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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
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 instruction IndReset ( Independent Reset ) cannot be used in
combination with Electronically Linked Motors.
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2.4.1 Overview
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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
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 instruction IndReset ( Independent Reset ) cannot be used in
combination with Electronically Linked Motors.
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2.4.1 Overview
Continued
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 Motion and the type Joint .
Description
Parameter
Specifies which master axis this axis shall follow. Refers to the parameter
Name in the type Joint . Robot axes are referred to as rob1 followed by
underscore and the axis number (for example rob1_6).
Follower to Joint
Id name of the process that is called. Refers to the parameter Name in
the type Process .
Use Process
A flag that locks the axis so it is not used in the path interpolation.
Lock Joint in Ipol
This parameter must be set to TRUE when the axis is electronically linked
to another axis.
Process
These parameters belong to the topic Motion and the type Process .
Description
Parameter
Id name of the process.
Name
Id name of electronically linked motor process. Refers to the parameter
Name in the type Linked M Process .
Use Linked Motor
Process
Linked M Process
These parameters belong to the topic Motion and the type Linked M Process .
Description
Parameter
Id name for the linked motor process.
Name
Time delay from control on until the follower starts to follow the
master.
Offset Adjust Delay
Time
This can be used to give the master time to stabilize before the
follower starts following.
The maximum allowed difference in distance (in radians or meters)
between master and follower.
Max Follower Offset
If Max Follower Offset is exceeded, emergency stop is activated.
The maximum allowed difference in speed (in rad/s or m/s) between
master and follower.
Max Offset Speed
If Max Offset Speed is exceeded, emergency stop is activated.
Defines how large part of the Max Offset Speed that can be used
to compensate for position error.
Offset Speed Ratio
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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 instruction IndReset ( Independent Reset ) cannot be used in
combination with Electronically Linked Motors.
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2.4.1 Overview
Continued
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 Motion and the type Joint .
Description
Parameter
Specifies which master axis this axis shall follow. Refers to the parameter
Name in the type Joint . Robot axes are referred to as rob1 followed by
underscore and the axis number (for example rob1_6).
Follower to Joint
Id name of the process that is called. Refers to the parameter Name in
the type Process .
Use Process
A flag that locks the axis so it is not used in the path interpolation.
Lock Joint in Ipol
This parameter must be set to TRUE when the axis is electronically linked
to another axis.
Process
These parameters belong to the topic Motion and the type Process .
Description
Parameter
Id name of the process.
Name
Id name of electronically linked motor process. Refers to the parameter
Name in the type Linked M Process .
Use Linked Motor
Process
Linked M Process
These parameters belong to the topic Motion and the type Linked M Process .
Description
Parameter
Id name for the linked motor process.
Name
Time delay from control on until the follower starts to follow the
master.
Offset Adjust Delay
Time
This can be used to give the master time to stabilize before the
follower starts following.
The maximum allowed difference in distance (in radians or meters)
between master and follower.
Max Follower Offset
If Max Follower Offset is exceeded, emergency stop is activated.
The maximum allowed difference in speed (in rad/s or m/s) between
master and follower.
Max Offset Speed
If Max Offset Speed is exceeded, emergency stop is activated.
Defines how large part of the Max Offset Speed that can be used
to compensate for position error.
Offset Speed Ratio
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2.4.2.1 System parameters
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.
Master Follower kp
Set to True if the follower and master should share torque instead
of regulating on exact position.
Torque follower
This can only be used if the follower axis is connected to the same
drive module as the master axis.
The ratio (of the total torque) that should be applied to the follower
(for example 0.3 result in 30% on follower and 70% on master). If
drive and motors are equal this is normally set to 0.5.
Torque distribution
This value is set to reduce the accuracy of the follower position
loop. This is needed in cases where the mechanical structure gives
high torques between the motors due to large position mismatch
in a stiff mechanical connection etc.
•
0: accuracy reduction not active
•
10-30 typical values
Follower axis pos. acc.
reduction
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2.4.2.1 System parameters
Continued
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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 Motion and the type Joint .
Description
Parameter
Specifies which master axis this axis shall follow. Refers to the parameter
Name in the type Joint . Robot axes are referred to as rob1 followed by
underscore and the axis number (for example rob1_6).
Follower to Joint
Id name of the process that is called. Refers to the parameter Name in
the type Process .
Use Process
A flag that locks the axis so it is not used in the path interpolation.
Lock Joint in Ipol
This parameter must be set to TRUE when the axis is electronically linked
to another axis.
Process
These parameters belong to the topic Motion and the type Process .
Description
Parameter
Id name of the process.
Name
Id name of electronically linked motor process. Refers to the parameter
Name in the type Linked M Process .
Use Linked Motor
Process
Linked M Process
These parameters belong to the topic Motion and the type Linked M Process .
Description
Parameter
Id name for the linked motor process.
Name
Time delay from control on until the follower starts to follow the
master.
Offset Adjust Delay
Time
This can be used to give the master time to stabilize before the
follower starts following.
The maximum allowed difference in distance (in radians or meters)
between master and follower.
Max Follower Offset
If Max Follower Offset is exceeded, emergency stop is activated.
The maximum allowed difference in speed (in rad/s or m/s) between
master and follower.
Max Offset Speed
If Max Offset Speed is exceeded, emergency stop is activated.
Defines how large part of the Max Offset Speed that can be used
to compensate for position error.
Offset Speed Ratio
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2.4.2.1 System parameters
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.
Master Follower kp
Set to True if the follower and master should share torque instead
of regulating on exact position.
Torque follower
This can only be used if the follower axis is connected to the same
drive module as the master axis.
The ratio (of the total torque) that should be applied to the follower
(for example 0.3 result in 30% on follower and 70% on master). If
drive and motors are equal this is normally set to 0.5.
Torque distribution
This value is set to reduce the accuracy of the follower position
loop. This is needed in cases where the mechanical structure gives
high torques between the motors due to large position mismatch
in a stiff mechanical connection etc.
•
0: accuracy reduction not active
•
10-30 typical values
Follower axis pos. acc.
reduction
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2.4.2.1 System parameters
Continued
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
Use Linked Motor Process
Name
Linked_m_1
ELM_1
Linked_m_2
ELM_2
Linked M Process
Master Fol-
lower kp
Ramp
Time
Offset
Speed Ra-
tio
Max Offset
Speed
Max Follow-
er Offset
Offset Adjust
Delay Time
Name
0.05
1
0.33
0.05
0.05
0.2
Linked_m_1
0.08
1.5
0.4
0.1
0.1
0.1
Linked_m_2
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2.4.2.2 Configuration example
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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.
Master Follower kp
Set to True if the follower and master should share torque instead
of regulating on exact position.
Torque follower
This can only be used if the follower axis is connected to the same
drive module as the master axis.
The ratio (of the total torque) that should be applied to the follower
(for example 0.3 result in 30% on follower and 70% on master). If
drive and motors are equal this is normally set to 0.5.
Torque distribution
This value is set to reduce the accuracy of the follower position
loop. This is needed in cases where the mechanical structure gives
high torques between the motors due to large position mismatch
in a stiff mechanical connection etc.
•
0: accuracy reduction not active
•
10-30 typical values
Follower axis pos. acc.
reduction
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2.4.2.1 System parameters
Continued
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
Use Linked Motor Process
Name
Linked_m_1
ELM_1
Linked_m_2
ELM_2
Linked M Process
Master Fol-
lower kp
Ramp
Time
Offset
Speed Ra-
tio
Max Offset
Speed
Max Follow-
er Offset
Offset Adjust
Delay Time
Name
0.05
1
0.33
0.05
0.05
0.2
Linked_m_1
0.08
1.5
0.4
0.1
0.1
0.1
Linked_m_2
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2.4.2.2 Configuration example
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 torque follower axis, see Tuning a torque follower on page 75 .
Copy service routine file to HOME
Copy the file linked_m.sys from directory:
hd0a\<active system>\PRODUCTS\RobotWare_6.0x.xxxx\utility\LinkedMotors
to the HOME directory of the active system.
Load cfg files
Load the configuration files LINKED_M_MMC.cfg and LINKED_M_SYS.cfg . These
are located in the directory:
...\utility\LinkedMotors .
Loading configuration files can be done with RobotStudio or FlexPendant. How to
do this is described in:
Description of loading cfg files
Tool
Section Loading a configuration file in Operating manual - RobotStudio .
RobotStudio
Section Loading system parameters in Operating manual - IRC5 Integ-
rator's guide .
FlexPendant
Restart the controller after loading the configuration files.
Data variables
When the service routine starts, it will read values from system parameters and
set the values for a set of data variables used by the service routine. These variables
only need to be set manually if something goes wrong, see Data setup on page 78 .
Start service routine
Note
The controller must be in manual or auto mode to run this service routine.
Action
Step
In the program view, tap Debug and select Call Routine... .
1
Select Linked_m and tap Go to .
2
Press and hold the enabling device.
3
Press the RUN button to start the service routine.
4
Continues on next page
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2.4.3.1 Using the service routine for a follower axis
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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
Use Linked Motor Process
Name
Linked_m_1
ELM_1
Linked_m_2
ELM_2
Linked M Process
Master Fol-
lower kp
Ramp
Time
Offset
Speed Ra-
tio
Max Offset
Speed
Max Follow-
er Offset
Offset Adjust
Delay Time
Name
0.05
1
0.33
0.05
0.05
0.2
Linked_m_1
0.08
1.5
0.4
0.1
0.1
0.1
Linked_m_2
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2.4.2.2 Configuration example
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 torque follower axis, see Tuning a torque follower on page 75 .
Copy service routine file to HOME
Copy the file linked_m.sys from directory:
hd0a\<active system>\PRODUCTS\RobotWare_6.0x.xxxx\utility\LinkedMotors
to the HOME directory of the active system.
Load cfg files
Load the configuration files LINKED_M_MMC.cfg and LINKED_M_SYS.cfg . These
are located in the directory:
...\utility\LinkedMotors .
Loading configuration files can be done with RobotStudio or FlexPendant. How to
do this is described in:
Description of loading cfg files
Tool
Section Loading a configuration file in Operating manual - RobotStudio .
RobotStudio
Section Loading system parameters in Operating manual - IRC5 Integ-
rator's guide .
FlexPendant
Restart the controller after loading the configuration files.
Data variables
When the service routine starts, it will read values from system parameters and
set the values for a set of data variables used by the service routine. These variables
only need to be set manually if something goes wrong, see Data setup on page 78 .
Start service routine
Note
The controller must be in manual or auto mode to run this service routine.
Action
Step
In the program view, tap Debug and select Call Routine... .
1
Select Linked_m and tap Go to .
2
Press and hold the enabling device.
3
Press the RUN button to start the service routine.
4
Continues on next page
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2.4.3.1 Using the service routine for a follower axis
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 to the
master axis, see Reset follower automatically on page 74 .
AUTO
Stops the movement of the follower axis. Can be used when jogging or using
AUTO and the movement must be stopped immediately.
STOP
Manual stepwise movement of the follower axis, see Jog follower axis on page72 .
JOG
If the follower axis is synchronized with the master axis, it will resume its position
when you tap AUTO or when you exit the service program.
Used to suspend the synchronization between follower axis and master axis,
see Unsynchronize on page 72 .
UNSYNC
Show some help for how to use the service program. The button Next shows
the next help subject.
HELP
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2.4.3.1 Using the service routine for a follower axis
Continued
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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 torque follower axis, see Tuning a torque follower on page 75 .
Copy service routine file to HOME
Copy the file linked_m.sys from directory:
hd0a\<active system>\PRODUCTS\RobotWare_6.0x.xxxx\utility\LinkedMotors
to the HOME directory of the active system.
Load cfg files
Load the configuration files LINKED_M_MMC.cfg and LINKED_M_SYS.cfg . These
are located in the directory:
...\utility\LinkedMotors .
Loading configuration files can be done with RobotStudio or FlexPendant. How to
do this is described in:
Description of loading cfg files
Tool
Section Loading a configuration file in Operating manual - RobotStudio .
RobotStudio
Section Loading system parameters in Operating manual - IRC5 Integ-
rator's guide .
FlexPendant
Restart the controller after loading the configuration files.
Data variables
When the service routine starts, it will read values from system parameters and
set the values for a set of data variables used by the service routine. These variables
only need to be set manually if something goes wrong, see Data setup on page 78 .
Start service routine
Note
The controller must be in manual or auto mode to run this service routine.
Action
Step
In the program view, tap Debug and select Call Routine... .
1
Select Linked_m and tap Go to .
2
Press and hold the enabling device.
3
Press the RUN button to start the service routine.
4
Continues on next page
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2.4.3.1 Using the service routine for a follower axis
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 to the
master axis, see Reset follower automatically on page 74 .
AUTO
Stops the movement of the follower axis. Can be used when jogging or using
AUTO and the movement must be stopped immediately.
STOP
Manual stepwise movement of the follower axis, see Jog follower axis on page72 .
JOG
If the follower axis is synchronized with the master axis, it will resume its position
when you tap AUTO or when you exit the service program.
Used to suspend the synchronization between follower axis and master axis,
see Unsynchronize on page 72 .
UNSYNC
Show some help for how to use the service program. The button Next shows
the next help subject.
HELP
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2.4.3.1 Using the service routine for a follower axis
Continued
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 below:
1
Jog the master axis to its calibration position.
2
Unsynchronize the follower and master axes. See Unsynchronize on page72 .
3
Jog the follower to the desired position. See Jog follower axis on page 72 .
4
Fine calibrate follower axis. See Fine calibrate on page 73 .
Unsynchronize
Action
Step
In the main menu of the service routine, tap UNSYNC .
1
Confirm that you want to unsynchronize the axes by tapping YES .
2
Restart the controller when an information text tells you to do it.
After the restart the follower axis is no longer synchronized with the master axis.
3
Jog follower axis
Action
Step
In the main menu of the service program, tap JOG .
1
Select the speed with which the follower axis should move when you jog it.
2
Select the step size with which the follower axis should move for each step you
jog it.
3
Tap on Positive or Negative , depending on in which direction you want to move
the follower axis.
4
Jog the follower axis until it is exactly in the calibration position (the position that
corresponds to the master axis calibration position).
Continues on next page
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2.4.3.2 Calibrate follower axis position
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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 to the
master axis, see Reset follower automatically on page 74 .
AUTO
Stops the movement of the follower axis. Can be used when jogging or using
AUTO and the movement must be stopped immediately.
STOP
Manual stepwise movement of the follower axis, see Jog follower axis on page72 .
JOG
If the follower axis is synchronized with the master axis, it will resume its position
when you tap AUTO or when you exit the service program.
Used to suspend the synchronization between follower axis and master axis,
see Unsynchronize on page 72 .
UNSYNC
Show some help for how to use the service program. The button Next shows
the next help subject.
HELP
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2.4.3.1 Using the service routine for a follower axis
Continued
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 below:
1
Jog the master axis to its calibration position.
2
Unsynchronize the follower and master axes. See Unsynchronize on page72 .
3
Jog the follower to the desired position. See Jog follower axis on page 72 .
4
Fine calibrate follower axis. See Fine calibrate on page 73 .
Unsynchronize
Action
Step
In the main menu of the service routine, tap UNSYNC .
1
Confirm that you want to unsynchronize the axes by tapping YES .
2
Restart the controller when an information text tells you to do it.
After the restart the follower axis is no longer synchronized with the master axis.
3
Jog follower axis
Action
Step
In the main menu of the service program, tap JOG .
1
Select the speed with which the follower axis should move when you jog it.
2
Select the step size with which the follower axis should move for each step you
jog it.
3
Tap on Positive or Negative , depending on in which direction you want to move
the follower axis.
4
Jog the follower axis until it is exactly in the calibration position (the position that
corresponds to the master axis calibration position).
Continues on next page
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2.4.3.2 Calibrate follower axis position
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
In the warning dialog that appears, tap Calibrate .
The follower axis is now calibrated. As soon as the follower is calibrated, it is also
synchronized with the master again.
7
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2.4.3.2 Calibrate follower axis position
Continued
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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 below:
1
Jog the master axis to its calibration position.
2
Unsynchronize the follower and master axes. See Unsynchronize on page72 .
3
Jog the follower to the desired position. See Jog follower axis on page 72 .
4
Fine calibrate follower axis. See Fine calibrate on page 73 .
Unsynchronize
Action
Step
In the main menu of the service routine, tap UNSYNC .
1
Confirm that you want to unsynchronize the axes by tapping YES .
2
Restart the controller when an information text tells you to do it.
After the restart the follower axis is no longer synchronized with the master axis.
3
Jog follower axis
Action
Step
In the main menu of the service program, tap JOG .
1
Select the speed with which the follower axis should move when you jog it.
2
Select the step size with which the follower axis should move for each step you
jog it.
3
Tap on Positive or Negative , depending on in which direction you want to move
the follower axis.
4
Jog the follower axis until it is exactly in the calibration position (the position that
corresponds to the master axis calibration position).
Continues on next page
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2.4.3.2 Calibrate follower axis position
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
In the warning dialog that appears, tap Calibrate .
The follower axis is now calibrated. As soon as the follower is calibrated, it is also
synchronized with the master again.
7
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2.4.3.2 Calibrate follower axis position
Continued
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 the AUTO range. Otherwise the follower
must be manually jogged.
The range where AUTO can be used is determined by the system parameter Max
Follower Offset multiplied with the data variable offset_ratio .
Master axis
position
Desired
follower
position
Range where follower
automatically follow master
Range where AUTO in service program can be used
Max Follower
Offset
Max Follower Offset * offset_ratio
en0400000962
Reset follower automatically
Action
Step
In the main menu of the service routine, tap AUTO .
1
Select the speed with which the follower axis should move to its desired position.
2
Reset follower by manual jogging
Action
Step
In the main menu of the service routine, tap JOG .
1
Select the speed with which the follower axis should move when you jog it.
2
Select the step size with which the follower axis should move for each step you
jog it.
3
Tap on Positive or Negative , depending on which direction you want to move the
follower axis.
4
Jog the follower until it is within the tolerance of Max Follower Offset (or use AUTO
when you are close enough).
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2.4.3.3 Reset follower axis
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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
In the warning dialog that appears, tap Calibrate .
The follower axis is now calibrated. As soon as the follower is calibrated, it is also
synchronized with the master again.
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2.4.3.2 Calibrate follower axis position
Continued
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 the AUTO range. Otherwise the follower
must be manually jogged.
The range where AUTO can be used is determined by the system parameter Max
Follower Offset multiplied with the data variable offset_ratio .
Master axis
position
Desired
follower
position
Range where follower
automatically follow master
Range where AUTO in service program can be used
Max Follower
Offset
Max Follower Offset * offset_ratio
en0400000962
Reset follower automatically
Action
Step
In the main menu of the service routine, tap AUTO .
1
Select the speed with which the follower axis should move to its desired position.
2
Reset follower by manual jogging
Action
Step
In the main menu of the service routine, tap JOG .
1
Select the speed with which the follower axis should move when you jog it.
2
Select the step size with which the follower axis should move for each step you
jog it.
3
Tap on Positive or Negative , depending on which direction you want to move the
follower axis.
4
Jog the follower until it is within the tolerance of Max Follower Offset (or use AUTO
when you are close enough).
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2.4.3.3 Reset follower axis
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 control loop of the follower axis.
en0900000679
Torque distribution
The sharing of torque will be done on the integral part of the control loops. By
setting torque distribution to 0.5, the master and follower will have equal part of
the integral part of the total torque. A value of 0.3 will make the follower axis have
30% of the integral torque and the master axis 70%.
Position accuracy reduction
If the mechanical structure is very stiff and has a mechanical misalignment or a
large backlash, the proportional part will be a major part of the total torque. If this
becomes a problem with too high torque difference between the master and the
follower the position accuracy reduction function (PAR in the illustration) can be
used. This will make the follower axis less accurate when it comes in to a position.
This will make the follower act more like a true torque follower.
Test signals that can be useful to check the behavior of this is:
Test signal number
Test signal
37
Integral part of torque
36
Proportional part of torque
9
Total torque ref (also including any feed forward torque)
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2.4.4.1 Torque follower descriptions
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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 the AUTO range. Otherwise the follower
must be manually jogged.
The range where AUTO can be used is determined by the system parameter Max
Follower Offset multiplied with the data variable offset_ratio .
Master axis
position
Desired
follower
position
Range where follower
automatically follow master
Range where AUTO in service program can be used
Max Follower
Offset
Max Follower Offset * offset_ratio
en0400000962
Reset follower automatically
Action
Step
In the main menu of the service routine, tap AUTO .
1
Select the speed with which the follower axis should move to its desired position.
2
Reset follower by manual jogging
Action
Step
In the main menu of the service routine, tap JOG .
1
Select the speed with which the follower axis should move when you jog it.
2
Select the step size with which the follower axis should move for each step you
jog it.
3
Tap on Positive or Negative , depending on which direction you want to move the
follower axis.
4
Jog the follower until it is within the tolerance of Max Follower Offset (or use AUTO
when you are close enough).
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2.4.3.3 Reset follower axis
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 control loop of the follower axis.
en0900000679
Torque distribution
The sharing of torque will be done on the integral part of the control loops. By
setting torque distribution to 0.5, the master and follower will have equal part of
the integral part of the total torque. A value of 0.3 will make the follower axis have
30% of the integral torque and the master axis 70%.
Position accuracy reduction
If the mechanical structure is very stiff and has a mechanical misalignment or a
large backlash, the proportional part will be a major part of the total torque. If this
becomes a problem with too high torque difference between the master and the
follower the position accuracy reduction function (PAR in the illustration) can be
used. This will make the follower axis less accurate when it comes in to a position.
This will make the follower act more like a true torque follower.
Test signals that can be useful to check the behavior of this is:
Test signal number
Test signal
37
Integral part of torque
36
Proportional part of torque
9
Total torque ref (also including any feed forward torque)
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2.4.4.1 Torque follower descriptions
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 done. After that, there is no
need for any tuning of the torque follower.
Opening the tune torque follower menu
Illustration
Action
Start the service routine (as described
by the first steps in Start service routine
on page 70 ).
1
Tap Menu 2 .
2
Tap on the name of the follower axis to
tune.
3
Use the tune torque follower menu as
described below.
4
Tuning the torque distribution
Use this procedure to change the distribution of torque between the master and
the follower axis.
Illustration
Action
Tap Torque distribution .
1
Type a number (between 0 and 1) for the
follower’s share of the total torque.
2
For example, 0.3 will result in 30% of the
torque on the follower and 70% on the
master.
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 position accuracy reduction
Use this procedure to set the position accuracy reduction of the torque follower
axis.
Illustration
Action
Tap Position accuracy reduction .
1
Type a number for reduced position ac-
curacy.
2
0 means no position accuracy reduction.
10 -30 is typically used for a torque fol-
lower to reduce the torque tension
between the master and the follower.
Continues on next page
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2.4.4.2 Using the service routine to tune a torque follower
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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 control loop of the follower axis.
en0900000679
Torque distribution
The sharing of torque will be done on the integral part of the control loops. By
setting torque distribution to 0.5, the master and follower will have equal part of
the integral part of the total torque. A value of 0.3 will make the follower axis have
30% of the integral torque and the master axis 70%.
Position accuracy reduction
If the mechanical structure is very stiff and has a mechanical misalignment or a
large backlash, the proportional part will be a major part of the total torque. If this
becomes a problem with too high torque difference between the master and the
follower the position accuracy reduction function (PAR in the illustration) can be
used. This will make the follower axis less accurate when it comes in to a position.
This will make the follower act more like a true torque follower.
Test signals that can be useful to check the behavior of this is:
Test signal number
Test signal
37
Integral part of torque
36
Proportional part of torque
9
Total torque ref (also including any feed forward torque)
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2.4.4.1 Torque follower descriptions
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 done. After that, there is no
need for any tuning of the torque follower.
Opening the tune torque follower menu
Illustration
Action
Start the service routine (as described
by the first steps in Start service routine
on page 70 ).
1
Tap Menu 2 .
2
Tap on the name of the follower axis to
tune.
3
Use the tune torque follower menu as
described below.
4
Tuning the torque distribution
Use this procedure to change the distribution of torque between the master and
the follower axis.
Illustration
Action
Tap Torque distribution .
1
Type a number (between 0 and 1) for the
follower’s share of the total torque.
2
For example, 0.3 will result in 30% of the
torque on the follower and 70% on the
master.
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 position accuracy reduction
Use this procedure to set the position accuracy reduction of the torque follower
axis.
Illustration
Action
Tap Position accuracy reduction .
1
Type a number for reduced position ac-
curacy.
2
0 means no position accuracy reduction.
10 -30 is typically used for a torque fol-
lower to reduce the torque tension
between the master and the follower.
Continues on next page
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2.4.4.2 Using the service routine to tune a torque follower
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 follower axis. This delta
value is then used to adjust the fine calibration of the follower axis.
Illustration
Action
Tap Temp. position delta .
1
Type a number (degrees on motor side)
that will be added to the position refer-
ence for the follower axis.
2
Test which value results in the lowest
torque tension and make a fine calibra-
tion of the master axis. This will update
the follower axis with the current position
delta.
3
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2.4.4.2 Using the service routine to tune a torque follower
Continued
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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 done. After that, there is no
need for any tuning of the torque follower.
Opening the tune torque follower menu
Illustration
Action
Start the service routine (as described
by the first steps in Start service routine
on page 70 ).
1
Tap Menu 2 .
2
Tap on the name of the follower axis to
tune.
3
Use the tune torque follower menu as
described below.
4
Tuning the torque distribution
Use this procedure to change the distribution of torque between the master and
the follower axis.
Illustration
Action
Tap Torque distribution .
1
Type a number (between 0 and 1) for the
follower’s share of the total torque.
2
For example, 0.3 will result in 30% of the
torque on the follower and 70% on the
master.
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 position accuracy reduction
Use this procedure to set the position accuracy reduction of the torque follower
axis.
Illustration
Action
Tap Position accuracy reduction .
1
Type a number for reduced position ac-
curacy.
2
0 means no position accuracy reduction.
10 -30 is typically used for a torque fol-
lower to reduce the torque tension
between the master and the follower.
Continues on next page
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2 RobotWare-OS
2.4.4.2 Using the service routine to tune a torque follower
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 follower axis. This delta
value is then used to adjust the fine calibration of the follower axis.
Illustration
Action
Tap Temp. position delta .
1
Type a number (degrees on motor side)
that will be added to the position refer-
ence for the follower axis.
2
Test which value results in the lowest
torque tension and make a fine calibra-
tion of the master axis. This will update
the follower axis with the current position
delta.
3
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2.4.4.2 Using the service routine to tune a torque follower
Continued
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
the service routine.
Data descriptions
Description
Data variable
A name for the follower axis that will be displayed on the FlexPendant.
l_f_axis_name
String array with 5 elements, one for each follower axis. If you only have
one linked motor, use only the first element.
The name of the mechanical unit for the follower axis. Refers to the system
parameter Name in the type Mechanical Unit .
l_f_mecunt_n
String array with 5 elements, one for each follower axis. If you only have
one linked motor, use only the first element.
Defines which axis in the mechanical unit (l_f_mecunt_n) is the follower
axis.
l_f_axis_no
Num array with 5 elements, one for each follower axis. If you only have
one linked motor, use only the first element.
The name of the mechanical unit for the master axis. Refers to the system
parameter Name in the type Mechanical Unit .
l_m_mecunt_n
String array with 5 elements, one for each master axis. If you only have
one linked motor, use only the first element.
Defines which axis in the mechanical unit ( l_m_mecunt_n ) is the master
axis.
l_m_axis_no
Num array with 5 elements, one for each master axis. If you only have
one linked motor, use only the first element.
Defines the range where the AUTO function in the service program reset
the follower axis. offset_ratio defines this range as a multiple of the
range where the follower automatically follow the master (defined with
the parameter Max Follow Offset ).
offset_ratio
If the follower has a position error that is larger than Max Follower Offset
* offset_ratio , the follower must be reset manually. For more informa-
tion, see Reset follower axis on page 74 .
Defines the speed of the follower axis when controlled by the service
program. The values are given as a part of the maximum allowed manual
speed (that is, the value 0.5 means half the max manual speed).
speed_ratio
Num array with 20 elements. Elements 1-5 define the speed "very slow"
for each follower axis. Elements 6-10 define "slow", elements 11-15 define
"normal" and elements 16-20 define "fast". If you only have one linked
motor, use only elements 1, 6, 11 and 16.
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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 follower axis. This delta
value is then used to adjust the fine calibration of the follower axis.
Illustration
Action
Tap Temp. position delta .
1
Type a number (degrees on motor side)
that will be added to the position refer-
ence for the follower axis.
2
Test which value results in the lowest
torque tension and make a fine calibra-
tion of the master axis. This will update
the follower axis with the current position
delta.
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2.4.4.2 Using the service routine to tune a torque follower
Continued
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
the service routine.
Data descriptions
Description
Data variable
A name for the follower axis that will be displayed on the FlexPendant.
l_f_axis_name
String array with 5 elements, one for each follower axis. If you only have
one linked motor, use only the first element.
The name of the mechanical unit for the follower axis. Refers to the system
parameter Name in the type Mechanical Unit .
l_f_mecunt_n
String array with 5 elements, one for each follower axis. If you only have
one linked motor, use only the first element.
Defines which axis in the mechanical unit (l_f_mecunt_n) is the follower
axis.
l_f_axis_no
Num array with 5 elements, one for each follower axis. If you only have
one linked motor, use only the first element.
The name of the mechanical unit for the master axis. Refers to the system
parameter Name in the type Mechanical Unit .
l_m_mecunt_n
String array with 5 elements, one for each master axis. If you only have
one linked motor, use only the first element.
Defines which axis in the mechanical unit ( l_m_mecunt_n ) is the master
axis.
l_m_axis_no
Num array with 5 elements, one for each master axis. If you only have
one linked motor, use only the first element.
Defines the range where the AUTO function in the service program reset
the follower axis. offset_ratio defines this range as a multiple of the
range where the follower automatically follow the master (defined with
the parameter Max Follow Offset ).
offset_ratio
If the follower has a position error that is larger than Max Follower Offset
* offset_ratio , the follower must be reset manually. For more informa-
tion, see Reset follower axis on page 74 .
Defines the speed of the follower axis when controlled by the service
program. The values are given as a part of the maximum allowed manual
speed (that is, the value 0.5 means half the max manual speed).
speed_ratio
Num array with 20 elements. Elements 1-5 define the speed "very slow"
for each follower axis. Elements 6-10 define "slow", elements 11-15 define
"normal" and elements 16-20 define "fast". If you only have one linked
motor, use only elements 1, 6, 11 and 16.
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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. Elements 1-5 define the displacement "very
short" for each follower axis. Elements 6-10 define "short", elements 11-
15 define "normal" and elements 16-20 define "long". If you only have one
linked motor, use only elements 1, 6, 11 and 16.
