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6.3 Path Offset [612-1]
6.3.1 Overview
Purpose
The purpose of Path Offset is to be able to make online adjustments of the robot
path according to input from sensors. With the set of instructions that Path Offset
offers, the robot path can be compared and adjusted with the input from sensors.
What is included
The RobotWare option Path Offset gives you access to:
•
the data type corrdescr
•
the instructions CorrCon , CorrDiscon , CorrClear and CorrWrite
•
the function CorrRead
Basic approach
This is the general approach for setting up Path Offset. For a detailed example of
how this is done, see Code example on page 268 .
1
Declare the correction generator.
2
Connect the correction generator.
3
Define a trap routine that determines the offset and writes it to the correction
generator.
4
Define an interrupt to frequently call the trap routine.
5
Call a move instruction using the correction. The path will be repeatedly
corrected.
Note
The instruction CorrWrite is intended with low speed and moderate values of
correction. Too aggressive values will be clamped. The correction values should
be tested in RobotStudio to confirm the performance.
Note
If two or more move instructions are called after each other with the \Corr switch,
it is important to know that all \Corr offsets are reset each time the robot starts
from a finepoint. So, when using finepoints, on the second Move instruction the
controller does not know that the path already has an offset. To avoid any strange
behavior it is recommended only to use zones together with the \Corr switch
and avoid finepoints.
Continues on next page
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6 Motion functions
6.3.1 Overview
Limitations
It is possible to connect several correction generators at the same time (for instance
one for corrections along the Z axis and one for corrections along the Y axis).
However, it is not possible to connect more than 5 correction generators at the
same time.
After a controller restart, the correction generators have to be defined once again.
The definitions and connections do not survive a controller restart.
The instructions can only be used in motion tasks.
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6 Motion functions
6.3.1 Overview
Continued
6.3.2 RAPID components
Data types
This is a brief description of each data type in the option Path Offset . For more
information, see the respective data type in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Data type
corrdescr is a correction generator descriptor that is used as the
reference to the correction generator.
corrdescr
Instructions
This is a brief description of each instruction in the option Path Offset . For more
information, see the respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
CorrCon activates path correction. Calling CorrCon will connect a
correction generator. Once this connection is made, the path can be
continuously corrected with new offset inputs (for instance from a
sensor).
CorrCon
CorrDiscon deactivates path correction. Calling CorrDiscon will
disconnect a correction generator.
CorrDiscon
CorrClear deactivate path correction. Calling CorrClear will dis-
connect all correction generators.
CorrClear
CorrWrite sets the path correction values. Calling CorrWrite will
set the offset values to a correction generator.
CorrWrite
Functions
This is a brief description of each function in the option Path Offset . For more
information, see the respective function in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Function
CorrRead reads the total correction made by a correction generator.
CorrRead
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Limitations
It is possible to connect several correction generators at the same time (for instance
one for corrections along the Z axis and one for corrections along the Y axis).
However, it is not possible to connect more than 5 correction generators at the
same time.
After a controller restart, the correction generators have to be defined once again.
The definitions and connections do not survive a controller restart.
The instructions can only be used in motion tasks.
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6 Motion functions
6.3.1 Overview
Continued
6.3.2 RAPID components
Data types
This is a brief description of each data type in the option Path Offset . For more
information, see the respective data type in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Data type
corrdescr is a correction generator descriptor that is used as the
reference to the correction generator.
corrdescr
Instructions
This is a brief description of each instruction in the option Path Offset . For more
information, see the respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
CorrCon activates path correction. Calling CorrCon will connect a
correction generator. Once this connection is made, the path can be
continuously corrected with new offset inputs (for instance from a
sensor).
CorrCon
CorrDiscon deactivates path correction. Calling CorrDiscon will
disconnect a correction generator.
CorrDiscon
CorrClear deactivate path correction. Calling CorrClear will dis-
connect all correction generators.
CorrClear
CorrWrite sets the path correction values. Calling CorrWrite will
set the offset values to a correction generator.
CorrWrite
Functions
This is a brief description of each function in the option Path Offset . For more
information, see the respective function in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Function
CorrRead reads the total correction made by a correction generator.
CorrRead
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6 Motion functions
6.3.2 RAPID components
6.3.3 Related RAPID functionality
The argument \Corr
The optional argument \Corr can be set for some move instructions. This will enable
path corrections while the move instruction is executed.
The following instructions have the optional argument \Corr :
•
MoveL
•
MoveC
•
SearchL
•
SearchC
•
TriggL (only if the controller is equipped with the base functionality Fixed
Position Events)
•
TriggC (only if the controller is equipped with the base functionality Fixed
Position Events)
•
CapL (only if the controller is equipped with the option Continuous Application
Platform)
•
CapC (only if the controller is equipped with the option Continuous Application
Platform)
•
ArcL (only if the controller is equipped with the option RobotWare Arc)
•
ArcC (only if the controller is equipped with the option RobotWare Arc)
For more information on these instructions, see respective instruction in Technical
reference manual - RAPID Instructions, Functions and Data types .
Interrupts
To create programs using Path Offset, you need to be able to handle interrupts.
For more information on interrupts, see Technical reference manual - RAPID
Overview .
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6.3.2 RAPID components
Data types
This is a brief description of each data type in the option Path Offset . For more
information, see the respective data type in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Data type
corrdescr is a correction generator descriptor that is used as the
reference to the correction generator.
corrdescr
Instructions
This is a brief description of each instruction in the option Path Offset . For more
information, see the respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
CorrCon activates path correction. Calling CorrCon will connect a
correction generator. Once this connection is made, the path can be
continuously corrected with new offset inputs (for instance from a
sensor).
CorrCon
CorrDiscon deactivates path correction. Calling CorrDiscon will
disconnect a correction generator.
CorrDiscon
CorrClear deactivate path correction. Calling CorrClear will dis-
connect all correction generators.
CorrClear
CorrWrite sets the path correction values. Calling CorrWrite will
set the offset values to a correction generator.
CorrWrite
Functions
This is a brief description of each function in the option Path Offset . For more
information, see the respective function in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Function
CorrRead reads the total correction made by a correction generator.
