Document Name stringclasses 11
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ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 65 | 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 condi... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 66 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 67 | The torque follower function can only be used if the follower axis is connected to
the same drive module as the master axis.
Using the torque follower functionality might reduce the number of follower axes
depending on the number of axes that are available in the drive module where
master axis is configured.
The RAPID ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 68 | 2.4.2 Configuration
2.4.2.1 System parameters
About the system parameters
This is a brief description of each parameter used for the option Electronically
Linked Motors . For more information, see the respective parameter in Technical
reference manual - System parameters .
Joint
These parameters belong to the topic ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 69 | Description
Parameter
Time for acceleration up to Max Offset Speed .
Ramp Time
The proportion constant for position regulation is ramped from zero
up to its final value ( Master Follower kp ) during Ramp Time .
The proportion constant for position regulation. Determines how
fast the position error is compensated.
Mas... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 70 | 2.4.2.2 Configuration example
About this example
This is an example of how to configure the additional axis M8DM1 to be a follower
to the axis M7DM1 and axis M9DM1 to be a follower to robot axis 6.
Joint
Lock Joint in Ipol
Use Process
Follower to Joint
Name
M7DM1
True
ELM_1
M7DM1
M8DM1
True
ELM_2
rob1_6
M9DM1
Process
U... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 71 | 2.4.3 Managing a follower axis
2.4.3.1 Using the service routine for a follower axis
About the service routine
When the follower axis is configured as a mechanical unit and connected to a
master axis, the service routine can be used to:
•
calibrate the follower axis
•
reset follower after a position error
•
tune a torq... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 72 | Action
Step
Tap Menu 1 .
The follower axes that are set up in the system are shown in the task bar.
5
Tap the follower axis you want to use the service routine for.
The main menu of the service program is now shown.
6
Menu buttons
Description
Button
Automatically moves the follower axis to the position corresponding t... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 73 | 2.4.3.2 Calibrate follower axis position
Overview
Before the follower axis can follow the master axis, you must define the calibration
positions for both master and follower.
Master axis
calibrate position
Desired
follower
position
Follower
position
en0400000963
This calibration is done by following the procedures belo... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 74 | Fine calibrate
Action
Step
In the ABB menu, select Calibration .
1
Select the mechanical unit that the follower axis belongs to.
2
Tap the button Calib. Parameters .
3
Tap Fine Calibration... .
4
In the warning dialog that appears, tap Yes .
5
Select the axis that is used as follower axis and tap Calibrate .
6
I... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 75 | 2.4.3.3 Reset follower axis
Overview
If the follower offset exceeds its tolerance limits (configured with the system
parameter Max follower offset ), the service routine must be used to move the
follower back within the tolerance limits. This can be done automatically in the
service routine if the follower is within t... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 76 | 2.4.4 Tuning a torque follower
2.4.4.1 Torque follower descriptions
About torque followers
The follower axis can be setup so the torque is shared between the master and
the follower. This is only allowed if the follower axis is connected to the same drive
module as the master axis.
Below is a simplified picture of the ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 77 | 2.4.4.2 Using the service routine to tune a torque follower
About the service routine for torque follower
The service routine Linked_M can be used to find suitable values of some
parameters for torque follower configuration. When the values are found, the system
parameters are updated and a new fine calibration is do... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 78 | Illustration
Action
To update the system parameters using
the new value, tap Store to cfg .
3
If not saved to cfg, the new value will be
used until the robot controller is restar-
ted, but the value will be lost at restart.
Tuning the temporary position delta
Use this procedure to tune the position delta of the torque... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 79 | 2.4.5 Data setup
2.4.5.1 Set up data for the service routine
Overview
At start of the service routine for Electronically Linked Motors, some data variables
are read from the linked motor configuration. These variables are used by the
service routine. If they are not read correctly, the variables need to be edited in
th... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 80 | Description
Data variable
Defines the distance the follower axis will move for each tap on Positive
or Negative when jogging the follower axis from the service program. The
values are given in degrees or meters, depending on if the follower axis
is circular or linear.
displacement
Num array with 20 elements. Element... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 81 | 2.4.5.2 Example of data setup
About this example
This is an example of how to set up the data variables for two follower axis. The
first follower axis is M8C1B1, which is a follower to the additional axis M7C1B1.
