remove (default behavior).
RemoveAtPpToMain
It is possible to configure which error mode to use when the evalu-
ation of a Cyclic bool fails.
•
SysStopError i - stop RAPID execution and produce an error
log (default behavior).
•
Warning - produce a warning log.
•
None - do nothing.
ErrorMode
It is possible to configure if a failing Cyclic bool shall be recovered
or not.
•
On - try to recover the evaluation of a failing Cyclic bool (de-
fault behavior).
•
Off - do not try to recover the evaluation of a Cyclic bool.
RecoveryMode
i
Error mode SysStopError can only be combined with RecoveryMode - "On" .
For more information, see System parameters on page 63 .
Syntax
SetupCyclicBool Flag Cond [\Signal]
Flag shall be of:
•
Data type: bool
-
Object type: PERS or TASK PERS
Cond shall be a bool expression that may consist of:
•
Data types: num , dnum and bool
-
Object type: PERS , TASK PERS , or CONST
•
Data types: signaldi , signaldo or physical di and do
-
Object type: VAR
•
Operands: ' NOT ', ' AND ', ' OR ', ' XOR ', ' = ', ' ( ', ' ) '
\Signal shall be of:
•
Object type: signaldo
RemoveCyclicBool Flag
Flag shall be of:
•
Data type: bool
-
Object type: PERS or TASK PERS
Limitations
•
Records and arrays are not allowed in the logical condition.
•
A maximum of 60 conditions can be connected at the same time.
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2.3 Cyclic bool
2.3.1 Cyclically evaluated logical conditions
Purpose
The purpose of cyclically evaluated logical conditions, Cyclic bool , is to allow a
RAPID programmer to connect a logical condition to a persistent boolean variable.
The logical condition will be evaluated every 12 ms and the result will be written
to the connected variable.
What is included
The RobotWare base functionality Cyclic bool includes:
•
instructions for setting up Cyclic bool : SetupCyclicBool ,
RemoveCyclicBool , RemoveAllCyclicBool
•
functions for retrieving the status of Cyclic bool :
GetMaxNumberOfCyclicBool , GetNextCyclicBool ,
GetNumberOfCyclicBool .
Basic approach
This is the general approach for using Cyclic bool . For more detailed examples of
how this is done, see Cyclic bool examples on page 60 .
1
Declare a persistent boolean variable, for example:
PERS bool cyclicbool1;
2
Connect a logical condition to the variable, for example:
SetupCyclicBool cyclicbool1, doSafetyIsOk = 1;
3
Use the variable when programming, for example:
WHILE cyclicbool1 = 1 DO
! Do what’s only allowed when all safety is ok
...
ENDWHILE
4
Remove connection when no longer useful, for example:
RemoveCyclicBool cyclicbool1;
Restart and reset behavior
The table below describes the functionality of Cyclic bool when the program pointer
is moved or when the controller is restarted.
Description
Action
The behavior when the program pointer is set to main is configur-
able, see Configuration on page 58 .
Program pointer to
main
This will have no effect.
Restart or power fail
All connected Cyclic bool conditions will remain and the evaluation
will be restarted immediately.
This will remove all connected Cyclic bool conditions.
Reset RAPID
Reset system
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Configuration
The following behavior of the Cyclic bool functionality can be configured:
Description
Parameter
It is possible to configure if the cyclically evaluated logical conditions
shall be removed or not when setting the program pointer to main .
•
On - remove.
•
Off - do not remove (default behavior).
RemoveAtPpToMain
It is possible to configure which error mode to use when the evalu-
ation of a Cyclic bool fails.
•
SysStopError i - stop RAPID execution and produce an error
log (default behavior).
•
Warning - produce a warning log.
•
None - do nothing.
ErrorMode
It is possible to configure if a failing Cyclic bool shall be recovered
or not.
•
On - try to recover the evaluation of a failing Cyclic bool (de-
fault behavior).
•
Off - do not try to recover the evaluation of a Cyclic bool.
RecoveryMode
i
Error mode SysStopError can only be combined with RecoveryMode - "On" .
For more information, see System parameters on page 63 .