CorrRead
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6 Motion functions
6.3.2 RAPID components
6.3.3 Related RAPID functionality
The argument \Corr
The optional argument \Corr can be set for some move instructions. This will enable
path corrections while the move instruction is executed.
The following instructions have the optional argument \Corr :
•
MoveL
•
MoveC
•
SearchL
•
SearchC
•
TriggL (only if the controller is equipped with the base functionality Fixed
Position Events)
•
TriggC (only if the controller is equipped with the base functionality Fixed
Position Events)
•
CapL (only if the controller is equipped with the option Continuous Application
Platform)
•
CapC (only if the controller is equipped with the option Continuous Application
Platform)
•
ArcL (only if the controller is equipped with the option RobotWare Arc)
•
ArcC (only if the controller is equipped with the option RobotWare Arc)
For more information on these instructions, see respective instruction in Technical
reference manual - RAPID Instructions, Functions and Data types .
Interrupts
To create programs using Path Offset, you need to be able to handle interrupts.
For more information on interrupts, see Technical reference manual - RAPID
Overview .
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6 Motion functions
6.3.3 Related RAPID functionality
6.3.4 Code example
Linear movement with correction
This is a simple example of how to program a linear path with online path correction.
This is done by having an interrupt 5 times per second, calling a trap routine which
makes the offset correction.
Program code
VAR intnum int_no1;
VAR corrdescr id;
VAR pos sens_val;
PROC PathRoutine()
!Connect to the correction generator
CorrCon id;
!Setup a 5 Hz timer interrupt.
CONNECT int_no1 WITH UpdateCorr;
ITimer\Single, 0.2, int_no1
!Position for start of contour tracking
MoveJ p10,v100,z10,tool1;
!Run MoveL with correction.
MoveL p20,v100,z10,tool1\Corr;
!Remove the correction generator.
CorrDiscon id;
!Remove the timer interrupt.
IDelete int_no1;
ENDPROC
TRAP UpdateCorr
!Call a routine that read the sensor
ReadSensor sens_val.x, sens_val.y, sens_val.z;
!Execute correction
CorrWrite id, sens_val;
!Setup interrupt again
IDelete int_no1;
CONNECT int_no1 WITH UpdateCorr;
ITimer\Single, 0.2, int_no1;
ENDTRAP
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6.3.3 Related RAPID functionality
The argument \Corr
The optional argument \Corr can be set for some move instructions. This will enable
path corrections while the move instruction is executed.
The following instructions have the optional argument \Corr :
•
MoveL
•
MoveC
•
SearchL
•
SearchC
•
TriggL (only if the controller is equipped with the base functionality Fixed
Position Events)
•
TriggC (only if the controller is equipped with the base functionality Fixed
Position Events)
•
CapL (only if the controller is equipped with the option Continuous Application
Platform)
•
CapC (only if the controller is equipped with the option Continuous Application
Platform)
•
ArcL (only if the controller is equipped with the option RobotWare Arc)
•
ArcC (only if the controller is equipped with the option RobotWare Arc)
For more information on these instructions, see respective instruction in Technical
reference manual - RAPID Instructions, Functions and Data types .
Interrupts
To create programs using Path Offset, you need to be able to handle interrupts.
For more information on interrupts, see Technical reference manual - RAPID
Overview .
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6 Motion functions
6.3.3 Related RAPID functionality
6.3.4 Code example
Linear movement with correction
This is a simple example of how to program a linear path with online path correction.
This is done by having an interrupt 5 times per second, calling a trap routine which
makes the offset correction.
Program code
VAR intnum int_no1;
VAR corrdescr id;
VAR pos sens_val;
PROC PathRoutine()
!Connect to the correction generator
CorrCon id;
!Setup a 5 Hz timer interrupt.
CONNECT int_no1 WITH UpdateCorr;
ITimer\Single, 0.2, int_no1
!Position for start of contour tracking
MoveJ p10,v100,z10,tool1;
!Run MoveL with correction.
MoveL p20,v100,z10,tool1\Corr;
!Remove the correction generator.
CorrDiscon id;
!Remove the timer interrupt.
IDelete int_no1;
ENDPROC
TRAP UpdateCorr
!Call a routine that read the sensor
ReadSensor sens_val.x, sens_val.y, sens_val.z;
!Execute correction
CorrWrite id, sens_val;
!Setup interrupt again
IDelete int_no1;
CONNECT int_no1 WITH UpdateCorr;
ITimer\Single, 0.2, int_no1;
ENDTRAP
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6 Motion functions
6.3.4 Code example
7 Motion Supervision
7.1 Collision Detection [613-1]
7.1.1 Overview
Purpose
Collision Detection is a software option that reduces collision impact forces on the
robot. This helps protecting the robot and external equipment from severe damage.
WARNING
Collision Detection cannot protect equipment from damage at a full speed
collision.
Description
The software option Collision Detection identifies a collision by high sensitivity,
model based supervision of the robot. Depending on what forces you deliberately
apply on the robot, the sensitivity can be tuned as well as turned on and off.
Because the forces on the robot can vary during program execution, the sensitivity
can be set on-line in the program code.
Collision detection is more sensitive than the ordinary supervision and has extra
features. When a collision is detected, the robot will immediately stop and relieve
the residual forces by moving in reversed direction a short distance along its path.
After a collision error message has been acknowledged, the movement can continue
without having to press Motors on on the controller.
What is included
The RobotWare option Collision Detection gives you access to:
•
system parameters for defining if Collision Detection should be active and
how sensitive it should be (without the option you can only turn detection on
and off for Auto mode)
•
instruction for on-line changes of the sensitivity: MotionSup
Basic approach
Collision Detection is by default always active when the robot is moving. In many
cases this means that you can use Collision Detection without having to take any
active measures.
If necessary, you can turn Collision Detection on and off or change its sensitivity
in two ways:
•
temporary changes can be made on-line with the RAPID instruction
MotionSup
•
permanent changes are made through the system parameters.