The second follower axis is M9C1B1, which is a follower to robot axis 6.
l_f_axis_name
Element and value in... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 82 | l_m_axis_no
Element and value in l_m_axis_no
Represented axis
{1}: 1
Master 1
{2}: 6
Master 2
{3}: 0
Master 3
{4}: 0
Master 4
{5}: 0
Master 5
offset_ratio
Element and value in offset_ratio
Represented axis
{1}: 10
Follower 1
{2}: 15
Follower 2
{3}: 0
Follower 3
{4}: 0
Follower 4
{5}: 0
Follower 5
speed_ratio
fast
norma... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 83 | 2.5 Fixed Position Events
2.5.1 Overview
Purpose
The purpose of Fixed Position Events is to make sure a program routine is executed
when the position of the TCP is well defined.
If a move instruction is called with the zone argument set to fine , the next routine
is always executed once the TCP has reached its target.... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 84 | 2.5.2 RAPID components and system parameters
Data types
This is a brief description of each data type in Fixed Position Events. For more
information, see the respective data type in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Data type
triggdata is used to store data about ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 85 | Description
Instruction
TriggInt defines when to run an interrupt routine. The definition is
stored in a variable of type triggdata .
TriggInt
TriggInt defines at what distance (in mm) from the target (or from
the starting position) the interrupt routine shall be called. By setting
the distance to 0 (zero), the inte... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 86 | System parameters
This is a brief description of each parameter in Fixed Position Events. For more
information, see the respective parameter in Technical reference manual - System
parameters .
Description
Parameter
TriggEquip takes advantage of the delay between the RAPID exe-
cution and the robot movement, which is ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 87 | 2.5.3 Code examples
Example without Fixed Position Events
Without the use of Fixed Position Events, the code can look like this:
MoveJ p1, vmax, fine, tool1;
MoveL p2, v1000, z20, tool1;
SetDO do1, 1;
MoveL p3, v1000, fine, tool1;
Result
The code specifies that the TCP should reach p2 before setting do1 . Because th... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 88 | Result
The signal do1 will be set when the TCP is 30 mm from p2 . do1 is set when the
TCP is at the position marked with X (see illustration).
xx0300000158
Example with MoveLSync instruction
Calling a procedure when the robot path is as close to the target as possible can
be done with one instruction call.
MoveJ p... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 89 | 2.6 File and I/O device handling
2.6.1 Introduction to file and I/O device handling
About file and I/O device handling
The RobotWare file and I/O device handling gives the robot programmer control
of files, fieldbuses, and serial channels from the RAPID code. This can, for example,
be useful for:
•
Reading from a bar c... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 90 | 2.6.2 Binary and character based communication
2.6.2.1 Overview
Purpose
The purpose of binary and character based communication is to:
•
store information in a remote memory or on a remote disk
•
let the robot communicate with other devices
What is included
To handle binary and character based communication, RobotWare ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 91 | 2.6.2.2 RAPID components
Data types
This is a brief description of each data type used for binary and character based
communication. For more information, see the respective data type in Technical
reference manual - RAPID Instructions, Functions and Data types .
Description
Data type
iodev contains a reference to a f... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 92 | 2.6.2.3 Code examples
Communication with character based file
This example shows writing and reading to and from a character based file. The
line "The number is :8" is written to FILE1.DOC. The contents of FILE1.DOC is then
read and the output to the FlexPendant is "The number is :8" followed by "The
number is 8".
PROC... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 93 | ! Write current robot position
target := CRobT(\Tool:= tool1\WObj:= wobj1);
WriteAnyBin file1, target;
! Set start text character (2=start text)
out_buffer{1} := 2;
! Set character "H" (72="H")
out_buffer{2} := 72;
! Set character "i"
out_buffer{3} := StrToByte("i"\Char);
! Set new line character (10=new line)
out_buff... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 94 | 2.6.3 Raw data communication
2.6.3.1 Overview
Purpose
The purpose of raw data communication is to pack different type of data into a
container and send it to a file or I/O device, and to read and unpack data. This is
particularly useful when communicating via a fieldbus, such as DeviceNet.