Edit data variables
This is a description of how to set values for the data variables from the
FlexPendant.
Action
Step
In the ABB menu, select Program Data .
1
Select string and tap Show Data .
2
Select l_f_axis_name and tap Edit Value .
3
Tap the first element.
4
Tap the line to edit it.
5
Enter the name you want to give your first follower axis.
6
If you have more than one follower axis, repeat step 4-6 for the next elements.
7
Repeat step 3-7 for l_f_mecunt_n and l_m_mecunt_n .
8
In the Program Data menu, select num and repeat step 3-7 for l_f_axis_no ,
l_m_axis_no , offset_ratio , speed_ratio and displacement .
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2.4.5.1 Set up data for the service routine
Continued
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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
the service routine.
Data descriptions
Description
Data variable
A name for the follower axis that will be displayed on the FlexPendant.
l_f_axis_name
String array with 5 elements, one for each follower axis. If you only have
one linked motor, use only the first element.
The name of the mechanical unit for the follower axis. Refers to the system
parameter Name in the type Mechanical Unit .
l_f_mecunt_n
String array with 5 elements, one for each follower axis. If you only have
one linked motor, use only the first element.
Defines which axis in the mechanical unit (l_f_mecunt_n) is the follower
axis.
l_f_axis_no
Num array with 5 elements, one for each follower axis. If you only have
one linked motor, use only the first element.
The name of the mechanical unit for the master axis. Refers to the system
parameter Name in the type Mechanical Unit .
l_m_mecunt_n
String array with 5 elements, one for each master axis. If you only have
one linked motor, use only the first element.
Defines which axis in the mechanical unit ( l_m_mecunt_n ) is the master
axis.
l_m_axis_no
Num array with 5 elements, one for each master axis. If you only have
one linked motor, use only the first element.
Defines the range where the AUTO function in the service program reset
the follower axis. offset_ratio defines this range as a multiple of the
range where the follower automatically follow the master (defined with
the parameter Max Follow Offset ).
offset_ratio
If the follower has a position error that is larger than Max Follower Offset
* offset_ratio , the follower must be reset manually. For more informa-
tion, see Reset follower axis on page 74 .
Defines the speed of the follower axis when controlled by the service
program. The values are given as a part of the maximum allowed manual
speed (that is, the value 0.5 means half the max manual speed).
speed_ratio
Num array with 20 elements. Elements 1-5 define the speed "very slow"
for each follower axis. Elements 6-10 define "slow", elements 11-15 define
"normal" and elements 16-20 define "fast". If you only have one linked
motor, use only elements 1, 6, 11 and 16.
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2.4.5.1 Set up data for the service routine
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. Elements 1-5 define the displacement "very
short" for each follower axis. Elements 6-10 define "short", elements 11-
15 define "normal" and elements 16-20 define "long". If you only have one
linked motor, use only elements 1, 6, 11 and 16.
Edit data variables
This is a description of how to set values for the data variables from the
FlexPendant.
Action
Step
In the ABB menu, select Program Data .
1
Select string and tap Show Data .
2
Select l_f_axis_name and tap Edit Value .
3
Tap the first element.
4
Tap the line to edit it.
5
Enter the name you want to give your first follower axis.
6
If you have more than one follower axis, repeat step 4-6 for the next elements.
7
Repeat step 3-7 for l_f_mecunt_n and l_m_mecunt_n .
8
In the Program Data menu, select num and repeat step 3-7 for l_f_axis_no ,
l_m_axis_no , offset_ratio , speed_ratio and displacement .
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2.4.5.1 Set up data for the service routine
Continued
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 l_f_axis_name
Represented axis
{1}: "follow_external"
Follower 1
{2}: "follow_axis6"
Follower 2
{3}: ""
Follower 3
{4}: ""
Follower 4
{5}: ""
Follower 5
l_f_mecunt_n
Element and value in l_f_mecunt_n
Represented axis
{1}: "M8DM1"
Follower 1
{2}: "M9DM1"
Follower 2
{3}: ""
Follower 3
{4}: ""
Follower 4
{5}: ""
Follower 5
l_f_axis_no
Element and value in l_f_axis_no
Represented axis
{1}: 1
Follower 1
{2}: 1
Follower 2
{3}: 0
Follower 3
{4}: 0
Follower 4
{5}: 0
Follower 5
l_m_mecunt_n
Element and value in l_m_mecunt_n
Represented axis
{1}: "M7DM1"
Master 1
{2}: "rob1"
Master 2
{3}: ""
Master 3
{4}: ""
Master 4
{5}: ""
Master 5
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2.4.5.2 Example of data setup
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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. Elements 1-5 define the displacement "very
short" for each follower axis. Elements 6-10 define "short", elements 11-
15 define "normal" and elements 16-20 define "long". If you only have one
linked motor, use only elements 1, 6, 11 and 16.
Edit data variables
This is a description of how to set values for the data variables from the
FlexPendant.
Action
Step
In the ABB menu, select Program Data .
1
Select string and tap Show Data .
2
Select l_f_axis_name and tap Edit Value .
3
Tap the first element.
4
Tap the line to edit it.
5
Enter the name you want to give your first follower axis.
6
If you have more than one follower axis, repeat step 4-6 for the next elements.
7
Repeat step 3-7 for l_f_mecunt_n and l_m_mecunt_n .
8
In the Program Data menu, select num and repeat step 3-7 for l_f_axis_no ,
l_m_axis_no , offset_ratio , speed_ratio and displacement .
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2.4.5.1 Set up data for the service routine
Continued
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 l_f_axis_name
Represented axis
{1}: "follow_external"
Follower 1
{2}: "follow_axis6"
Follower 2
{3}: ""
Follower 3
{4}: ""
Follower 4
{5}: ""
Follower 5
l_f_mecunt_n
Element and value in l_f_mecunt_n
Represented axis
{1}: "M8DM1"
Follower 1
{2}: "M9DM1"
Follower 2
{3}: ""
Follower 3
{4}: ""
Follower 4
{5}: ""
Follower 5
l_f_axis_no
Element and value in l_f_axis_no
Represented axis
{1}: 1
Follower 1
{2}: 1
Follower 2
{3}: 0
Follower 3
{4}: 0
Follower 4
{5}: 0
Follower 5
l_m_mecunt_n
Element and value in l_m_mecunt_n
Represented axis
{1}: "M7DM1"
Master 1
{2}: "rob1"
Master 2
{3}: ""
Master 3
{4}: ""
Master 4
{5}: ""
Master 5
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2.4.5.2 Example of data setup
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
normal
slow
very slow
Represented axis
{16}: 1
{11}: 0.2
{6}: 0.05
{1}: 0.01
Follower 1
{17}: 1
{12}: 0.2
{7}: 0.05
{2}: 0.01
Follower 2
{18}: 0
{13}: 0
{8}: 0
{3}: 0
Follower 3
{19}: 0
{14}: 0
{9}: 0
{4}: 0
Follower 4
{20}: 0
{15}: 0
{10}: 0
{5}: 0
Follower 5
displacement
long
normal
short
very short
Represented axis
{16}: 0.1
{11}: 0.02
{6}: 0.005
{1}: 0.001
Follower 1
{17}: 10
{12}: 1
{7}: 0.1
{2}: 0.01
Follower 2
{18}: 0
{13}: 0
{8}: 0
{3}: 0
Follower 3
{19}: 0
{14}: 0
{9}: 0
{4}: 0
Follower 4
{20}: 0
{15}: 0
{10}: 0
{5}: 0
Follower 5
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2.4.5.2 Example of data setup
Continued
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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 l_f_axis_name
Represented axis
{1}: "follow_external"
Follower 1
{2}: "follow_axis6"
Follower 2
{3}: ""
Follower 3
{4}: ""
Follower 4
{5}: ""
Follower 5
l_f_mecunt_n
Element and value in l_f_mecunt_n
Represented axis
{1}: "M8DM1"
Follower 1
{2}: "M9DM1"
Follower 2
{3}: ""
Follower 3
{4}: ""
Follower 4
{5}: ""
Follower 5
l_f_axis_no
Element and value in l_f_axis_no
Represented axis
{1}: 1
Follower 1
{2}: 1
Follower 2
{3}: 0
Follower 3
{4}: 0
Follower 4
{5}: 0
Follower 5
l_m_mecunt_n
Element and value in l_m_mecunt_n
Represented axis
{1}: "M7DM1"
Master 1
{2}: "rob1"
Master 2
{3}: ""
Master 3
{4}: ""
Master 4
{5}: ""
Master 5
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2.4.5.2 Example of data setup
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
normal
slow
very slow
Represented axis
{16}: 1
{11}: 0.2
{6}: 0.05
{1}: 0.01
Follower 1
{17}: 1
{12}: 0.2
{7}: 0.05
{2}: 0.01
Follower 2
{18}: 0
{13}: 0
{8}: 0
{3}: 0
Follower 3
{19}: 0
{14}: 0
{9}: 0
{4}: 0
Follower 4
{20}: 0
{15}: 0
{10}: 0
{5}: 0
Follower 5
displacement
long
normal
short
very short
Represented axis
{16}: 0.1
{11}: 0.02
{6}: 0.005
{1}: 0.001
Follower 1
{17}: 10
{12}: 1
{7}: 0.1
{2}: 0.01
Follower 2
{18}: 0
{13}: 0
{8}: 0
{3}: 0
Follower 3
{19}: 0
{14}: 0
{9}: 0
{4}: 0
Follower 4
{20}: 0
{15}: 0
{10}: 0
{5}: 0
Follower 5
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2.4.5.2 Example of data setup
Continued
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. If a move instruction is
called with the zone argument set to a distance (for example z20 ), the next routine
may be executed before the TCP is even close to the target. This is because there
is always a delay between the execution of RAPID instructions and the robot
movements.
Calling the move instruction with zone set to fine will slow down the movements.
With Fixed Position Events, a routine can be executed when the TCP is at a
specified position anywhere on the TCP path without slowing down the movement.
What is included
The RobotWare base functionality Fixed Position Events gives you access to:
•
instructions used to define a position event
•
instructions for moving the robot and executing the position event at the
same time
•
instructions for moving the robot and calling a procedure while passing the
target, without first defining a position event
Basic approach
Fixed Position Events can either be used with one simplified instruction calling a
procedure or it can be set up following these general steps. For more detailed
examples of how this is done, see Code examples on page 86 .
1
Declare the position event.
2
Define the position event:
•
when it shall occur, compared to the target position
•
what it shall do
3
Call a move instruction that uses the position event. When the TCP is as
close to the target as defined, the event will occur.
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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
normal
slow
very slow
Represented axis
{16}: 1
{11}: 0.2
{6}: 0.05
{1}: 0.01
Follower 1
{17}: 1
{12}: 0.2
{7}: 0.05
{2}: 0.01
Follower 2
{18}: 0
{13}: 0
{8}: 0
{3}: 0
Follower 3
{19}: 0
{14}: 0
{9}: 0
{4}: 0
Follower 4
{20}: 0
{15}: 0
{10}: 0
{5}: 0
Follower 5
displacement
long
normal
short
very short
Represented axis
{16}: 0.1
{11}: 0.02
{6}: 0.005
{1}: 0.001
Follower 1
{17}: 10
{12}: 1
{7}: 0.1
{2}: 0.01
Follower 2
{18}: 0
{13}: 0
{8}: 0
{3}: 0
Follower 3
{19}: 0
{14}: 0
{9}: 0
{4}: 0
Follower 4
{20}: 0
{15}: 0
{10}: 0
{5}: 0
Follower 5
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2.4.5.2 Example of data setup
Continued
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. If a move instruction is
called with the zone argument set to a distance (for example z20 ), the next routine
may be executed before the TCP is even close to the target. This is because there
is always a delay between the execution of RAPID instructions and the robot
movements.
Calling the move instruction with zone set to fine will slow down the movements.
With Fixed Position Events, a routine can be executed when the TCP is at a
specified position anywhere on the TCP path without slowing down the movement.
What is included
The RobotWare base functionality Fixed Position Events gives you access to:
•
instructions used to define a position event
•
instructions for moving the robot and executing the position event at the
same time
•
instructions for moving the robot and calling a procedure while passing the
target, without first defining a position event
Basic approach
Fixed Position Events can either be used with one simplified instruction calling a
procedure or it can be set up following these general steps. For more detailed
examples of how this is done, see Code examples on page 86 .
1
Declare the position event.
2
Define the position event:
•
when it shall occur, compared to the target position
•
what it shall do
3
Call a move instruction that uses the position event. When the TCP is as
close to the target as defined, the event will occur.
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2.5.1 Overview
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 a position event.
triggdata
A position event can take the form of setting an output signal or run-
ning an interrupt routine at a specific position along the movement
path of the robot.
triggdata also contains information on when the action shall occur,
for example when the TCP is at a defined distance from the target.
triggdata is a non-value data type.
triggios is used to store data about a position event used by the
instruction TriggLIOs .
triggios
triggios sets the value of an output signal using a num value.
triggiosdnum is used to store data about a position event used by
the instruction TriggLIOs .
triggiosdnum
triggiosdnum sets the value of an output signal using a dnum value.
triggstrgo is used to store data about a position event used by the
instruction TriggLIOs .
triggstrgo
triggstrgo sets the value of an output signal using a stringdig
value (string containing a number).
Instructions
This is a brief description of each instruction in Fixed Position Events. For more
information, see the respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
MoveLSync is a linear move instruction that calls a procedure in the
middle of the corner path.
MoveLSync
MoveCSync is a circular move instruction that calls a procedure in
the middle of the corner path.
MoveCSync
MoveJSync is a joint move instruction that calls a procedure in the
middle of the corner path.
MoveJSync
TriggIO defines the setting of an output signal and when to set that
signal. The definition is stored in a variable of type triggdata .
TriggIO
TriggIO can define the setting of the signal to occur at a certain
distance (in mm) from the target, or a certain time from the target. It
is also possible to set the signal at a defined distance or time from
the starting position.
By setting the distance to 0 (zero), the signal will be set when the TCP
is as close to the target as it gets (the middle of the corner path).
TriggEquip works like TriggIO , with the difference that TriggEquip
can compensate for the internal delay of the external equipment.
TriggEquip
For example, the signal to a glue gun must be set a short time before
the glue is pressed out and the gluing begins.
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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. If a move instruction is
called with the zone argument set to a distance (for example z20 ), the next routine
may be executed before the TCP is even close to the target. This is because there
is always a delay between the execution of RAPID instructions and the robot
movements.
Calling the move instruction with zone set to fine will slow down the movements.
With Fixed Position Events, a routine can be executed when the TCP is at a
specified position anywhere on the TCP path without slowing down the movement.
What is included
The RobotWare base functionality Fixed Position Events gives you access to:
•
instructions used to define a position event
•
instructions for moving the robot and executing the position event at the
same time
•
instructions for moving the robot and calling a procedure while passing the
target, without first defining a position event
Basic approach
Fixed Position Events can either be used with one simplified instruction calling a
procedure or it can be set up following these general steps. For more detailed
examples of how this is done, see Code examples on page 86 .
1
Declare the position event.
2
Define the position event:
•
when it shall occur, compared to the target position
•
what it shall do
3
Call a move instruction that uses the position event. When the TCP is as
close to the target as defined, the event will occur.
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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 a position event.
triggdata
A position event can take the form of setting an output signal or run-
ning an interrupt routine at a specific position along the movement
path of the robot.
triggdata also contains information on when the action shall occur,
for example when the TCP is at a defined distance from the target.
triggdata is a non-value data type.
triggios is used to store data about a position event used by the
instruction TriggLIOs .
triggios
triggios sets the value of an output signal using a num value.
triggiosdnum is used to store data about a position event used by
the instruction TriggLIOs .
triggiosdnum
triggiosdnum sets the value of an output signal using a dnum value.
triggstrgo is used to store data about a position event used by the
instruction TriggLIOs .
triggstrgo
triggstrgo sets the value of an output signal using a stringdig
value (string containing a number).
Instructions
This is a brief description of each instruction in Fixed Position Events. For more
information, see the respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
MoveLSync is a linear move instruction that calls a procedure in the
middle of the corner path.
MoveLSync
MoveCSync is a circular move instruction that calls a procedure in
the middle of the corner path.
MoveCSync
MoveJSync is a joint move instruction that calls a procedure in the
middle of the corner path.
MoveJSync
TriggIO defines the setting of an output signal and when to set that
signal. The definition is stored in a variable of type triggdata .
TriggIO
TriggIO can define the setting of the signal to occur at a certain
distance (in mm) from the target, or a certain time from the target. It
is also possible to set the signal at a defined distance or time from
the starting position.
By setting the distance to 0 (zero), the signal will be set when the TCP
is as close to the target as it gets (the middle of the corner path).
TriggEquip works like TriggIO , with the difference that TriggEquip
can compensate for the internal delay of the external equipment.
TriggEquip
For example, the signal to a glue gun must be set a short time before
the glue is pressed out and the gluing begins.
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2.5.2 RAPID components and system parameters
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 interrupt will occur when the TCP is as
close to the target as it gets (the middle of the corner path).
TriggCheckIO defines a test of an input or output signal, and when
to perform that test. The definition is stored in a variable of type
triggdata .
TriggCheckIO
TriggCheckIO defines a test, comparing an input or output signal
with a value. If the test fails, an interrupt routine is called. As an option
the robot movement can be stopped when the interrupt occurs.
TriggCheckIO can define the test to occur at a certain distance (in
mm) from the target, or a certain time from the target. It is also possible
to perform the test at a defined distance or time from the starting po-
sition.
By setting the distance to 0 (zero), the interrupt routine will be called
when the TCP is as close to the target as it gets (the middle of the
corner path).
TriggRampAO defines the ramping up or down of an analog output
signal and when this ramping is performed. The definition is stored
in a variable of type triggdata .
TriggRampAO
TriggRampIO defines where the ramping of the signal is to start and
the length of the ramping.
TriggL is a move instruction, similar to MoveL . In addition to the
movement the TriggL instruction can set output signals, run interrupt
routines and check input or output signals at fixed positions.
TriggL
TriggL executes up to 8 position events stored as triggdata . These
must be defined before calling TriggL .
TriggC is a move instruction, similar to MoveC . In addition to the
movement the TriggC instruction can set output signals, run interrupt
routines and check input or output signals at fixed positions.
TriggC
TriggC executes up to 8 position events stored as triggdata . These
must be defined before calling TriggC .
TriggJ is a move instruction, similar to MoveJ . In addition to the
movement the TriggJ instruction can set output signals, run interrupt
routines and check input or output signals at fixed positions.
TriggJ
TriggJ executes up to 8 position events stored as triggdata . These
must be defined before calling TriggJ .
TriggLIOs is a move instruction, similar to MoveL . In addition to the
movement the TriggLIOs instruction can set output signals at fixed
positions.
TriggLIOs
TriggLIOs is similar to the combination of TriggEquip and TriggL .
The difference is that TriggLIOs can handle up to 50 position events
stored as an array of datatype triggios , triggiosdnum , or
triggstrgo .
Functions
Fixed Position Events includes no RAPID functions.
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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 a position event.
triggdata
A position event can take the form of setting an output signal or run-
ning an interrupt routine at a specific position along the movement
path of the robot.
triggdata also contains information on when the action shall occur,
for example when the TCP is at a defined distance from the target.
triggdata is a non-value data type.
triggios is used to store data about a position event used by the
instruction TriggLIOs .
triggios
triggios sets the value of an output signal using a num value.
triggiosdnum is used to store data about a position event used by
the instruction TriggLIOs .
triggiosdnum
triggiosdnum sets the value of an output signal using a dnum value.
triggstrgo is used to store data about a position event used by the
instruction TriggLIOs .
triggstrgo
triggstrgo sets the value of an output signal using a stringdig
value (string containing a number).
Instructions
This is a brief description of each instruction in Fixed Position Events. For more
information, see the respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
MoveLSync is a linear move instruction that calls a procedure in the
middle of the corner path.
MoveLSync
MoveCSync is a circular move instruction that calls a procedure in
the middle of the corner path.
MoveCSync
MoveJSync is a joint move instruction that calls a procedure in the
middle of the corner path.
MoveJSync
TriggIO defines the setting of an output signal and when to set that
signal. The definition is stored in a variable of type triggdata .
TriggIO
TriggIO can define the setting of the signal to occur at a certain
distance (in mm) from the target, or a certain time from the target. It
is also possible to set the signal at a defined distance or time from
the starting position.
By setting the distance to 0 (zero), the signal will be set when the TCP
is as close to the target as it gets (the middle of the corner path).
TriggEquip works like TriggIO , with the difference that TriggEquip
can compensate for the internal delay of the external equipment.
TriggEquip
For example, the signal to a glue gun must be set a short time before
the glue is pressed out and the gluing begins.
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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 interrupt will occur when the TCP is as
close to the target as it gets (the middle of the corner path).
TriggCheckIO defines a test of an input or output signal, and when
to perform that test. The definition is stored in a variable of type
triggdata .
TriggCheckIO
TriggCheckIO defines a test, comparing an input or output signal
with a value. If the test fails, an interrupt routine is called. As an option
the robot movement can be stopped when the interrupt occurs.
TriggCheckIO can define the test to occur at a certain distance (in
mm) from the target, or a certain time from the target. It is also possible
to perform the test at a defined distance or time from the starting po-
sition.
By setting the distance to 0 (zero), the interrupt routine will be called
when the TCP is as close to the target as it gets (the middle of the
corner path).
TriggRampAO defines the ramping up or down of an analog output
signal and when this ramping is performed. The definition is stored
in a variable of type triggdata .
TriggRampAO
TriggRampIO defines where the ramping of the signal is to start and
the length of the ramping.
TriggL is a move instruction, similar to MoveL . In addition to the
movement the TriggL instruction can set output signals, run interrupt
routines and check input or output signals at fixed positions.
TriggL
TriggL executes up to 8 position events stored as triggdata . These
must be defined before calling TriggL .
TriggC is a move instruction, similar to MoveC . In addition to the
movement the TriggC instruction can set output signals, run interrupt
routines and check input or output signals at fixed positions.
TriggC
TriggC executes up to 8 position events stored as triggdata . These
must be defined before calling TriggC .
TriggJ is a move instruction, similar to MoveJ . In addition to the
movement the TriggJ instruction can set output signals, run interrupt
routines and check input or output signals at fixed positions.
TriggJ
TriggJ executes up to 8 position events stored as triggdata . These
must be defined before calling TriggJ .
TriggLIOs is a move instruction, similar to MoveL . In addition to the
movement the TriggLIOs instruction can set output signals at fixed
positions.
TriggLIOs
TriggLIOs is similar to the combination of TriggEquip and TriggL .
The difference is that TriggLIOs can handle up to 50 position events
stored as an array of datatype triggios , triggiosdnum , or
triggstrgo .
Functions
Fixed Position Events includes no RAPID functions.
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Continued
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 about 70 ms. If the delay of
the equipment is longer than 70 ms, then the delay of the robot
movement can be increased by configuring Event preset time .
Event Preset Time
Event preset time belongs to the type Motion System in the topic
Motion .
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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 interrupt will occur when the TCP is as
close to the target as it gets (the middle of the corner path).
TriggCheckIO defines a test of an input or output signal, and when
to perform that test. The definition is stored in a variable of type
triggdata .
TriggCheckIO
TriggCheckIO defines a test, comparing an input or output signal
with a value. If the test fails, an interrupt routine is called. As an option
the robot movement can be stopped when the interrupt occurs.
TriggCheckIO can define the test to occur at a certain distance (in
mm) from the target, or a certain time from the target. It is also possible
to perform the test at a defined distance or time from the starting po-
sition.
By setting the distance to 0 (zero), the interrupt routine will be called
when the TCP is as close to the target as it gets (the middle of the
corner path).
TriggRampAO defines the ramping up or down of an analog output
signal and when this ramping is performed. The definition is stored
in a variable of type triggdata .
TriggRampAO
TriggRampIO defines where the ramping of the signal is to start and
the length of the ramping.
TriggL is a move instruction, similar to MoveL . In addition to the
movement the TriggL instruction can set output signals, run interrupt
routines and check input or output signals at fixed positions.
TriggL
TriggL executes up to 8 position events stored as triggdata . These
must be defined before calling TriggL .
TriggC is a move instruction, similar to MoveC . In addition to the
movement the TriggC instruction can set output signals, run interrupt
routines and check input or output signals at fixed positions.
TriggC
TriggC executes up to 8 position events stored as triggdata . These
must be defined before calling TriggC .
TriggJ is a move instruction, similar to MoveJ . In addition to the
movement the TriggJ instruction can set output signals, run interrupt
routines and check input or output signals at fixed positions.
TriggJ
TriggJ executes up to 8 position events stored as triggdata . These
must be defined before calling TriggJ .
TriggLIOs is a move instruction, similar to MoveL . In addition to the
movement the TriggLIOs instruction can set output signals at fixed
positions.
TriggLIOs
TriggLIOs is similar to the combination of TriggEquip and TriggL .
The difference is that TriggLIOs can handle up to 50 position events
stored as an array of datatype triggios , triggiosdnum , or
triggstrgo .
Functions
Fixed Position Events includes no RAPID functions.
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Continued
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 about 70 ms. If the delay of
the equipment is longer than 70 ms, then the delay of the robot
movement can be increased by configuring Event preset time .
Event Preset Time
Event preset time belongs to the type Motion System in the topic
Motion .
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Continued
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 the
robot path is delayed compared to instruction execution, do1 is set when the TCP
is at the position marked with X (see illustration).
xx0300000151
Example with TriggIO and TriggL instructions
Setting the output signal 30 mm from the target can be arranged by defining the
position event and then moving the robot while the system is executing the position
event.
VAR triggdata do_set;
!Define that do1 shall be set when 30 mm from target
TriggIO do_set, 30 \DOp:=do1, 1;
MoveJ p1, vmax, fine, tool1;
!Move to p2 and let system execute do_set
TriggL p2, v1000, do_set, z20, tool1;
MoveL p3, v1000, fine, tool1;
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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 about 70 ms. If the delay of
the equipment is longer than 70 ms, then the delay of the robot
movement can be increased by configuring Event preset time .
Event Preset Time
Event preset time belongs to the type Motion System in the topic
Motion .
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2.5.2 RAPID components and system parameters
Continued
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 the
robot path is delayed compared to instruction execution, do1 is set when the TCP
is at the position marked with X (see illustration).
xx0300000151
Example with TriggIO and TriggL instructions
Setting the output signal 30 mm from the target can be arranged by defining the
position event and then moving the robot while the system is executing the position
event.
VAR triggdata do_set;
!Define that do1 shall be set when 30 mm from target
TriggIO do_set, 30 \DOp:=do1, 1;
MoveJ p1, vmax, fine, tool1;
!Move to p2 and let system execute do_set
TriggL p2, v1000, do_set, z20, tool1;
MoveL p3, v1000, fine, tool1;
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2.5.3 Code examples
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 p1, vmax, fine, tool1;
!Move to p2 while calling a procedure
MoveLSync p2, v1000, z20, tool1, "proc1";
MoveL p3, v1000, fine, tool1;
Result
The procedure will be called when the TCP is at the position marked with X (see
illustration).
xx0300000165
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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 the
robot path is delayed compared to instruction execution, do1 is set when the TCP
is at the position marked with X (see illustration).
xx0300000151
Example with TriggIO and TriggL instructions
Setting the output signal 30 mm from the target can be arranged by defining the
position event and then moving the robot while the system is executing the position
event.
VAR triggdata do_set;
!Define that do1 shall be set when 30 mm from target
TriggIO do_set, 30 \DOp:=do1, 1;
MoveJ p1, vmax, fine, tool1;
!Move to p2 and let system execute do_set
TriggL p2, v1000, do_set, z20, tool1;
MoveL p3, v1000, fine, tool1;
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2.5.3 Code examples
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 p1, vmax, fine, tool1;
!Move to p2 while calling a procedure
MoveLSync p2, v1000, z20, tool1, "proc1";
MoveL p3, v1000, fine, tool1;
Result
The procedure will be called when the TCP is at the position marked with X (see
illustration).
xx0300000165
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Continued
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 code reader.
•
Writing production statistics to a log file or to a printer.
•
Transferring data between the robot and a PC.
The functionality for file and I/O device handling can be divided into groups:
Description
Functionality group
Basic communication functionality. Communication
with binary or character based files or I/O devices.
Binary and character based commu-
nication
Data packed in a container. Especially intended for
fieldbus communication.
Raw data communication
Browsing and editing of file structures.
File and directory management
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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 p1, vmax, fine, tool1;
!Move to p2 while calling a procedure
MoveLSync p2, v1000, z20, tool1, "proc1";
MoveL p3, v1000, fine, tool1;
Result
The procedure will be called when the TCP is at the position marked with X (see
illustration).
xx0300000165
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2.5.3 Code examples
Continued
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 code reader.
•
Writing production statistics to a log file or to a printer.
•
Transferring data between the robot and a PC.
The functionality for file and I/O device handling can be divided into groups:
Description
Functionality group
Basic communication functionality. Communication
with binary or character based files or I/O devices.
Binary and character based commu-
nication
Data packed in a container. Especially intended for
fieldbus communication.
Raw data communication
Browsing and editing of file structures.
File and directory management
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2.6.1 Introduction to file and I/O device handling
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 gives you access
to:
•
instructions for manipulations of a file or I/O device
•
instructions for writing to file or I/O device
•
instruction for reading from file or I/O device
•
functions for reading from file or I/O device.
Basic approach
This is the general approach for using binary and character based communication.
For a more detailed example of how this is done, see Code examples on page 91 .
1
Open a file or I/O device.
2
Read or write to the file or I/O device.
3
Close the file or I/O device.
Limitations
Access to files and I/O devices cannot be performed from different RAPID tasks
simultaneously. Such an access is performed by all instruction in binary and
character based communication, as well as WriteRawBytes and ReadRawBytes .
E.g. if a ReadBin instruction is executed in one task, it must be ready before a
WriteRawBytes can execute in another task.
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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 code reader.
•
Writing production statistics to a log file or to a printer.
•
Transferring data between the robot and a PC.
The functionality for file and I/O device handling can be divided into groups:
Description
Functionality group
Basic communication functionality. Communication
with binary or character based files or I/O devices.
Binary and character based commu-
nication
Data packed in a container. Especially intended for
fieldbus communication.
Raw data communication
Browsing and editing of file structures.
File and directory management
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2.6.1 Introduction to file and I/O device handling
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 gives you access
to:
•
instructions for manipulations of a file or I/O device
•
instructions for writing to file or I/O device
•
instruction for reading from file or I/O device
•
functions for reading from file or I/O device.
Basic approach
This is the general approach for using binary and character based communication.
For a more detailed example of how this is done, see Code examples on page 91 .
1
Open a file or I/O device.
2
Read or write to the file or I/O device.
3
Close the file or I/O device.