Continues on next page
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7 Motion Supervision
7.1.1 Overview
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|
6.3.4 Code example
Linear movement with correction
This is a simple example of how to program a linear path with online path correction.
This is done by having an interrupt 5 times per second, calling a trap routine which
makes the offset correction.
Program code
VAR intnum int_no1;
VAR corrdescr id;
VAR pos sens_val;
PROC PathRoutine()
!Connect to the correction generator
CorrCon id;
!Setup a 5 Hz timer interrupt.
CONNECT int_no1 WITH UpdateCorr;
ITimer\Single, 0.2, int_no1
!Position for start of contour tracking
MoveJ p10,v100,z10,tool1;
!Run MoveL with correction.
MoveL p20,v100,z10,tool1\Corr;
!Remove the correction generator.
CorrDiscon id;
!Remove the timer interrupt.
IDelete int_no1;
ENDPROC
TRAP UpdateCorr
!Call a routine that read the sensor
ReadSensor sens_val.x, sens_val.y, sens_val.z;
!Execute correction
CorrWrite id, sens_val;
!Setup interrupt again
IDelete int_no1;
CONNECT int_no1 WITH UpdateCorr;
ITimer\Single, 0.2, int_no1;
ENDTRAP
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6 Motion functions
6.3.4 Code example
7 Motion Supervision
7.1 Collision Detection [613-1]
7.1.1 Overview
Purpose
Collision Detection is a software option that reduces collision impact forces on the
robot. This helps protecting the robot and external equipment from severe damage.
WARNING
Collision Detection cannot protect equipment from damage at a full speed
collision.
Description
The software option Collision Detection identifies a collision by high sensitivity,
model based supervision of the robot. Depending on what forces you deliberately
apply on the robot, the sensitivity can be tuned as well as turned on and off.
Because the forces on the robot can vary during program execution, the sensitivity
can be set on-line in the program code.
Collision detection is more sensitive than the ordinary supervision and has extra
features. When a collision is detected, the robot will immediately stop and relieve
the residual forces by moving in reversed direction a short distance along its path.
After a collision error message has been acknowledged, the movement can continue
without having to press Motors on on the controller.
What is included
The RobotWare option Collision Detection gives you access to:
•
system parameters for defining if Collision Detection should be active and
how sensitive it should be (without the option you can only turn detection on
and off for Auto mode)
•
instruction for on-line changes of the sensitivity: MotionSup
Basic approach
Collision Detection is by default always active when the robot is moving. In many
cases this means that you can use Collision Detection without having to take any
active measures.
If necessary, you can turn Collision Detection on and off or change its sensitivity
in two ways:
•
temporary changes can be made on-line with the RAPID instruction
MotionSup
•
permanent changes are made through the system parameters.
Continues on next page
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7 Motion Supervision
7.1.1 Overview
Collision detection for YuMi robots
As default YuMi will have collision detection active at stand still. It also has another
stop ramp compared to other robots to be able to release clamping forces.
Note
If the tool data is wrong, false collisions might be triggered and the robot arm
might drop a short distance during the stop ramp.
Collision detection for MultiMove robots
The default behavior when a collision is detected for one robot in a MultiMove
configuration is that all robots are stopped.
One reason for this behavior is that when a collision is detected, there is a big risk
that it was two robots that collided. Another reason is that if one robot stops and
another continues, this might cause another collision.
This behavior can be changed with the system parameter Ind collision stop without
brake . If this parameter is set to TRUE and the robots are running in independent
RAPID tasks when a collision is detected, only the robot that detected the collision
will be stopped.
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7 Motion Supervision
7.1.1 Overview
Continued
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|
7 Motion Supervision
7.1 Collision Detection [613-1]
7.1.1 Overview
Purpose
Collision Detection is a software option that reduces collision impact forces on the
robot. This helps protecting the robot and external equipment from severe damage.
WARNING
Collision Detection cannot protect equipment from damage at a full speed
collision.
Description
The software option Collision Detection identifies a collision by high sensitivity,
model based supervision of the robot. Depending on what forces you deliberately
apply on the robot, the sensitivity can be tuned as well as turned on and off.
Because the forces on the robot can vary during program execution, the sensitivity
can be set on-line in the program code.
Collision detection is more sensitive than the ordinary supervision and has extra
features. When a collision is detected, the robot will immediately stop and relieve
the residual forces by moving in reversed direction a short distance along its path.
After a collision error message has been acknowledged, the movement can continue
without having to press Motors on on the controller.
What is included
The RobotWare option Collision Detection gives you access to:
•
system parameters for defining if Collision Detection should be active and
how sensitive it should be (without the option you can only turn detection on
and off for Auto mode)
•
instruction for on-line changes of the sensitivity: MotionSup
Basic approach
Collision Detection is by default always active when the robot is moving. In many
cases this means that you can use Collision Detection without having to take any
active measures.
If necessary, you can turn Collision Detection on and off or change its sensitivity
in two ways:
•
temporary changes can be made on-line with the RAPID instruction
MotionSup
•
permanent changes are made through the system parameters.
Continues on next page
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© Copyright 2014-2025 ABB. All rights reserved.
7 Motion Supervision
7.1.1 Overview
Collision detection for YuMi robots
As default YuMi will have collision detection active at stand still. It also has another
stop ramp compared to other robots to be able to release clamping forces.
Note
If the tool data is wrong, false collisions might be triggered and the robot arm
might drop a short distance during the stop ramp.
Collision detection for MultiMove robots
The default behavior when a collision is detected for one robot in a MultiMove
configuration is that all robots are stopped.
One reason for this behavior is that when a collision is detected, there is a big risk
that it was two robots that collided. Another reason is that if one robot stops and
another continues, this might cause another collision.
This behavior can be changed with the system parameter Ind collision stop without
brake . If this parameter is set to TRUE and the robots are running in independent
RAPID tasks when a collision is detected, only the robot that detected the collision
will be stopped.
270
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7 Motion Supervision
7.1.1 Overview
Continued
7.1.2 Limitations
Load definition
In order to detect collisions properly, the payload of the robot must be correctly
defined.