What is included
To handle ra... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 95 | 2.6.3.2 RAPID components
Data types
This is a brief description of each data type used for raw data communication. For
more information, see the respective data type in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Data type
rawbytes is used as a general data container. It ca... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 96 | 2.6.3.3 Code examples
About the examples
These examples are simplified demonstrations of how to use rawbytes . For a
more realistic example of how to use rawbytes in DeviceNet communication, see
Write rawbytes to DeviceNet on page 103 .
Write and read rawbytes
This example shows how to pack data into a rawbytes va... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 97 | UnpackRawBytes raw_data, 1, answer \ASCII:=10;
ENDPROC
Copy rawbytes
In this example, all data from raw_data_1 and raw_data_2 is copied to
raw_data_3 .
VAR rawbytes raw_data_1;
VAR rawbytes raw_data_2;
VAR rawbytes raw_data_3;
VAR num my_length:=0.2;
VAR string my_unit:=" meters";
PackRawBytes my_length, raw_data_1... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 98 | 2.6.4 File and directory management
2.6.4.1 Overview
Purpose
The purpose of the file and directory management is to be able to browse and edit
file structures (directories and files).
What is included
To handle file and directory management, RobotWare gives you access to:
•
instructions for handling directories
•
a fun... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 99 | 2.6.4.2 RAPID components
Data types
This is a brief description of each data type used for file and directory management.
For more information, see the respective data type in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Data type
dir contains a reference to a directory on d... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 100 | 2.6.4.3 Code examples
List files
This example shows how to list the files in a directory, excluding the directory itself
and its parent directory ( . and .. ).
PROC lsdir(string dirname)
VAR dir directory;
VAR string filename;
! Check that dirname really is a directory
IF IsFile(dirname \Directory) THEN
! Open the di... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 101 | Check sizes
In this example, the size of the file is compared with the remaining free space on
the file system. If there is enough space, the file is copied.
VAR num freefsyssize;
VAR num f_size;
! Get the size of the file
f_size := FileSize("HOME:/myfile");
! Get the free size on the file system
freefsyssize := FSSize... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 102 | 2.7 Device Command Interface
2.7.1 Introduction to Device Command Interface
Purpose
Device Command Interface provides an interface to communicate with I/O devices
on industrial networks.
This interface is used together with raw data communication, see Raw data
communication on page 93 .
What is included
The RobotWare ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 103 | 2.7.2 RAPID components and system parameters
Data types
There are no RAPID data types for Device Command Interface.
Instructions
This is a brief description of each instruction in Device Command Interface. For
more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Function... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 104 | 2.7.3 Code example
Write rawbytes to DeviceNet
In this example, data packed as a rawbytes variable is written to a DeviceNet I/O
device. For more details regarding rawbytes , see Raw data communication on
page 93 .
PROC set_filter_value()
VAR iodev dev;
VAR rawbytes rawdata_out;
VAR rawbytes rawdata_in;
VAR num inp... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 105 | ELSE
! Unpack error codes from device answer
UnpackRawBytes rawdata_in, 2, return_errcode \Hex1;
UnpackRawBytes rawdata_in, 3, return_errcode2 \Hex1;
TPWrite "Error code from device: " \Num:=return_errcode;
TPWrite "Additional error code from device: "
\Num:=return_errcode2;
ENDIF
ENDPROC
104
Application manual - Contr... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 106 | 2.8 Logical Cross Connections
2.8.1 Introduction to Logical Cross Connections
Purpose
The purpose of Logical Cross Connections is to check and affect combinations of
digital I/O signals (DO, DI) or group I/O signals (GO, GI). This can be used to verify
or control process equipment that are external to the robot. The fu... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 107 | 2.8.2 Configuring Logical Cross Connections
System parameters
This is a brief description of the parameters for cross connections. For more
information, see the respective parameter in Configuring Logical Cross Connections
on page 106 .
These parameters belong to the type Cross Connection in the topic I/O System .
... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 108 | 2.8.3 Examples
Logical AND
The following logical structure...
xx0300000457
... is created as shown below.
Invert
actor 3
Actor
3
Operator 2
Invert
actor 2
Actor
2
Operator 1
Invert
actor 1
Actor 1
Resultant
No
do10
AND
No
do2
AND
No
di1
do26
Logical OR
The following logical structure...
xx0300000459
... is created as s... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 109 | ... but with three cross connections it can be implemented as shown below.