Syntax
SetupCyclicBool Flag Cond [\Signal]
Flag shall be of:
•
Data type: bool
-
Object type: PERS or TASK PERS
Cond shall be a bool expression that may consist of:
•
Data types: num , dnum and bool
-
Object type: PERS , TASK PERS , or CONST
•
Data types: signaldi , signaldo or physical di and do
-
Object type: VAR
•
Operands: ' NOT ', ' AND ', ' OR ', ' XOR ', ' = ', ' ( ', ' ) '
\Signal shall be of:
•
Object type: signaldo
RemoveCyclicBool Flag
Flag shall be of:
•
Data type: bool
-
Object type: PERS or TASK PERS
Limitations
•
Records and arrays are not allowed in the logical condition.
•
A maximum of 60 conditions can be connected at the same time.
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Continued
•
Any PERS num or dnum , CONST num or dnum or literal num or dnum used in a
condition must be of integer type. If using any decimal value this will cause
a fatal error.
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Configuration
The following behavior of the Cyclic bool functionality can be configured:
Description
Parameter
It is possible to configure if the cyclically evaluated logical conditions
shall be removed or not when setting the program pointer to main .
•
On - remove.
•
Off - do not remove (default behavior).
RemoveAtPpToMain
It is possible to configure which error mode to use when the evalu-
ation of a Cyclic bool fails.
•
SysStopError i - stop RAPID execution and produce an error
log (default behavior).
•
Warning - produce a warning log.
•
None - do nothing.
ErrorMode
It is possible to configure if a failing Cyclic bool shall be recovered
or not.
•
On - try to recover the evaluation of a failing Cyclic bool (de-
fault behavior).
•
Off - do not try to recover the evaluation of a Cyclic bool.
RecoveryMode
i
Error mode SysStopError can only be combined with RecoveryMode - "On" .
For more information, see System parameters on page 63 .
Syntax
SetupCyclicBool Flag Cond [\Signal]
Flag shall be of:
•
Data type: bool
-
Object type: PERS or TASK PERS
Cond shall be a bool expression that may consist of:
•
Data types: num , dnum and bool
-
Object type: PERS , TASK PERS , or CONST
•
Data types: signaldi , signaldo or physical di and do
-
Object type: VAR
•
Operands: ' NOT ', ' AND ', ' OR ', ' XOR ', ' = ', ' ( ', ' ) '
\Signal shall be of:
•
Object type: signaldo
RemoveCyclicBool Flag
Flag shall be of:
•
Data type: bool
-
Object type: PERS or TASK PERS
Limitations
•
Records and arrays are not allowed in the logical condition.
•
A maximum of 60 conditions can be connected at the same time.
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Continued
•
Any PERS num or dnum , CONST num or dnum or literal num or dnum used in a
condition must be of integer type. If using any decimal value this will cause
a fatal error.
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Continued
2.3.2 Cyclic bool examples
Using digital input and output signals
! Wait until all signals are set
PERS bool cyclicbool1 := FALSE;
PROC main()
SetupCyclicBool cyclicbool1, di1=1 AND do2=1;
WaitUntil cyclicbool1=TRUE;
! All is ok
...
! Remove connection when no longer in use
RemoveCyclicBool cyclicbool1;
ENDPROC
Using bool variables
! Wait until all flags are TRUE
PERS bool cyclicbool1 := FALSE;
TASK PERS bool flag1 := FALSE;
PERS bool flag2 := FALSE;
PROC main()
SetupCyclicBool cyclicbool1, flag1=TRUE AND flag2=TRUE;
WaitUntil cyclicbool1=TRUE;
! All is ok
...
! Remove connection when no longer in use
RemoveCyclicBool cyclicbool1;
ENDPROC
Using num and dnum variables
! Wait until all conditions are met
PERS bool cyclicbool1 := FALSE;
PERS bool cyclicbool2 := FALSE;
PERS num num1 := 0;
PERS dnum1 := 0;
PROC main()
SetupCyclicBool cyclicbool1, num1=7 OR dnum1=10000000;
SetupCyclicBool cyclicbool2, num1=8 OR dnum1=11000000;
WaitUntil cyclicbool1=TRUE;
...
WaitUntil cyclicbool2=TRUE;
...
! Remove all connections when no longer in use
RemoveAllCyclicBool;
ENDPROC
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•
Any PERS num or dnum , CONST num or dnum or literal num or dnum used in a
condition must be of integer type. If using any decimal value this will cause
a fatal error.
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2.3.2 Cyclic bool examples
Using digital input and output signals
! Wait until all signals are set
PERS bool cyclicbool1 := FALSE;
PROC main()
SetupCyclicBool cyclicbool1, di1=1 AND do2=1;
WaitUntil cyclicbool1=TRUE;
! All is ok
...