Tip
Use Load Identification to define the payload. For more information, see Operating
manual - IRC5 with FlexPendant .
Robot axes only
Collision Detection is only available for the robot axes. It is not available for track
motions, orbit stations, or any other external axes.
Independent joint
The collision detection is deactivated when at least one axis is run in independent
joint mode. This is also the case even when it is an external axis that is run as an
independent joint.
Soft servo
The collision detection may trigger without a collision when the robot is used in
soft servo mode. Therefore, it is recommended to turn the collision detection off
when the robot is in soft servo mode.
No change until the robot moves
If the RAPID instruction MotionSup is used to turn off the collision detection, this
will only take effect once the robot starts to move. As a result, the digital output
MotSupOn may temporarily have an unexpected value at program start before the
robot starts to move.
Reversed movement distance
The distance the robot is reversed after a collision is proportional to the speed of
the motion before the collision. If repeated low speed collisions occur, the robot
may not be reversed sufficiently to relieve the stress of the collision. As a result,
it may not be possible to jog the robot without the supervision triggering. In this
case, turn Collision Detection off temporarily and jog the robot away from the
obstacle.
Delay before reversed movement
In the event of a stiff collision during program execution, it may take a few seconds
before the robot starts the reversed movement.
Robot on track motion
If the robot is mounted on a track motion the collision detection should be
deactivated when the track motion is moving. If it is not deactivated, the collision
detection may trigger when the track moves, even if there is no collision.
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7.1.2 Limitations
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Collision detection for YuMi robots
As default YuMi will have collision detection active at stand still. It also has another
stop ramp compared to other robots to be able to release clamping forces.
Note
If the tool data is wrong, false collisions might be triggered and the robot arm
might drop a short distance during the stop ramp.
Collision detection for MultiMove robots
The default behavior when a collision is detected for one robot in a MultiMove
configuration is that all robots are stopped.
One reason for this behavior is that when a collision is detected, there is a big risk
that it was two robots that collided. Another reason is that if one robot stops and
another continues, this might cause another collision.
This behavior can be changed with the system parameter Ind collision stop without
brake . If this parameter is set to TRUE and the robots are running in independent
RAPID tasks when a collision is detected, only the robot that detected the collision
will be stopped.
270
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7 Motion Supervision
7.1.1 Overview
Continued
7.1.2 Limitations
Load definition
In order to detect collisions properly, the payload of the robot must be correctly
defined.
Tip
Use Load Identification to define the payload. For more information, see Operating
manual - IRC5 with FlexPendant .
Robot axes only
Collision Detection is only available for the robot axes. It is not available for track
motions, orbit stations, or any other external axes.
Independent joint
The collision detection is deactivated when at least one axis is run in independent
joint mode. This is also the case even when it is an external axis that is run as an
independent joint.
Soft servo
The collision detection may trigger without a collision when the robot is used in
soft servo mode. Therefore, it is recommended to turn the collision detection off
when the robot is in soft servo mode.
No change until the robot moves
If the RAPID instruction MotionSup is used to turn off the collision detection, this
will only take effect once the robot starts to move. As a result, the digital output
MotSupOn may temporarily have an unexpected value at program start before the
robot starts to move.
Reversed movement distance
The distance the robot is reversed after a collision is proportional to the speed of
the motion before the collision. If repeated low speed collisions occur, the robot
may not be reversed sufficiently to relieve the stress of the collision. As a result,
it may not be possible to jog the robot without the supervision triggering. In this
case, turn Collision Detection off temporarily and jog the robot away from the
obstacle.
Delay before reversed movement
In the event of a stiff collision during program execution, it may take a few seconds
before the robot starts the reversed movement.
Robot on track motion
If the robot is mounted on a track motion the collision detection should be
deactivated when the track motion is moving. If it is not deactivated, the collision
detection may trigger when the track moves, even if there is no collision.
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7 Motion Supervision
7.1.2 Limitations
7.1.3 What happens at a collision
Overview
When the collision detection is triggered, the robot will stop as quickly as possible.
Then it will move in the reverse direction to remove residual forces. The program
execution will stop with an error message. The robot remains in the state motors
on so that program execution can be resumed after the collision error message
has been acknowledged.
A typical collision is illustrated below.
Collision illustration
![Image]
xx0300000361
Robot behavior after a collision
This list shows the order of events after a collision. For an illustration of the
sequence, see the diagram below.
then ...
When ...
the motor torques are reversed and the mechanical brakes
applied in order to stop the robot
the collision is detected
the robot moves in reversed direction a short distance along
the path in order to remove any residual forces which may
be present if a collision or jam occurred
the robot has stopped
the robot stops again and remains in the motors on state
the residual forces are re-
moved
Continues on next page
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7 Motion Supervision
7.1.3 What happens at a collision
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7.1.2 Limitations
Load definition
In order to detect collisions properly, the payload of the robot must be correctly
defined.
Tip
Use Load Identification to define the payload. For more information, see Operating
manual - IRC5 with FlexPendant .
Robot axes only
Collision Detection is only available for the robot axes. It is not available for track
motions, orbit stations, or any other external axes.
Independent joint
The collision detection is deactivated when at least one axis is run in independent
joint mode. This is also the case even when it is an external axis that is run as an
independent joint.
Soft servo
The collision detection may trigger without a collision when the robot is used in
soft servo mode. Therefore, it is recommended to turn the collision detection off
when the robot is in soft servo mode.
No change until the robot moves
If the RAPID instruction MotionSup is used to turn off the collision detection, this
will only take effect once the robot starts to move. As a result, the digital output
MotSupOn may temporarily have an unexpected value at program start before the
robot starts to move.
Reversed movement distance
The distance the robot is reversed after a collision is proportional to the speed of
the motion before the collision. If repeated low speed collisions occur, the robot
may not be reversed sufficiently to relieve the stress of the collision. As a result,
it may not be possible to jog the robot without the supervision triggering. In this
case, turn Collision Detection off temporarily and jog the robot away from the
obstacle.
Delay before reversed movement
In the event of a stiff collision during program execution, it may take a few seconds
before the robot starts the reversed movement.