Limitations
Access to files and I/O devices cannot be performed from different RAPID tasks
simultaneously. Such an access is performed by all instruction in binary and
character based communication, as well as WriteRawBytes and ReadRawBytes .
E.g. if a ReadBin instruction is executed in one task, it must be ready before a
WriteRawBytes can execute in another task.
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2.6.2.1 Overview
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 file or I/O device. It can be linked to the
physical unit with the instruction Open and then used for reading and
writing.
iodev
Instructions
This is a brief description of each instruction used for binary and character based
communication. For more information, see the respective instruction in Technical
reference manual - RAPID Instructions, Functions and Data types .
Description
Instruction
Open is used to open a file or I/O device for reading or writing.
Open
Close is used to close a file or I/O device.
Close
Rewind sets the file position to the beginning of the file.
Rewind
ClearIOBuff is used to clear the input buffer of a serial channel. All
buffered characters from the input serial channel are discarded.
ClearIOBuff
Write is used to write to a character based file or I/O device.
Write
WriteBin is used to write a number of bytes to a binary I/O device or
file.
WriteBin
WriteStrBin is used to write a string to a binary I/O device or file.
WriteStrBin
WriteAnyBin is used to write any type of data to a binary I/O device or
file.
WriteAnyBin
ReadAnyBin is used to read any type of data from a binary I/O device
or file.
ReadAnyBin
Functions
This is a brief description of each function used for binary and character based
communication. For more information, see the respective instruction in Technical
reference manual - RAPID Instructions, Functions and Data types .
Description
Function
ReadNum is used to read a number from a character based file or I/O device.
ReadNum
ReadStr is used to read a string from a character based file or I/O device.
ReadStr
ReadBin is used to read a byte (8 bits) from a file or I/O device. This function
works on both binary and character based files or I/O devices.
ReadBin
ReadStrBin is used to read a string from a binary I/O device or file.
ReadStrBin
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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 gives you access
to:
•
instructions for manipulations of a file or I/O device
•
instructions for writing to file or I/O device
•
instruction for reading from file or I/O device
•
functions for reading from file or I/O device.
Basic approach
This is the general approach for using binary and character based communication.
For a more detailed example of how this is done, see Code examples on page 91 .
1
Open a file or I/O device.
2
Read or write to the file or I/O device.
3
Close the file or I/O device.
Limitations
Access to files and I/O devices cannot be performed from different RAPID tasks
simultaneously. Such an access is performed by all instruction in binary and
character based communication, as well as WriteRawBytes and ReadRawBytes .
E.g. if a ReadBin instruction is executed in one task, it must be ready before a
WriteRawBytes can execute in another task.
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2.6.2.1 Overview
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 file or I/O device. It can be linked to the
physical unit with the instruction Open and then used for reading and
writing.
iodev
Instructions
This is a brief description of each instruction used for binary and character based
communication. For more information, see the respective instruction in Technical
reference manual - RAPID Instructions, Functions and Data types .
Description
Instruction
Open is used to open a file or I/O device for reading or writing.
Open
Close is used to close a file or I/O device.
Close
Rewind sets the file position to the beginning of the file.
Rewind
ClearIOBuff is used to clear the input buffer of a serial channel. All
buffered characters from the input serial channel are discarded.
ClearIOBuff
Write is used to write to a character based file or I/O device.
Write
WriteBin is used to write a number of bytes to a binary I/O device or
file.
WriteBin
WriteStrBin is used to write a string to a binary I/O device or file.
WriteStrBin
WriteAnyBin is used to write any type of data to a binary I/O device or
file.
WriteAnyBin
ReadAnyBin is used to read any type of data from a binary I/O device
or file.
ReadAnyBin
Functions
This is a brief description of each function used for binary and character based
communication. For more information, see the respective instruction in Technical
reference manual - RAPID Instructions, Functions and Data types .
Description
Function
ReadNum is used to read a number from a character based file or I/O device.
ReadNum
ReadStr is used to read a string from a character based file or I/O device.
ReadStr
ReadBin is used to read a byte (8 bits) from a file or I/O device. This function
works on both binary and character based files or I/O devices.
ReadBin
ReadStrBin is used to read a string from a binary I/O device or file.
ReadStrBin
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2.6.2.2 RAPID components
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 write_to_file()
VAR iodev file;
VAR num number:= 8;
Open "HOME:" \File:= "FILE1.DOC", file;
Write file, "The number is :"\Num:=number;
Close file;
ENDPROC
PROC read_from_file()
VAR iodev file;
VAR num number;
VAR string text;
Open "HOME:" \File:= "FILE1.DOC", file \Read;
TPWrite ReadStr(file);
Rewind file;
text := ReadStr(file\Delim:=":");
number := ReadNum(file);
Close file;
TPWrite text \Num:=number;
ENDPROC
Communication with binary file
In this example, the string "Hello", the current robot position and the string "Hi" is
written to the binary file.
PROC write_bin_chan()
VAR iodev file1;
VAR num out_buffer{20};
VAR num input;
VAR robtarget target;
Open "HOME:" \File:= "FILE1.DOC", file1 \Bin;
! Write control character enq
out_buffer{1} := 5;
WriteBin file1, out_buffer, 1;
! Wait for control character ack
input := ReadBin (file1 \Time:= 0.1);
IF input = 6 THEN
! Write "Hello" followed by new line
WriteStrBin file1, "Hello\0A";
Continues on next page
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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 file or I/O device. It can be linked to the
physical unit with the instruction Open and then used for reading and
writing.
iodev
Instructions
This is a brief description of each instruction used for binary and character based
communication. For more information, see the respective instruction in Technical
reference manual - RAPID Instructions, Functions and Data types .
Description
Instruction
Open is used to open a file or I/O device for reading or writing.
Open
Close is used to close a file or I/O device.
Close
Rewind sets the file position to the beginning of the file.
Rewind
ClearIOBuff is used to clear the input buffer of a serial channel. All
buffered characters from the input serial channel are discarded.
ClearIOBuff
Write is used to write to a character based file or I/O device.
Write
WriteBin is used to write a number of bytes to a binary I/O device or
file.
WriteBin
WriteStrBin is used to write a string to a binary I/O device or file.
WriteStrBin
WriteAnyBin is used to write any type of data to a binary I/O device or
file.
WriteAnyBin
ReadAnyBin is used to read any type of data from a binary I/O device
or file.
ReadAnyBin
Functions
This is a brief description of each function used for binary and character based
communication. For more information, see the respective instruction in Technical
reference manual - RAPID Instructions, Functions and Data types .
Description
Function
ReadNum is used to read a number from a character based file or I/O device.
ReadNum
ReadStr is used to read a string from a character based file or I/O device.
ReadStr
ReadBin is used to read a byte (8 bits) from a file or I/O device. This function
works on both binary and character based files or I/O devices.
ReadBin
ReadStrBin is used to read a string from a binary I/O device or file.
ReadStrBin
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2.6.2.2 RAPID components
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 write_to_file()
VAR iodev file;
VAR num number:= 8;
Open "HOME:" \File:= "FILE1.DOC", file;
Write file, "The number is :"\Num:=number;
Close file;
ENDPROC
PROC read_from_file()
VAR iodev file;
VAR num number;
VAR string text;
Open "HOME:" \File:= "FILE1.DOC", file \Read;
TPWrite ReadStr(file);
Rewind file;
text := ReadStr(file\Delim:=":");
number := ReadNum(file);
Close file;
TPWrite text \Num:=number;
ENDPROC
Communication with binary file
In this example, the string "Hello", the current robot position and the string "Hi" is
written to the binary file.
PROC write_bin_chan()
VAR iodev file1;
VAR num out_buffer{20};
VAR num input;
VAR robtarget target;
Open "HOME:" \File:= "FILE1.DOC", file1 \Bin;
! Write control character enq
out_buffer{1} := 5;
WriteBin file1, out_buffer, 1;
! Wait for control character ack
input := ReadBin (file1 \Time:= 0.1);
IF input = 6 THEN
! Write "Hello" followed by new line
WriteStrBin file1, "Hello\0A";
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2.6.2.3 Code examples
! 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_buffer{4} := 10;
! Set end text character (3=end text)
out_buffer{5} := 3;
! Write the buffer with the line "Hi"
! to the file
WriteBin file1, out_buffer, 5;
ENDIF
Close file1;
ENDPROC
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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 write_to_file()
VAR iodev file;
VAR num number:= 8;
Open "HOME:" \File:= "FILE1.DOC", file;
Write file, "The number is :"\Num:=number;
Close file;
ENDPROC
PROC read_from_file()
VAR iodev file;
VAR num number;
VAR string text;
Open "HOME:" \File:= "FILE1.DOC", file \Read;
TPWrite ReadStr(file);
Rewind file;
text := ReadStr(file\Delim:=":");
number := ReadNum(file);
Close file;
TPWrite text \Num:=number;
ENDPROC
Communication with binary file
In this example, the string "Hello", the current robot position and the string "Hi" is
written to the binary file.
PROC write_bin_chan()
VAR iodev file1;
VAR num out_buffer{20};
VAR num input;
VAR robtarget target;
Open "HOME:" \File:= "FILE1.DOC", file1 \Bin;
! Write control character enq
out_buffer{1} := 5;
WriteBin file1, out_buffer, 1;
! Wait for control character ack
input := ReadBin (file1 \Time:= 0.1);
IF input = 6 THEN
! Write "Hello" followed by new line
WriteStrBin file1, "Hello\0A";
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2.6.2.3 Code examples
! 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_buffer{4} := 10;
! Set end text character (3=end text)
out_buffer{5} := 3;
! Write the buffer with the line "Hi"
! to the file
WriteBin file1, out_buffer, 5;
ENDIF
Close file1;
ENDPROC
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Continued
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 raw data communication, RobotWare gives you access to:
•
instructions used for handling the contents of a rawbytes variable
•
instructions for reading and writing raw data
•
a function to get the valid data length of a rawbytes variable.
Basic approach
This is the general approach for raw data communication. For a more detailed
example of how this is done, see Write and read rawbytes on page 95 .
1
Pack data into a rawbytes variable (data of type num , byte or string ).
2
Write the rawbytes variable to a file or I/O device.
3
Read a rawbytes variable from a file or I/O device.
4
Unpack the rawbytes variable to num , byte or string .
Limitations
Device command communication also require the base functionality Device
Command Interface and the option for the industrial network in question.
Access to files and I/O devices cannot be performed from different RAPID tasks
simultaneously. Such an access is performed by all instruction in binary and
character based communication, as well as WriteRawBytes and ReadRawBytes .
For example, if a ReadBin instruction is executed in one task, then it must be ready
before a WriteRawBytes instruction can execute in another task.
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! 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_buffer{4} := 10;
! Set end text character (3=end text)
out_buffer{5} := 3;
! Write the buffer with the line "Hi"
! to the file
WriteBin file1, out_buffer, 5;
ENDIF
Close file1;
ENDPROC
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Continued
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 raw data communication, RobotWare gives you access to:
•
instructions used for handling the contents of a rawbytes variable
•
instructions for reading and writing raw data
•
a function to get the valid data length of a rawbytes variable.
Basic approach
This is the general approach for raw data communication. For a more detailed
example of how this is done, see Write and read rawbytes on page 95 .
1
Pack data into a rawbytes variable (data of type num , byte or string ).
2
Write the rawbytes variable to a file or I/O device.
3
Read a rawbytes variable from a file or I/O device.
4
Unpack the rawbytes variable to num , byte or string .
Limitations
Device command communication also require the base functionality Device
Command Interface and the option for the industrial network in question.
Access to files and I/O devices cannot be performed from different RAPID tasks
simultaneously. Such an access is performed by all instruction in binary and
character based communication, as well as WriteRawBytes and ReadRawBytes .
For example, if a ReadBin instruction is executed in one task, then it must be ready
before a WriteRawBytes instruction can execute in another task.
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2.6.3.1 Overview
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 can be filled with any
data of types num , byte , or string . It also stores the length of the
valid data (in bytes).
rawbytes
rawbytes can contain up to 1024 bytes of data. The supported data
formats are listed in the instruction PackRawBytes , in Technical refer-
ence manual - RAPID Instructions, Functions and Data types .
Instructions
This is a brief description of each instruction used for raw data communication.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
ClearRawBytes is used to set all the contents of a rawbytes variable
to 0. The length of the valid data in the rawbytes variable is set to 0.
ClearRawBytes
ClearRawBytes can also be used to clear only the last part of a
rawbytes variable.
PackRawBytes is used to pack the contents of variables of type num ,
byte or string into a variable of type rawbytes .
PackRawBytes
UnpackRawBytes is used to unpack the contents of a variable of type
rawbytes to variables of type byte , num or string .
UnpackRawBytes
CopyRawBytes is used to copy all or part of the contents from one
rawbytes variable to another.
CopyRawBytes
WriteRawBytes is used to write data of type rawbytes to any binary
file or I/O device.
WriteRawBytes
ReadRawBytes is used to read data of type rawbytes from any binary
file or I/O device.
ReadRawBytes
Functions
This is a brief description of each function used for raw data communication. For
more information, see the respective function in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Function
RawBytesLen is used to get the valid data length in a rawbytes vari-
able.
RawBytesLen
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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 raw data communication, RobotWare gives you access to:
•
instructions used for handling the contents of a rawbytes variable
•
instructions for reading and writing raw data
•
a function to get the valid data length of a rawbytes variable.
Basic approach
This is the general approach for raw data communication. For a more detailed
example of how this is done, see Write and read rawbytes on page 95 .
1
Pack data into a rawbytes variable (data of type num , byte or string ).
2
Write the rawbytes variable to a file or I/O device.
3
Read a rawbytes variable from a file or I/O device.
4
Unpack the rawbytes variable to num , byte or string .
Limitations
Device command communication also require the base functionality Device
Command Interface and the option for the industrial network in question.
Access to files and I/O devices cannot be performed from different RAPID tasks
simultaneously. Such an access is performed by all instruction in binary and
character based communication, as well as WriteRawBytes and ReadRawBytes .
For example, if a ReadBin instruction is executed in one task, then it must be ready
before a WriteRawBytes instruction can execute in another task.
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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 can be filled with any
data of types num , byte , or string . It also stores the length of the
valid data (in bytes).
rawbytes
rawbytes can contain up to 1024 bytes of data. The supported data
formats are listed in the instruction PackRawBytes , in Technical refer-
ence manual - RAPID Instructions, Functions and Data types .
Instructions
This is a brief description of each instruction used for raw data communication.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
ClearRawBytes is used to set all the contents of a rawbytes variable
to 0. The length of the valid data in the rawbytes variable is set to 0.
ClearRawBytes
ClearRawBytes can also be used to clear only the last part of a
rawbytes variable.
PackRawBytes is used to pack the contents of variables of type num ,
byte or string into a variable of type rawbytes .
PackRawBytes
UnpackRawBytes is used to unpack the contents of a variable of type
rawbytes to variables of type byte , num or string .
UnpackRawBytes
CopyRawBytes is used to copy all or part of the contents from one
rawbytes variable to another.
CopyRawBytes
WriteRawBytes is used to write data of type rawbytes to any binary
file or I/O device.
WriteRawBytes
ReadRawBytes is used to read data of type rawbytes from any binary
file or I/O device.
ReadRawBytes
Functions
This is a brief description of each function used for raw data communication. For
more information, see the respective function in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Function
RawBytesLen is used to get the valid data length in a rawbytes vari-
able.
RawBytesLen
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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 variable and write it to a
device. It also shows how to read and unpack a rawbytes variable.
VAR iodev io_device;
VAR rawbytes raw_data;
PROC write_rawbytes()
VAR num length := 0.2;
VAR string length_unit := "meters";
! Empty contents of raw_data
ClearRawBytes raw_data;
! Add contents of length as a 4 byte float
PackRawBytes length, raw_data,(RawBytesLen(raw_data)+1) \Float4;
! Add the string length_unit
PackRawBytes length_unit, raw_data,(RawBytesLen(raw_data)+1)
\ASCII;
Open "HOME:" \File:= "FILE1.DOC", io_device \Bin;
! Write the contents of raw_data to io_device
WriteRawBytes io_device, raw_data;
Close io_device;
ENDPROC
PROC read_rawbytes()
VAR string answer;
! Empty contents of raw_data
ClearRawBytes raw_data;
Open "HOME:" \File:= "FILE1.DOC", io_device \Bin;
! Read from io_device into raw_data
ReadRawBytes io_device, raw_data \Time:=1;
Close io_device;
! Unpack raw_data to the string answer
Continues on next page
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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 can be filled with any
data of types num , byte , or string . It also stores the length of the
valid data (in bytes).
rawbytes
rawbytes can contain up to 1024 bytes of data. The supported data
formats are listed in the instruction PackRawBytes , in Technical refer-
ence manual - RAPID Instructions, Functions and Data types .
Instructions
This is a brief description of each instruction used for raw data communication.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
ClearRawBytes is used to set all the contents of a rawbytes variable
to 0. The length of the valid data in the rawbytes variable is set to 0.
ClearRawBytes
ClearRawBytes can also be used to clear only the last part of a
rawbytes variable.
PackRawBytes is used to pack the contents of variables of type num ,
byte or string into a variable of type rawbytes .
PackRawBytes
UnpackRawBytes is used to unpack the contents of a variable of type
rawbytes to variables of type byte , num or string .
UnpackRawBytes
CopyRawBytes is used to copy all or part of the contents from one
rawbytes variable to another.
CopyRawBytes
WriteRawBytes is used to write data of type rawbytes to any binary
file or I/O device.
WriteRawBytes
ReadRawBytes is used to read data of type rawbytes from any binary
file or I/O device.
ReadRawBytes
Functions
This is a brief description of each function used for raw data communication. For
more information, see the respective function in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Function
RawBytesLen is used to get the valid data length in a rawbytes vari-
able.
RawBytesLen
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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 variable and write it to a
device. It also shows how to read and unpack a rawbytes variable.
VAR iodev io_device;
VAR rawbytes raw_data;
PROC write_rawbytes()
VAR num length := 0.2;
VAR string length_unit := "meters";
! Empty contents of raw_data
ClearRawBytes raw_data;
! Add contents of length as a 4 byte float
PackRawBytes length, raw_data,(RawBytesLen(raw_data)+1) \Float4;
! Add the string length_unit
PackRawBytes length_unit, raw_data,(RawBytesLen(raw_data)+1)
\ASCII;
Open "HOME:" \File:= "FILE1.DOC", io_device \Bin;
! Write the contents of raw_data to io_device
WriteRawBytes io_device, raw_data;
Close io_device;
ENDPROC
PROC read_rawbytes()
VAR string answer;
! Empty contents of raw_data
ClearRawBytes raw_data;
Open "HOME:" \File:= "FILE1.DOC", io_device \Bin;
! Read from io_device into raw_data
ReadRawBytes io_device, raw_data \Time:=1;
Close io_device;
! Unpack raw_data to the string answer
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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, 1 \Float4;
PackRawBytes my_unit, raw_data_2, 1 \ASCII;
! Copy all data from raw_data_1 to raw_data_3
CopyRawBytes raw_data_1, 1, raw_data_3, 1;
! Append all data from raw_data_2 to raw_data_3
CopyRawBytes raw_data_2, 1, raw_data_3,(RawBytesLen(raw_data_3)+1);
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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 variable and write it to a
device. It also shows how to read and unpack a rawbytes variable.
VAR iodev io_device;
VAR rawbytes raw_data;
PROC write_rawbytes()
VAR num length := 0.2;
VAR string length_unit := "meters";
! Empty contents of raw_data
ClearRawBytes raw_data;
! Add contents of length as a 4 byte float
PackRawBytes length, raw_data,(RawBytesLen(raw_data)+1) \Float4;
! Add the string length_unit
PackRawBytes length_unit, raw_data,(RawBytesLen(raw_data)+1)
\ASCII;
Open "HOME:" \File:= "FILE1.DOC", io_device \Bin;
! Write the contents of raw_data to io_device
WriteRawBytes io_device, raw_data;
Close io_device;
ENDPROC
PROC read_rawbytes()
VAR string answer;
! Empty contents of raw_data
ClearRawBytes raw_data;
Open "HOME:" \File:= "FILE1.DOC", io_device \Bin;
! Read from io_device into raw_data
ReadRawBytes io_device, raw_data \Time:=1;
Close io_device;
! Unpack raw_data to the string answer
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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, 1 \Float4;
PackRawBytes my_unit, raw_data_2, 1 \ASCII;
! Copy all data from raw_data_1 to raw_data_3
CopyRawBytes raw_data_1, 1, raw_data_3, 1;
! Append all data from raw_data_2 to raw_data_3
CopyRawBytes raw_data_2, 1, raw_data_3,(RawBytesLen(raw_data_3)+1);
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Continued
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 function for reading directories
•
instructions for handling files on a file structure level
•
functions to retrieve size and type information.
Basic approach
This is the general approach for file and directory management. For more detailed
examples of how this is done, see Code examples on page 99 .
1
Open a directory.
2
Read from the directory and search until you find what you are looking for.
3
Close the directory.
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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, 1 \Float4;
PackRawBytes my_unit, raw_data_2, 1 \ASCII;
! Copy all data from raw_data_1 to raw_data_3
CopyRawBytes raw_data_1, 1, raw_data_3, 1;
! Append all data from raw_data_2 to raw_data_3
CopyRawBytes raw_data_2, 1, raw_data_3,(RawBytesLen(raw_data_3)+1);
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Continued
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 function for reading directories
•
instructions for handling files on a file structure level
•
functions to retrieve size and type information.
Basic approach
This is the general approach for file and directory management. For more detailed
examples of how this is done, see Code examples on page 99 .
1
Open a directory.
2
Read from the directory and search until you find what you are looking for.
3
Close the directory.
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2.6.4.1 Overview
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 disk or network. It can be linked
to the physical directory with the instruction OpenDir .
dir
Instructions
This is a brief description of each instruction used for file and directory management.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
OpenDir is used to open a directory.
OpenDir
CloseDir is used to close a directory.
CloseDir
MakeDir is used to create a new directory.
MakeDir
RemoveDir is used to remove an empty directory.
RemoveDir
CopyFile is used to make a copy of an existing file.
CopyFile
RenameFile is used to give a new name to an existing file. It can also be
used to move a file from one place to another in the directory structure.
RenameFile
RemoveFile is used to remove a file.
RemoveFile
Functions
This is a brief description of each function used for file and directory management.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Function
ReadDir is used to retrieve the name of the next file or subdirectory under
a directory that has been opened with the instruction OpenDir .
ReadDir
Note that the first items read by ReadDir are . (full stop character) and ..
(double full stop characters) symbolizing the current directory and its parent
directory.
FileSize is used to retrieve the size (in bytes) of the specified file.
FileSize
FSSize (File System Size) is used to retrieve the size (in bytes) of the file
system in which a specified file resides. FSSize can either retrieve the total
size or the free size of the system.
FSSize
IsFile test if the specified file is of the specified type. It can also be used
to test if the file exist at all.
IsFile
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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 function for reading directories
•
instructions for handling files on a file structure level
•
functions to retrieve size and type information.
Basic approach
This is the general approach for file and directory management. For more detailed
examples of how this is done, see Code examples on page 99 .
1
Open a directory.
2
Read from the directory and search until you find what you are looking for.
3
Close the directory.
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2.6.4.1 Overview
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 disk or network. It can be linked
to the physical directory with the instruction OpenDir .
dir
Instructions
This is a brief description of each instruction used for file and directory management.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
OpenDir is used to open a directory.
OpenDir
CloseDir is used to close a directory.
CloseDir
MakeDir is used to create a new directory.
MakeDir
RemoveDir is used to remove an empty directory.
RemoveDir
CopyFile is used to make a copy of an existing file.
CopyFile
RenameFile is used to give a new name to an existing file. It can also be
used to move a file from one place to another in the directory structure.
RenameFile
RemoveFile is used to remove a file.
RemoveFile
Functions
This is a brief description of each function used for file and directory management.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Function
ReadDir is used to retrieve the name of the next file or subdirectory under
a directory that has been opened with the instruction OpenDir .
ReadDir
Note that the first items read by ReadDir are . (full stop character) and ..
(double full stop characters) symbolizing the current directory and its parent
directory.
FileSize is used to retrieve the size (in bytes) of the specified file.
FileSize
FSSize (File System Size) is used to retrieve the size (in bytes) of the file
system in which a specified file resides. FSSize can either retrieve the total
size or the free size of the system.
FSSize
IsFile test if the specified file is of the specified type. It can also be used
to test if the file exist at all.
IsFile
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2.6.4.2 RAPID components
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 directory
OpenDir directory, dirname;
! Loop though the files in the directory
WHILE ReadDir(directory, filename) DO
IF (filename <> "." AND filename <> ".." THEN
TPWrite filename;
ENDIF
ENDWHILE
! Close the directory
CloseDir directory;
ENDIF
ENDPROC
Move file to new directory
This is an example where a new directory is created, a file renamed and moved to
the new directory and the old directory is removed.
VAR dir directory;
VAR string filename;
! Create the directory newdir
MakeDir "HOME:/newdir";
! Rename and move the file
RenameFile "HOME:/olddir/myfile", "HOME:/newdir/yourfile";
! Remove all files in olddir
OpenDir directory, "HOME:/olddir";
WHILE ReadDir(directory, filename) DO
IF (filename <> "." AND filename <> ".." THEN
RemoveFile "HOME:/olddir/" + filename;
ENDIF
ENDWHILE
CloseDir directory;
! Remove the directory olddir (which must be empty)
RemoveDir "HOME:/olddir";
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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 disk or network. It can be linked
to the physical directory with the instruction OpenDir .
dir
Instructions
This is a brief description of each instruction used for file and directory management.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
OpenDir is used to open a directory.
OpenDir
CloseDir is used to close a directory.
CloseDir
MakeDir is used to create a new directory.
MakeDir
RemoveDir is used to remove an empty directory.
RemoveDir
CopyFile is used to make a copy of an existing file.
CopyFile
RenameFile is used to give a new name to an existing file. It can also be
used to move a file from one place to another in the directory structure.
RenameFile
RemoveFile is used to remove a file.
RemoveFile
Functions
This is a brief description of each function used for file and directory management.
For more information, see the respective instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Function
ReadDir is used to retrieve the name of the next file or subdirectory under
a directory that has been opened with the instruction OpenDir .
ReadDir
Note that the first items read by ReadDir are . (full stop character) and ..
(double full stop characters) symbolizing the current directory and its parent
directory.
FileSize is used to retrieve the size (in bytes) of the specified file.
FileSize
FSSize (File System Size) is used to retrieve the size (in bytes) of the file
system in which a specified file resides. FSSize can either retrieve the total
size or the free size of the system.
FSSize
IsFile test if the specified file is of the specified type. It can also be used
to test if the file exist at all.
IsFile
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2.6.4.2 RAPID components
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 directory
OpenDir directory, dirname;
! Loop though the files in the directory
WHILE ReadDir(directory, filename) DO
IF (filename <> "." AND filename <> ".." THEN
TPWrite filename;
ENDIF
ENDWHILE
! Close the directory
CloseDir directory;
ENDIF
ENDPROC
Move file to new directory
This is an example where a new directory is created, a file renamed and moved to
the new directory and the old directory is removed.
VAR dir directory;
VAR string filename;
! Create the directory newdir
MakeDir "HOME:/newdir";
! Rename and move the file
RenameFile "HOME:/olddir/myfile", "HOME:/newdir/yourfile";
! Remove all files in olddir
OpenDir directory, "HOME:/olddir";
WHILE ReadDir(directory, filename) DO
IF (filename <> "." AND filename <> ".." THEN
RemoveFile "HOME:/olddir/" + filename;
ENDIF
ENDWHILE
CloseDir directory;
! Remove the directory olddir (which must be empty)
RemoveDir "HOME:/olddir";
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2.6.4.3 Code examples
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("HOME:/myfile" \Free);
! Copy file if enough space free
IF f_size < freefsyssize THEN
CopyFile "HOME:/myfile", "HOME:/yourfile";
ENDIF
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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 directory
OpenDir directory, dirname;
! Loop though the files in the directory
WHILE ReadDir(directory, filename) DO
IF (filename <> "." AND filename <> ".." THEN
TPWrite filename;
ENDIF
ENDWHILE
! Close the directory
CloseDir directory;
ENDIF
ENDPROC
Move file to new directory
This is an example where a new directory is created, a file renamed and moved to
the new directory and the old directory is removed.
VAR dir directory;
VAR string filename;
! Create the directory newdir
MakeDir "HOME:/newdir";
! Rename and move the file
RenameFile "HOME:/olddir/myfile", "HOME:/newdir/yourfile";
! Remove all files in olddir
OpenDir directory, "HOME:/olddir";
WHILE ReadDir(directory, filename) DO
IF (filename <> "." AND filename <> ".." THEN
RemoveFile "HOME:/olddir/" + filename;
ENDIF
ENDWHILE
CloseDir directory;
! Remove the directory olddir (which must be empty)
RemoveDir "HOME:/olddir";
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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("HOME:/myfile" \Free);
! Copy file if enough space free
IF f_size < freefsyssize THEN
CopyFile "HOME:/myfile", "HOME:/yourfile";
ENDIF
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Continued
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 base functionality Device Command Interface gives you access
to:
•
Instruction used to create a DeviceNet header.
Basic approach
This is the general approach for using Device Command Interface. For a more
detailed example of how this is done, see Write rawbytes to DeviceNet on page103 .
1
Add a DeviceNet header to a rawbytes variable.
2
Add the data to the rawbytes variable.
3
Write the rawbytes variable to the DeviceNet I/O.
4
Read data from the DeviceNet I/O to a rawbytes variable.
5
Extract the data from the rawbytes variable.
Limitations
Device command communication require the option for the industrial network in
question.
Device Command Interface is supported by the following type of industrial networks:
•
DeviceNet
•
EtherNet/IP
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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("HOME:/myfile" \Free);
! Copy file if enough space free
IF f_size < freefsyssize THEN
CopyFile "HOME:/myfile", "HOME:/yourfile";
ENDIF
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Continued
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 base functionality Device Command Interface gives you access
to:
•
Instruction used to create a DeviceNet header.
Basic approach
This is the general approach for using Device Command Interface. For a more
detailed example of how this is done, see Write rawbytes to DeviceNet on page103 .
1
Add a DeviceNet header to a rawbytes variable.
2
Add the data to the rawbytes variable.
3
Write the rawbytes variable to the DeviceNet I/O.
4
Read data from the DeviceNet I/O to a rawbytes variable.
5
Extract the data from the rawbytes variable.
Limitations
Device command communication require the option for the industrial network in
question.
Device Command Interface is supported by the following type of industrial networks:
•
DeviceNet
•
EtherNet/IP
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2.7.1 Introduction to Device Command Interface
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, Functions and Data types .
Description
Instruction
PackDNHeader adds a DeviceNet header to a rawbytes variable. The
header specifies a service to be done (e.g. set or get) and a parameter
on a DeviceNet I/O device.