! Remove connection when no longer in use
RemoveCyclicBool cyclicbool1;
ENDPROC
Using bool variables
! Wait until all flags are TRUE
PERS bool cyclicbool1 := FALSE;
TASK PERS bool flag1 := FALSE;
PERS bool flag2 := FALSE;
PROC main()
SetupCyclicBool cyclicbool1, flag1=TRUE AND flag2=TRUE;
WaitUntil cyclicbool1=TRUE;
! All is ok
...
! Remove connection when no longer in use
RemoveCyclicBool cyclicbool1;
ENDPROC
Using num and dnum variables
! Wait until all conditions are met
PERS bool cyclicbool1 := FALSE;
PERS bool cyclicbool2 := FALSE;
PERS num num1 := 0;
PERS dnum1 := 0;
PROC main()
SetupCyclicBool cyclicbool1, num1=7 OR dnum1=10000000;
SetupCyclicBool cyclicbool2, num1=8 OR dnum1=11000000;
WaitUntil cyclicbool1=TRUE;
...
WaitUntil cyclicbool2=TRUE;
...
! Remove all connections when no longer in use
RemoveAllCyclicBool;
ENDPROC
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2.3.2 Cyclic bool examples
Using alias variables
! Wait until all conditions are met
ALIAS bool aliasBool;
ALIAS num aliasNum;
ALIAS dnum aliasDnum;
PERS bool cyclicbool1 := FALSE;
PERS aliasBool flag1 := FALSE;
PERS aliasNum num1 := 0;
PERS aliasDnum dnum1 := 0;
PROC main()
SetupCyclicBool cyclicbool1, flag1=TRUE AND (num1=7 OR
dnum1=10000000);
WaitUntil cyclicbool1=TRUE;
! All is ok
...
! Remove connection when no longer in use
RemoveCyclicBool cyclicbool1;
ENDPROC
Using user defined constants for comparison
! Wait until all conditions are met
PERS bool cyclicbool1;
PERS bool flag1 := FALSE;
PERS num num1 := 0;
PERS dnum dnum1 := 0;
CONST bool MYTRUE := TRUE;
CONST num NUMLIMIT := 10;
CONST dnum DNUMLIMIT := 10000000;
PROC main()
SetupCyclicBool cyclicbool1, flag1=MYTRUE AND num1=NUMLIMIT AND
dnum1=DNUMLIMIT;
WaitUntil cyclicbool1=TRUE;
! All is ok
...
! Remove connection when no longer in use
RemoveCyclicBool cyclicbool1;
ENDPROC
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2.3.2 Cyclic bool examples
Using digital input and output signals
! Wait until all signals are set
PERS bool cyclicbool1 := FALSE;
PROC main()
SetupCyclicBool cyclicbool1, di1=1 AND do2=1;
WaitUntil cyclicbool1=TRUE;
! All is ok
...
! Remove connection when no longer in use
RemoveCyclicBool cyclicbool1;
ENDPROC
Using bool variables
! Wait until all flags are TRUE
PERS bool cyclicbool1 := FALSE;
TASK PERS bool flag1 := FALSE;
PERS bool flag2 := FALSE;
PROC main()
SetupCyclicBool cyclicbool1, flag1=TRUE AND flag2=TRUE;
WaitUntil cyclicbool1=TRUE;
! All is ok
...
! Remove connection when no longer in use
RemoveCyclicBool cyclicbool1;
ENDPROC
Using num and dnum variables
! Wait until all conditions are met
PERS bool cyclicbool1 := FALSE;
PERS bool cyclicbool2 := FALSE;
PERS num num1 := 0;
PERS dnum1 := 0;
PROC main()
SetupCyclicBool cyclicbool1, num1=7 OR dnum1=10000000;
SetupCyclicBool cyclicbool2, num1=8 OR dnum1=11000000;
WaitUntil cyclicbool1=TRUE;
...
WaitUntil cyclicbool2=TRUE;
...
! Remove all connections when no longer in use
RemoveAllCyclicBool;
ENDPROC
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2.3.2 Cyclic bool examples
Using alias variables
! Wait until all conditions are met
ALIAS bool aliasBool;
ALIAS num aliasNum;
ALIAS dnum aliasDnum;
PERS bool cyclicbool1 := FALSE;
PERS aliasBool flag1 := FALSE;
PERS aliasNum num1 := 0;
PERS aliasDnum dnum1 := 0;
PROC main()
SetupCyclicBool cyclicbool1, flag1=TRUE AND (num1=7 OR
dnum1=10000000);
WaitUntil cyclicbool1=TRUE;
! All is ok
...