Invert actor 2
Actor 2
Operator 1
Invert actor 1
Actor 1
Resultant
No
do2
AND
No
di1
di17
No
do2
AND
No
di1
do26
No
do2
AND
No
di1
do13
Complex conditions
The following logical structure...
xx0300000461
... is created as shown below.
Invert
acto... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 110 | 2.8.4 Limitations
Evaluation order
If more than two actor I/O signals are used in one cross connection, the evaluation
is made from left to right. This means that the operation between Actor 1 and Actor
2 is evaluated first and the result from that is used in the operation with Actor 3 .
If all operators in one cr... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 111 | 2.9 Connected Services
2.9.1 Overview
Description
Connected Services (was known as Remote Service previously) is a functionality
available for ABB robot controllers that connects to ABB cloud.
Earlier the Connected Services functionality had been implemented on an external
hardware (Remote Service Box) connected to the... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 112 | Basic workflow
Following is the basic workflow for setting up Connected Services.
1
Configure Internet connectivity to the robot controller.
2
Enable Connected Services and startup connection.
3
Register the controller through MyRobot registration page.
Once Connected Services is connected and registered, the service d... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 113 | 2.9.2 Connected Services connectivity
Connected Services connection concept
The concept of Connected Services is that a virtual Software Agent is implemented
inside the controller and it communicates securely with the ABB Connected Services
cloud through Internet. The communication is secured and encrypted using HTTPS
... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 114 | Troubleshooting
You can verify the connectivity from the controller to the Connected Services Public
Connector server from your location. This is done by connecting a PC (instead of
the controller) with the same network configuration (WAN IP/Mask, DNS, Route),
and open the path to the root of the server ( https://rsepr... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 115 | 2.9.3 Configuration - system parameters
Connected Services Connection
The following parameters belong to the topic Communication and the type
Connected Services . For more information, see Technical reference
manual - System parameters .
Description
Parameter
Enable or disable CS. If CS is disabled there will be no ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 116 | IP Routing configuration
These parameters belong to the topic Communication and the type IP Routing . In
some cases it is necessary to define some routing parameters to indicate which
specific external device is used as a gateway to access the Internet on customer
network. By default, an IP route is created based on... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 117 | 2.9.4 Configuring Connected Services
Overview
This section explains how the Connected Services is configured with the controller,
when Internet is available on the default gateway. There are two separate network
setups:
•
Direct internet connection without proxy.
•
Internet connectivity through a proxy.
Direct internet... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 118 | Direct internet connection with manual DNS
The following procedure provides information about configuring the Connected
Services from the FlexPendant when there is direct internet connection with manual
DNS.
Illustration
Action
In the ABB menu, select Control Panel .
1
Select Configuration .
2
From Topics , select... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 119 | Illustration
Action
![Image]
xx1600001331
In Proxy Auth , select None for no authen-
tication from the drop-down list.
5
![Image]
xx1600001332
In Proxy Auth , select Basic for basic
authentication from the drop-down list.
•
Define the proxy name, proxy port,
user name, and password for the
basic authentication.
... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 120 | 2.9.5 Configuring Connected Services using gateway box
Overview
This section explains how the Connected Services is configured using an external
Internet gateway (3G/4G, WiFi, etc) not defined as default gateway in the controller.
In this case, additional routes are needed to reach the external Internet gateway.
Contro... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 121 | Illustration
Action
Tap OK and restart the controller to take
effect of the changes.
6
Controller with DHCP and manual DNS
The following procedure provides information about configuring the Connected
Services from the FlexPendant for controller with DHCP and manual DNS.
Illustration
Action
In the ABB menu, select ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 122 | Gateway box on customer network
When gateway box is configured for multiple controllers, then the LAN IP of the
gateway box changes. For more information about how to do setting for the gateway
box for multiple controllers, see Product manual - Connected Services .
The gateway box should be connected to the customer n... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 123 | Illustration
Action
![Image]
xx1600001339
Enter the details for Destination , Gate-
way , and Label .
•
Enter the Gateway IP as box IP.
In this example, it is 172.16.16.25.