PackDNHeader
Functions
There are no RAPID functions for Device Command Interface.
System parameters
There are no specific system parameters in Device Command Interface. For
information on system parameters in general, see Technical reference
manual - System parameters .
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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 base functionality Device Command Interface gives you access
to:
•
Instruction used to create a DeviceNet header.
Basic approach
This is the general approach for using Device Command Interface. For a more
detailed example of how this is done, see Write rawbytes to DeviceNet on page103 .
1
Add a DeviceNet header to a rawbytes variable.
2
Add the data to the rawbytes variable.
3
Write the rawbytes variable to the DeviceNet I/O.
4
Read data from the DeviceNet I/O to a rawbytes variable.
5
Extract the data from the rawbytes variable.
Limitations
Device command communication require the option for the industrial network in
question.
Device Command Interface is supported by the following type of industrial networks:
•
DeviceNet
•
EtherNet/IP
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2.7.1 Introduction to Device Command Interface
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, Functions and Data types .
Description
Instruction
PackDNHeader adds a DeviceNet header to a rawbytes variable. The
header specifies a service to be done (e.g. set or get) and a parameter
on a DeviceNet I/O device.
PackDNHeader
Functions
There are no RAPID functions for Device Command Interface.
System parameters
There are no specific system parameters in Device Command Interface. For
information on system parameters in general, see Technical reference
manual - System parameters .
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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 input_int;
VAR byte return_status;
VAR byte return_info;
VAR byte return_errcode;
VAR byte return_errcode2;
! Empty contents of rawdata_out and rawdata_in
ClearRawBytes rawdata_out;
ClearRawBytes rawdata_in;
! Add DeviceNet header to rawdata_out with service
! "SET_ATTRIBUTE_SINGLE" and path to filter attribute on
! DeviceNet I/O device
PackDNHeader "10", "6,20 1D 24 01 30 64,8,1", rawdata_out;
! Add filter value to send to DeviceNet I/O device
input_int:= 5;
PackRawBytes input_int, rawdata_out,(RawBytesLen(rawdata_out) +
1) \IntX := USINT;
! Open I/O device
Open "/FCI1:" \File:="board328", dev \Bin;
! Write the contents of rawdata_out to the I/O device
WriteRawBytes dev, rawdata_out \NoOfBytes :=
RawBytesLen(rawdata_out);
! Read the answer from the I/O device
ReadRawBytes dev, rawdata_in;
! Close the I/O device
Close dev;
! Unpack rawdata_in to the variable return_status
UnpackRawBytes rawdata_in, 1, return_status \Hex1;
IF return_status = 144 THEN
TPWrite "Status OK from device. Status code:
"\Num:=return_status;
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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, Functions and Data types .
Description
Instruction
PackDNHeader adds a DeviceNet header to a rawbytes variable. The
header specifies a service to be done (e.g. set or get) and a parameter
on a DeviceNet I/O device.
PackDNHeader
Functions
There are no RAPID functions for Device Command Interface.
System parameters
There are no specific system parameters in Device Command Interface. For
information on system parameters in general, see Technical reference
manual - System parameters .
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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 input_int;
VAR byte return_status;
VAR byte return_info;
VAR byte return_errcode;
VAR byte return_errcode2;
! Empty contents of rawdata_out and rawdata_in
ClearRawBytes rawdata_out;
ClearRawBytes rawdata_in;
! Add DeviceNet header to rawdata_out with service
! "SET_ATTRIBUTE_SINGLE" and path to filter attribute on
! DeviceNet I/O device
PackDNHeader "10", "6,20 1D 24 01 30 64,8,1", rawdata_out;
! Add filter value to send to DeviceNet I/O device
input_int:= 5;
PackRawBytes input_int, rawdata_out,(RawBytesLen(rawdata_out) +
1) \IntX := USINT;
! Open I/O device
Open "/FCI1:" \File:="board328", dev \Bin;
! Write the contents of rawdata_out to the I/O device
WriteRawBytes dev, rawdata_out \NoOfBytes :=
RawBytesLen(rawdata_out);
! Read the answer from the I/O device
ReadRawBytes dev, rawdata_in;
! Close the I/O device
Close dev;
! Unpack rawdata_in to the variable return_status
UnpackRawBytes rawdata_in, 1, return_status \Hex1;
IF return_status = 144 THEN
TPWrite "Status OK from device. Status code:
"\Num:=return_status;
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2.7.3 Code example
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
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2.7.3 Code example
Continued
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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 input_int;
VAR byte return_status;
VAR byte return_info;
VAR byte return_errcode;
VAR byte return_errcode2;
! Empty contents of rawdata_out and rawdata_in
ClearRawBytes rawdata_out;
ClearRawBytes rawdata_in;
! Add DeviceNet header to rawdata_out with service
! "SET_ATTRIBUTE_SINGLE" and path to filter attribute on
! DeviceNet I/O device
PackDNHeader "10", "6,20 1D 24 01 30 64,8,1", rawdata_out;
! Add filter value to send to DeviceNet I/O device
input_int:= 5;
PackRawBytes input_int, rawdata_out,(RawBytesLen(rawdata_out) +
1) \IntX := USINT;
! Open I/O device
Open "/FCI1:" \File:="board328", dev \Bin;
! Write the contents of rawdata_out to the I/O device
WriteRawBytes dev, rawdata_out \NoOfBytes :=
RawBytesLen(rawdata_out);
! Read the answer from the I/O device
ReadRawBytes dev, rawdata_in;
! Close the I/O device
Close dev;
! Unpack rawdata_in to the variable return_status
UnpackRawBytes rawdata_in, 1, return_status \Hex1;
IF return_status = 144 THEN
TPWrite "Status OK from device. Status code:
"\Num:=return_status;
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2.7.3 Code example
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
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2.7.3 Code example
Continued
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 functionality can
be compared to the one of a simple PLC.
By letting the I/O system handle logical operations with I/O signals, a lot of RAPID
code execution can be avoided. Logical Cross Connections can replace the process
of reading I/O signal values, calculate new values and writing the values to I/O
signals.
Here are some examples of applications:
•
Interrupt program execution when either of three input signals is set to 1.
•
Set an output signal to 1 when both of two input signals are set to 1.
Description
Logical Cross Connections are used to define the dependencies of an I/O signal
to other I/O signals. The logical operators AND, OR, and inverted signal values
can be used to configure more complex dependencies.
The I/O signals that constitute the logical expression (actor I/O signals) and the
I/O signal that is the result of the expression (resultant I/O signal) can be either
digital I/O signals (DO, DI) or group I/O signals (GO, GI).
What is included
Logical Cross Connections allows you to build logical expressions with up to 5
actor I/O signals and the logical operations AND, OR, and inverted signal values.
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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
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Continued
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 functionality can
be compared to the one of a simple PLC.
By letting the I/O system handle logical operations with I/O signals, a lot of RAPID
code execution can be avoided. Logical Cross Connections can replace the process
of reading I/O signal values, calculate new values and writing the values to I/O
signals.
Here are some examples of applications:
•
Interrupt program execution when either of three input signals is set to 1.
•
Set an output signal to 1 when both of two input signals are set to 1.
Description
Logical Cross Connections are used to define the dependencies of an I/O signal
to other I/O signals. The logical operators AND, OR, and inverted signal values
can be used to configure more complex dependencies.
The I/O signals that constitute the logical expression (actor I/O signals) and the
I/O signal that is the result of the expression (resultant I/O signal) can be either
digital I/O signals (DO, DI) or group I/O signals (GO, GI).
What is included
Logical Cross Connections allows you to build logical expressions with up to 5
actor I/O signals and the logical operations AND, OR, and inverted signal values.
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2.8.1 Introduction to Logical Cross Connections
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 .
Description
Parameter
Specifies the name of the cross connection.
Name
The I/O signal that receive the result of the cross connection as its new
value.
Resultant
The first I/O signal to be used in the evaluation of the Resultant .
Actor 1
If Invert actor 1 is set to Yes , then the inverted value of Actor 1 is used in
the evaluation of the Resultant .
Invert actor 1
Operand between Actor 1 and Actor 2 .
Operator 1
Can be either of the operands:
•
AND - Results in the value 1 if both input values are 1.
•
OR - Results in the value 1 if at least one of the input values are 1.
Note
The operators are calculated left to right ( Operator 1 first and Operator 4
last).
The second I/O signal (if more than one) to be used in the evaluation of the
Resultant .
Actor 2
If Invert actor 2 is set to Yes , then the inverted value of Actor 2 is used in
the evaluation of the Resultant .
Invert actor 2
Operand between Actor 2 and Actor 3 .
Operator 2
See Operator 1 .
The third I/O signal (if more than two) to be used in the evaluation of the
Resultant .
Actor 3
If Invert actor 3 is set to Yes , then the inverted value of Actor 3 is used in
the evaluation of the Resultant .
Invert actor 3
Operand between Actor 3 and Actor 4 .
Operator 3
See Operator 1 .
The fourth I/O signal (if more than three) to be used in the evaluation of the
Resultant .
Actor 4
If Invert actor 4 is set to Yes , then the inverted value of Actor 4 is used in
the evaluation of the Resultant .
Invert actor 4
Operand between Actor 4 and Actor 5 .
Operator 4
See Operator 1 .
The fifth I/O signal (if all five are used) to be used in the evaluation of the
Resultant .
Actor 5
If Invert actor 5 is set to Yes , then the inverted value of Actor 5 is used in
the evaluation of the Resultant .
Invert actor 5
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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 functionality can
be compared to the one of a simple PLC.
By letting the I/O system handle logical operations with I/O signals, a lot of RAPID
code execution can be avoided. Logical Cross Connections can replace the process
of reading I/O signal values, calculate new values and writing the values to I/O
signals.
Here are some examples of applications:
•
Interrupt program execution when either of three input signals is set to 1.
•
Set an output signal to 1 when both of two input signals are set to 1.
Description
Logical Cross Connections are used to define the dependencies of an I/O signal
to other I/O signals. The logical operators AND, OR, and inverted signal values
can be used to configure more complex dependencies.
The I/O signals that constitute the logical expression (actor I/O signals) and the
I/O signal that is the result of the expression (resultant I/O signal) can be either
digital I/O signals (DO, DI) or group I/O signals (GO, GI).
What is included
Logical Cross Connections allows you to build logical expressions with up to 5
actor I/O signals and the logical operations AND, OR, and inverted signal values.
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2.8.1 Introduction to Logical Cross Connections
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 .
Description
Parameter
Specifies the name of the cross connection.
Name
The I/O signal that receive the result of the cross connection as its new
value.
Resultant
The first I/O signal to be used in the evaluation of the Resultant .
Actor 1
If Invert actor 1 is set to Yes , then the inverted value of Actor 1 is used in
the evaluation of the Resultant .
Invert actor 1
Operand between Actor 1 and Actor 2 .
Operator 1
Can be either of the operands:
•
AND - Results in the value 1 if both input values are 1.
•
OR - Results in the value 1 if at least one of the input values are 1.
Note
The operators are calculated left to right ( Operator 1 first and Operator 4
last).
The second I/O signal (if more than one) to be used in the evaluation of the
Resultant .
Actor 2
If Invert actor 2 is set to Yes , then the inverted value of Actor 2 is used in
the evaluation of the Resultant .
Invert actor 2
Operand between Actor 2 and Actor 3 .
Operator 2
See Operator 1 .
The third I/O signal (if more than two) to be used in the evaluation of the
Resultant .
Actor 3
If Invert actor 3 is set to Yes , then the inverted value of Actor 3 is used in
the evaluation of the Resultant .
Invert actor 3
Operand between Actor 3 and Actor 4 .
Operator 3
See Operator 1 .
The fourth I/O signal (if more than three) to be used in the evaluation of the
Resultant .
Actor 4
If Invert actor 4 is set to Yes , then the inverted value of Actor 4 is used in
the evaluation of the Resultant .
Invert actor 4
Operand between Actor 4 and Actor 5 .
Operator 4
See Operator 1 .
The fifth I/O signal (if all five are used) to be used in the evaluation of the
Resultant .
Actor 5
If Invert actor 5 is set to Yes , then the inverted value of Actor 5 is used in
the evaluation of the Resultant .
Invert actor 5
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2.8.2 Configuring Logical Cross Connections
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 shown below.
Invert
actor 3
Actor
3
Operator 2
Invert
actor 2
Actor
2
Operator 1
Invert
actor 1
Actor
1
Resultant
No
do10
OR
No
do2
OR
No
di1
do26
Inverted signals
The following logical structure (where a ring symbolize an inverted signal)...
xx0300000460
... 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
Yes
do10
OR
No
do2
OR
Yes
di1
do26
Several resultants
The following logical structure can not be implemented with one cross connection...
xx0300000462
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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 .
Description
Parameter
Specifies the name of the cross connection.
Name
The I/O signal that receive the result of the cross connection as its new
value.
Resultant
The first I/O signal to be used in the evaluation of the Resultant .
Actor 1
If Invert actor 1 is set to Yes , then the inverted value of Actor 1 is used in
the evaluation of the Resultant .
Invert actor 1
Operand between Actor 1 and Actor 2 .
Operator 1
Can be either of the operands:
•
AND - Results in the value 1 if both input values are 1.
•
OR - Results in the value 1 if at least one of the input values are 1.
Note
The operators are calculated left to right ( Operator 1 first and Operator 4
last).
The second I/O signal (if more than one) to be used in the evaluation of the
Resultant .
Actor 2
If Invert actor 2 is set to Yes , then the inverted value of Actor 2 is used in
the evaluation of the Resultant .
Invert actor 2
Operand between Actor 2 and Actor 3 .
Operator 2
See Operator 1 .
The third I/O signal (if more than two) to be used in the evaluation of the
Resultant .
Actor 3
If Invert actor 3 is set to Yes , then the inverted value of Actor 3 is used in
the evaluation of the Resultant .
Invert actor 3
Operand between Actor 3 and Actor 4 .
Operator 3
See Operator 1 .
The fourth I/O signal (if more than three) to be used in the evaluation of the
Resultant .
Actor 4
If Invert actor 4 is set to Yes , then the inverted value of Actor 4 is used in
the evaluation of the Resultant .
Invert actor 4
Operand between Actor 4 and Actor 5 .
Operator 4
See Operator 1 .
The fifth I/O signal (if all five are used) to be used in the evaluation of the
Resultant .
Actor 5
If Invert actor 5 is set to Yes , then the inverted value of Actor 5 is used in
the evaluation of the Resultant .
Invert actor 5
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2 RobotWare-OS
2.8.2 Configuring Logical Cross Connections
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 shown below.
Invert
actor 3
Actor
3
Operator 2
Invert
actor 2
Actor
2
Operator 1
Invert
actor 1
Actor
1
Resultant
No
do10
OR
No
do2
OR
No
di1
do26
Inverted signals
The following logical structure (where a ring symbolize an inverted signal)...
xx0300000460
... 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
Yes
do10
OR
No
do2
OR
Yes
di1
do26
Several resultants
The following logical structure can not be implemented with one cross connection...
xx0300000462
Continues on next page
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2 RobotWare-OS
2.8.3 Examples
... 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
actor 3
Actor
3
Operator 2
Invert
actor 2
Actor 2
Operator 1
Invert
actor 1
Actor
1
Resultant
No
do3
AND
No
di2
do11
Yes
do3
AND
No
di12
do14
No
do3
AND
No
di13
di11
No
do3
AND
No
di13
do23
No
do3
AND
No
di13
do17
Yes
di11
OR
No
do14
OR
No
do11
do15
No
do23
AND
No
di11
do33
No
do3
AND
No
do17
do61
Yes
do33
OR
No
do15
do54
108
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2 RobotWare-OS
2.8.3 Examples
Continued
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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 shown below.
Invert
actor 3
Actor
3
Operator 2
Invert
actor 2
Actor
2
Operator 1
Invert
actor 1
Actor
1
Resultant
No
do10
OR
No
do2
OR
No
di1
do26
Inverted signals
The following logical structure (where a ring symbolize an inverted signal)...
xx0300000460
... 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
Yes
do10
OR
No
do2
OR
Yes
di1
do26
Several resultants
The following logical structure can not be implemented with one cross connection...
xx0300000462
Continues on next page
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2 RobotWare-OS
2.8.3 Examples
... 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
actor 3
Actor
3
Operator 2
Invert
actor 2
Actor 2
Operator 1
Invert
actor 1
Actor
1
Resultant
No
do3
AND
No
di2
do11
Yes
do3
AND
No
di12
do14
No
do3
AND
No
di13
di11
No
do3
AND
No
di13
do23
No
do3
AND
No
di13
do17
Yes
di11
OR
No
do14
OR
No
do11
do15
No
do23
AND
No
di11
do33
No
do3
AND
No
do17
do61
Yes
do33
OR
No
do15
do54
108
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2 RobotWare-OS
2.8.3 Examples
Continued
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 cross connection are of the same type (only AND or only
OR) the evaluation order has no significance. However, mixing AND and OR
operators, without considering the evaluation order, may give an unexpected result.
Tip
Use several cross connections instead of mixing AND and OR in the same cross
connection.
Maximum number of actor I/O signals
A cross connection may not have more than five actor I/O signals. If more actor
I/O signals are required, use several cross connections.
Maximum number of cross connections
The maximum number of cross connections handled by the robot system is 300.
Maximum depth
The maximum allowed depth of cross connection evaluations is 20.
A resultant from one cross connection can be used as an actor in another cross
connection. The resultant from that cross connection can in its turn be used as an
actor in the next cross connection. However, this type of chain of dependent cross
connections cannot be deeper than 20 steps.
Do not create a loop
Cross connections must not form closed chains since that would cause infinite
evaluation and oscillation. A closed chain appears when cross connections are
interlinked so that the chain of cross connections forms a circle.
Do not have the same resultant more than once
Ambiguous resultant I/O signals are not allowed since the outcome would depend
on the order of evaluation (which cannot be controlled). Ambiguous resultant I/O
signals occur when the same I/O signal is resultant in several cross connections.
Overlapping device maps
The resultant I/O signal in a cross connection must not have an overlapping device
map with any inverted actor I/O signals defined in the cross connection. Using I/O
signals with overlapping device map in a cross connection can cause infinity signal
setting loops.
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2.8.4 Limitations
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... 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
actor 3
Actor
3
Operator 2
Invert
actor 2
Actor 2
Operator 1
Invert
actor 1
Actor
1
Resultant
No
do3
AND
No
di2
do11
Yes
do3
AND
No
di12
do14
No
do3
AND
No
di13
di11
No
do3
AND
No
di13
do23
No
do3
AND
No
di13
do17
Yes
di11
OR
No
do14
OR
No
do11
do15
No
do23
AND
No
di11
do33
No
do3
AND
No
do17
do61
Yes
do33
OR
No
do15
do54
108
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2 RobotWare-OS
2.8.3 Examples
Continued
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 cross connection are of the same type (only AND or only
OR) the evaluation order has no significance. However, mixing AND and OR
operators, without considering the evaluation order, may give an unexpected result.
Tip
Use several cross connections instead of mixing AND and OR in the same cross
connection.
Maximum number of actor I/O signals
A cross connection may not have more than five actor I/O signals. If more actor
I/O signals are required, use several cross connections.
Maximum number of cross connections
The maximum number of cross connections handled by the robot system is 300.
Maximum depth
The maximum allowed depth of cross connection evaluations is 20.
A resultant from one cross connection can be used as an actor in another cross
connection. The resultant from that cross connection can in its turn be used as an
actor in the next cross connection. However, this type of chain of dependent cross
connections cannot be deeper than 20 steps.
Do not create a loop
Cross connections must not form closed chains since that would cause infinite
evaluation and oscillation. A closed chain appears when cross connections are
interlinked so that the chain of cross connections forms a circle.
Do not have the same resultant more than once
Ambiguous resultant I/O signals are not allowed since the outcome would depend
on the order of evaluation (which cannot be controlled). Ambiguous resultant I/O
signals occur when the same I/O signal is resultant in several cross connections.
Overlapping device maps
The resultant I/O signal in a cross connection must not have an overlapping device
map with any inverted actor I/O signals defined in the cross connection. Using I/O
signals with overlapping device map in a cross connection can cause infinity signal
setting loops.
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2 RobotWare-OS
2.8.4 Limitations
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 Service port of the controller.
Remote Service Box had provided service data collection and the external
connectivity (Wireless GPRS, 3G, or wired).
Connected Services is the software version of Remote Service Box inside
RobotWare.
Purpose
The primary purpose of Connected Services is to remove the need of external
hardware if the robot controller are connected to Internet by the customer on its
WAN port.
Connected Services is then available natively as a plug and connect solution in
RobotWare. The setup concept will be:
•
Provide internet connectivity to the controller.
•
Enable and register the connected controller to Connected Services.
An ABB 3G/4G/WiFi gateway or other external devices will be made available in
the future to use wireless connectivity.
What is included
The RobotWare base functionality Connected Services gives you access to:
•
a Connected Services Agent software to manage the connectivity and the
Service data collection.
•
System Parameters used to enable and configure the connectivity.
•
dedicated event logs for key events of Connected Services.
•
status and information pages available in System Info.
Prerequisites
The Connected Services function requires the controller to be defined in a Service
Agreement. Contact the local ABB Service to create a Service Agreement with the
Connected Services and get access to MyRobot website to perform the registration
after the connection.
Note
MyRobot is the ABB website which gives access to the Service information of a
Robot Controller under a Service Agreement.
Continues on next page
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2.9.1 Overview
|
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|
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| 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 cross connection are of the same type (only AND or only
OR) the evaluation order has no significance. However, mixing AND and OR
operators, without considering the evaluation order, may give an unexpected result.
Tip
Use several cross connections instead of mixing AND and OR in the same cross
connection.
Maximum number of actor I/O signals
A cross connection may not have more than five actor I/O signals. If more actor
I/O signals are required, use several cross connections.
Maximum number of cross connections
The maximum number of cross connections handled by the robot system is 300.
Maximum depth
The maximum allowed depth of cross connection evaluations is 20.
A resultant from one cross connection can be used as an actor in another cross
connection. The resultant from that cross connection can in its turn be used as an
actor in the next cross connection. However, this type of chain of dependent cross
connections cannot be deeper than 20 steps.
Do not create a loop
Cross connections must not form closed chains since that would cause infinite
evaluation and oscillation. A closed chain appears when cross connections are
interlinked so that the chain of cross connections forms a circle.
Do not have the same resultant more than once
Ambiguous resultant I/O signals are not allowed since the outcome would depend
on the order of evaluation (which cannot be controlled). Ambiguous resultant I/O
signals occur when the same I/O signal is resultant in several cross connections.
Overlapping device maps
The resultant I/O signal in a cross connection must not have an overlapping device
map with any inverted actor I/O signals defined in the cross connection. Using I/O
signals with overlapping device map in a cross connection can cause infinity signal
setting loops.
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2 RobotWare-OS
2.8.4 Limitations
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 Service port of the controller.
Remote Service Box had provided service data collection and the external
connectivity (Wireless GPRS, 3G, or wired).
Connected Services is the software version of Remote Service Box inside
RobotWare.
Purpose
The primary purpose of Connected Services is to remove the need of external
hardware if the robot controller are connected to Internet by the customer on its
WAN port.
Connected Services is then available natively as a plug and connect solution in
RobotWare. The setup concept will be:
•
Provide internet connectivity to the controller.
•
Enable and register the connected controller to Connected Services.
An ABB 3G/4G/WiFi gateway or other external devices will be made available in
the future to use wireless connectivity.
What is included
The RobotWare base functionality Connected Services gives you access to:
•
a Connected Services Agent software to manage the connectivity and the
Service data collection.
•
System Parameters used to enable and configure the connectivity.
•
dedicated event logs for key events of Connected Services.
•
status and information pages available in System Info.
Prerequisites
The Connected Services function requires the controller to be defined in a Service
Agreement. Contact the local ABB Service to create a Service Agreement with the
Connected Services and get access to MyRobot website to perform the registration
after the connection.
Note
MyRobot is the ABB website which gives access to the Service information of a
Robot Controller under a Service Agreement.
Continues on next page
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2 RobotWare-OS
2.9.1 Overview
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 data collection
will run transparently in the background.
Note
Use System Info Connected Services pages for information and local registration.
Use MyRobot website for all Connected Service features and connected service
side registration
Limitations
Following are the limitations of Connected Services:
•
The controller identification is done using the controller serial number and
must match the serial number defined in the Service Level Agreement.
•
The customer must also provide for the robot controller the connectivity to
public internet , use the ABB wireless gateway or third party supplier when
available.
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2 RobotWare-OS
2.9.1 Overview
Continued
|
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 Service port of the controller.
Remote Service Box had provided service data collection and the external
connectivity (Wireless GPRS, 3G, or wired).
Connected Services is the software version of Remote Service Box inside
RobotWare.
Purpose
The primary purpose of Connected Services is to remove the need of external
hardware if the robot controller are connected to Internet by the customer on its
WAN port.
Connected Services is then available natively as a plug and connect solution in
RobotWare. The setup concept will be:
•
Provide internet connectivity to the controller.
•
Enable and register the connected controller to Connected Services.
An ABB 3G/4G/WiFi gateway or other external devices will be made available in
the future to use wireless connectivity.
What is included
The RobotWare base functionality Connected Services gives you access to:
•
a Connected Services Agent software to manage the connectivity and the
Service data collection.
•
System Parameters used to enable and configure the connectivity.
•
dedicated event logs for key events of Connected Services.
•
status and information pages available in System Info.
Prerequisites
The Connected Services function requires the controller to be defined in a Service
Agreement. Contact the local ABB Service to create a Service Agreement with the
Connected Services and get access to MyRobot website to perform the registration
after the connection.
Note
MyRobot is the ABB website which gives access to the Service information of a
Robot Controller under a Service Agreement.
Continues on next page
110
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2 RobotWare-OS
2.9.1 Overview
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 data collection
will run transparently in the background.
Note
Use System Info Connected Services pages for information and local registration.
Use MyRobot website for all Connected Service features and connected service
side registration
Limitations
Following are the limitations of Connected Services:
•
The controller identification is done using the controller serial number and
must match the serial number defined in the Service Level Agreement.
•
The customer must also provide for the robot controller the connectivity to
public internet , use the ABB wireless gateway or third party supplier when
available.
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2.9.1 Overview
Continued
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
(Secure HTTP) and only from the controller to ABB CSC connector to keep the
customer network isolated from any external Internet access. The following figure
describes these concepts:
![Image]
xx1500003224
Continues on next page
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2.9.2 Connected Services connectivity
|
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| 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 data collection
will run transparently in the background.
Note
Use System Info Connected Services pages for information and local registration.
Use MyRobot website for all Connected Service features and connected service
side registration
Limitations
Following are the limitations of Connected Services:
•
The controller identification is done using the controller serial number and
must match the serial number defined in the Service Level Agreement.
•
The customer must also provide for the robot controller the connectivity to
public internet , use the ABB wireless gateway or third party supplier when
available.
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2 RobotWare-OS
2.9.1 Overview
Continued
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
(Secure HTTP) and only from the controller to ABB CSC connector to keep the
customer network isolated from any external Internet access. The following figure
describes these concepts:
![Image]
xx1500003224
Continues on next page
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2 RobotWare-OS
2.9.2 Connected Services connectivity
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://rseprod.abb.com ) in a browser.
The connectivity is validated if the DNS name has been resolved, the browser
presents a page indicating the CS server, and secured with an ABB certificate as
shown in the following figure.
![Image]
xx1500003225
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2 RobotWare-OS
2.9.2 Connected Services connectivity
Continued
|
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|
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| 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
(Secure HTTP) and only from the controller to ABB CSC connector to keep the
customer network isolated from any external Internet access. The following figure
describes these concepts:
![Image]
xx1500003224
Continues on next page
112
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2 RobotWare-OS
2.9.2 Connected Services connectivity
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://rseprod.abb.com ) in a browser.
The connectivity is validated if the DNS name has been resolved, the browser
presents a page indicating the CS server, and secured with an ABB certificate as
shown in the following figure.
![Image]
xx1500003225
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2 RobotWare-OS
2.9.2 Connected Services connectivity
Continued
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 communica-
tion from the Controller.
Enabled
Indicates if the communication is done on Customer Network or by
using ABB Mobile Gateway Solution (to be implemented in future
deliveries).
Connection Type
Adapt the polling rates and traffic volume to the type of connectivity
available:
•
Command polling (low) 1 min, (medium) 10 min, (high) 1 hour.
•
Register polling (low) 10 min, (medium) 30 min, (high) 2 hour.
Connection Cost
Indicates if a proxy is required to access Internet and its name and
port.
Proxy Used, Name,
Port
Defines if the proxy is authenticated or not, with related credentials
(user, password).
WARNING
The proxy password is stored in plain text.
Proxy Auth, User,
password
IP address of the ABB Mobile Gateway Solution if used (to come in
future deliveries).
Gateway IP Address
WAN configuration
The WAN IP/Mask/Gateway configuration is done in the Boot Application Settings .
The WAN Ethernet port configuration which gives access to the Internet needs to
be done on the controller. The port is defined by its IP, Mask, and possible Gateway.
For details about WAN configuration, see Hardware overview in the Application
manual - EtherNet/IP Scanner/Adapter .
DNS configuration
These parameters belong to the topic Communication and the type DNS Client . A
DNS server need to be defined to resolve the name of the ABB Connected Services
Connector (rseprod.abb.com) to its IP address if ABB Mobile Gateway is not used.
For more details, see Type DNS Client in Technical reference manual - System
parameters .
Note
For quick testing, use DNS as 8.8.8.8 (Google DNS) , then switch to customer
recommended DNS server IP.
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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://rseprod.abb.com ) in a browser.
The connectivity is validated if the DNS name has been resolved, the browser
presents a page indicating the CS server, and secured with an ABB certificate as
shown in the following figure.
![Image]
xx1500003225
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2.9.2 Connected Services connectivity
Continued
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 communica-
tion from the Controller.
Enabled
Indicates if the communication is done on Customer Network or by
using ABB Mobile Gateway Solution (to be implemented in future
deliveries).
Connection Type
Adapt the polling rates and traffic volume to the type of connectivity
available:
•
Command polling (low) 1 min, (medium) 10 min, (high) 1 hour.
•
Register polling (low) 10 min, (medium) 30 min, (high) 2 hour.
Connection Cost
Indicates if a proxy is required to access Internet and its name and
port.
Proxy Used, Name,
Port
Defines if the proxy is authenticated or not, with related credentials
(user, password).
WARNING
The proxy password is stored in plain text.
Proxy Auth, User,
password
IP address of the ABB Mobile Gateway Solution if used (to come in
future deliveries).
Gateway IP Address
WAN configuration
The WAN IP/Mask/Gateway configuration is done in the Boot Application Settings .
The WAN Ethernet port configuration which gives access to the Internet needs to
be done on the controller. The port is defined by its IP, Mask, and possible Gateway.