! Remove connection when no longer in use
RemoveCyclicBool cyclicbool1;
ENDPROC
Using user defined constants for comparison
! Wait until all conditions are met
PERS bool cyclicbool1;
PERS bool flag1 := FALSE;
PERS num num1 := 0;
PERS dnum dnum1 := 0;
CONST bool MYTRUE := TRUE;
CONST num NUMLIMIT := 10;
CONST dnum DNUMLIMIT := 10000000;
PROC main()
SetupCyclicBool cyclicbool1, flag1=MYTRUE AND num1=NUMLIMIT AND
dnum1=DNUMLIMIT;
WaitUntil cyclicbool1=TRUE;
! All is ok
...
! Remove connection when no longer in use
RemoveCyclicBool cyclicbool1;
ENDPROC
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Continued
Handing over arguments by reference
If the instruction SetupCyclicBool is used inside a called procedure, it is possible
to hand over conditions as arguments to that procedure.
Using conditions passed by reference works only for SetupCyclicBool . Conditions
passed by reference has the same restrictions as conditions for SetupCyclicBool .
This functionality works regardless if the modules are Nostepin or has any other
module attributes.
MODULE MainModule
CONST robtarget p10 := [[600,500,225.3], [1,0,0,0], [1,1,0,0],
[11,12.3,9E9,9E9,9E9,9E9]];
PERS bool m1;
PERS bool Flag2 := FALSE;
PROC main()
! The Expression (di_1 = 1) OR Flag2 = TRUE shall be
! used by SetupCyclicBool
my_routine (di_1 = 1) OR Flag2 = TRUE;
ENDPROC
PROC my_routine(bool X)
! It is possible to pass arguments between several procedures
MySetCyclicBool X;
ENDPROC
PROC MySetCyclicBool (bool Y)
RemoveCyclicBool m1;
! Only SetupCyclicBool can pass arguments
SetupCyclicBool m1, Y;
! If conditions passed by reference shall be used by any other
! instruction, the condition must be setup with SetupCyclicBool
! before it can be used.
WaitUntil m1;
MoveL p10, v1000, z30, tool2;
ENDPROC
ENDMODULE
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Using alias variables
! Wait until all conditions are met
ALIAS bool aliasBool;
ALIAS num aliasNum;
ALIAS dnum aliasDnum;
PERS bool cyclicbool1 := FALSE;
PERS aliasBool flag1 := FALSE;
PERS aliasNum num1 := 0;
PERS aliasDnum dnum1 := 0;
PROC main()
SetupCyclicBool cyclicbool1, flag1=TRUE AND (num1=7 OR
dnum1=10000000);
WaitUntil cyclicbool1=TRUE;
! All is ok
...
! Remove connection when no longer in use
RemoveCyclicBool cyclicbool1;
ENDPROC
Using user defined constants for comparison
! Wait until all conditions are met
PERS bool cyclicbool1;
PERS bool flag1 := FALSE;
PERS num num1 := 0;
PERS dnum dnum1 := 0;
CONST bool MYTRUE := TRUE;
CONST num NUMLIMIT := 10;
CONST dnum DNUMLIMIT := 10000000;
PROC main()
SetupCyclicBool cyclicbool1, flag1=MYTRUE AND num1=NUMLIMIT AND
dnum1=DNUMLIMIT;
WaitUntil cyclicbool1=TRUE;
! All is ok
...
! Remove connection when no longer in use
RemoveCyclicBool cyclicbool1;
ENDPROC
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2.3.2 Cyclic bool examples
Continued
Handing over arguments by reference
If the instruction SetupCyclicBool is used inside a called procedure, it is possible
to hand over conditions as arguments to that procedure.
Using conditions passed by reference works only for SetupCyclicBool . Conditions
passed by reference has the same restrictions as conditions for SetupCyclicBool .
This functionality works regardless if the modules are Nostepin or has any other
module attributes.