Robot on track motion
If the robot is mounted on a track motion the collision detection should be
deactivated when the track motion is moving. If it is not deactivated, the collision
detection may trigger when the track moves, even if there is no collision.
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7 Motion Supervision
7.1.2 Limitations
7.1.3 What happens at a collision
Overview
When the collision detection is triggered, the robot will stop as quickly as possible.
Then it will move in the reverse direction to remove residual forces. The program
execution will stop with an error message. The robot remains in the state motors
on so that program execution can be resumed after the collision error message
has been acknowledged.
A typical collision is illustrated below.
Collision illustration
![Image]
xx0300000361
Robot behavior after a collision
This list shows the order of events after a collision. For an illustration of the
sequence, see the diagram below.
then ...
When ...
the motor torques are reversed and the mechanical brakes
applied in order to stop the robot
the collision is detected
the robot moves in reversed direction a short distance along
the path in order to remove any residual forces which may
be present if a collision or jam occurred
the robot has stopped
the robot stops again and remains in the motors on state
the residual forces are re-
moved
Continues on next page
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7 Motion Supervision
7.1.3 What happens at a collision
Speed and torque diagram
en0300000360
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7 Motion Supervision
7.1.3 What happens at a collision
Continued
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7.1.3 What happens at a collision
Overview
When the collision detection is triggered, the robot will stop as quickly as possible.
Then it will move in the reverse direction to remove residual forces. The program
execution will stop with an error message. The robot remains in the state motors
on so that program execution can be resumed after the collision error message
has been acknowledged.
A typical collision is illustrated below.
Collision illustration
![Image]
xx0300000361
Robot behavior after a collision
This list shows the order of events after a collision. For an illustration of the
sequence, see the diagram below.
then ...
When ...
the motor torques are reversed and the mechanical brakes
applied in order to stop the robot
the collision is detected
the robot moves in reversed direction a short distance along
the path in order to remove any residual forces which may
be present if a collision or jam occurred
the robot has stopped
the robot stops again and remains in the motors on state
the residual forces are re-
moved
Continues on next page
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7 Motion Supervision
7.1.3 What happens at a collision
Speed and torque diagram
en0300000360
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7 Motion Supervision
7.1.3 What happens at a collision
Continued
7.1.4 Additional information
Motion error handling
For more information regarding error handling for a collision, see Technical
reference manual - RAPID kernel .
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7 Motion Supervision
7.1.4 Additional information
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Speed and torque diagram
en0300000360
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7 Motion Supervision
7.1.3 What happens at a collision
Continued
7.1.4 Additional information
Motion error handling
For more information regarding error handling for a collision, see Technical
reference manual - RAPID kernel .
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7 Motion Supervision
7.1.4 Additional information
7.1.5 Configuration and programming facilities
7.1.5.1 System parameters
About system parameters
Most of the system parameters for Collision Detection do not require a restart to
take effect.
For more information about the parameters, see Technical reference
manual - System parameters .
Motion Supervision
These parameters belong to the type Motion Supervision in the topic Motion .
Description
Parameter
Turn the collision detection On or Off for program execution.
Path Collision Detection
Path Collision Detection is by default set to On.
Turn the collision detection On or Off for jogging.
Jog Collision Detection
Jog Collision Detection is by default set to On.
Modifies the Collision Detection supervision level for program
execution by the specified percentage value. A large percent-
age value makes the function less sensitive.
Path Collision Detection
Level
Path Collision Detection Level is by default set to 100%.
Modifies the Collision Detection supervision level for jogging
by the specified percentage value. A large percentage value
makes the function less sensitive.
Jog Collision Detection Level
Jog Collision Detection Level is by default set to 100%.
Defines how much the robot moves in reversed direction on
the path after a collision, specified in seconds. If the robot
moved fast before the collision it will move away a larger
distance than if the speed was slow.
Collision Detection Memory
Collision Detection Memory is by default set to 75 ms.
Turns the supervision for the loose arm detection on or off
for IRB 340 and IRB 360. A loose arm will stop the robot and
cause an error message.
Manipulator Supervision
Manipulator Supervision is by default set to On.
Modifies the supervision level for the loose arm detection for
the manipulators IRB 340 and IRB 360. A large value makes
the function less sensitive.
Manipulator Supervision
Level
Manipulator Supervision Level is by default value set to 100%.
Motion Planner
These parameters belong to the type Motion Planner in the topic Motion .
Description
Parameter
Set the maximum level to which the total collision detection
tune level can be changed. It is by default set to 300%.
Motion Supervision Max
Level
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7.1.4 Additional information
Motion error handling
For more information regarding error handling for a collision, see Technical
reference manual - RAPID kernel .
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7 Motion Supervision
7.1.4 Additional information
7.1.5 Configuration and programming facilities
7.1.5.1 System parameters
About system parameters
Most of the system parameters for Collision Detection do not require a restart to
take effect.
For more information about the parameters, see Technical reference
manual - System parameters .
Motion Supervision
These parameters belong to the type Motion Supervision in the topic Motion .
Description
Parameter
Turn the collision detection On or Off for program execution.
Path Collision Detection
Path Collision Detection is by default set to On.
Turn the collision detection On or Off for jogging.
Jog Collision Detection
Jog Collision Detection is by default set to On.
Modifies the Collision Detection supervision level for program
execution by the specified percentage value. A large percent-
age value makes the function less sensitive.
Path Collision Detection
Level
Path Collision Detection Level is by default set to 100%.
Modifies the Collision Detection supervision level for jogging
by the specified percentage value. A large percentage value
makes the function less sensitive.
Jog Collision Detection Level
Jog Collision Detection Level is by default set to 100%.
Defines how much the robot moves in reversed direction on
the path after a collision, specified in seconds. If the robot
moved fast before the collision it will move away a larger
distance than if the speed was slow.
Collision Detection Memory
Collision Detection Memory is by default set to 75 ms.
Turns the supervision for the loose arm detection on or off
for IRB 340 and IRB 360. A loose arm will stop the robot and
cause an error message.
Manipulator Supervision
Manipulator Supervision is by default set to On.