For details about WAN configuration, see Hardware overview in the Application
manual - EtherNet/IP Scanner/Adapter .
DNS configuration
These parameters belong to the topic Communication and the type DNS Client . A
DNS server need to be defined to resolve the name of the ABB Connected Services
Connector (rseprod.abb.com) to its IP address if ABB Mobile Gateway is not used.
For more details, see Type DNS Client in Technical reference manual - System
parameters .
Note
For quick testing, use DNS as 8.8.8.8 (Google DNS) , then switch to customer
recommended DNS server IP.
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2.9.3 Configuration - system parameters
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 the gateway defined on the
WAN Port. But it is possible to add a specific route if the default gateway should
not be used. For more details, see Type IP Route in Technical reference
manual - System parameters .
Note
If the Internet Gateway is not the main Gateway, the traffic to rseprod.abb.com
and the DNS must be defined as additional routes.
For example, if Internet Gateway has IP address 100.100.100.22, rseprod.abb.com
has IP address 138.227.175.43 (verify by nslookup) and DNS has IP address
8.8.8.8, then you must define the following two routes:
•
Route 138.227.175.43/31 to 100.100.100.22
•
Route 8.8.8.8/31 to 100.100.100.22
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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 communica-
tion from the Controller.
Enabled
Indicates if the communication is done on Customer Network or by
using ABB Mobile Gateway Solution (to be implemented in future
deliveries).
Connection Type
Adapt the polling rates and traffic volume to the type of connectivity
available:
•
Command polling (low) 1 min, (medium) 10 min, (high) 1 hour.
•
Register polling (low) 10 min, (medium) 30 min, (high) 2 hour.
Connection Cost
Indicates if a proxy is required to access Internet and its name and
port.
Proxy Used, Name,
Port
Defines if the proxy is authenticated or not, with related credentials
(user, password).
WARNING
The proxy password is stored in plain text.
Proxy Auth, User,
password
IP address of the ABB Mobile Gateway Solution if used (to come in
future deliveries).
Gateway IP Address
WAN configuration
The WAN IP/Mask/Gateway configuration is done in the Boot Application Settings .
The WAN Ethernet port configuration which gives access to the Internet needs to
be done on the controller. The port is defined by its IP, Mask, and possible Gateway.
For details about WAN configuration, see Hardware overview in the Application
manual - EtherNet/IP Scanner/Adapter .
DNS configuration
These parameters belong to the topic Communication and the type DNS Client . A
DNS server need to be defined to resolve the name of the ABB Connected Services
Connector (rseprod.abb.com) to its IP address if ABB Mobile Gateway is not used.
For more details, see Type DNS Client in Technical reference manual - System
parameters .
Note
For quick testing, use DNS as 8.8.8.8 (Google DNS) , then switch to customer
recommended DNS server IP.
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2.9.3 Configuration - system parameters
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 the gateway defined on the
WAN Port. But it is possible to add a specific route if the default gateway should
not be used. For more details, see Type IP Route in Technical reference
manual - System parameters .
Note
If the Internet Gateway is not the main Gateway, the traffic to rseprod.abb.com
and the DNS must be defined as additional routes.
For example, if Internet Gateway has IP address 100.100.100.22, rseprod.abb.com
has IP address 138.227.175.43 (verify by nslookup) and DNS has IP address
8.8.8.8, then you must define the following two routes:
•
Route 138.227.175.43/31 to 100.100.100.22
•
Route 8.8.8.8/31 to 100.100.100.22
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2.9.3 Configuration - system parameters
Continued
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 connection
The following procedure provides information about configuring the Connected
Services from the FlexPendant when there is direct internet connection from the
controller.
Illustration
Action
In the ABB menu, select Control Panel .
1
Select Configuration .
2
From Topics , select Communication .
3
![Image]
xx1600001326
Select Connected Services and edit
RSCON .
4
![Image]
xx1600001327
In Enabled , select Yes
5
Tap OK and restart the controller to take
effect of the changes.
6
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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 the gateway defined on the
WAN Port. But it is possible to add a specific route if the default gateway should
not be used. For more details, see Type IP Route in Technical reference
manual - System parameters .
Note
If the Internet Gateway is not the main Gateway, the traffic to rseprod.abb.com
and the DNS must be defined as additional routes.
For example, if Internet Gateway has IP address 100.100.100.22, rseprod.abb.com
has IP address 138.227.175.43 (verify by nslookup) and DNS has IP address
8.8.8.8, then you must define the following two routes:
•
Route 138.227.175.43/31 to 100.100.100.22
•
Route 8.8.8.8/31 to 100.100.100.22
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2.9.3 Configuration - system parameters
Continued
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 connection
The following procedure provides information about configuring the Connected
Services from the FlexPendant when there is direct internet connection from the
controller.
Illustration
Action
In the ABB menu, select Control Panel .
1
Select Configuration .
2
From Topics , select Communication .
3
![Image]
xx1600001326
Select Connected Services and edit
RSCON .
4
![Image]
xx1600001327
In Enabled , select Yes
5
Tap OK and restart the controller to take
effect of the changes.
6
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2.9.4 Configuring Connected Services
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 Communication .
3
![Image]
xx1600001329
Select DNS Client and edit DNS Client .
4
![Image]
xx1600001330
Edit 1st Name Server
5
Tap OK and restart the controller to take
effect of the changes.
6
Internet connection with proxy
The following procedure provides information about configuring the Connected
Services from the FlexPendant when there is internet connection with proxy.
Illustration
Action
In the ABB menu, select Control Panel.
1
Tap Configuration .
2
From Topics , select Communication .
3
Select Connected Services and in Proxy
Used , select Yes .
4
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2.9.4 Configuring Connected Services
Continued
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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 connection
The following procedure provides information about configuring the Connected
Services from the FlexPendant when there is direct internet connection from the
controller.
Illustration
Action
In the ABB menu, select Control Panel .
1
Select Configuration .
2
From Topics , select Communication .
3
![Image]
xx1600001326
Select Connected Services and edit
RSCON .
4
![Image]
xx1600001327
In Enabled , select Yes
5
Tap OK and restart the controller to take
effect of the changes.
6
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2.9.4 Configuring Connected Services
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 Communication .
3
![Image]
xx1600001329
Select DNS Client and edit DNS Client .
4
![Image]
xx1600001330
Edit 1st Name Server
5
Tap OK and restart the controller to take
effect of the changes.
6
Internet connection with proxy
The following procedure provides information about configuring the Connected
Services from the FlexPendant when there is internet connection with proxy.
Illustration
Action
In the ABB menu, select Control Panel.
1
Tap Configuration .
2
From Topics , select Communication .
3
Select Connected Services and in Proxy
Used , select Yes .
4
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2.9.4 Configuring Connected Services
Continued
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.
6
Tap OK and restart the controller to take
effect of the changes.
7
Note
Manually define the DNS, if it is not provided automatically when proxy is used.
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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 Communication .
3
![Image]
xx1600001329
Select DNS Client and edit DNS Client .
4
![Image]
xx1600001330
Edit 1st Name Server
5
Tap OK and restart the controller to take
effect of the changes.
6
Internet connection with proxy
The following procedure provides information about configuring the Connected
Services from the FlexPendant when there is internet connection with proxy.
Illustration
Action
In the ABB menu, select Control Panel.
1
Tap Configuration .
2
From Topics , select Communication .
3
Select Connected Services and in Proxy
Used , select Yes .
4
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2.9.4 Configuring Connected Services
Continued
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.
6
Tap OK and restart the controller to take
effect of the changes.
7
Note
Manually define the DNS, if it is not provided automatically when proxy is used.
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2.9.4 Configuring Connected Services
Continued
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.
Controller with DHCP
The following procedure provides information about configuring the Connected
Services from the FlexPendant when there is controller with DHCP.
Illustration
Action
In the ABB menu, select Control Panel .
1
Select Configuration .
2
From Topics , select Communication .
3
![Image]
xx1600001333
Select IP Route and tap Add .
4
![Image]
xx1600001334
![Image]
xx1600001335
Enter the details for Destination , Gate-
way , and Label .
•
In this example, Destination :
138.227.175.43/31 is the
rsepro.abb.com IP
•
Gateway : 192.168.125.83
5
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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.
6
Tap OK and restart the controller to take
effect of the changes.
7
Note
Manually define the DNS, if it is not provided automatically when proxy is used.
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2.9.4 Configuring Connected Services
Continued
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.
Controller with DHCP
The following procedure provides information about configuring the Connected
Services from the FlexPendant when there is controller with DHCP.
Illustration
Action
In the ABB menu, select Control Panel .
1
Select Configuration .
2
From Topics , select Communication .
3
![Image]
xx1600001333
Select IP Route and tap Add .
4
![Image]
xx1600001334
![Image]
xx1600001335
Enter the details for Destination , Gate-
way , and Label .
•
In this example, Destination :
138.227.175.43/31 is the
rsepro.abb.com IP
•
Gateway : 192.168.125.83
5
Continues on next page
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2.9.5 Configuring Connected Services using gateway box
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 Control Panel .
1
Select Configuration .
2
From Topics , select Communication .
3
Select IP Route and tap Add .
4
![Image]
xx1600001337
Enter the details for Destination , Gate-
way , and Label .
•
If DNS IP is entered manually, add
the routing for the DNS IP.
•
In this example, Destination :
8.8.8.8/31 is Google DNS.
5
Tap OK and restart the controller to take
effect of the changes.
6
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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.
Controller with DHCP
The following procedure provides information about configuring the Connected
Services from the FlexPendant when there is controller with DHCP.
Illustration
Action
In the ABB menu, select Control Panel .
1
Select Configuration .
2
From Topics , select Communication .
3
![Image]
xx1600001333
Select IP Route and tap Add .
4
![Image]
xx1600001334
![Image]
xx1600001335
Enter the details for Destination , Gate-
way , and Label .
•
In this example, Destination :
138.227.175.43/31 is the
rsepro.abb.com IP
•
Gateway : 192.168.125.83
5
Continues on next page
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2.9.5 Configuring Connected Services using gateway box
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 Control Panel .
1
Select Configuration .
2
From Topics , select Communication .
3
Select IP Route and tap Add .
4
![Image]
xx1600001337
Enter the details for Destination , Gate-
way , and Label .
•
If DNS IP is entered manually, add
the routing for the DNS IP.
•
In this example, Destination :
8.8.8.8/31 is Google DNS.
5
Tap OK and restart the controller to take
effect of the changes.
6
Continues on next page
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2.9.5 Configuring Connected Services using gateway box
Continued
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 network. And, the LAN IP
should be modified to match with the customer network IP segment. A typical
network infrastructure is shown below.
![Image]
xx1600001338
Note
The network infrastructure is an example to demonstrate the network topology.
Steps to configure DNS manually
Illustration
Action
In the ABB menu, select Control Panel .
1
Select Configuration .
2
From Topics , select Communication .
3
Select IP Route and tap Add .
4
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2.9.5 Configuring Connected Services using gateway box
Continued
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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 Control Panel .
1
Select Configuration .
2
From Topics , select Communication .
3
Select IP Route and tap Add .
4
![Image]
xx1600001337
Enter the details for Destination , Gate-
way , and Label .
•
If DNS IP is entered manually, add
the routing for the DNS IP.
•
In this example, Destination :
8.8.8.8/31 is Google DNS.
5
Tap OK and restart the controller to take
effect of the changes.
6
Continues on next page
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2.9.5 Configuring Connected Services using gateway box
Continued
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 network. And, the LAN IP
should be modified to match with the customer network IP segment. A typical
network infrastructure is shown below.
![Image]
xx1600001338
Note
The network infrastructure is an example to demonstrate the network topology.
Steps to configure DNS manually
Illustration
Action
In the ABB menu, select Control Panel .
1
Select Configuration .
2
From Topics , select Communication .
3
Select IP Route and tap Add .
4
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2.9.5 Configuring Connected Services using gateway box
Continued
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, define a route
to go through the gateway box for the DNS IP.
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2.9.5 Configuring Connected Services using gateway box
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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 network. And, the LAN IP
should be modified to match with the customer network IP segment. A typical
network infrastructure is shown below.
![Image]
xx1600001338
Note
The network infrastructure is an example to demonstrate the network topology.
Steps to configure DNS manually
Illustration
Action
In the ABB menu, select Control Panel .
1
Select Configuration .
2
From Topics , select Communication .
3
Select IP Route and tap Add .
4
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2.9.5 Configuring Connected Services using gateway box
Continued
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, define a route
to go through the gateway box for the DNS IP.
122
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2 RobotWare-OS
2.9.5 Configuring Connected Services using gateway box
Continued
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 PROFINET and LAN 3 in some configuration.
It is not possible to use Connected Services in LAN 3, if PROFINET is set up in
isolated mode. For more details, see section Isolated LAN 3 or LAN 3 as part
of the private network in Application manual - PROFINET Controller/Device .
Note
It is not possible to use LAN 3 in RW 6.07. Only WAN port is supported for this
release.
Steps to configure LAN 3
To configure the IP manually, follow the steps below:
Action
Step
In the ABB menu, select Control Panel .
1
Select Configuration
2
From Topics , select Communication
Select IP Settings and tap Add
•
Enter the details for IP Address , Interface , and Label .
•
Change the Interface to LAN3 .
3
Tap OK and restart the controller to take effect of the changes.
4
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2.9.6 Connected Services on LAN 3
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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, define a route
to go through the gateway box for the DNS IP.
122
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2.9.5 Configuring Connected Services using gateway box
Continued
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 PROFINET and LAN 3 in some configuration.
It is not possible to use Connected Services in LAN 3, if PROFINET is set up in
isolated mode. For more details, see section Isolated LAN 3 or LAN 3 as part
of the private network in Application manual - PROFINET Controller/Device .
Note
It is not possible to use LAN 3 in RW 6.07. Only WAN port is supported for this
release.
Steps to configure LAN 3
To configure the IP manually, follow the steps below:
Action
Step
In the ABB menu, select Control Panel .
1
Select Configuration
2
From Topics , select Communication
Select IP Settings and tap Add
•
Enter the details for IP Address , Interface , and Label .
•
Change the Interface to LAN3 .
3
Tap OK and restart the controller to take effect of the changes.
4
Continues on next page
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2 RobotWare-OS
2.9.6 Connected Services on LAN 3
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 the traffic to ABB Connected Services server
(rseprod.abb.com:138.227.175.43) through the Internet Gateway on LAN 3 instead
of the default Gateway on WAN.
Then the routing entry should be added as follows:
•
Destination: 138.227.175.43/31
•
Gateway: 172.16.16.25 (Box LAN IP)
In this example, configure LAN 3 of all the controllers to the same IP segment
(172.16.16.xx) to connect multiple controllers together with the Gateway Box.
If there is no customer DNS on the production WAN network, configure the DNS
manually as the Gateway IP. See Steps to configure DNS manually on page 121 .
Note
If the Gateway Box only provides Internet access without DNS resolution then
add an external DNS manually, for example 8.8.8.8. Then additional routing
should be added as follows:
•
Destination: 8.8.8.8/31
•
Gateway: 172.16.16.25 (Box LAN IP)
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2.9.6 Connected Services on LAN 3
Continued
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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 PROFINET and LAN 3 in some configuration.
It is not possible to use Connected Services in LAN 3, if PROFINET is set up in
isolated mode. For more details, see section Isolated LAN 3 or LAN 3 as part
of the private network in Application manual - PROFINET Controller/Device .
Note
It is not possible to use LAN 3 in RW 6.07. Only WAN port is supported for this
release.
Steps to configure LAN 3
To configure the IP manually, follow the steps below:
Action
Step
In the ABB menu, select Control Panel .
1
Select Configuration
2
From Topics , select Communication
Select IP Settings and tap Add
•
Enter the details for IP Address , Interface , and Label .
•
Change the Interface to LAN3 .
3
Tap OK and restart the controller to take effect of the changes.
4
Continues on next page
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2 RobotWare-OS
2.9.6 Connected Services on LAN 3
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 the traffic to ABB Connected Services server
(rseprod.abb.com:138.227.175.43) through the Internet Gateway on LAN 3 instead
of the default Gateway on WAN.
Then the routing entry should be added as follows:
•
Destination: 138.227.175.43/31
•
Gateway: 172.16.16.25 (Box LAN IP)
In this example, configure LAN 3 of all the controllers to the same IP segment
(172.16.16.xx) to connect multiple controllers together with the Gateway Box.
If there is no customer DNS on the production WAN network, configure the DNS
manually as the Gateway IP. See Steps to configure DNS manually on page 121 .
Note
If the Gateway Box only provides Internet access without DNS resolution then
add an external DNS manually, for example 8.8.8.8. Then additional routing
should be added as follows:
•
Destination: 8.8.8.8/31
•
Gateway: 172.16.16.25 (Box LAN IP)
124
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2.9.6 Connected Services on LAN 3
Continued
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 registered
When these steps are done, the software Agent is securely connected and identified
with a client certificate. The following figure describes these concepts:
ABB Connected
Services Center
Internet
Internet
My Robot
Customer/
ABB CS Admin
Customer/
ABB CS Tech On Site
3c
3b
3a
1a
0
2d
2b
2c
2a
3d
4
xx1500003226
Description
Step
Check controller S/N and internet connectivity
0
Enable CSE and set up connectivity configuration
1a
CS connectivity in place
2a
Low poll for registration
2b
Registration not trusted (get reg code)
2c
Display registration code
2d
Get registration code
3a
Give controller S/N and registration code
3b
Select controller S/N in SA and register with registration code
3c
Registration trusted (client certificate)
3d
Connected and registered secure CS session
4
Continues on next page
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2.9.7 Connected Services registration
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|
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 the traffic to ABB Connected Services server
(rseprod.abb.com:138.227.175.43) through the Internet Gateway on LAN 3 instead
of the default Gateway on WAN.
Then the routing entry should be added as follows:
•
Destination: 138.227.175.43/31
•
Gateway: 172.16.16.25 (Box LAN IP)
In this example, configure LAN 3 of all the controllers to the same IP segment
(172.16.16.xx) to connect multiple controllers together with the Gateway Box.
If there is no customer DNS on the production WAN network, configure the DNS
manually as the Gateway IP. See Steps to configure DNS manually on page 121 .
Note
If the Gateway Box only provides Internet access without DNS resolution then
add an external DNS manually, for example 8.8.8.8. Then additional routing
should be added as follows:
•
Destination: 8.8.8.8/31
•
Gateway: 172.16.16.25 (Box LAN IP)
124
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2 RobotWare-OS
2.9.6 Connected Services on LAN 3
Continued
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 registered
When these steps are done, the software Agent is securely connected and identified
with a client certificate. The following figure describes these concepts:
ABB Connected
Services Center
Internet
Internet
My Robot
Customer/
ABB CS Admin
Customer/
ABB CS Tech On Site
3c
3b
3a
1a
0
2d
2b
2c
2a
3d
4
xx1500003226
Description
Step
Check controller S/N and internet connectivity
0
Enable CSE and set up connectivity configuration
1a
CS connectivity in place
2a
Low poll for registration
2b
Registration not trusted (get reg code)
2c
Display registration code
2d
Get registration code
3a
Give controller S/N and registration code
3b
Select controller S/N in SA and register with registration code
3c
Registration trusted (client certificate)
3d
Connected and registered secure CS session
4
Continues on next page
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2.9.7 Connected Services registration
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 configuration
•
Configure the connectivity parameters.
•
Enable Connected Services
Connected Services connectivity
•
Software Agent connects to the ABB Connected Services Center.
•
An initial registration process starts at low polling rate.
•
The initial registration is incomplete and not yet fully trusted.
•
A registration code is received to finalize the trust relation.
•
The registration code is made available on the Connected Services
registration page.
Connected Services registration
•
The customer/ABB on site provides the controller serial number and
registration code to the Connected Services Administrator for registration.
•
The Connected Services Administrator validates this registration code in
MyRobot on its service agreement.
•
The registration trust starts and implements a client certificate in the
controller.
Connected Services connected and registered
•
The controller is connected, registered, and identified in the service
agreement.
•
The connection is trusted with a client certificate.
•
Connected Services is now actively running on the robot controller.
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2.9.7 Connected Services registration
Continued
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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 registered
When these steps are done, the software Agent is securely connected and identified
with a client certificate. The following figure describes these concepts:
ABB Connected
Services Center
Internet
Internet
My Robot
Customer/
ABB CS Admin
Customer/
ABB CS Tech On Site
3c
3b
3a
1a
0
2d
2b
2c
2a
3d
4
xx1500003226
Description
Step
Check controller S/N and internet connectivity
0
Enable CSE and set up connectivity configuration
1a
CS connectivity in place
2a
Low poll for registration
2b
Registration not trusted (get reg code)
2c
Display registration code
2d
Get registration code
3a
Give controller S/N and registration code
3b
Select controller S/N in SA and register with registration code
3c
Registration trusted (client certificate)
3d
Connected and registered secure CS session
4
Continues on next page
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2 RobotWare-OS
2.9.7 Connected Services registration
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 configuration
•
Configure the connectivity parameters.
•
Enable Connected Services
Connected Services connectivity
•
Software Agent connects to the ABB Connected Services Center.
•
An initial registration process starts at low polling rate.
•
The initial registration is incomplete and not yet fully trusted.
•
A registration code is received to finalize the trust relation.
•
The registration code is made available on the Connected Services
registration page.
Connected Services registration
•
The customer/ABB on site provides the controller serial number and
registration code to the Connected Services Administrator for registration.
•
The Connected Services Administrator validates this registration code in
MyRobot on its service agreement.
•
The registration trust starts and implements a client certificate in the
controller.
Connected Services connected and registered
•
The controller is connected, registered, and identified in the service
agreement.
•
The connection is trusted with a client certificate.
•
Connected Services is now actively running on the robot controller.
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2.9.7 Connected Services registration
Continued
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
•
Registration
•
Advanced
Note
The information on a page can be refreshed by changing the page or by pressing
the Refresh button. The Refresh button also forces a connection with the server
if the software agent is waiting. (for example, wait for registration
acknowledgement from MyRobot). This is useful in case of slow polling when
connection cost is set to High.
Overview page
The Overview page provides a summary of the Connected Services status and
information. If the status is not active then the other pages provide more detailed
information.
Example
Possible values
Description
Field
Yes
Yes/No
Displays the value of the master
configuration switch for turning the
Connected Services on/off.
Enabled
Active
"-"
Displays the current status to see
whether there is a need to navigate
to the Server connection page or
Registration page.
Status
Failed
Initializing
Shutdown
Registration in
progress
Trying to connect
Active
12-45678
Controller Serial
number
Displays the identifier that is used
to identify the controller in Connec-
ted Service.
Serial number
6.03.0088
RobotWare ver-
sion name
Displays the RobotWare version that
is sent to the server.
RobotWare ver-
sion
2
0-N
Displays the number of times the
software Agent been auto-restarted.
This is used to see if watchdog has
restarted the by it.
Restart counter
If not Enabled,
then display: 0
0116/ROBOT-
WARE-
6.02.0000+/5196
"Data Collector
Script name"
"-"
Displays the downloaded data col-
lector code version.
Script versio n
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2.9.8 Connected Services information
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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 configuration
•
Configure the connectivity parameters.
•
Enable Connected Services
Connected Services connectivity
•
Software Agent connects to the ABB Connected Services Center.
•
An initial registration process starts at low polling rate.
•
The initial registration is incomplete and not yet fully trusted.
•
A registration code is received to finalize the trust relation.
•
The registration code is made available on the Connected Services
registration page.
Connected Services registration
•
The customer/ABB on site provides the controller serial number and
registration code to the Connected Services Administrator for registration.
•
The Connected Services Administrator validates this registration code in
MyRobot on its service agreement.
•
The registration trust starts and implements a client certificate in the
controller.
Connected Services connected and registered
•
The controller is connected, registered, and identified in the service
agreement.
•
The connection is trusted with a client certificate.
•
Connected Services is now actively running on the robot controller.
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2 RobotWare-OS
2.9.7 Connected Services registration
Continued
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
•
Registration
•
Advanced
Note
The information on a page can be refreshed by changing the page or by pressing
the Refresh button. The Refresh button also forces a connection with the server
if the software agent is waiting. (for example, wait for registration
acknowledgement from MyRobot). This is useful in case of slow polling when
connection cost is set to High.
Overview page
The Overview page provides a summary of the Connected Services status and
information. If the status is not active then the other pages provide more detailed
information.
Example
Possible values
Description
Field
Yes
Yes/No
Displays the value of the master
configuration switch for turning the
Connected Services on/off.
Enabled
Active
"-"
Displays the current status to see
whether there is a need to navigate
to the Server connection page or
Registration page.
Status
Failed
Initializing
Shutdown
Registration in
progress
Trying to connect
Active
12-45678
Controller Serial
number
Displays the identifier that is used
to identify the controller in Connec-
ted Service.
Serial number
6.03.0088
RobotWare ver-
sion name
Displays the RobotWare version that
is sent to the server.
RobotWare ver-
sion
2
0-N
Displays the number of times the
software Agent been auto-restarted.
This is used to see if watchdog has
restarted the by it.
Restart counter
If not Enabled,
then display: 0
0116/ROBOT-
WARE-
6.02.0000+/5196
"Data Collector
Script name"
"-"
Displays the downloaded data col-
lector code version.
Script versio n
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2 RobotWare-OS
2.9.8 Connected Services information
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
agreement.
Customer name
"-"
France
"Country of the
service agree-
ment"
To verify that the controller is asso-
ciated to the expected service
agreement.
Country
"-"
On refresh, the software Agent
replies with the current data and
breaks the waiting state (if waiting)
to contact the server and refreshes
the information.
Refresh button
Server Connection page
The Server Connection page provides a summary of the CS connectivity to the
server.
Example
Possible values
Description
Field
Active
"-"
Displays the current status to see
whether there is a need to navigate
to the Server connection page or
Registration page.
Status
Failed
Initializing
Shutdown
Registration in
progress
Trying to connect
Active
Connected
Initializing
Displays the status of communica-
tion with the server and the type of
error.
Connection
Status
Server not reach-
able
Server not au-
thenticated
Server error (HT-
TP xxxx)
Connected
"HH:MM:SS ago"
Displays the relative time since the
information on the Server connec-
tion page has been generated.
Last updated
rseprod.abb.com
""
Displays the name of the server that
software Agent is configured with.
Server name
Server name
138.227.175.43
""
Displays the IP address of the serv-
er and the port number used for
connection. The IP address is the
result of DNS name resolution done
by software Agent.
Server IP
Server IP
rseprod.abb.com
""
Displays the server certificate name
information.
Server certific-
ate name
Server name
Untrusted (Serv-
er)
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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
•
Registration
•
Advanced
Note
The information on a page can be refreshed by changing the page or by pressing
the Refresh button. The Refresh button also forces a connection with the server
if the software agent is waiting. (for example, wait for registration
acknowledgement from MyRobot). This is useful in case of slow polling when
connection cost is set to High.
Overview page
The Overview page provides a summary of the Connected Services status and
information. If the status is not active then the other pages provide more detailed
information.
Example
Possible values
Description
Field
Yes
Yes/No
Displays the value of the master
configuration switch for turning the
Connected Services on/off.
Enabled
Active
"-"
Displays the current status to see
whether there is a need to navigate
to the Server connection page or
Registration page.
Status
Failed
Initializing
Shutdown
Registration in
progress
Trying to connect
Active
12-45678
Controller Serial
number
Displays the identifier that is used
to identify the controller in Connec-
ted Service.
Serial number
6.03.0088
RobotWare ver-
sion name
Displays the RobotWare version that
is sent to the server.
RobotWare ver-
sion
2
0-N
Displays the number of times the
software Agent been auto-restarted.
This is used to see if watchdog has
restarted the by it.
Restart counter
If not Enabled,
then display: 0
0116/ROBOT-
WARE-
6.02.0000+/5196
"Data Collector
Script name"
"-"
Displays the downloaded data col-
lector code version.
Script versio n
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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
agreement.
Customer name
"-"
France
"Country of the
service agree-
ment"
To verify that the controller is asso-
ciated to the expected service
agreement.
Country
"-"
On refresh, the software Agent
replies with the current data and
breaks the waiting state (if waiting)
to contact the server and refreshes
the information.
Refresh button
Server Connection page
The Server Connection page provides a summary of the CS connectivity to the
server.
Example
Possible values
Description
Field
Active
"-"
Displays the current status to see
whether there is a need to navigate
to the Server connection page or
Registration page.
Status
Failed
Initializing
Shutdown
Registration in
progress
Trying to connect
Active
Connected
Initializing
Displays the status of communica-
tion with the server and the type of
error.
Connection
Status
Server not reach-
able
Server not au-
thenticated
Server error (HT-
TP xxxx)
Connected
"HH:MM:SS ago"
Displays the relative time since the
information on the Server connec-
tion page has been generated.
Last updated
rseprod.abb.com
""
Displays the name of the server that
software Agent is configured with.
Server name
Server name
138.227.175.43
""
Displays the IP address of the serv-
er and the port number used for
connection. The IP address is the
result of DNS name resolution done
by software Agent.
Server IP
Server IP
rseprod.abb.com
""
Displays the server certificate name
information.
Server certific-
ate name
Server name
Untrusted (Serv-
er)
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Continued
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 the controller date and
time details.
Note
It is important to set the correct time
in the controller as this is needed
for the certificate process.
Controller time
10.0.23.45
Not Available
Displays the DNS information.
DNS server
DNS value
On refresh, the software Agent re-
sponds with the current data and
breaks the waiting state (if waiting)
to contact the server and refreshes
the information.
Refresh button
Registration page
The Registration page provides a summary of the Connected Services registration.
Example
Possible values
Description
Field
Active
"-"
Displays the current status to see
whether there is a need to navigate
to the Server connection page or
Registration page.
Status
Failed
Initializing
Shutdown
Registration in
progress
Trying to connect
Active
Register with
code in MyRobot
Register with
code in MyRobot
Displays the registration status and
code.
Registration
Status
Registration in
progress
Registered
Failed
456735
"-"
Displays the registration code. This
code can be used to login to MyRo-
bot.
Registration
code
Code value
On refresh, the software Agent re-
sponds with the current data and
breaks the waiting state (if waiting)
to contact the server and refreshes
the information.
Refresh button
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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
agreement.
Customer name
"-"
France
"Country of the
service agree-
ment"
To verify that the controller is asso-
ciated to the expected service
agreement.
Country
"-"
On refresh, the software Agent
replies with the current data and
breaks the waiting state (if waiting)
to contact the server and refreshes
the information.
Refresh button
Server Connection page
The Server Connection page provides a summary of the CS connectivity to the
server.
Example
Possible values
Description
Field
Active
"-"
Displays the current status to see
whether there is a need to navigate
to the Server connection page or
Registration page.
Status
Failed
Initializing
Shutdown
Registration in
progress
Trying to connect
Active
Connected
Initializing
Displays the status of communica-
tion with the server and the type of
error.