5
Tap OK and restart the controller to take
effect of the changes.
6
Note
Manually define the DNS, if it is not provided automatically. Also, ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 124 | 2.9.6 Connected Services on LAN 3
Overview
When internet is not provided on production WAN network, we can configure and
use LAN 3 to connect with the Connected Services server.
LAN 3 (available on port X5) acts as a separate switch and its IP can be configured
manually.
Note
There is a risk of conflict between PROFINE... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 125 | The following diagram explains a sample with an Internet Gateway Box.
![Image]
xx1700000061
As shown in the diagram above (for example robot controller 1), assign IP address
to port X5 (LAN 3) as 172.16.16.21 and change the LAN IP of the Gateway Box to
the same IP segment as 172.16.16.25.
A route may be needed to send ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 126 | 2.9.7 Connected Services registration
Connected Services startup
The Connected Services startup is based on the following steps:
•
(0) Connected Services preparation
•
(1) Connected Services configuration
•
(2) Connected Services connectivity
•
(3) Connected Services registration
•
(4) Connected Services connected and ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 127 | Connected Services preparation
•
Verify the controller serial number with the serial number found in the
controller module cabinet.
•
Verify and provide Internet connectivity to the robot controller.
•
Verify that the service agreement for this controller is available with ABB
Robotics Service.
Connected Services confi... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 128 | 2.9.8 Connected Services information
Connected Services pages
Introduction
The Connected Services information pages are available under System Info >
Software resources > Communication > Connected Services . The following are
the 4 Connected Services information pages:
•
Overview
•
Server Connection
•
Registratio... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 129 | Example
Possible values
Description
Field
SA_FR12_16
"Name of the ser-
vice agreement"
To verify that the controller is asso-
ciated to the expected service
agreement.
Service Agree-
ment
"-"
ABB Robotics
"Customer Name
of the service
agreement"
To verify that the controller is asso-
ciated to the expected service
agre... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 130 | Example
Possible values
Description
Field
ABB issuing CA
6
""
Issuer
Displays the name of the server
certificate issuer.
Server certific-
ate issuer
Untrusted (Is-
suer)
Nov 21 07:09:28
2017 GMT
""
Issuer
Displays the server certificate date.
Server certific-
ate valid until
Expired (Date)
16-01-08
13:52:33
Displays th... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 131 | Advanced page
The Advanced page provides advanced information about the dialog between
software Agent and server.
Example
Possible values
Description
Field
GetMessage
Register
Displays the last message sent.
Last HTTP mes-
sage
CheckRegister
GetLoginInfo
GetMessage
...
Sent hh:mm:ss
ago
Displays the date and time whe... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 132 | Force a reset of the software agent
It is possible to reset the software agent. When you reset, the software agent erases
all its internal information including the registration information, the data collector
script, and all the locally stored service information. The configuration will not be
reset, but a new registr... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 133 | 2.10 User logs
2.10.1 Introduction to User logs
Description
The RobotWare base functionality User logs generates event logs for the most
common user actions. The event logs are generated in the group Operational
events , number series 10xxx .
For more information on handling the event log, see Operating manual - I... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 134 | Event logs
User action
Topic
10205
Updating the revolution counters or performing a calibration.
Changes on
the mechanic-
al unit
10206
10290
10292
10280
Changing the tool, the work object, the payload, the coordin-
ate system, or go to a position.
Jogging
10281
10282
10283
10286
10287
10288
10289
10291
10293
Setting o... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 135 | This page is intentionally left blank
3 Motion performance
3.1 Absolute Accuracy [603-1, 603-2]
3.1.1 About Absolute Accuracy
Purpose
Absolute Accuracy is a calibration concept that improves TCP accuracy. The
difference between an ideal robot and a real robot can be several millimeters,
resulting from mechanical tole... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 136 | 3 Motion performance
3.1 Absolute Accuracy [603-1, 603-2]
3.1.1 About Absolute Accuracy
Purpose
Absolute Accuracy is a calibration concept that improves TCP accuracy. The
difference between an ideal robot and a real robot can be several millimeters,
resulting from mechanical tolerances and deflection in the robot stru... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 137 | When is Absolute Accuracy being used
Absolute Accuracy works on a robot target in Cartesian coordinates, not on the
individual joints. Therefore, joint based movements (e.g. MoveAbsJ ) will not be
affected.