Modifies the supervision level for the loose arm detection for
the manipulators IRB 340 and IRB 360. A large value makes
the function less sensitive.
Manipulator Supervision
Level
Manipulator Supervision Level is by default value set to 100%.
Motion Planner
These parameters belong to the type Motion Planner in the topic Motion .
Description
Parameter
Set the maximum level to which the total collision detection
tune level can be changed. It is by default set to 300%.
Motion Supervision Max
Level
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7 Motion Supervision
7.1.5.1 System parameters
Motion System
This parameter belongs to the type Motion System in the topic Motion .
Description
Parameter
This parameter is only valid for systems using the MultiMove
option. If this parameter is set to TRUE, detected collisions will
be handled independently in RAPID tasks that are executed
independently.
Ind collision stop without
brake
A restart is required for this parameter to take effect.
General RAPID
These parameters belong to the type General RAPID in the topic Controller .
Description
Parameter
Enables RAPID error handling for collision. Collision Error
Handler is default set to Off.
Collision Error Handler
For more information regarding error handling for a collision,
see Technical reference manual - RAPID kernel
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7 Motion Supervision
7.1.5.1 System parameters
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7.1.5 Configuration and programming facilities
7.1.5.1 System parameters
About system parameters
Most of the system parameters for Collision Detection do not require a restart to
take effect.
For more information about the parameters, see Technical reference
manual - System parameters .
Motion Supervision
These parameters belong to the type Motion Supervision in the topic Motion .
Description
Parameter
Turn the collision detection On or Off for program execution.
Path Collision Detection
Path Collision Detection is by default set to On.
Turn the collision detection On or Off for jogging.
Jog Collision Detection
Jog Collision Detection is by default set to On.
Modifies the Collision Detection supervision level for program
execution by the specified percentage value. A large percent-
age value makes the function less sensitive.
Path Collision Detection
Level
Path Collision Detection Level is by default set to 100%.
Modifies the Collision Detection supervision level for jogging
by the specified percentage value. A large percentage value
makes the function less sensitive.
Jog Collision Detection Level
Jog Collision Detection Level is by default set to 100%.
Defines how much the robot moves in reversed direction on
the path after a collision, specified in seconds. If the robot
moved fast before the collision it will move away a larger
distance than if the speed was slow.
Collision Detection Memory
Collision Detection Memory is by default set to 75 ms.
Turns the supervision for the loose arm detection on or off
for IRB 340 and IRB 360. A loose arm will stop the robot and
cause an error message.
Manipulator Supervision
Manipulator Supervision is by default set to On.
Modifies the supervision level for the loose arm detection for
the manipulators IRB 340 and IRB 360. A large value makes
the function less sensitive.
Manipulator Supervision
Level
Manipulator Supervision Level is by default value set to 100%.
Motion Planner
These parameters belong to the type Motion Planner in the topic Motion .
Description
Parameter
Set the maximum level to which the total collision detection
tune level can be changed. It is by default set to 300%.
Motion Supervision Max
Level
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7 Motion Supervision
7.1.5.1 System parameters
Motion System
This parameter belongs to the type Motion System in the topic Motion .
Description
Parameter
This parameter is only valid for systems using the MultiMove
option. If this parameter is set to TRUE, detected collisions will
be handled independently in RAPID tasks that are executed
independently.
Ind collision stop without
brake
A restart is required for this parameter to take effect.
General RAPID
These parameters belong to the type General RAPID in the topic Controller .
Description
Parameter
Enables RAPID error handling for collision. Collision Error
Handler is default set to Off.
Collision Error Handler
For more information regarding error handling for a collision,
see Technical reference manual - RAPID kernel
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7 Motion Supervision
7.1.5.1 System parameters
Continued
7.1.5.2 RAPID components
Instructions
This is a brief description of the instructions in Collision Detection. For more
information, see respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
MotionSup is used to:
•
activate or deactivate Collision Detection. This can only be done
if the parameter Path Collision Detection is set to On.
•
modify the supervision level with a specified percentage value
(1-300%). A large percentage value makes the function less
sensitive.
MotionSup
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Motion System
This parameter belongs to the type Motion System in the topic Motion .
Description
Parameter
This parameter is only valid for systems using the MultiMove
option. If this parameter is set to TRUE, detected collisions will
be handled independently in RAPID tasks that are executed
independently.
Ind collision stop without
brake
A restart is required for this parameter to take effect.
General RAPID
These parameters belong to the type General RAPID in the topic Controller .
Description
Parameter
Enables RAPID error handling for collision. Collision Error
Handler is default set to Off.
Collision Error Handler
For more information regarding error handling for a collision,
see Technical reference manual - RAPID kernel
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7 Motion Supervision
7.1.5.1 System parameters
Continued
7.1.5.2 RAPID components
Instructions
This is a brief description of the instructions in Collision Detection. For more
information, see respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
MotionSup is used to:
•
activate or deactivate Collision Detection. This can only be done
if the parameter Path Collision Detection is set to On.
•
modify the supervision level with a specified percentage value
(1-300%). A large percentage value makes the function less
sensitive.
MotionSup
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7 Motion Supervision
7.1.5.2 RAPID components
7.1.5.3 Signals
Digital outputs
This is a brief description of the digital outputs in Collision Detection. For more
information, see respective digital output in Technical reference manual - System
parameters .
Description
Digital output
MotSupOn is high when Collision Detection is active and low when it
is not active.
MotSupOn
Note that a change in the state takes effect when a motion starts. Thus,
if Collision Detection is active and the robot is moving, MotSupOn is
high. If the robot is stopped and Collision Detection is turned off, Mot-
SupOn is still high. When the robot starts to move, MotSupOn switches
to low.
Before the first Motors On order after a restart of the robot controller,
MotSupOn will reflect the value of the corresponding system parameter
Path Collision Detection :
•
If Path Collision Detection is set to On , MotSupOn will be high.
•
If Path Collision Detection is set to Off , MotSupOn will be low.
MotSupTrigg goes high when the collision detection triggers. It stays
high until the error code is acknowledged from the FlexPendant.