Connection
Status
Server not reach-
able
Server not au-
thenticated
Server error (HT-
TP xxxx)
Connected
"HH:MM:SS ago"
Displays the relative time since the
information on the Server connec-
tion page has been generated.
Last updated
rseprod.abb.com
""
Displays the name of the server that
software Agent is configured with.
Server name
Server name
138.227.175.43
""
Displays the IP address of the serv-
er and the port number used for
connection. The IP address is the
result of DNS name resolution done
by software Agent.
Server IP
Server IP
rseprod.abb.com
""
Displays the server certificate name
information.
Server certific-
ate name
Server name
Untrusted (Serv-
er)
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Continued
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 the controller date and
time details.
Note
It is important to set the correct time
in the controller as this is needed
for the certificate process.
Controller time
10.0.23.45
Not Available
Displays the DNS information.
DNS server
DNS value
On refresh, the software Agent re-
sponds with the current data and
breaks the waiting state (if waiting)
to contact the server and refreshes
the information.
Refresh button
Registration page
The Registration page provides a summary of the Connected Services registration.
Example
Possible values
Description
Field
Active
"-"
Displays the current status to see
whether there is a need to navigate
to the Server connection page or
Registration page.
Status
Failed
Initializing
Shutdown
Registration in
progress
Trying to connect
Active
Register with
code in MyRobot
Register with
code in MyRobot
Displays the registration status and
code.
Registration
Status
Registration in
progress
Registered
Failed
456735
"-"
Displays the registration code. This
code can be used to login to MyRo-
bot.
Registration
code
Code value
On refresh, the software Agent re-
sponds with the current data and
breaks the waiting state (if waiting)
to contact the server and refreshes
the information.
Refresh button
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Continued
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 when the
last message was sent.
Last HTTP mes-
sage time
Not Available
Not Available
Displays the HTTP error when the
last message was sent and the
message ID if 4XX.
Last HTTP error
Error HTTP XXX
+ Message
GetMessage in
70 seconds
Displays the next message to send
and the date to send the message.
Next message
Not Available
Not Available
Displays the last command received
from server.
Last command
Reboot
Reset
Ping
Diagnostic
...
On refresh, the software Agent re-
sponds with the current data and
breaks the waiting state (if waiting)
to contact the server and refreshes
the information.
Refresh button
0/1/0/3/4/0/1/4
0-N for each
server error
Displays a count of the following
servers errors:
•
Timeout errors
•
Request errors
•
Connection errors
•
Connection not Available er-
rors
•
Unknown errors
•
Authentication errors
•
Proxy errors
•
Server errors
Server Errors
Connected Services logs
The software Agent generates some event logs in the central controller event log.
Event logs are generated during starting, registering, unregistering, losing
connectivity, and during other key events.
The events logs are in the range of 170XXX and are described with all the other
controller event logs documentation. For more details, see Operating
manual - Troubleshooting IRC5 .
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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 the controller date and
time details.
Note
It is important to set the correct time
in the controller as this is needed
for the certificate process.
Controller time
10.0.23.45
Not Available
Displays the DNS information.
DNS server
DNS value
On refresh, the software Agent re-
sponds with the current data and
breaks the waiting state (if waiting)
to contact the server and refreshes
the information.
Refresh button
Registration page
The Registration page provides a summary of the Connected Services registration.
Example
Possible values
Description
Field
Active
"-"
Displays the current status to see
whether there is a need to navigate
to the Server connection page or
Registration page.
Status
Failed
Initializing
Shutdown
Registration in
progress
Trying to connect
Active
Register with
code in MyRobot
Register with
code in MyRobot
Displays the registration status and
code.
Registration
Status
Registration in
progress
Registered
Failed
456735
"-"
Displays the registration code. This
code can be used to login to MyRo-
bot.
Registration
code
Code value
On refresh, the software Agent re-
sponds with the current data and
breaks the waiting state (if waiting)
to contact the server and refreshes
the information.
Refresh button
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Continued
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 when the
last message was sent.
Last HTTP mes-
sage time
Not Available
Not Available
Displays the HTTP error when the
last message was sent and the
message ID if 4XX.
Last HTTP error
Error HTTP XXX
+ Message
GetMessage in
70 seconds
Displays the next message to send
and the date to send the message.
Next message
Not Available
Not Available
Displays the last command received
from server.
Last command
Reboot
Reset
Ping
Diagnostic
...
On refresh, the software Agent re-
sponds with the current data and
breaks the waiting state (if waiting)
to contact the server and refreshes
the information.
Refresh button
0/1/0/3/4/0/1/4
0-N for each
server error
Displays a count of the following
servers errors:
•
Timeout errors
•
Request errors
•
Connection errors
•
Connection not Available er-
rors
•
Unknown errors
•
Authentication errors
•
Proxy errors
•
Server errors
Server Errors
Connected Services logs
The software Agent generates some event logs in the central controller event log.
Event logs are generated during starting, registering, unregistering, losing
connectivity, and during other key events.
The events logs are in the range of 170XXX and are described with all the other
controller event logs documentation. For more details, see Operating
manual - Troubleshooting IRC5 .
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2.9.8 Connected Services information
Continued
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 registration is required to reactivate the Connected Services.
Use the following procedure to reset the software agent:
Action
Tap the ABB button to display the ABB menu.
Process applications are listed in the menu.
1
Tap Program Editor -> Debug -> Call Routine .
Note
Tap PP to Main if Debug is disabled.
2
Tap Connected Services Reset -> Go to . Press the Motors on button on the controller.
3
Press the Play button to execute the reset routine - > tap Reset .
4
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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 when the
last message was sent.
Last HTTP mes-
sage time
Not Available
Not Available
Displays the HTTP error when the
last message was sent and the
message ID if 4XX.
Last HTTP error
Error HTTP XXX
+ Message
GetMessage in
70 seconds
Displays the next message to send
and the date to send the message.
Next message
Not Available
Not Available
Displays the last command received
from server.
Last command
Reboot
Reset
Ping
Diagnostic
...
On refresh, the software Agent re-
sponds with the current data and
breaks the waiting state (if waiting)
to contact the server and refreshes
the information.
Refresh button
0/1/0/3/4/0/1/4
0-N for each
server error
Displays a count of the following
servers errors:
•
Timeout errors
•
Request errors
•
Connection errors
•
Connection not Available er-
rors
•
Unknown errors
•
Authentication errors
•
Proxy errors
•
Server errors
Server Errors
Connected Services logs
The software Agent generates some event logs in the central controller event log.
Event logs are generated during starting, registering, unregistering, losing
connectivity, and during other key events.
The events logs are in the range of 170XXX and are described with all the other
controller event logs documentation. For more details, see Operating
manual - Troubleshooting IRC5 .
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2.9.8 Connected Services information
Continued
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 registration is required to reactivate the Connected Services.
Use the following procedure to reset the software agent:
Action
Tap the ABB button to display the ABB menu.
Process applications are listed in the menu.
1
Tap Program Editor -> Debug -> Call Routine .
Note
Tap PP to Main if Debug is disabled.
2
Tap Connected Services Reset -> Go to . Press the Motors on button on the controller.
3
Press the Play button to execute the reset routine - > tap Reset .
4
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2.9.8 Connected Services information
Continued
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 - IRC5 with
FlexPendant and Operating manual - Troubleshooting IRC5 .
Purpose
The purpose of User logs is to track changes in the robot controller related to user
actions. This can for example be helpful to find the root cause if a production stop
occurs.
What is included
The RobotWare base functionality User logs generates event logs for the following
changes related to user actions. All event logs are described in Operating
manual - Troubleshooting IRC5 .
Event logs
User action
Topic
10140
Changing the speed or run mode (single cycle/continuous).
Making changes to the task selection panel. Setting or reset-
ting non motion execution mode.
Program exe-
cution
10145
10146
10153
10154
10284
10285
10144
Simulating wait instructions, for example WaitTime ,
WaitUntil , WaitDx , etc.
Simulate wait
instructions
10040
Opening or closing RAPID programs or modules, editing
RAPID code, or modifying robot positions.
RAPID
changes
10041
10061
10062
10063
10064
10069
10078
10079
10147
10141
Moving the program pointer to main, to a routine, to a posi-
tion, or to a service routine (call routine).
Program
pointer move-
ments
10142
10143
10149
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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 registration is required to reactivate the Connected Services.
Use the following procedure to reset the software agent:
Action
Tap the ABB button to display the ABB menu.
Process applications are listed in the menu.
1
Tap Program Editor -> Debug -> Call Routine .
Note
Tap PP to Main if Debug is disabled.
2
Tap Connected Services Reset -> Go to . Press the Motors on button on the controller.
3
Press the Play button to execute the reset routine - > tap Reset .
4
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2.9.8 Connected Services information
Continued
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 - IRC5 with
FlexPendant and Operating manual - Troubleshooting IRC5 .
Purpose
The purpose of User logs is to track changes in the robot controller related to user
actions. This can for example be helpful to find the root cause if a production stop
occurs.
What is included
The RobotWare base functionality User logs generates event logs for the following
changes related to user actions. All event logs are described in Operating
manual - Troubleshooting IRC5 .
Event logs
User action
Topic
10140
Changing the speed or run mode (single cycle/continuous).
Making changes to the task selection panel. Setting or reset-
ting non motion execution mode.
Program exe-
cution
10145
10146
10153
10154
10284
10285
10144
Simulating wait instructions, for example WaitTime ,
WaitUntil , WaitDx , etc.
Simulate wait
instructions
10040
Opening or closing RAPID programs or modules, editing
RAPID code, or modifying robot positions.
RAPID
changes
10041
10061
10062
10063
10064
10069
10078
10079
10147
10141
Moving the program pointer to main, to a routine, to a posi-
tion, or to a service routine (call routine).
Program
pointer move-
ments
10142
10143
10149
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2.10.1 Introduction to User logs
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 or resetting the jog or path supervision. Setting the
level of supervision.
Supervision
10294
10295
10296
10297
10298
10250
Loading configuration data or changing a configuration at-
tribute.
Change of
configuration
10200
Clearing the event log or changing date and time.
System
changes
10201
10202
10115
Changing the data in the serial measurement board or
changing the data in the robot memory.
Serial meas-
urement
board
10116
10117
10118
10148
Setting or pulsing I/O signals.
I/O
10160
10161
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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 - IRC5 with
FlexPendant and Operating manual - Troubleshooting IRC5 .
Purpose
The purpose of User logs is to track changes in the robot controller related to user
actions. This can for example be helpful to find the root cause if a production stop
occurs.
What is included
The RobotWare base functionality User logs generates event logs for the following
changes related to user actions. All event logs are described in Operating
manual - Troubleshooting IRC5 .
Event logs
User action
Topic
10140
Changing the speed or run mode (single cycle/continuous).
Making changes to the task selection panel. Setting or reset-
ting non motion execution mode.
Program exe-
cution
10145
10146
10153
10154
10284
10285
10144
Simulating wait instructions, for example WaitTime ,
WaitUntil , WaitDx , etc.
Simulate wait
instructions
10040
Opening or closing RAPID programs or modules, editing
RAPID code, or modifying robot positions.
RAPID
changes
10041
10061
10062
10063
10064
10069
10078
10079
10147
10141
Moving the program pointer to main, to a routine, to a posi-
tion, or to a service routine (call routine).
Program
pointer move-
ments
10142
10143
10149
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2 RobotWare-OS
2.10.1 Introduction to User logs
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 or resetting the jog or path supervision. Setting the
level of supervision.
Supervision
10294
10295
10296
10297
10298
10250
Loading configuration data or changing a configuration at-
tribute.
Change of
configuration
10200
Clearing the event log or changing date and time.
System
changes
10201
10202
10115
Changing the data in the serial measurement board or
changing the data in the robot memory.
Serial meas-
urement
board
10116
10117
10118
10148
Setting or pulsing I/O signals.
I/O
10160
10161
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2 RobotWare-OS
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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 or resetting the jog or path supervision. Setting the
level of supervision.
Supervision
10294
10295
10296
10297
10298
10250
Loading configuration data or changing a configuration at-
tribute.
Change of
configuration
10200
Clearing the event log or changing date and time.
System
changes
10201
10202
10115
Changing the data in the serial measurement board or
changing the data in the robot memory.
Serial meas-
urement
board
10116
10117
10118
10148
Setting or pulsing I/O signals.
I/O
10160
10161
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2 RobotWare-OS
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Continued
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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 structure. Absolute
Accuracy compensates for these differences.
Here are some examples of when this accuracy is important:
•
Exchangeability of robots
•
Offline programming with no or minimum touch-up
•
Online programming with accurate movement and reorientation of tool
•
Accurate cell alignment for MultiMove coordinated motion
•
Programming with accurate offset movement in relation to eg. vision system
or offset programming
•
Re-use of programs between applications
The option Absolute Accuracy is integrated in the controller algorithms and does
not need external equipment or calculation.
Note
The performance data is applicable to the corresponding RobotWare version of
the individual robot.
Note
Singularities might appear in slightly different positions on a real robot compared
to RobotStudio, where Absolute Accuracy is off compared to the real controller.
What is included
Every Absolute Accuracy robot is delivered with:
•
compensation parameters saved in the robot memory
•
a birth certificate representing the Absolute Accuracy measurement protocol
for the calibration and verification sequence.
A robot with Absolute Accuracy calibration has a label with this information on the
manipulator.
Absolute Accuracy supports floor mounted, wall mounted, and ceiling mounted
installations. The compensation parameters that are saved in the robot memory
differ depending on which Absolute Accuracy option is selected.
Continues on next page
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3.1.1 About Absolute Accuracy
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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 structure. Absolute
Accuracy compensates for these differences.
Here are some examples of when this accuracy is important:
•
Exchangeability of robots
•
Offline programming with no or minimum touch-up
•
Online programming with accurate movement and reorientation of tool
•
Accurate cell alignment for MultiMove coordinated motion
•
Programming with accurate offset movement in relation to eg. vision system
or offset programming
•
Re-use of programs between applications
The option Absolute Accuracy is integrated in the controller algorithms and does
not need external equipment or calculation.
Note
The performance data is applicable to the corresponding RobotWare version of
the individual robot.
Note
Singularities might appear in slightly different positions on a real robot compared
to RobotStudio, where Absolute Accuracy is off compared to the real controller.
What is included
Every Absolute Accuracy robot is delivered with:
•
compensation parameters saved in the robot memory
•
a birth certificate representing the Absolute Accuracy measurement protocol
for the calibration and verification sequence.
A robot with Absolute Accuracy calibration has a label with this information on the
manipulator.
Absolute Accuracy supports floor mounted, wall mounted, and ceiling mounted
installations. The compensation parameters that are saved in the robot memory
differ depending on which Absolute Accuracy option is selected.
Continues on next page
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3 Motion performance
3.1.1 About Absolute Accuracy
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.
Absolute Accuracy active
Absolute Accuracy will be active in the following cases:
•
Any motion function based on robtargets (e.g. MoveL ) and ModPos on
robtargets
•
Reorientation jogging
•
Linear jogging
•
Tool definition (4, 5, 6 point tool definition, room fixed TCP, stationary tool)
•
Work object definition
Absolute Accuracy not active
The following are examples of when Absolute Accuracy is not active:
•
Any motion function based on a jointtarget ( MoveAbsJ )
•
Independent joint
•
Joint based jogging
•
Additional axes
•
Track motion
Note
In a robot system with, for example, an additional axis or track motion, the
Absolute Accuracy is active for the manipulator but not for the additional axis or
track motion.
RAPID instructions
There are no RAPID instructions included in this option.
Absolute Accuracy and MultiMove
If the main robot in a MultiMove system has the Absolute Accuracy option, it opens
up Absolute Accuracy capability for all the robots in the system. However, each
robot needs to be calibrated individually.
Note
Note that this is the only RobotWare option that is relevant for an additional robot.
Note
It is possible to mix robots with and without the option Absolute Accuracy
arbitrarily in a MultiMove system.
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3 Motion performance
3.1.1 About Absolute Accuracy
Continued
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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 structure. Absolute
Accuracy compensates for these differences.
Here are some examples of when this accuracy is important:
•
Exchangeability of robots
•
Offline programming with no or minimum touch-up
•
Online programming with accurate movement and reorientation of tool
•
Accurate cell alignment for MultiMove coordinated motion
•
Programming with accurate offset movement in relation to eg. vision system
or offset programming
•
Re-use of programs between applications
The option Absolute Accuracy is integrated in the controller algorithms and does
not need external equipment or calculation.
Note
The performance data is applicable to the corresponding RobotWare version of
the individual robot.
Note
Singularities might appear in slightly different positions on a real robot compared
to RobotStudio, where Absolute Accuracy is off compared to the real controller.
What is included
Every Absolute Accuracy robot is delivered with:
•
compensation parameters saved in the robot memory
•
a birth certificate representing the Absolute Accuracy measurement protocol
for the calibration and verification sequence.
A robot with Absolute Accuracy calibration has a label with this information on the
manipulator.
Absolute Accuracy supports floor mounted, wall mounted, and ceiling mounted
installations. The compensation parameters that are saved in the robot memory
differ depending on which Absolute Accuracy option is selected.
Continues on next page
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3 Motion performance
3.1.1 About Absolute Accuracy
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.
Absolute Accuracy active
Absolute Accuracy will be active in the following cases:
•
Any motion function based on robtargets (e.g. MoveL ) and ModPos on
robtargets
•
Reorientation jogging
•
Linear jogging
•
Tool definition (4, 5, 6 point tool definition, room fixed TCP, stationary tool)
•
Work object definition
Absolute Accuracy not active
The following are examples of when Absolute Accuracy is not active:
•
Any motion function based on a jointtarget ( MoveAbsJ )
•
Independent joint
•
Joint based jogging
•
Additional axes
•
Track motion
Note
In a robot system with, for example, an additional axis or track motion, the
Absolute Accuracy is active for the manipulator but not for the additional axis or
track motion.
RAPID instructions
There are no RAPID instructions included in this option.
Absolute Accuracy and MultiMove
If the main robot in a MultiMove system has the Absolute Accuracy option, it opens
up Absolute Accuracy capability for all the robots in the system. However, each
robot needs to be calibrated individually.
Note
Note that this is the only RobotWare option that is relevant for an additional robot.
Note
It is possible to mix robots with and without the option Absolute Accuracy
arbitrarily in a MultiMove system.
136
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3 Motion performance
3.1.1 About Absolute Accuracy
Continued
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 an accurate description of the load.
Load Identification is a tool that determines the mass, center of gravity, and inertia
of the payload.
For more information, see Operating manual - IRC5 with FlexPendant .
CalibWare
CalibWare, provided by ABB, is a tool for calibrating Absolute Accuracy. The
documentation to CalibWare describes the Absolute Accuracy calibration procedure
in detail.
CalibWare is used at initial calibration and when servicing the robot.
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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.
Absolute Accuracy active
Absolute Accuracy will be active in the following cases:
•
Any motion function based on robtargets (e.g. MoveL ) and ModPos on
robtargets
•
Reorientation jogging
•
Linear jogging
•
Tool definition (4, 5, 6 point tool definition, room fixed TCP, stationary tool)
•
Work object definition
Absolute Accuracy not active
The following are examples of when Absolute Accuracy is not active:
•
Any motion function based on a jointtarget ( MoveAbsJ )
•
Independent joint
•
Joint based jogging
•
Additional axes
•
Track motion
Note
In a robot system with, for example, an additional axis or track motion, the
Absolute Accuracy is active for the manipulator but not for the additional axis or
track motion.
RAPID instructions
There are no RAPID instructions included in this option.
Absolute Accuracy and MultiMove
If the main robot in a MultiMove system has the Absolute Accuracy option, it opens
up Absolute Accuracy capability for all the robots in the system. However, each
robot needs to be calibrated individually.
Note
Note that this is the only RobotWare option that is relevant for an additional robot.
Note
It is possible to mix robots with and without the option Absolute Accuracy
arbitrarily in a MultiMove system.
136
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3 Motion performance
3.1.1 About Absolute Accuracy
Continued
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 an accurate description of the load.
Load Identification is a tool that determines the mass, center of gravity, and inertia
of the payload.
For more information, see Operating manual - IRC5 with FlexPendant .
CalibWare
CalibWare, provided by ABB, is a tool for calibrating Absolute Accuracy. The
documentation to CalibWare describes the Absolute Accuracy calibration procedure
in detail.
CalibWare is used at initial calibration and when servicing the robot.
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3 Motion performance
3.1.2 Useful tools
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 the type Robot .
4
For the parameter Use Robot Calibration , change the value to r1_calib .
5
For a MultiMove system, configure the parameter Use Robot Calibration for
each robot. It should be set to r2_calib for robot 2, r3_calib for robot 3, and
r4_calib for robot 4.
6
No restart is required.
Tip
To verify that Absolute Accuracy is active, look at the Jogging window on the
FlexPendant. When Absolute Accuracy is active, the text "Absolute Accuracy
On" is shown in the left window. In a MultiMove system, check this status for all
mechanical units.
Deactivate 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 the topic Motion .
3
Click the type Robot .
4
Configure the parameter Use Robot Calibration and change the value to
"r1_uncalib".
5
For a MultiMove system, repeat step 3 and 4 for each robot. Use Robot
Calibration is then set to "r2_uncalib" for robot 2, "r3_uncalib" for robot 3
and "r4_uncalib" for robot 4.
6
No restart is required.
Change calibration data
If you exchange the manipulator, the calibration data for the new manipulator must
be loaded. This is done by copying the calibration data from the robot memory to
the robot controller.
Use the FlexPendant and follow these steps (for more information, see Operating
manual - IRC5 with FlexPendant ):
Action
Tap the ABB menu and then Calibration .
1
Continues on next page
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3 Motion performance
3.1.3 Configuration
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|
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 an accurate description of the load.
Load Identification is a tool that determines the mass, center of gravity, and inertia
of the payload.
For more information, see Operating manual - IRC5 with FlexPendant .
CalibWare
CalibWare, provided by ABB, is a tool for calibrating Absolute Accuracy. The
documentation to CalibWare describes the Absolute Accuracy calibration procedure
in detail.
CalibWare is used at initial calibration and when servicing the robot.
Application manual - Controller software IRC5
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3 Motion performance
3.1.2 Useful tools
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 the type Robot .
4
For the parameter Use Robot Calibration , change the value to r1_calib .
5
For a MultiMove system, configure the parameter Use Robot Calibration for
each robot. It should be set to r2_calib for robot 2, r3_calib for robot 3, and
r4_calib for robot 4.
6
No restart is required.
Tip
To verify that Absolute Accuracy is active, look at the Jogging window on the
FlexPendant. When Absolute Accuracy is active, the text "Absolute Accuracy
On" is shown in the left window. In a MultiMove system, check this status for all
mechanical units.
Deactivate 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 the topic Motion .
3
Click the type Robot .
4
Configure the parameter Use Robot Calibration and change the value to
"r1_uncalib".
5
For a MultiMove system, repeat step 3 and 4 for each robot. Use Robot
Calibration is then set to "r2_uncalib" for robot 2, "r3_uncalib" for robot 3
and "r4_uncalib" for robot 4.
6
No restart is required.
Change calibration data
If you exchange the manipulator, the calibration data for the new manipulator must
be loaded. This is done by copying the calibration data from the robot memory to
the robot controller.
Use the FlexPendant and follow these steps (for more information, see Operating
manual - IRC5 with FlexPendant ):
Action
Tap the ABB menu and then Calibration .
1
Continues on next page
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3 Motion performance
3.1.3 Configuration
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
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3 Motion performance
3.1.3 Configuration
Continued
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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 the type Robot .
4
For the parameter Use Robot Calibration , change the value to r1_calib .
5
For a MultiMove system, configure the parameter Use Robot Calibration for
each robot. It should be set to r2_calib for robot 2, r3_calib for robot 3, and
r4_calib for robot 4.
6
No restart is required.
Tip
To verify that Absolute Accuracy is active, look at the Jogging window on the
FlexPendant. When Absolute Accuracy is active, the text "Absolute Accuracy
On" is shown in the left window. In a MultiMove system, check this status for all
mechanical units.
Deactivate 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 the topic Motion .
3
Click the type Robot .
4
Configure the parameter Use Robot Calibration and change the value to
"r1_uncalib".
5
For a MultiMove system, repeat step 3 and 4 for each robot. Use Robot
Calibration is then set to "r2_uncalib" for robot 2, "r3_uncalib" for robot 3
and "r4_uncalib" for robot 4.
6
No restart is required.
Change calibration data
If you exchange the manipulator, the calibration data for the new manipulator must
be loaded. This is done by copying the calibration data from the robot memory to
the robot controller.
Use the FlexPendant and follow these steps (for more information, see Operating
manual - IRC5 with FlexPendant ):
Action
Tap the ABB menu and then Calibration .
1
Continues on next page
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3 Motion performance
3.1.3 Configuration
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
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3 Motion performance
3.1.3 Configuration
Continued
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, gearbox, foot)
•
Manipulator replacement
•
Loss of accuracy
Note
If the RobotWare version on the controller must be downgraded, then contact
your local ABB for support regarding compatible versions of Absolute Accuracy.
Tool recalibration
For information about tool recalibration, see Tool calibration on page 154 .
Motor replacement
Replacement of all motors requires a re-calibration of the corresponding resolver
offset parameter using the standard calibration method for the respective robot.
This is described in the product manual for the robot.
If the motor replacement requires disassembly of the arm, then see Arm
replacement or disassembly on page 140 .
Wrist replacement
Replacement of the wrist unit requires a re-calibration of the resolver offsets for
axes 5 and 6 using the standard calibration method for the respective robot.
Arm replacement or disassembly
Replacement of any of the robot arms, or other mechanical structure (excluding
wrist), changes the structure of the robot to the extent that a robot recalibration is
required. It is recommended that, after an arm replacement, the entire robot should
be recalibrated to ensure optimal Absolute Accuracy functionality. This is typically
performed with CalibWare and a separate measurement system. CalibWare can
be used together with any generic 3Dmeasurement system.
For more information about the calibration process, see documentation for
CalibWare.
Continues on next page
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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
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3 Motion performance
3.1.3 Configuration
Continued
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, gearbox, foot)
•
Manipulator replacement
•
Loss of accuracy
Note
If the RobotWare version on the controller must be downgraded, then contact
your local ABB for support regarding compatible versions of Absolute Accuracy.
Tool recalibration
For information about tool recalibration, see Tool calibration on page 154 .
Motor replacement
Replacement of all motors requires a re-calibration of the corresponding resolver
offset parameter using the standard calibration method for the respective robot.
This is described in the product manual for the robot.
If the motor replacement requires disassembly of the arm, then see Arm
replacement or disassembly on page 140 .
Wrist replacement
Replacement of the wrist unit requires a re-calibration of the resolver offsets for
axes 5 and 6 using the standard calibration method for the respective robot.
Arm replacement or disassembly
Replacement of any of the robot arms, or other mechanical structure (excluding
wrist), changes the structure of the robot to the extent that a robot recalibration is
required. It is recommended that, after an arm replacement, the entire robot should
be recalibrated to ensure optimal Absolute Accuracy functionality. This is typically
performed with CalibWare and a separate measurement system. CalibWare can
be used together with any generic 3Dmeasurement system.
For more information about the calibration process, see documentation for
CalibWare.
Continues on next page
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3 Motion performance
3.1.4.1 Maintenance that affect the accuracy
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 accuracy of the work objects.
Note
An update of the defined work objects will make the deviation less in positioning.
5
Check the accuracy of the positions in the current application.
6
If the accuracy still is unsatisfactory, perform an Absolute Accuracy calibration of
the entire robot. See documentation for CalibWare.
7
Manipulator replacement
When a robot manipulator is replaced without replacing the controller cabinet, it
is necessary to update the Absolute Accuracy parameters in the controller cabinet
and realign the robot to the cell. The Absolute Accuracy parameters are updated
by loading the replacement robot’s calibration parameters into the controller as
described in Change calibration data on page 138 . Ensure that the calibration data
is loaded and that Absolute Accuracy is activated.
The alignment of the replacement robot to the cell depends on the robot alignment
technique chosen at installation. If the robot mounting pins are aligned to the cell
then the robot need only be placed on the pins - no further alignment is necessary.
If the robot was aligned using a robot program then it is necessary to measure the
cell fixture(s) and measure the robot in several positions (for best results use the
same program as the original robot). See Measure robot alignment on page 152 .
Application manual - Controller software IRC5
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3 Motion performance
3.1.4.1 Maintenance that affect the accuracy
Continued
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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, gearbox, foot)
•
Manipulator replacement
•
Loss of accuracy
Note
If the RobotWare version on the controller must be downgraded, then contact
your local ABB for support regarding compatible versions of Absolute Accuracy.
Tool recalibration
For information about tool recalibration, see Tool calibration on page 154 .
Motor replacement
Replacement of all motors requires a re-calibration of the corresponding resolver
offset parameter using the standard calibration method for the respective robot.
This is described in the product manual for the robot.
If the motor replacement requires disassembly of the arm, then see Arm
replacement or disassembly on page 140 .
Wrist replacement
Replacement of the wrist unit requires a re-calibration of the resolver offsets for
axes 5 and 6 using the standard calibration method for the respective robot.
Arm replacement or disassembly
Replacement of any of the robot arms, or other mechanical structure (excluding
wrist), changes the structure of the robot to the extent that a robot recalibration is
required. It is recommended that, after an arm replacement, the entire robot should
be recalibrated to ensure optimal Absolute Accuracy functionality. This is typically
performed with CalibWare and a separate measurement system. CalibWare can
be used together with any generic 3Dmeasurement system.
For more information about the calibration process, see documentation for
CalibWare.
Continues on next page
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© Copyright 2014-2025 ABB. All rights reserved.
3 Motion performance
3.1.4.1 Maintenance that affect the accuracy
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 accuracy of the work objects.
Note
An update of the defined work objects will make the deviation less in positioning.
5
Check the accuracy of the positions in the current application.
6
If the accuracy still is unsatisfactory, perform an Absolute Accuracy calibration of
the entire robot. See documentation for CalibWare.
7
Manipulator replacement
When a robot manipulator is replaced without replacing the controller cabinet, it
is necessary to update the Absolute Accuracy parameters in the controller cabinet
and realign the robot to the cell. The Absolute Accuracy parameters are updated
by loading the replacement robot’s calibration parameters into the controller as
described in Change calibration data on page 138 . Ensure that the calibration data
is loaded and that Absolute Accuracy is activated.
The alignment of the replacement robot to the cell depends on the robot alignment
technique chosen at installation. If the robot mounting pins are aligned to the cell
then the robot need only be placed on the pins - no further alignment is necessary.
If the robot was aligned using a robot program then it is necessary to measure the
cell fixture(s) and measure the robot in several positions (for best results use the
same program as the original robot). See Measure robot alignment on page 152 .
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© Copyright 2014-2025 ABB. All rights reserved.