If the robot is inverted, the Absolute Accuracy calibration must be performed when
the robot is inverted.
Abso... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 138 | 3.1.2 Useful tools
Overview
The following products are recommended for operation and maintenance of
Absolute Accurate robots:
•
Load Identification
•
CalibWare (Absolute Accuracy calibration tool)
Load Identification
Absolute Accuracy calculates the robot's deflection depending on payload. It is
very important to have ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 139 | 3.1.3 Configuration
Activate Absolute Accuracy
Use RobotStudio and follow these steps (see Operating manual - RobotStudio for
more information):
1
If you do not already have write access, click Request Write Access and
wait for grant from the FlexPendant.
2
Click Configuration Editor and select Motion .
3
Click ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 140 | Action
Tap on the robot you wish to update.
2
Tap the tab Robot Memory .
3
Tap Advanced .
4
Tap Clear Controller Memory .
5
Tap Clear and then confirm by tapping Yes .
6
Tap Close .
7
Tap Update .
8
Tap Cabinet or robot has been exchanged and confirm by tapping Yes .
9
Application manual - Controller softwar... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 141 | 3.1.4 Maintenance
3.1.4.1 Maintenance that affect the accuracy
Overview
This section will focus on those maintenance activities that directly affect the
accuracy of the robot, summarized as follows:
•
Tool recalibration
•
Motor replacement
•
Wrist replacement (large robots)
•
Arm replacement (lower arm, upper arm, gear... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 142 | A summary of the calibration process is presented as follows:
Action
Replace the affected component.
1
Perform a resolver offset calibration for all axes. See the product manual for the
respective robot.
2
Recalibrate the TCP.
3
Check the accuracy by comparison to a fixed reference point in the cell.
4
Check the accura... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 143 | 3.1.4.2 Loss of accuracy
Cause and action
Loss of accuracy usually occur after robot collision or large temperature variations.
It is necessary to determine the cause of the errors, and take adequate action.
...then...
If...
recalibrate if the TCP has changed.
the tool is not prop-
erly calibrated
run Load Identificati... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 144 | 3.1.5 Compensation theory
3.1.5.1 Error sources
Types of errors
The errors compensated for in the controller derive from the mechanical tolerances
of the constituent robot parts. A subset of these are detailed in the illustration
below.
Compliance errors are due to the effect of the robot’s own weight together with the... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 145 | 3.1.5.2 Absolute Accuracy compensation
Introduction
Both compliance and kinematic errors are compensated for with "fake targets".
Knowing the deflection of the robot (i.e. deviation from ordered position), Absolute
Accuracy can compensate by ordering the robot to a fake target.
The compensation works on a robot targe... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 146 | Compensated position
The actual position will be the same as your desired position. As a user you will
not notice the fake target or the deflection. The robot will behave as if it had no
deflection.
![Image]
xx0300000224
Application manual - Controller software IRC5
145
3HAC050798-001 Revision: V
© Copyright 2014-2025 ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 147 | 3.1.6 Preparation of Absolute Accuracy robot
3.1.6.1 ABB calibration process
Overview
This section describes the calibration process that ABB performs on each Absolute
Accuracy robot, regardless of robot type or family, before it is delivered.
The process can be divided in four steps:
1
Resolver offset calibration
2
Ab... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 148 | For information on how to do this, see documentation for CalibWare.
![Image]
en0300000248
Absolute Accuracy verification
The parameters are loaded onto the controller and activated. The robot is then run
to a set of 50 robtarget poses. Each pose is measured and the deviation from
nominal determined.
For information on ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 149 | 3.1.6.2 Birth certificate
About the birth certificate
All Absolute Accuracy robots are shipped with a birth certificate. It represents the
Absolute Accuracy measurement protocol for the calibration and verification
sequence.