MotSupTrigg
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7.1.5.2 RAPID components
Instructions
This is a brief description of the instructions in Collision Detection. For more
information, see respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
MotionSup is used to:
•
activate or deactivate Collision Detection. This can only be done
if the parameter Path Collision Detection is set to On.
•
modify the supervision level with a specified percentage value
(1-300%). A large percentage value makes the function less
sensitive.
MotionSup
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7 Motion Supervision
7.1.5.2 RAPID components
7.1.5.3 Signals
Digital outputs
This is a brief description of the digital outputs in Collision Detection. For more
information, see respective digital output in Technical reference manual - System
parameters .
Description
Digital output
MotSupOn is high when Collision Detection is active and low when it
is not active.
MotSupOn
Note that a change in the state takes effect when a motion starts. Thus,
if Collision Detection is active and the robot is moving, MotSupOn is
high. If the robot is stopped and Collision Detection is turned off, Mot-
SupOn is still high. When the robot starts to move, MotSupOn switches
to low.
Before the first Motors On order after a restart of the robot controller,
MotSupOn will reflect the value of the corresponding system parameter
Path Collision Detection :
•
If Path Collision Detection is set to On , MotSupOn will be high.
•
If Path Collision Detection is set to Off , MotSupOn will be low.
MotSupTrigg goes high when the collision detection triggers. It stays
high until the error code is acknowledged from the FlexPendant.
MotSupTrigg
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7 Motion Supervision
7.1.5.3 Signals
7.1.6 How to use Collision Detection
7.1.6.1 Set up system parameters
Activate supervision
To be able to use Collision Detection during program execution, the parameter
Path Collision Detection must be set to On .
To be able to use Collision Detection during jogging, the parameter Jog Collision
Detection must be set to On .
Define supervision levels
Set the parameter Path Collision Detection Level to the percentage value you want
as default during program execution.
Set the parameter Jog Collision Detection Level to the percentage value you want
as default during jogging.
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7.1.5.3 Signals
Digital outputs
This is a brief description of the digital outputs in Collision Detection. For more
information, see respective digital output in Technical reference manual - System
parameters .
Description
Digital output
MotSupOn is high when Collision Detection is active and low when it
is not active.
MotSupOn
Note that a change in the state takes effect when a motion starts. Thus,
if Collision Detection is active and the robot is moving, MotSupOn is
high. If the robot is stopped and Collision Detection is turned off, Mot-
SupOn is still high. When the robot starts to move, MotSupOn switches
to low.
Before the first Motors On order after a restart of the robot controller,
MotSupOn will reflect the value of the corresponding system parameter
Path Collision Detection :
•
If Path Collision Detection is set to On , MotSupOn will be high.
•
If Path Collision Detection is set to Off , MotSupOn will be low.
MotSupTrigg goes high when the collision detection triggers. It stays
high until the error code is acknowledged from the FlexPendant.
MotSupTrigg
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7 Motion Supervision
7.1.5.3 Signals
7.1.6 How to use Collision Detection
7.1.6.1 Set up system parameters
Activate supervision
To be able to use Collision Detection during program execution, the parameter
Path Collision Detection must be set to On .
To be able to use Collision Detection during jogging, the parameter Jog Collision
Detection must be set to On .
Define supervision levels
Set the parameter Path Collision Detection Level to the percentage value you want
as default during program execution.
Set the parameter Jog Collision Detection Level to the percentage value you want
as default during jogging.
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7 Motion Supervision
7.1.6.1 Set up system parameters
7.1.6.2 Adjust supervision from FlexPendant
Speed adjusted supervision level
Collision Detection uses a variable supervision level. At low speeds it is more
sensitive than at high speeds. For this reason, no tuning of the function should be
required by the user during normal operating conditions. However, it is possible
to turn the function on and off and to tune the supervision levels.
Separate tuning parameters are available for jogging and program execution. These
parameters are described in System parameters on page 275 .
Set jog supervision on FlexPendant
On the FlexPendant, select Control Panel from the ABB menu and then tap
Supervision .
Supervision can be turned on or off and the sensitivity can be adjusted for both
programmed paths and jogging. The sensitivity level is set in percentage. A large
value makes the function less sensitive.
If the motion supervision for jogging is turned off in the dialog box and a program
is executed, Collision Detection can still be active during execution of the program.
Note
The supervision settings correspond to system parameters of the type Motion
Supervision . These can be set using the supervision settings on the FlexPendant,
as described above. They can also be changed using RobotStudio or FlexPendant
configuration editor or Quickset Mechanical unit menu.
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7.1.6.2 Adjust supervision from FlexPendant
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7.1.6 How to use Collision Detection
7.1.6.1 Set up system parameters
Activate supervision
To be able to use Collision Detection during program execution, the parameter
Path Collision Detection must be set to On .
To be able to use Collision Detection during jogging, the parameter Jog Collision
Detection must be set to On .
Define supervision levels
Set the parameter Path Collision Detection Level to the percentage value you want
as default during program execution.
Set the parameter Jog Collision Detection Level to the percentage value you want
as default during jogging.
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7 Motion Supervision
7.1.6.1 Set up system parameters
7.1.6.2 Adjust supervision from FlexPendant
Speed adjusted supervision level
Collision Detection uses a variable supervision level. At low speeds it is more
sensitive than at high speeds. For this reason, no tuning of the function should be
required by the user during normal operating conditions. However, it is possible
to turn the function on and off and to tune the supervision levels.
Separate tuning parameters are available for jogging and program execution. These
parameters are described in System parameters on page 275 .
Set jog supervision on FlexPendant
On the FlexPendant, select Control Panel from the ABB menu and then tap
Supervision .
Supervision can be turned on or off and the sensitivity can be adjusted for both
programmed paths and jogging. The sensitivity level is set in percentage. A large
value makes the function less sensitive.
If the motion supervision for jogging is turned off in the dialog box and a program
is executed, Collision Detection can still be active during execution of the program.
Note
The supervision settings correspond to system parameters of the type Motion
Supervision . These can be set using the supervision settings on the FlexPendant,
as described above. They can also be changed using RobotStudio or FlexPendant
configuration editor or Quickset Mechanical unit menu.