3 Motion performance
3.1.4.1 Maintenance that affect the accuracy
Continued
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 Identification to ensure correct mass, centre of gravity and
inertia for the active tool.
the tool load is not
correctly defined
1
Check that the axis scales show that the robot stands correctly
in the home position.
2
If the indicators are not aligned, move the robot to correct posi-
tion and update the revolution counters.
3
If the indicators are close to aligned but not correct, re-calibrate
with the standard calibration for the robot.
the resolver offsets
are no longer valid
1
Check by moving the robot to a predefined position on the fix-
ture(s).
2
Visually assessing whether the deviation is excessive.
3
If excessive, realign robot to fixture(s).
the robot’s relation-
ship to the fix-
ture(s) has
changed
1
Visually assess whether the robot is damaged.
2
If damaged then replace entire manipulator -or- replace affected
arm(s) -or- recalibrate affected arm(s).
the robot structure
has changed
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| 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 accuracy of the work objects.
Note
An update of the defined work objects will make the deviation less in positioning.
5
Check the accuracy of the positions in the current application.
6
If the accuracy still is unsatisfactory, perform an Absolute Accuracy calibration of
the entire robot. See documentation for CalibWare.
7
Manipulator replacement
When a robot manipulator is replaced without replacing the controller cabinet, it
is necessary to update the Absolute Accuracy parameters in the controller cabinet
and realign the robot to the cell. The Absolute Accuracy parameters are updated
by loading the replacement robot’s calibration parameters into the controller as
described in Change calibration data on page 138 . Ensure that the calibration data
is loaded and that Absolute Accuracy is activated.
The alignment of the replacement robot to the cell depends on the robot alignment
technique chosen at installation. If the robot mounting pins are aligned to the cell
then the robot need only be placed on the pins - no further alignment is necessary.
If the robot was aligned using a robot program then it is necessary to measure the
cell fixture(s) and measure the robot in several positions (for best results use the
same program as the original robot). See Measure robot alignment on page 152 .
Application manual - Controller software IRC5
141
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© Copyright 2014-2025 ABB. All rights reserved.
3 Motion performance
3.1.4.1 Maintenance that affect the accuracy
Continued
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 Identification to ensure correct mass, centre of gravity and
inertia for the active tool.
the tool load is not
correctly defined
1
Check that the axis scales show that the robot stands correctly
in the home position.
2
If the indicators are not aligned, move the robot to correct posi-
tion and update the revolution counters.
3
If the indicators are close to aligned but not correct, re-calibrate
with the standard calibration for the robot.
the resolver offsets
are no longer valid
1
Check by moving the robot to a predefined position on the fix-
ture(s).
2
Visually assessing whether the deviation is excessive.
3
If excessive, realign robot to fixture(s).
the robot’s relation-
ship to the fix-
ture(s) has
changed
1
Visually assess whether the robot is damaged.
2
If damaged then replace entire manipulator -or- replace affected
arm(s) -or- recalibrate affected arm(s).
the robot structure
has changed
142
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© Copyright 2014-2025 ABB. All rights reserved.
3 Motion performance
3.1.4.2 Loss of accuracy
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
weight of the current payload. These errors depend on gravity and the
characteristics of the load. The compensation of these errors is most efficient if
you use Load Identification (see Operating manual - IRC5 with FlexPendant ).
Kinematic errors are caused by position or orientational deviations in the robot
axes. These are independent of the load.
Illustration
There are several types of errors that can occur in each joint.
![Image]
en0300000232
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3 Motion performance
3.1.5.1 Error sources
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| 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 Identification to ensure correct mass, centre of gravity and
inertia for the active tool.
the tool load is not
correctly defined
1
Check that the axis scales show that the robot stands correctly
in the home position.
2
If the indicators are not aligned, move the robot to correct posi-
tion and update the revolution counters.
3
If the indicators are close to aligned but not correct, re-calibrate
with the standard calibration for the robot.
the resolver offsets
are no longer valid
1
Check by moving the robot to a predefined position on the fix-
ture(s).
2
Visually assessing whether the deviation is excessive.
3
If excessive, realign robot to fixture(s).
the robot’s relation-
ship to the fix-
ture(s) has
changed
1
Visually assess whether the robot is damaged.
2
If damaged then replace entire manipulator -or- replace affected
arm(s) -or- recalibrate affected arm(s).
the robot structure
has changed
142
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© Copyright 2014-2025 ABB. All rights reserved.
3 Motion performance
3.1.4.2 Loss of accuracy
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
weight of the current payload. These errors depend on gravity and the
characteristics of the load. The compensation of these errors is most efficient if
you use Load Identification (see Operating manual - IRC5 with FlexPendant ).
Kinematic errors are caused by position or orientational deviations in the robot
axes. These are independent of the load.
Illustration
There are several types of errors that can occur in each joint.
![Image]
en0300000232
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143
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3 Motion performance
3.1.5.1 Error sources
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 target in cartesian coordinates, not on the
individual joints. This means that it is the position of the TCP (marked with an arrow
in the following illustrations) that is correctly compensated.
Desired position
The following illustration shows the position you want the robot to have.
![Image]
xx0300000225
Position due to deflection
The following illustration shows the position the robot will get without Absolute
Accuracy . The weight of the robot arms and the load will make a deflection on the
robot. Note that the deflection is exaggerated.
![Image]
xx0300000227
Fake target
In order to get the desired position, Absolute Accuracy calculates a fake target.
When you enter a desired position, the system recalculates it to a fake target that
after the deflection will result in the desired position.
![Image]
xx0300000226
Continues on next page
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3 Motion performance
3.1.5.2 Absolute Accuracy compensation
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| 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
weight of the current payload. These errors depend on gravity and the
characteristics of the load. The compensation of these errors is most efficient if
you use Load Identification (see Operating manual - IRC5 with FlexPendant ).
Kinematic errors are caused by position or orientational deviations in the robot
axes. These are independent of the load.
Illustration
There are several types of errors that can occur in each joint.
![Image]
en0300000232
Application manual - Controller software IRC5
143
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
3 Motion performance
3.1.5.1 Error sources
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 target in cartesian coordinates, not on the
individual joints. This means that it is the position of the TCP (marked with an arrow
in the following illustrations) that is correctly compensated.
Desired position
The following illustration shows the position you want the robot to have.
![Image]
xx0300000225
Position due to deflection
The following illustration shows the position the robot will get without Absolute
Accuracy . The weight of the robot arms and the load will make a deflection on the
robot. Note that the deflection is exaggerated.
![Image]
xx0300000227
Fake target
In order to get the desired position, Absolute Accuracy calculates a fake target.
When you enter a desired position, the system recalculates it to a fake target that
after the deflection will result in the desired position.
![Image]
xx0300000226
Continues on next page
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3 Motion performance
3.1.5.2 Absolute Accuracy compensation
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
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3 Motion performance
3.1.5.2 Absolute Accuracy compensation
Continued
|
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|
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| 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 target in cartesian coordinates, not on the
individual joints. This means that it is the position of the TCP (marked with an arrow
in the following illustrations) that is correctly compensated.
Desired position
The following illustration shows the position you want the robot to have.
![Image]
xx0300000225
Position due to deflection
The following illustration shows the position the robot will get without Absolute
Accuracy . The weight of the robot arms and the load will make a deflection on the
robot. Note that the deflection is exaggerated.
![Image]
xx0300000227
Fake target
In order to get the desired position, Absolute Accuracy calculates a fake target.
When you enter a desired position, the system recalculates it to a fake target that
after the deflection will result in the desired position.
![Image]
xx0300000226
Continues on next page
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© Copyright 2014-2025 ABB. All rights reserved.
3 Motion performance
3.1.5.2 Absolute Accuracy compensation
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
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3 Motion performance
3.1.5.2 Absolute Accuracy compensation
Continued
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
Absolute Accuracy calibration
3
Calibration data stored in the robot memory
4
Absolute Accuracy verification
5
Generation of a birth certificate
Resolver offset calibration
The resolver offset calibration process is used to calibrate the resolver offset
parameters.
For information on how to do this, see the product manual for the respective robot.
Absolute Accuracy calibration
The Absolute Accuracy calibration is performed on top of the resolver offset
calibration, hence the importance of having repeatable methods for both processes.
Each robot is calibrated with maximum load to ensure that the correct compensation
parameters are detected (calibration at lower load might not result in a correct
determination of the robot flexibility parameters.) The process runs the robot to
100 jointtarget poses and measures each corresponding measurement point
coordinate. The list of poses and measurements are fed into the CalibWare
calibration core and a set of robot compensation parameters are created.
Continues on next page
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3 Motion performance
3.1.6.1 ABB calibration process
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| 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
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3 Motion performance
3.1.5.2 Absolute Accuracy compensation
Continued
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
Absolute Accuracy calibration
3
Calibration data stored in the robot memory
4
Absolute Accuracy verification
5
Generation of a birth certificate
Resolver offset calibration
The resolver offset calibration process is used to calibrate the resolver offset
parameters.
For information on how to do this, see the product manual for the respective robot.
Absolute Accuracy calibration
The Absolute Accuracy calibration is performed on top of the resolver offset
calibration, hence the importance of having repeatable methods for both processes.
Each robot is calibrated with maximum load to ensure that the correct compensation
parameters are detected (calibration at lower load might not result in a correct
determination of the robot flexibility parameters.) The process runs the robot to
100 jointtarget poses and measures each corresponding measurement point
coordinate. The list of poses and measurements are fed into the CalibWare
calibration core and a set of robot compensation parameters are created.
Continues on next page
146
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3 Motion performance
3.1.6.1 ABB calibration process
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 how to do this, see documentation for CalibWare.
The requirements for acceptance vary between robot types, see typical performance
data in the product specification for the respective robot.
Compensation parameters and birth certificate
The compensation parameters are saved in the robot memory (see Compensation
parameters on page 149 ).
A birth certificate is created representing the Absolute Accuracy measurement
protocol for the calibration and verification sequence (see Birth certificate on
page 148 ).
Application manual - Controller software IRC5
147
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3 Motion performance
3.1.6.1 ABB calibration process
Continued
|
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| 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
Absolute Accuracy calibration
3
Calibration data stored in the robot memory
4
Absolute Accuracy verification
5
Generation of a birth certificate
Resolver offset calibration
The resolver offset calibration process is used to calibrate the resolver offset
parameters.
For information on how to do this, see the product manual for the respective robot.
Absolute Accuracy calibration
The Absolute Accuracy calibration is performed on top of the resolver offset
calibration, hence the importance of having repeatable methods for both processes.
Each robot is calibrated with maximum load to ensure that the correct compensation
parameters are detected (calibration at lower load might not result in a correct
determination of the robot flexibility parameters.) The process runs the robot to
100 jointtarget poses and measures each corresponding measurement point
coordinate. The list of poses and measurements are fed into the CalibWare
calibration core and a set of robot compensation parameters are created.
Continues on next page
146
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© Copyright 2014-2025 ABB. All rights reserved.
3 Motion performance
3.1.6.1 ABB calibration process
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 how to do this, see documentation for CalibWare.
The requirements for acceptance vary between robot types, see typical performance
data in the product specification for the respective robot.
Compensation parameters and birth certificate
The compensation parameters are saved in the robot memory (see Compensation
parameters on page 149 ).
A birth certificate is created representing the Absolute Accuracy measurement
protocol for the calibration and verification sequence (see Birth certificate on
page 148 ).
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147
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3 Motion performance
3.1.6.1 ABB calibration process
Continued
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, serial number, version of Absolute Accuracy)
•
Accuracy information (maximum, average and standard deviation for finepoint
error distribution)
•
Tool information (TCP, mass, center of gravity)
•
Description of measurement protocol (measurement and calibration system,
number of points, measurement point location)
148
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3 Motion performance
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| 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 how to do this, see documentation for CalibWare.
The requirements for acceptance vary between robot types, see typical performance
data in the product specification for the respective robot.
Compensation parameters and birth certificate
The compensation parameters are saved in the robot memory (see Compensation
parameters on page 149 ).
A birth certificate is created representing the Absolute Accuracy measurement
protocol for the calibration and verification sequence (see Birth certificate on
page 148 ).
Application manual - Controller software IRC5
147
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
3 Motion performance
3.1.6.1 ABB calibration process
Continued
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, serial number, version of Absolute Accuracy)
•
Accuracy information (maximum, average and standard deviation for finepoint
error distribution)
•
Tool information (TCP, mass, center of gravity)
•
Description of measurement protocol (measurement and calibration system,
number of points, measurement point location)
148
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3 Motion performance
3.1.6.2 Birth certificate
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 stored in the robot memory.
The compensation parameters
The compensation parameters are defined in the following configuration types:
•
ROBOT_CALIB
•
ARM_CALIB
•
JOINT_CALIB
•
PARALLEL_ARM_CALIB
•
TOOL_INTERFACE
•
MOTOR_CALIB
The type ROBOT_CALIB defines the top level of the calibration structure. The
instance r1_calib activates the Absolute Accuracy functionality by specifying the
flag -absacc . See Activate Absolute Accuracy on page 138 .
The types ARM_CALIB, JOINT_CALIB, PARALLEL_ARM_CALIB, and
MOTOR_CALIB are reserved by the system and are only shown when the Absolute
Accuracy option is selected in the Modify Installation dialog. The parameter values
can be changed by importing a new configuration file.
The compensation parameters are included in a backup, in the file moc.cfg .
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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, serial number, version of Absolute Accuracy)
•
Accuracy information (maximum, average and standard deviation for finepoint
error distribution)
•
Tool information (TCP, mass, center of gravity)
•
Description of measurement protocol (measurement and calibration system,
number of points, measurement point location)
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3 Motion performance
3.1.6.2 Birth certificate
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 stored in the robot memory.
The compensation parameters
The compensation parameters are defined in the following configuration types:
•
ROBOT_CALIB
•
ARM_CALIB
•
JOINT_CALIB
•
PARALLEL_ARM_CALIB
•
TOOL_INTERFACE
•
MOTOR_CALIB
The type ROBOT_CALIB defines the top level of the calibration structure. The
instance r1_calib activates the Absolute Accuracy functionality by specifying the
flag -absacc . See Activate Absolute Accuracy on page 138 .
The types ARM_CALIB, JOINT_CALIB, PARALLEL_ARM_CALIB, and
MOTOR_CALIB are reserved by the system and are only shown when the Absolute
Accuracy option is selected in the Modify Installation dialog. The parameter values
can be changed by importing a new configuration file.
The compensation parameters are included in a backup, in the file moc.cfg .
Application manual - Controller software IRC5
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3 Motion performance
3.1.6.3 Compensation parameters
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 aligned to the coordinates in their cells. This section describes
this alignment procedure. For a more detailed description, see documentation for
CalibWare.
Alignment procedure
In order for the robot to be accurate with respect to the entire robot cell, it is
necessary to install the robot correctly. In summary, this involves:
Description
Action
Determine the relationship between the measurement
system and the fixture. See Measure fixture alignment
on page 151 .
Measure fixture alignment
1
Determine the relationship between the measurement
system and the robot. See Measure robot alignment
on page 152 .
Measure robot alignment
2
Determine the relationship between, for example, the
robot and the fixture. See Frame relationships on
page 153 .
Calculate frame relationships
3
Determine the relationship between the robot tool and
other cell components. See Tool calibration on
page 154 .
Calibrate tool
4
Illustration
User (Fixture)
Measurement
system base
=Reference points
=Mounting pins
X
Y
Z
X
Y
Z
World
=Reference points
X
Y
Z
X
Y
Z
Robot base
=Robtargets
1.
1.
2.
3.
3.
Work object
transformation
Base frame
transformation
en0300000239
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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 stored in the robot memory.
The compensation parameters
The compensation parameters are defined in the following configuration types:
•
ROBOT_CALIB
•
ARM_CALIB
•
JOINT_CALIB
•
PARALLEL_ARM_CALIB
•
TOOL_INTERFACE
•
MOTOR_CALIB
The type ROBOT_CALIB defines the top level of the calibration structure. The
instance r1_calib activates the Absolute Accuracy functionality by specifying the
flag -absacc . See Activate Absolute Accuracy on page 138 .
The types ARM_CALIB, JOINT_CALIB, PARALLEL_ARM_CALIB, and
MOTOR_CALIB are reserved by the system and are only shown when the Absolute
Accuracy option is selected in the Modify Installation dialog. The parameter values
can be changed by importing a new configuration file.
The compensation parameters are included in a backup, in the file moc.cfg .
Application manual - Controller software IRC5
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3 Motion performance
3.1.6.3 Compensation parameters
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 aligned to the coordinates in their cells. This section describes
this alignment procedure. For a more detailed description, see documentation for
CalibWare.
Alignment procedure
In order for the robot to be accurate with respect to the entire robot cell, it is
necessary to install the robot correctly. In summary, this involves:
Description
Action
Determine the relationship between the measurement
system and the fixture. See Measure fixture alignment
on page 151 .
Measure fixture alignment
1
Determine the relationship between the measurement
system and the robot. See Measure robot alignment
on page 152 .
Measure robot alignment
2
Determine the relationship between, for example, the
robot and the fixture. See Frame relationships on
page 153 .
Calculate frame relationships
3
Determine the relationship between the robot tool and
other cell components. See Tool calibration on
page 154 .
Calibrate tool
4
Illustration
User (Fixture)
Measurement
system base
=Reference points
=Mounting pins
X
Y
Z
X
Y
Z
World
=Reference points
X
Y
Z
X
Y
Z
Robot base
=Robtargets
1.
1.
2.
3.
3.
Work object
transformation
Base frame
transformation
en0300000239
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3 Motion performance
3.1.7.1 Overview
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 with at least three (preferably four)
reference points, each with clearly marked position information.
Fixture measurement procedure
The alignment of the fixture is done in the following steps:
1
Enter the reference point names and positions into the alignment software.
2
Measure the reference points and assign the same names.
3
Use the alignment software to match the reference to measured points and
determine the relationship frame. All measurement systems support this
form of transformation.
Illustration
User (Fixture)
Measurement
system base
1
2
3
4
=Reference points
X
Y
Z
X
Y
Z
en0300000237
Frame relationship
Reference positions
Measurement positions
1) RobotStudio work object
Pos1: 100, 100, 100
Pos1: 100, 100, 200
(0,0,-100,0,0,0)
Pos2: 100, 200, 100
Pos2: 100, 200, 200
(x,y,z,roll,pitch,yaw
Pos3: 200, 200, 100
Pos3: 200, 200, 200
Pos4: 200, 100, 100
Pos4: 200, 100, 200
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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 aligned to the coordinates in their cells. This section describes
this alignment procedure. For a more detailed description, see documentation for
CalibWare.
Alignment procedure
In order for the robot to be accurate with respect to the entire robot cell, it is
necessary to install the robot correctly. In summary, this involves:
Description
Action
Determine the relationship between the measurement
system and the fixture. See Measure fixture alignment
on page 151 .
Measure fixture alignment
1
Determine the relationship between the measurement
system and the robot. See Measure robot alignment
on page 152 .
Measure robot alignment
2
Determine the relationship between, for example, the
robot and the fixture. See Frame relationships on
page 153 .
Calculate frame relationships
3
Determine the relationship between the robot tool and
other cell components. See Tool calibration on
page 154 .
Calibrate tool
4
Illustration
User (Fixture)
Measurement
system base
=Reference points
=Mounting pins
X
Y
Z
X
Y
Z
World
=Reference points
X
Y
Z
X
Y
Z
Robot base
=Robtargets
1.
1.
2.
3.
3.
Work object
transformation
Base frame
transformation
en0300000239
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3 Motion performance
3.1.7.1 Overview
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 with at least three (preferably four)
reference points, each with clearly marked position information.
Fixture measurement procedure
The alignment of the fixture is done in the following steps:
1
Enter the reference point names and positions into the alignment software.
2
Measure the reference points and assign the same names.
3
Use the alignment software to match the reference to measured points and
determine the relationship frame. All measurement systems support this
form of transformation.
Illustration
User (Fixture)
Measurement
system base
1
2
3
4
=Reference points
X
Y
Z
X
Y
Z
en0300000237
Frame relationship
Reference positions
Measurement positions
1) RobotStudio work object
Pos1: 100, 100, 100
Pos1: 100, 100, 200
(0,0,-100,0,0,0)
Pos2: 100, 200, 100
Pos2: 100, 200, 200
(x,y,z,roll,pitch,yaw
Pos3: 200, 200, 100
Pos3: 200, 200, 200
Pos4: 200, 100, 100
Pos4: 200, 100, 200
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3 Motion performance
3.1.7.2 Measure fixture alignment
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 detailed in the product manual for the re-
spective robot.
Alignment to physical base
Measuring several robot poses and letting the alignment
software determine the robot alignment.
Alignment to theoretical base
Alignment to physical base
The advantage of aligning the robot as a fixture is in its simplicity - the robot is
treated as another fixture in the cell and its base points measured accordingly.
The disadvantage is that small errors in the subsequent placement of the robot on
the pins can result is large TCP errors due to the reach of the robot (i.e. the
placement of the robot is not calibrated.)
In order to determine the reference point coordinates, it is necessary to consult
the product manual for that robot type.
Once the correct point have been measured, the alignment software is used to
determine the frame relationship between the measurement system and robot
base.
Alignment to theoretical base
The advantage of aligning the robot to a theoretical base is that any errors resulting
from mounting the robot can be eliminated. Furthermore, the alignment process
details the robot accuracy at the measured points, confirming correct Absolute
Accuracy functionality. The disadvantage is that a robot program must be created
(either manually or automatically from CalibWare) and the robot measured (ideally
with correct tool however the TCP can also be calibrated as a part of this procedure.)
Once the correct point is measured, the alignment software is used to determine
the frame relationship between the measurement system and robot base.
152
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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 with at least three (preferably four)
reference points, each with clearly marked position information.
Fixture measurement procedure
The alignment of the fixture is done in the following steps:
1
Enter the reference point names and positions into the alignment software.
2
Measure the reference points and assign the same names.
3
Use the alignment software to match the reference to measured points and
determine the relationship frame. All measurement systems support this
form of transformation.
Illustration
User (Fixture)
Measurement
system base
1
2
3
4
=Reference points
X
Y
Z
X
Y
Z
en0300000237
Frame relationship
Reference positions
Measurement positions
1) RobotStudio work object
Pos1: 100, 100, 100
Pos1: 100, 100, 200
(0,0,-100,0,0,0)
Pos2: 100, 200, 100
Pos2: 100, 200, 200
(x,y,z,roll,pitch,yaw
Pos3: 200, 200, 100
Pos3: 200, 200, 200
Pos4: 200, 100, 100
Pos4: 200, 100, 200
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3 Motion performance
3.1.7.2 Measure fixture alignment
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 detailed in the product manual for the re-
spective robot.
Alignment to physical base
Measuring several robot poses and letting the alignment
software determine the robot alignment.
Alignment to theoretical base
Alignment to physical base
The advantage of aligning the robot as a fixture is in its simplicity - the robot is
treated as another fixture in the cell and its base points measured accordingly.
The disadvantage is that small errors in the subsequent placement of the robot on
the pins can result is large TCP errors due to the reach of the robot (i.e. the
placement of the robot is not calibrated.)
In order to determine the reference point coordinates, it is necessary to consult
the product manual for that robot type.
Once the correct point have been measured, the alignment software is used to
determine the frame relationship between the measurement system and robot
base.
Alignment to theoretical base
The advantage of aligning the robot to a theoretical base is that any errors resulting
from mounting the robot can be eliminated. Furthermore, the alignment process
details the robot accuracy at the measured points, confirming correct Absolute
Accuracy functionality. The disadvantage is that a robot program must be created
(either manually or automatically from CalibWare) and the robot measured (ideally
with correct tool however the TCP can also be calibrated as a part of this procedure.)
Once the correct point is measured, the alignment software is used to determine
the frame relationship between the measurement system and robot base.
152
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3 Motion performance
3.1.7.3 Measure robot alignment
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 relationship between the robot and the fixture shall be stored
in the workobject data type.
The measurement system is initially the active coordinate system as both world
and robot are measured relative to the measurement system.
Determine robot base
Use a standard measurement system software to determine the robot base in world
coordinates:
1
Set the world coordinate system to be active (the origin).
2
Read the coordinates of the robot base frame (now relative to the world).
The fixture relationship is similarly determined by setting the robot to be
active and reading the coordinates of the fixture frame.
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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 detailed in the product manual for the re-
spective robot.
Alignment to physical base
Measuring several robot poses and letting the alignment
software determine the robot alignment.
Alignment to theoretical base
Alignment to physical base
The advantage of aligning the robot as a fixture is in its simplicity - the robot is
treated as another fixture in the cell and its base points measured accordingly.
The disadvantage is that small errors in the subsequent placement of the robot on
the pins can result is large TCP errors due to the reach of the robot (i.e. the
placement of the robot is not calibrated.)
In order to determine the reference point coordinates, it is necessary to consult
the product manual for that robot type.
Once the correct point have been measured, the alignment software is used to
determine the frame relationship between the measurement system and robot
base.
Alignment to theoretical base
The advantage of aligning the robot to a theoretical base is that any errors resulting
from mounting the robot can be eliminated. Furthermore, the alignment process
details the robot accuracy at the measured points, confirming correct Absolute
Accuracy functionality. The disadvantage is that a robot program must be created
(either manually or automatically from CalibWare) and the robot measured (ideally
with correct tool however the TCP can also be calibrated as a part of this procedure.)
Once the correct point is measured, the alignment software is used to determine
the frame relationship between the measurement system and robot base.
152
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3 Motion performance
3.1.7.3 Measure robot alignment
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 relationship between the robot and the fixture shall be stored
in the workobject data type.
The measurement system is initially the active coordinate system as both world
and robot are measured relative to the measurement system.
Determine robot base
Use a standard measurement system software to determine the robot base in world
coordinates:
1
Set the world coordinate system to be active (the origin).
2
Read the coordinates of the robot base frame (now relative to the world).
The fixture relationship is similarly determined by setting the robot to be
active and reading the coordinates of the fixture frame.
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3 Motion performance
3.1.7.4 Frame relationships
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 perform a correct TCP calibration with, for example, a
Coordinate Measurement Machine (CMM) as this does not take into account the
connection of the tool to the robot nor the tool flexibility.
Each tool should be calibrated on a regular basis to ensure optimal robot accuracy.
Tool calibration procedures
Suggested tool recalibration procedures are detailed as follows:
•
SBCU (Single Beam Calibration Unit) such as the ABB BullsEye for
arc-welding or spot-welding applications.
•
Geometry calibration such as the 4, 5 or 6 Point tool center point calibration
routine available in the controller. A measurement system can be used to
ensure that the single point used is accurate.
•
RAPID tool calibration routines: MToolTCPCalib (calibration of TCP for moving
tool), SToolTCPCalib (calibration of TCP for stationary tool), MToolRotCalib
(calibration of rotation for moving tool), SToolRotCalib (calibration of TCP
and rotation for stationary tool.)
•
Using theoretical data, for example from a CAD model.
Tip
As the tool load characteristics are used in the Absolute Accuracy models, it is
essential that all parameters be as accurate as possible. Use of Load Identification
is an efficient method of determining tool load characteristics.
154
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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 relationship between the robot and the fixture shall be stored
in the workobject data type.
The measurement system is initially the active coordinate system as both world
and robot are measured relative to the measurement system.
Determine robot base
Use a standard measurement system software to determine the robot base in world
coordinates:
1
Set the world coordinate system to be active (the origin).
2
Read the coordinates of the robot base frame (now relative to the world).
The fixture relationship is similarly determined by setting the robot to be
active and reading the coordinates of the fixture frame.
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3 Motion performance
3.1.7.4 Frame relationships
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 perform a correct TCP calibration with, for example, a
Coordinate Measurement Machine (CMM) as this does not take into account the
connection of the tool to the robot nor the tool flexibility.
Each tool should be calibrated on a regular basis to ensure optimal robot accuracy.
Tool calibration procedures
Suggested tool recalibration procedures are detailed as follows:
•
SBCU (Single Beam Calibration Unit) such as the ABB BullsEye for
arc-welding or spot-welding applications.
•
Geometry calibration such as the 4, 5 or 6 Point tool center point calibration
routine available in the controller. A measurement system can be used to
ensure that the single point used is accurate.
•
RAPID tool calibration routines: MToolTCPCalib (calibration of TCP for moving
tool), SToolTCPCalib (calibration of TCP for stationary tool), MToolRotCalib
(calibration of rotation for moving tool), SToolRotCalib (calibration of TCP
and rotation for stationary tool.)
•
Using theoretical data, for example from a CAD model.
Tip
As the tool load characteristics are used in the Absolute Accuracy models, it is
essential that all parameters be as accurate as possible. Use of Load Identification
is an efficient method of determining tool load characteristics.
154
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3 Motion performance
3.1.7.5 Tool calibration
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 Move , see Wrist Move [included in 687-1] on page 172 .
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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 perform a correct TCP calibration with, for example, a
Coordinate Measurement Machine (CMM) as this does not take into account the
connection of the tool to the robot nor the tool flexibility.
Each tool should be calibrated on a regular basis to ensure optimal robot accuracy.
Tool calibration procedures
Suggested tool recalibration procedures are detailed as follows:
•
SBCU (Single Beam Calibration Unit) such as the ABB BullsEye for
arc-welding or spot-welding applications.
•
Geometry calibration such as the 4, 5 or 6 Point tool center point calibration
routine available in the controller. A measurement system can be used to
ensure that the single point used is accurate.
•
RAPID tool calibration routines: MToolTCPCalib (calibration of TCP for moving
tool), SToolTCPCalib (calibration of TCP for stationary tool), MToolRotCalib
(calibration of rotation for moving tool), SToolRotCalib (calibration of TCP
and rotation for stationary tool.)
•
Using theoretical data, for example from a CAD model.
Tip
As the tool load characteristics are used in the Absolute Accuracy models, it is
essential that all parameters be as accurate as possible. Use of Load Identification
is an efficient method of determining tool load characteristics.
154
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© Copyright 2014-2025 ABB. All rights reserved.
3 Motion performance
3.1.7.5 Tool calibration
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 Move , see Wrist Move [included in 687-1] on page 172 .
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3 Motion performance
3.2 Advanced Robot Motion [687-1]
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 joint friction can cause path deviation of
typically 0.5 mm in these cases. By tuning parameters of a friction model in the
controller, the path deviation can be reduced to the repeatability level of the robot,
for example, 0.1 mm for a medium sized robot.
What is included
Advanced Shape Tuning is included in the RobotWare option Advanced robot
motion and gives you access to:
•
Instructions FricIdInit , FricIdEvaluate and FricIdSetFricLevels
that automatically optimize the joint friction model parameters for a
programmed path.
•
The system parameters Friction FFW On , Friction FFW level and Friction
FFW Ramp for manual tuning of the joint friction parameters.
•
The tune types tune_fric_lev and tune_fric_ramp that can be used
with the instruction TuneServo .