The birth certificate contains the following information:
•
Robot information (robot type, seri... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 150 | 3.1.6.3 Compensation parameters
About the compensation parameters
All Absolute Accuracy robots are shipped with a set of compensation parameters,
as part of the system parameters (configuration). As the resolver offset calibration
is integral in the Absolute Accuracy calibration, the resolver offset parameters are
also... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 151 | 3.1.7 Cell alignment
3.1.7.1 Overview
About cell alignment
The compensation parameters for the Absolute Accuracy robot are determined
from the physical base plate to the robot tool. For many applications this is enough,
the robot can be used as any other robot. However, it is common that Absolute
Accuracy robots are al... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 152 | 3.1.7.2 Measure fixture alignment
About fixture alignment
A fixture is defined as a cell component that is associated with a particular
coordinate system. The interaction between the robot and the fixture requires an
accurate relationship in order to ensure Absolute Accuracy.
Absolute Accuracy fixtures must be equipped... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 153 | 3.1.7.3 Measure robot alignment
Select method
The relationship between the measurement system and the robot can be determined
in the following ways:
Description
Alignment procedure
The equivalent to the fixture alignment in which the physical
base pins are measured and aligned with respect to the ref-
erence positions ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 154 | 3.1.7.4 Frame relationships
About frame relationships
Once the relationships between the measurement system and all other cell
components are measured, the relationships between cell components can be
determined.
The relationship between the world coordinate system and the robot shall be stored
in the robot base. The r... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 155 | 3.1.7.5 Tool calibration
About tool calibration
The Absolute Accuracy robot compensation parameters are calculated to be tool
independent. This allows any tool with a correctly pre-defined TCP to be connected
to the robot flange and used without requiring a tool re-calibration. In practice,
however, it is difficult to ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 156 | 3.2 Advanced Robot Motion [687-1]
About Advanced Robot Motion
The option Advanced Robot Motion gives you access to:
•
Advanced Shape Tuning , see Advanced Shape Tuning [included in 687-1]
on page 156 .
•
Changing Motion Process Mode from RAPID, see Motion Process Mode
[included in 687-1] on page 164 .
•
Wrist Mov... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 157 | 3.3 Advanced Shape Tuning [included in 687-1]
3.3.1 About Advanced Shape Tuning
Purpose
The purpose of Advanced Shape Tuning is to reduce the path deviation caused
by joint friction of the robot.
Advanced Shape Tuning is useful for low speed cutting (10-100 mm/s) of, for
example, small circles. Effects of robot join... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 158 | 3.3.2 Automatic friction tuning
About automatic friction tuning
A robot’s joint friction levels are automatically tuned with the instructions
FricIdInit and FricIdEvaluate . These instructions will tune each joint’s
friction level for a specific sequence of movements.
The automatically tuned levels are applied for fr... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 159 | Note
To use Advanced Shape Tuning, the parameter Friction FFW On must be set to
TRUE.
Example
This example shows how to program a cutting instruction that encapsulates the
friction tuning. When the instruction is run the first time, without calculated friction
parameters, the friction tuning is done. During the tunin... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 160 | 3.3.3 Manual friction tuning
Overview
It is possible to make a manual tuning of a robot's joint friction (instead of automatic
friction tuning). The friction level for each joint can be tuned using the instruction
TuneServo . How to do this is described in this section.
There is usually no need to make changes to the f... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 161 | Action
The final tuning values can be transferred to the system parameters.
4
Example: The Friction FFW Level is 0.5 and the final tune value ( TUNE_FRIC_LEV ) is
120%. Set Friction FFW Level to 0.6 and tune value to 100% (default value), which is
equivalent.
Tip
Tuning can be made to a maximum of 500%. If that is ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 162 | 3.3.4 System parameters
3.3.4.1 System parameters
About the system parameters
This is a brief description of each parameter in the option Advanced Shape Tuning .
For more information, see the respective parameter in Technical reference
manual - System parameters .
Friction Compensation / Control Parameters
These para... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 163 | 3.3.4.2 Setting tuning system parameters
Automatic tuning rarely requires changes in system parameters
For automatic tuning, if the friction levels are saved in a persistent array, the tuning
is maintained after a power failure. The automatic tuning can also be used to set
different tuning levels for different robot mo... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 164 | 3.3.5 RAPID components
About the RAPID components
This is an overview of all instructions, functions, and data types in Advanced Shape
Tuning .
For more information, see Technical reference manual - RAPID Instructions,
Functions and Data types .
Instructions
Description
Instructions
Initiate friction identification
F... |
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