MODULE MainModule
CONST robtarget p10 := [[600,500,225.3], [1,0,0,0], [1,1,0,0],
[11,12.3,9E9,9E9,9E9,9E9]];
PERS bool m1;
PERS bool Flag2 := FALSE;
PROC main()
! The Expression (di_1 = 1) OR Flag2 = TRUE shall be
! used by SetupCyclicBool
my_routine (di_1 = 1) OR Flag2 = TRUE;
ENDPROC
PROC my_routine(bool X)
! It is possible to pass arguments between several procedures
MySetCyclicBool X;
ENDPROC
PROC MySetCyclicBool (bool Y)
RemoveCyclicBool m1;
! Only SetupCyclicBool can pass arguments
SetupCyclicBool m1, Y;
! If conditions passed by reference shall be used by any other
! instruction, the condition must be setup with SetupCyclicBool
! before it can be used.
WaitUntil m1;
MoveL p10, v1000, z30, tool2;
ENDPROC
ENDMODULE
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2.3.2 Cyclic bool examples
Continued
2.3.3 System parameters
About the system parameters
This is a brief description of the system parameters used by Cyclic bool . For more
information about the parameters, see Technical reference manual - System
parameters .
Type Cyclic bool settings
The system parameters used by Cyclic bool belong to the type Cyclic bool settings
in topic Controller .
Description
Parameter
There can be only one instance of each allowed value, that
is a maximum of three instances in the system. All three in-
stances will be installed in the system (default) and cannot
be removed.
•
RemoveAtPpToMain
•
ErrorMode
•
RecoveryMode
Name
The action value RemoveAtPpToMain is used to configure
if a connected Cyclic bool shall be removed or not when
setting the program pointer to Main.
RemoveAtPpToMain
The action value ErrorMode is used to configure which error
mode to use when evaluation fails.
ErrorMode
The action value RecoveryMode is used to configure which
recovery mode to use when evaluation fails.
RecoveryMode
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Handing over arguments by reference
If the instruction SetupCyclicBool is used inside a called procedure, it is possible
to hand over conditions as arguments to that procedure.
Using conditions passed by reference works only for SetupCyclicBool . Conditions
passed by reference has the same restrictions as conditions for SetupCyclicBool .
This functionality works regardless if the modules are Nostepin or has any other
module attributes.
MODULE MainModule
CONST robtarget p10 := [[600,500,225.3], [1,0,0,0], [1,1,0,0],
[11,12.3,9E9,9E9,9E9,9E9]];
PERS bool m1;
PERS bool Flag2 := FALSE;
PROC main()
! The Expression (di_1 = 1) OR Flag2 = TRUE shall be
! used by SetupCyclicBool
my_routine (di_1 = 1) OR Flag2 = TRUE;
ENDPROC
PROC my_routine(bool X)
! It is possible to pass arguments between several procedures
MySetCyclicBool X;
ENDPROC
PROC MySetCyclicBool (bool Y)
RemoveCyclicBool m1;
! Only SetupCyclicBool can pass arguments
SetupCyclicBool m1, Y;
! If conditions passed by reference shall be used by any other
! instruction, the condition must be setup with SetupCyclicBool
! before it can be used.
WaitUntil m1;
MoveL p10, v1000, z30, tool2;
ENDPROC
ENDMODULE
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2.3.2 Cyclic bool examples
Continued
2.3.3 System parameters
About the system parameters
This is a brief description of the system parameters used by Cyclic bool . For more
information about the parameters, see Technical reference manual - System
parameters .
Type Cyclic bool settings
The system parameters used by Cyclic bool belong to the type Cyclic bool settings
in topic Controller .
Description
Parameter
There can be only one instance of each allowed value, that
is a maximum of three instances in the system. All three in-
stances will be installed in the system (default) and cannot
be removed.
•
RemoveAtPpToMain
•
ErrorMode
•
RecoveryMode
Name
The action value RemoveAtPpToMain is used to configure
if a connected Cyclic bool shall be removed or not when
setting the program pointer to Main.
RemoveAtPpToMain
The action value ErrorMode is used to configure which error
mode to use when evaluation fails.
ErrorMode
The action value RecoveryMode is used to configure which
recovery mode to use when evaluation fails.
RecoveryMode
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2.3.3 System parameters
2.3.4 RAPID components
About the RAPID components
This is an overview of all RAPID instructions, functions, and data types in Cyclic
bool .
For more information, see Technical reference manual - RAPID Instructions,
Functions and Data types
Instructions
Description
Instruction
SetupCyclicBool connects a logical condition to a boolean
variable.
SetupCyclicBool
RemoveCyclicBool removes a specific connected logical con-
dition.
RemoveCyclicBool
RemoveAllCyclicBool removes all connected logical condi-
tions.