Basic approach
This is a brief description of how Advanced Shape Tuning is most commonly used:
1
Set system parameter Friction FFW On to TRUE. See System parameters
on page 161 .
2
Perform automatic tuning of the joint friction levels using the instructions
FricIdInit and FricIdEvaluate . See Automatic friction tuning on
page 157 .
3
Compensate for the friction using the instruction FricIdSetFricLevels .
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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 Move , see Wrist Move [included in 687-1] on page 172 .
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3 Motion performance
3.2 Advanced Robot Motion [687-1]
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 joint friction can cause path deviation of
typically 0.5 mm in these cases. By tuning parameters of a friction model in the
controller, the path deviation can be reduced to the repeatability level of the robot,
for example, 0.1 mm for a medium sized robot.
What is included
Advanced Shape Tuning is included in the RobotWare option Advanced robot
motion and gives you access to:
•
Instructions FricIdInit , FricIdEvaluate and FricIdSetFricLevels
that automatically optimize the joint friction model parameters for a
programmed path.
•
The system parameters Friction FFW On , Friction FFW level and Friction
FFW Ramp for manual tuning of the joint friction parameters.
•
The tune types tune_fric_lev and tune_fric_ramp that can be used
with the instruction TuneServo .
Basic approach
This is a brief description of how Advanced Shape Tuning is most commonly used:
1
Set system parameter Friction FFW On to TRUE. See System parameters
on page 161 .
2
Perform automatic tuning of the joint friction levels using the instructions
FricIdInit and FricIdEvaluate . See Automatic friction tuning on
page 157 .
3
Compensate for the friction using the instruction FricIdSetFricLevels .
156
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3 Motion performance
3.3.1 About Advanced Shape Tuning
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 friction compensation with the
instruction FricIdSetFricLevels .
Program execution
To perform automatic tuning for a sequence of movements, the sequence must
begin with the instruction FricIdInit and end with the instruction
FricIdEvaluate . When program execution reaches FricIdEvaluate , the robot
will repeat the movement sequence until the best friction level for each joint axis
is found. Each iteration consists of a backward and a forward motion, both following
the programmed path. Typically the sequence has to be repeated approximately
20-30 times, in order to iterate to correct joint friction levels.
If the program execution is stopped in any way while the program pointer is on the
instruction FricIdEvaluate and then restarted, the results will be invalid. After
a stop, friction identification must therefore be restarted from the beginning.
Once the correct friction levels are found they have to be set with the instruction
FricIdSetFricLevels , otherwise they will not be used. Note that the friction
levels are tuned for the particular movement between FricIdInit and
FricIdEvaluate . For movements in another region in the robot’s working area,
a new tuning is needed to obtain the correct friction levels.
For a detailed description of the instructions, see Technical reference
manual - RAPID Instructions, Functions and Data types .
Limitations
There are the following limitations for friction tuning:
•
Friction tuning cannot be combined with synchronized movement. That is,
SyncMoveOn is not allowed between FricIdInit and FricIdEvaluate .
•
The movement sequence for which friction tuning is done must begin and
end with a finepoint. If not, finepoints will automatically be inserted during
the tuning process.
•
Automatic friction tuning works only for TCP robots.
•
Automatic joint friction tuning can only be done for one robot at a time.
•
Tuning can be made to a maximum of 500%. If that is not enough, set a higher
value for the parameter Friction FFW Level , see Starting with an estimated
value on page 162 .
•
It is not possible to view any test signals with TuneMaster during automatic
friction tuning.
•
The movement sequence between FricIdInit and FricIdEvaluate
cannot be longer than 10 seconds.
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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 joint friction can cause path deviation of
typically 0.5 mm in these cases. By tuning parameters of a friction model in the
controller, the path deviation can be reduced to the repeatability level of the robot,
for example, 0.1 mm for a medium sized robot.
What is included
Advanced Shape Tuning is included in the RobotWare option Advanced robot
motion and gives you access to:
•
Instructions FricIdInit , FricIdEvaluate and FricIdSetFricLevels
that automatically optimize the joint friction model parameters for a
programmed path.
•
The system parameters Friction FFW On , Friction FFW level and Friction
FFW Ramp for manual tuning of the joint friction parameters.
•
The tune types tune_fric_lev and tune_fric_ramp that can be used
with the instruction TuneServo .
Basic approach
This is a brief description of how Advanced Shape Tuning is most commonly used:
1
Set system parameter Friction FFW On to TRUE. See System parameters
on page 161 .
2
Perform automatic tuning of the joint friction levels using the instructions
FricIdInit and FricIdEvaluate . See Automatic friction tuning on
page 157 .
3
Compensate for the friction using the instruction FricIdSetFricLevels .
156
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3 Motion performance
3.3.1 About Advanced Shape Tuning
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 friction compensation with the
instruction FricIdSetFricLevels .
Program execution
To perform automatic tuning for a sequence of movements, the sequence must
begin with the instruction FricIdInit and end with the instruction
FricIdEvaluate . When program execution reaches FricIdEvaluate , the robot
will repeat the movement sequence until the best friction level for each joint axis
is found. Each iteration consists of a backward and a forward motion, both following
the programmed path. Typically the sequence has to be repeated approximately
20-30 times, in order to iterate to correct joint friction levels.
If the program execution is stopped in any way while the program pointer is on the
instruction FricIdEvaluate and then restarted, the results will be invalid. After
a stop, friction identification must therefore be restarted from the beginning.
Once the correct friction levels are found they have to be set with the instruction
FricIdSetFricLevels , otherwise they will not be used. Note that the friction
levels are tuned for the particular movement between FricIdInit and
FricIdEvaluate . For movements in another region in the robot’s working area,
a new tuning is needed to obtain the correct friction levels.
For a detailed description of the instructions, see Technical reference
manual - RAPID Instructions, Functions and Data types .
Limitations
There are the following limitations for friction tuning:
•
Friction tuning cannot be combined with synchronized movement. That is,
SyncMoveOn is not allowed between FricIdInit and FricIdEvaluate .
•
The movement sequence for which friction tuning is done must begin and
end with a finepoint. If not, finepoints will automatically be inserted during
the tuning process.
•
Automatic friction tuning works only for TCP robots.
•
Automatic joint friction tuning can only be done for one robot at a time.
•
Tuning can be made to a maximum of 500%. If that is not enough, set a higher
value for the parameter Friction FFW Level , see Starting with an estimated
value on page 162 .
•
It is not possible to view any test signals with TuneMaster during automatic
friction tuning.
•
The movement sequence between FricIdInit and FricIdEvaluate
cannot be longer than 10 seconds.
Continues on next page
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3 Motion performance
3.3.2 Automatic friction tuning
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 tuning process, the robot will
repeatedly move back and forth along the programmed path. Approximately 25
iterations are needed.
At all subsequent runs the friction levels are set to the tuned values identified in
the first run. By using the instruction CutHole , the friction can be tuned individually
for each hole.
PERS num friction_levels1{6} := [9E9,9E9,9E9,9E9,9E9,9E9];
PERS num friction_levels2{6} := [9E9,9E9,9E9,9E9,9E9,9E9];
CutHole p1,20,v50,tool1,friction_levels1;
CutHole p2,15,v50,tool1,friction_levels2;
PROC CutHole(robtarget Center, num Radius, speeddata Speed, PERS
tooldata Tool, PERS num FricLevels{*})
VAR bool DoTuning := FALSE;
IF (FricLevels{1} >= 9E9) THEN
! Variable is uninitialized, do tuning
DoTuning := TRUE;
FricIdInit;
ELSE
FricIdSetFricLevels FricLevels;
ENDIF
! Execute the move sequence
MoveC p10, p20, Speed, z0, Tool;
MoveC p30, p40, Speed, z0, Tool;
IF DoTuning THEN
FricIdEvaluate FricLevels;
ENDIF
ENDPROC
Note
A real program would include deactivating the cutting equipment before the
tuning phase.
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3.3.2 Automatic friction tuning
Continued
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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 friction compensation with the
instruction FricIdSetFricLevels .
Program execution
To perform automatic tuning for a sequence of movements, the sequence must
begin with the instruction FricIdInit and end with the instruction
FricIdEvaluate . When program execution reaches FricIdEvaluate , the robot
will repeat the movement sequence until the best friction level for each joint axis
is found. Each iteration consists of a backward and a forward motion, both following
the programmed path. Typically the sequence has to be repeated approximately
20-30 times, in order to iterate to correct joint friction levels.
If the program execution is stopped in any way while the program pointer is on the
instruction FricIdEvaluate and then restarted, the results will be invalid. After
a stop, friction identification must therefore be restarted from the beginning.
Once the correct friction levels are found they have to be set with the instruction
FricIdSetFricLevels , otherwise they will not be used. Note that the friction
levels are tuned for the particular movement between FricIdInit and
FricIdEvaluate . For movements in another region in the robot’s working area,
a new tuning is needed to obtain the correct friction levels.
For a detailed description of the instructions, see Technical reference
manual - RAPID Instructions, Functions and Data types .
Limitations
There are the following limitations for friction tuning:
•
Friction tuning cannot be combined with synchronized movement. That is,
SyncMoveOn is not allowed between FricIdInit and FricIdEvaluate .
•
The movement sequence for which friction tuning is done must begin and
end with a finepoint. If not, finepoints will automatically be inserted during
the tuning process.
•
Automatic friction tuning works only for TCP robots.
•
Automatic joint friction tuning can only be done for one robot at a time.
•
Tuning can be made to a maximum of 500%. If that is not enough, set a higher
value for the parameter Friction FFW Level , see Starting with an estimated
value on page 162 .
•
It is not possible to view any test signals with TuneMaster during automatic
friction tuning.
•
The movement sequence between FricIdInit and FricIdEvaluate
cannot be longer than 10 seconds.
Continues on next page
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3 Motion performance
3.3.2 Automatic friction tuning
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 tuning process, the robot will
repeatedly move back and forth along the programmed path. Approximately 25
iterations are needed.
At all subsequent runs the friction levels are set to the tuned values identified in
the first run. By using the instruction CutHole , the friction can be tuned individually
for each hole.
PERS num friction_levels1{6} := [9E9,9E9,9E9,9E9,9E9,9E9];
PERS num friction_levels2{6} := [9E9,9E9,9E9,9E9,9E9,9E9];
CutHole p1,20,v50,tool1,friction_levels1;
CutHole p2,15,v50,tool1,friction_levels2;
PROC CutHole(robtarget Center, num Radius, speeddata Speed, PERS
tooldata Tool, PERS num FricLevels{*})
VAR bool DoTuning := FALSE;
IF (FricLevels{1} >= 9E9) THEN
! Variable is uninitialized, do tuning
DoTuning := TRUE;
FricIdInit;
ELSE
FricIdSetFricLevels FricLevels;
ENDIF
! Execute the move sequence
MoveC p10, p20, Speed, z0, Tool;
MoveC p30, p40, Speed, z0, Tool;
IF DoTuning THEN
FricIdEvaluate FricLevels;
ENDIF
ENDPROC
Note
A real program would include deactivating the cutting equipment before the
tuning phase.
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3.3.2 Automatic friction tuning
Continued
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 friction ramp.
Note
To use Advanced Shape Tuning, the parameter Friction FFW On must be set to
TRUE.
Tune types
A tune type is used as an argument to the instruction TuneServo . For more
information, see tunetype in Technical reference manual - RAPID Instructions,
Functions and Data types .
There are two tune types that are used expressly for Advanced Shape Tuning:
Description
Tune type
By calling the instruction TuneServo with the argument
TUNE_FRIC_LEV the friction level for a robot joint can be adjusted
during program execution. A value is given in percent (between 1
and 500) of the friction level defined by the parameter Friction FFW
Level .
TUNE_FRIC_LEV
By calling the instruction TuneServo with the argument
TUNE_FRIC_RAMP the motor shaft speed at which full friction com-
pensation is reached can be adjusted during program execution. A
value is given in percent (between 1 and 500) of the friction ramp
defined by the parameter Friction FFW Ramp .
TUNE_FRIC_RAMP
There is normally no need to tune the friction ramp.
Configure friction level
The friction level is set for each robot joint. Perform the following steps for one
joint at a time:
Action
Test the robot by running it through the most demanding parts of its tasks (the most
advanced shapes). If the robot shall be used for cutting, then test it by cutting with the
same tool as at manufacturing.
1
Observe the path deviations and test if the joint friction levels need to be increased
or decreased.
Tune the friction level with the RAPID instruction TuneServo and the tune type
TUNE_FRIC_LEV . The level is given in percent of the Friction FFW Level value.
2
Example: The instruction for increasing the friction level with 20% looks like this:
TuneServo MHA160R1, 1, 120 \Type:= TUNE_FRIC_LEV;
Repeat step 1 and 2 until you are satisfied with the path deviation.
3
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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 tuning process, the robot will
repeatedly move back and forth along the programmed path. Approximately 25
iterations are needed.
At all subsequent runs the friction levels are set to the tuned values identified in
the first run. By using the instruction CutHole , the friction can be tuned individually
for each hole.
PERS num friction_levels1{6} := [9E9,9E9,9E9,9E9,9E9,9E9];
PERS num friction_levels2{6} := [9E9,9E9,9E9,9E9,9E9,9E9];
CutHole p1,20,v50,tool1,friction_levels1;
CutHole p2,15,v50,tool1,friction_levels2;
PROC CutHole(robtarget Center, num Radius, speeddata Speed, PERS
tooldata Tool, PERS num FricLevels{*})
VAR bool DoTuning := FALSE;
IF (FricLevels{1} >= 9E9) THEN
! Variable is uninitialized, do tuning
DoTuning := TRUE;
FricIdInit;
ELSE
FricIdSetFricLevels FricLevels;
ENDIF
! Execute the move sequence
MoveC p10, p20, Speed, z0, Tool;
MoveC p30, p40, Speed, z0, Tool;
IF DoTuning THEN
FricIdEvaluate FricLevels;
ENDIF
ENDPROC
Note
A real program would include deactivating the cutting equipment before the
tuning phase.
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3 Motion performance
3.3.2 Automatic friction tuning
Continued
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 friction ramp.
Note
To use Advanced Shape Tuning, the parameter Friction FFW On must be set to
TRUE.
Tune types
A tune type is used as an argument to the instruction TuneServo . For more
information, see tunetype in Technical reference manual - RAPID Instructions,
Functions and Data types .
There are two tune types that are used expressly for Advanced Shape Tuning:
Description
Tune type
By calling the instruction TuneServo with the argument
TUNE_FRIC_LEV the friction level for a robot joint can be adjusted
during program execution. A value is given in percent (between 1
and 500) of the friction level defined by the parameter Friction FFW
Level .
TUNE_FRIC_LEV
By calling the instruction TuneServo with the argument
TUNE_FRIC_RAMP the motor shaft speed at which full friction com-
pensation is reached can be adjusted during program execution. A
value is given in percent (between 1 and 500) of the friction ramp
defined by the parameter Friction FFW Ramp .
TUNE_FRIC_RAMP
There is normally no need to tune the friction ramp.
Configure friction level
The friction level is set for each robot joint. Perform the following steps for one
joint at a time:
Action
Test the robot by running it through the most demanding parts of its tasks (the most
advanced shapes). If the robot shall be used for cutting, then test it by cutting with the
same tool as at manufacturing.
1
Observe the path deviations and test if the joint friction levels need to be increased
or decreased.
Tune the friction level with the RAPID instruction TuneServo and the tune type
TUNE_FRIC_LEV . The level is given in percent of the Friction FFW Level value.
2
Example: The instruction for increasing the friction level with 20% looks like this:
TuneServo MHA160R1, 1, 120 \Type:= TUNE_FRIC_LEV;
Repeat step 1 and 2 until you are satisfied with the path deviation.
3
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3 Motion performance
3.3.3 Manual friction tuning
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 not enough, set a higher
value for the parameter Friction FFW Level , see Setting tuning system parameters
on page 162 .
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3.3.3 Manual friction tuning
Continued
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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 friction ramp.
Note
To use Advanced Shape Tuning, the parameter Friction FFW On must be set to
TRUE.
Tune types
A tune type is used as an argument to the instruction TuneServo . For more
information, see tunetype in Technical reference manual - RAPID Instructions,
Functions and Data types .
There are two tune types that are used expressly for Advanced Shape Tuning:
Description
Tune type
By calling the instruction TuneServo with the argument
TUNE_FRIC_LEV the friction level for a robot joint can be adjusted
during program execution. A value is given in percent (between 1
and 500) of the friction level defined by the parameter Friction FFW
Level .
TUNE_FRIC_LEV
By calling the instruction TuneServo with the argument
TUNE_FRIC_RAMP the motor shaft speed at which full friction com-
pensation is reached can be adjusted during program execution. A
value is given in percent (between 1 and 500) of the friction ramp
defined by the parameter Friction FFW Ramp .
TUNE_FRIC_RAMP
There is normally no need to tune the friction ramp.
Configure friction level
The friction level is set for each robot joint. Perform the following steps for one
joint at a time:
Action
Test the robot by running it through the most demanding parts of its tasks (the most
advanced shapes). If the robot shall be used for cutting, then test it by cutting with the
same tool as at manufacturing.
1
Observe the path deviations and test if the joint friction levels need to be increased
or decreased.
Tune the friction level with the RAPID instruction TuneServo and the tune type
TUNE_FRIC_LEV . The level is given in percent of the Friction FFW Level value.
2
Example: The instruction for increasing the friction level with 20% looks like this:
TuneServo MHA160R1, 1, 120 \Type:= TUNE_FRIC_LEV;
Repeat step 1 and 2 until you are satisfied with the path deviation.
3
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3 Motion performance
3.3.3 Manual friction tuning
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 not enough, set a higher
value for the parameter Friction FFW Level , see Setting tuning system parameters
on page 162 .
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3.3.3 Manual friction tuning
Continued
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 parameters belong to the type Friction Compensation in the topic Motion ,
except for the robots IRB 1400 and IRB 1410 where they belong to the type Control
Parameters in the topic Motion .
Description
Parameter
Advanced Shape Tuning is active when Friction FFW On is set to
TRUE.
Friction FFW On
Friction FFW Level is the friction level for the robot joint. See illustra-
tion below.
Friction FFW Level
Friction FFW Ramp is the speed of the robot motor shaft, at which
the friction has reached the friction level defined by Friction FFW
Level . See illustration below.
Friction FFW Ramp
There is normally no need to make changes to Friction FFW Ramp .
Illustration
en0900000117
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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 not enough, set a higher
value for the parameter Friction FFW Level , see Setting tuning system parameters
on page 162 .
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3 Motion performance
3.3.3 Manual friction tuning
Continued
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 parameters belong to the type Friction Compensation in the topic Motion ,
except for the robots IRB 1400 and IRB 1410 where they belong to the type Control
Parameters in the topic Motion .
Description
Parameter
Advanced Shape Tuning is active when Friction FFW On is set to
TRUE.
Friction FFW On
Friction FFW Level is the friction level for the robot joint. See illustra-
tion below.
Friction FFW Level
Friction FFW Ramp is the speed of the robot motor shaft, at which
the friction has reached the friction level defined by Friction FFW
Level . See illustration below.
Friction FFW Ramp
There is normally no need to make changes to Friction FFW Ramp .
Illustration
en0900000117
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3 Motion performance
3.3.4.1 System parameters
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 movement sequences, which cannot be
achieved with system parameters. When using automatic tuning, there is no need
to change the system parameters unless the default values are very much off, see
Starting with an estimated value on page 162 .
Transfer tuning to system parameters
When using manual tuning, the tuning values are reset to default (100%) at power
failure. System parameter settings are, however, permanent.
If a temporary tuning is made, that is only valid for a part of the program execution,
it should not be transferred.
To transfer the friction level tuning value ( TUNE_FRIC_LEV ) to the parameter
Friction FFW Level follow these steps:
Action
In RobotStudio, open the Configuration Editor , Motion topic, and select the type
Friction comp (except for the robots IRB 1400 and IRB 1410 where they belong to the
type Control parameters ).
1
Multiply Friction FFW Level with the tuning value. Set this value as the new Friction
FFW Level and set the tuning value ( TUNE_FRIC_LEV ) to 100%.
2
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 (1.20x0.5) and the tuning value to 100% (default
value), which is equivalent.
Restart the controller for the changes to take effect.
3
Starting with an estimated value
The parameter Friction FFW Level will be the starting value for the tuning. If this
value is very far from the correct value, tuning to the correct value might be
impossible. This is unlikely to happen, since Friction FFW Level is by default set
to a value approximately correct for most situations.
If the Friction FFW Level value, for some reason, is too far from the correct value,
it can be changed to an new estimated value.
Action
In RobotStudio, open the Configuration Editor , Motion topic, and select the type
Friction comp (except for the robots IRB 1400 and IRB 1410 where they belong to the
type Control parameters ).
1
Set the parameter Friction FFW Level to an estimated value. Do not set the value 0
(zero), because that will make tuning impossible.
2
Restart the controller for the changes to take effect.
3
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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 parameters belong to the type Friction Compensation in the topic Motion ,
except for the robots IRB 1400 and IRB 1410 where they belong to the type Control
Parameters in the topic Motion .
Description
Parameter
Advanced Shape Tuning is active when Friction FFW On is set to
TRUE.
Friction FFW On
Friction FFW Level is the friction level for the robot joint. See illustra-
tion below.
Friction FFW Level
Friction FFW Ramp is the speed of the robot motor shaft, at which
the friction has reached the friction level defined by Friction FFW
Level . See illustration below.
Friction FFW Ramp
There is normally no need to make changes to Friction FFW Ramp .
Illustration
en0900000117
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© Copyright 2014-2025 ABB. All rights reserved.
3 Motion performance
3.3.4.1 System parameters
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 movement sequences, which cannot be
achieved with system parameters. When using automatic tuning, there is no need
to change the system parameters unless the default values are very much off, see
Starting with an estimated value on page 162 .
Transfer tuning to system parameters
When using manual tuning, the tuning values are reset to default (100%) at power
failure. System parameter settings are, however, permanent.
If a temporary tuning is made, that is only valid for a part of the program execution,
it should not be transferred.
To transfer the friction level tuning value ( TUNE_FRIC_LEV ) to the parameter
Friction FFW Level follow these steps:
Action
In RobotStudio, open the Configuration Editor , Motion topic, and select the type
Friction comp (except for the robots IRB 1400 and IRB 1410 where they belong to the
type Control parameters ).
1
Multiply Friction FFW Level with the tuning value. Set this value as the new Friction
FFW Level and set the tuning value ( TUNE_FRIC_LEV ) to 100%.
2
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 (1.20x0.5) and the tuning value to 100% (default
value), which is equivalent.
Restart the controller for the changes to take effect.
3
Starting with an estimated value
The parameter Friction FFW Level will be the starting value for the tuning. If this
value is very far from the correct value, tuning to the correct value might be
impossible. This is unlikely to happen, since Friction FFW Level is by default set
to a value approximately correct for most situations.
If the Friction FFW Level value, for some reason, is too far from the correct value,
it can be changed to an new estimated value.
Action
In RobotStudio, open the Configuration Editor , Motion topic, and select the type
Friction comp (except for the robots IRB 1400 and IRB 1410 where they belong to the
type Control parameters ).
1
Set the parameter Friction FFW Level to an estimated value. Do not set the value 0
(zero), because that will make tuning impossible.
2
Restart the controller for the changes to take effect.
3
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3 Motion performance
3.3.4.2 Setting tuning system parameters
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
FricIdInit
Evaluate friction identification
FricIdEvaluate
Set friction levels after friction identification
FricIdSetFricLevels
Functions
Advanced Shape Tuning includes no functions.
Data types
Advanced Shape Tuning includes no data types.
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3.3.5 RAPID components
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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 movement sequences, which cannot be
achieved with system parameters. When using automatic tuning, there is no need
to change the system parameters unless the default values are very much off, see
Starting with an estimated value on page 162 .
Transfer tuning to system parameters
When using manual tuning, the tuning values are reset to default (100%) at power
failure. System parameter settings are, however, permanent.
If a temporary tuning is made, that is only valid for a part of the program execution,
it should not be transferred.
To transfer the friction level tuning value ( TUNE_FRIC_LEV ) to the parameter
Friction FFW Level follow these steps:
Action
In RobotStudio, open the Configuration Editor , Motion topic, and select the type
Friction comp (except for the robots IRB 1400 and IRB 1410 where they belong to the
type Control parameters ).
1
Multiply Friction FFW Level with the tuning value. Set this value as the new Friction
FFW Level and set the tuning value ( TUNE_FRIC_LEV ) to 100%.
2
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 (1.20x0.5) and the tuning value to 100% (default
value), which is equivalent.
Restart the controller for the changes to take effect.
3
Starting with an estimated value
The parameter Friction FFW Level will be the starting value for the tuning. If this
value is very far from the correct value, tuning to the correct value might be
impossible. This is unlikely to happen, since Friction FFW Level is by default set
to a value approximately correct for most situations.
If the Friction FFW Level value, for some reason, is too far from the correct value,
it can be changed to an new estimated value.
Action
In RobotStudio, open the Configuration Editor , Motion topic, and select the type
Friction comp (except for the robots IRB 1400 and IRB 1410 where they belong to the
type Control parameters ).
1
Set the parameter Friction FFW Level to an estimated value. Do not set the value 0
(zero), because that will make tuning impossible.
2
Restart the controller for the changes to take effect.
3
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3 Motion performance
3.3.4.2 Setting tuning system parameters
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
FricIdInit
Evaluate friction identification
FricIdEvaluate
Set friction levels after friction identification
FricIdSetFricLevels
Functions
Advanced Shape Tuning includes no functions.
Data types
Advanced Shape Tuning includes no data types.
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3 Motion performance
3.3.5 RAPID components
3.4 Motion Process Mode [included in 687-1]
3.4.1 About Motion Process Mode
Purpose
The purpose of Motion Process Mode is to simplify application specific tuning, i.e.
to optimize the performance of the robot for a specific application.
For most applications the default mode is the best choice.
Available motion process modes
A motion process mode consists of a specific set of tuning parameters for a robot.
Each tuning parameter set, that is each mode, optimizes the robot tuning for a
specific class of applications.
There following modes are predefined:
•
Optimal cycle time mode – this mode gives the shortest possible cycle time
and is normally the default mode.
•
Accuracy mode – this mode improves path accuracy. The cycle time will be
slightly increased compared to Optimal cycle time mode . This is the
recommended choice for improving path accuracy on small and medium size
robots, for example IRB 2400 and IRB 2600.
•
Low speed accuracy mode – this mode improves path accuracy. The cycle
time will be slightly increased compared to Accuracy mode . This is the
recommended choice for improving path accuracy on large size robots, for
example IRB 4600.
•
Low speed stiff mode - this mode is recommended for contact applications
where maximum servo stiffness is important. Could also be used in some
low speed applications, where a minimum of path vibrations is desired. The
cycle time will be increased compared to Low speed accuracy mode .
•
Press tending mode – Changes the Kv Factor , Kp Factor and Ti Factor in
order to mitigate tool vibrations. This mode is primarily intended for use in
press tending applications where flexible grippers with a large extension in
the y-direction are used.
There are also four modes available for application specific user tuning:
•
MPM User mode 1 – 4
Selection of mode
The default mode is automatically selected and can be changed by changing the
system parameter Use Motion Process Mode for type Robot .
Changing the Motion Process Mode from RAPID is only possible if the option
Advanced Robot Motion is installed. The mode can only be changed when the
robot is standing still, otherwise a fine point is enforced.
The following example shows a typical use of the RAPID instruction
MotionProcessModeSet .
MotionProcessModeSet OPTIMAL_CYCLE_TIME_MODE;
! Do cycle-time critical movement
Continues on next page
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3.4.1 About Motion Process Mode
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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
FricIdInit
Evaluate friction identification
FricIdEvaluate
Set friction levels after friction identification
FricIdSetFricLevels
Functions
Advanced Shape Tuning includes no functions.
Data types
Advanced Shape Tuning includes no data types.
Application manual - Controller software IRC5
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3 Motion performance
3.3.5 RAPID components
3.4 Motion Process Mode [included in 687-1]
3.4.1 About Motion Process Mode
Purpose
The purpose of Motion Process Mode is to simplify application specific tuning, i.e.
to optimize the performance of the robot for a specific application.
For most applications the default mode is the best choice.
Available motion process modes
A motion process mode consists of a specific set of tuning parameters for a robot.
Each tuning parameter set, that is each mode, optimizes the robot tuning for a
specific class of applications.
There following modes are predefined:
•
Optimal cycle time mode – this mode gives the shortest possible cycle time
and is normally the default mode.
•
Accuracy mode – this mode improves path accuracy. The cycle time will be
slightly increased compared to Optimal cycle time mode . This is the
recommended choice for improving path accuracy on small and medium size
robots, for example IRB 2400 and IRB 2600.
•
Low speed accuracy mode – this mode improves path accuracy. The cycle
time will be slightly increased compared to Accuracy mode . This is the
recommended choice for improving path accuracy on large size robots, for
example IRB 4600.
•
Low speed stiff mode - this mode is recommended for contact applications
where maximum servo stiffness is important. Could also be used in some
low speed applications, where a minimum of path vibrations is desired. The
cycle time will be increased compared to Low speed accuracy mode .
•
Press tending mode – Changes the Kv Factor , Kp Factor and Ti Factor in
order to mitigate tool vibrations. This mode is primarily intended for use in
press tending applications where flexible grippers with a large extension in
the y-direction are used.
There are also four modes available for application specific user tuning:
•
MPM User mode 1 – 4
Selection of mode
The default mode is automatically selected and can be changed by changing the
system parameter Use Motion Process Mode for type Robot .
Changing the Motion Process Mode from RAPID is only possible if the option
Advanced Robot Motion is installed. The mode can only be changed when the
robot is standing still, otherwise a fine point is enforced.
The following example shows a typical use of the RAPID instruction
MotionProcessModeSet .
MotionProcessModeSet OPTIMAL_CYCLE_TIME_MODE;
! Do cycle-time critical movement
Continues on next page
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3 Motion performance
3.4.1 About Motion Process Mode
MoveL *, vmax , ...;
...
MotionProcessModeSet ACCURACY_MODE;
! Do cutting with high accuracy
MoveL *, v50 , ...;
...
Limitations
•
The Motion Process Mode concept is currently available for all six- and
seven-axes robots except paint robots with TrueMove1.
•
The Mounting Stiffness Factor parameters are only available for the following
robots:
IRB 120, IRB 140, IRB 1200, IRB 1520, IRB 1600, IRB 2600, IRB 4600, IRB
6620 (not LX), IRB 6640, IRB 6700.
•
For IRB 1410, only the Accset and the geometric accuracy parameters are
available.
•
The following robot models do not support the use of World Acc Factor (i.e.
only World Acc Factor = -1 is allowed):
IRB 340, IRB 360, IRB 540, IRB 1400, IRB 1410
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3 Motion performance
3.4.1 About Motion Process Mode
Continued
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