RemoveAllCyclicBool
Functions
Description
Function
GetMaxNumberOfCyclicBool retrieves the maximum
number of cyclically evaluated logical condition that can
be connected at the same time.
GetMaxNumberOfCyclicBool
GetNextCyclicBool retrieves the name of a connected
cyclically evaluated logical condition.
GetNextCyclicBool
GetNumberOfCyclicBool retrieves the number of a
connected cyclically evaluated logical condition.
GetNumberOfCyclicBool
IsCyclicBool is used to test if a persistent boolean is
a Cyclic bool or not, i.e. if a logical condition has been
connected to the persistent boolean variable with the
instruction SetupCyclicBool .
IsCyclicBool
Data types
Cyclic bool includes no data types.
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2.3.3 System parameters
About the system parameters
This is a brief description of the system parameters used by Cyclic bool . For more
information about the parameters, see Technical reference manual - System
parameters .
Type Cyclic bool settings
The system parameters used by Cyclic bool belong to the type Cyclic bool settings
in topic Controller .
Description
Parameter
There can be only one instance of each allowed value, that
is a maximum of three instances in the system. All three in-
stances will be installed in the system (default) and cannot
be removed.
•
RemoveAtPpToMain
•
ErrorMode
•
RecoveryMode
Name
The action value RemoveAtPpToMain is used to configure
if a connected Cyclic bool shall be removed or not when
setting the program pointer to Main.
RemoveAtPpToMain
The action value ErrorMode is used to configure which error
mode to use when evaluation fails.
ErrorMode
The action value RecoveryMode is used to configure which
recovery mode to use when evaluation fails.
RecoveryMode
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2.3.3 System parameters
2.3.4 RAPID components
About the RAPID components
This is an overview of all RAPID instructions, functions, and data types in Cyclic
bool .
For more information, see Technical reference manual - RAPID Instructions,
Functions and Data types
Instructions
Description
Instruction
SetupCyclicBool connects a logical condition to a boolean
variable.
SetupCyclicBool
RemoveCyclicBool removes a specific connected logical con-
dition.
RemoveCyclicBool
RemoveAllCyclicBool removes all connected logical condi-
tions.
RemoveAllCyclicBool
Functions
Description
Function
GetMaxNumberOfCyclicBool retrieves the maximum
number of cyclically evaluated logical condition that can
be connected at the same time.
GetMaxNumberOfCyclicBool
GetNextCyclicBool retrieves the name of a connected
cyclically evaluated logical condition.
GetNextCyclicBool
GetNumberOfCyclicBool retrieves the number of a
connected cyclically evaluated logical condition.
GetNumberOfCyclicBool
IsCyclicBool is used to test if a persistent boolean is
a Cyclic bool or not, i.e. if a logical condition has been
connected to the persistent boolean variable with the
instruction SetupCyclicBool .
IsCyclicBool
Data types
Cyclic bool includes no data types.
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2.3.4 RAPID components
2.4 Electronically Linked Motors
2.4.1 Overview
Description
Electronically Linked Motors makes a master/follower configuration of motors (for
example two additional axes). The follower axis will continuously follow the master
axis in terms of position, velocity, and acceleration.
For stiff mechanical connection between the master and followers, the torque
follower function can be used. Instead of regulating to exactly the same position
for the master and follower, the torque is distributed between the axes. A small
position error between master and follower will occur depending on backlash and
mechanical misalignment.
Purpose
The primary purpose of Electronically Linked Motors is to replace driving shafts
of gantry machines, but the base functionality can be used to control any other set
of motors as well.
What is included
The RobotWare base functionality Electronically Linked Motors gives you access
to:
•
a service routine for defining linked motor groups and trimming the axis
positions
•
system parameters used to configure a follower axis
Basic approach
This is the general approach for setting up Electronically Linked Motors. For a
more detailed description of how this is done, see the respective section.
1
Configure the additional axes as a mechanical unit. See Application
manual - Additional axes and standalone controller .
2
Configure tolerance limits in the system parameters, in the types Linked M
Process , Process , and Joint .
3
Restart the controller for the changes to take effect.
4
Set values to data variables, defining the linked motor group and connecting
follower and master axes.
5
Use the service routine to trim positions or reset follower after position error.
Limitations
There can be up to 5 follower axes. The follower axes can be configured to follow
one master each, or several followers can follow one master, but the total number
of follower axes cannot be more than 5.
The follower axis cannot be an ABB robot (IRB robot). The master axis can be
either an additional axis or a robot axis.
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2.4.1 Overview
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