280
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7 Motion Supervision
7.1.6.2 Adjust supervision from FlexPendant
7.1.6.3 Adjust supervision from RAPID program
Default values
If Collision Detection is activated with the system parameters, it is by default active
during program execution with the tune value 100%. These values are set
automatically:
•
when using the restart mode Reset system .
•
when a new program is loaded.
•
when starting program execution from the beginning.
Note
If tune values are set in the system parameters and in the RAPID instruction,
both values are taken into consideration.
Example: If the tune value in the system parameters is set to 150% and the tune
value is set to 200% in the RAPID instruction the resulting tune level will be 300%.
Temporarily deactivate supervision
If external forces will affect the robot during a part of the program execution,
temporarily deactivate the supervision with the following instruction:
MotionSup \Off;
Reactivate supervision
If the supervision has been temporarily deactivated, it can be activated with the
following instruction:
MotionSup \On;
Note
If the supervision is deactivated with the system parameters, it cannot be activated
with RAPID instructions.
Tuning
The supervision level can be tuned during program execution with the instruction
MotionSup . The tune values are set in percent of the basic tuning where 100%
corresponds to the basic values. A higher percentage gives a less sensitive system.
This is an example of an instruction that increase the supervision level to 200%:
MotionSup \On \TuneValue:=200;
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7.1.6.2 Adjust supervision from FlexPendant
Speed adjusted supervision level
Collision Detection uses a variable supervision level. At low speeds it is more
sensitive than at high speeds. For this reason, no tuning of the function should be
required by the user during normal operating conditions. However, it is possible
to turn the function on and off and to tune the supervision levels.
Separate tuning parameters are available for jogging and program execution. These
parameters are described in System parameters on page 275 .
Set jog supervision on FlexPendant
On the FlexPendant, select Control Panel from the ABB menu and then tap
Supervision .
Supervision can be turned on or off and the sensitivity can be adjusted for both
programmed paths and jogging. The sensitivity level is set in percentage. A large
value makes the function less sensitive.
If the motion supervision for jogging is turned off in the dialog box and a program
is executed, Collision Detection can still be active during execution of the program.
Note
The supervision settings correspond to system parameters of the type Motion
Supervision . These can be set using the supervision settings on the FlexPendant,
as described above. They can also be changed using RobotStudio or FlexPendant
configuration editor or Quickset Mechanical unit menu.
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7 Motion Supervision
7.1.6.2 Adjust supervision from FlexPendant
7.1.6.3 Adjust supervision from RAPID program
Default values
If Collision Detection is activated with the system parameters, it is by default active
during program execution with the tune value 100%. These values are set
automatically:
•
when using the restart mode Reset system .
•
when a new program is loaded.
•
when starting program execution from the beginning.
Note
If tune values are set in the system parameters and in the RAPID instruction,
both values are taken into consideration.
Example: If the tune value in the system parameters is set to 150% and the tune
value is set to 200% in the RAPID instruction the resulting tune level will be 300%.
Temporarily deactivate supervision
If external forces will affect the robot during a part of the program execution,
temporarily deactivate the supervision with the following instruction:
MotionSup \Off;
Reactivate supervision
If the supervision has been temporarily deactivated, it can be activated with the
following instruction:
MotionSup \On;
Note
If the supervision is deactivated with the system parameters, it cannot be activated
with RAPID instructions.
Tuning
The supervision level can be tuned during program execution with the instruction
MotionSup . The tune values are set in percent of the basic tuning where 100%
corresponds to the basic values. A higher percentage gives a less sensitive system.
This is an example of an instruction that increase the supervision level to 200%:
MotionSup \On \TuneValue:=200;
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7 Motion Supervision
7.1.6.3 Adjust supervision from RAPID program
7.1.6.4 How to avoid false triggering
About false triggering
Because the supervision is designed to be very sensitive, it may trigger if the load
data is incorrect or if there are large process forces acting on the robot.
Actions to take
then ...
If ...
use Load Identification to define it. For more information, see
Operating manual - IRC5 with FlexPendant .
the payload is incorrectly
defined
increase supervision level
the payload has large mass
or inertia
manually define the arm load or increase supervision level
the arm load (cables or simil-
ar) cause trigger
increase the supervision level for jogging and program exe-
cution in steps of 30 percent until you no longer receive the
error code.
the application involves
many external process
forces
use the instruction MotionSup to raise the supervision level
or turn the function off temporarily.
the external process forces
are only temporary
turn off Collision Detection.
everything else fails
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7.1.6.4 How to avoid false triggering
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7.1.6.3 Adjust supervision from RAPID program
Default values
If Collision Detection is activated with the system parameters, it is by default active
during program execution with the tune value 100%. These values are set
automatically:
•
when using the restart mode Reset system .
•
when a new program is loaded.
•
when starting program execution from the beginning.
Note
If tune values are set in the system parameters and in the RAPID instruction,
both values are taken into consideration.
Example: If the tune value in the system parameters is set to 150% and the tune
value is set to 200% in the RAPID instruction the resulting tune level will be 300%.
Temporarily deactivate supervision
If external forces will affect the robot during a part of the program execution,
temporarily deactivate the supervision with the following instruction:
MotionSup \Off;
Reactivate supervision
If the supervision has been temporarily deactivated, it can be activated with the
following instruction:
MotionSup \On;
Note
If the supervision is deactivated with the system parameters, it cannot be activated
with RAPID instructions.
Tuning
The supervision level can be tuned during program execution with the instruction
MotionSup . The tune values are set in percent of the basic tuning where 100%
corresponds to the basic values. A higher percentage gives a less sensitive system.
This is an example of an instruction that increase the supervision level to 200%:
MotionSup \On \TuneValue:=200;
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7 Motion Supervision
7.1.6.3 Adjust supervision from RAPID program
7.1.6.4 How to avoid false triggering
About false triggering
Because the supervision is designed to be very sensitive, it may trigger if the load
data is incorrect or if there are large process forces acting on the robot.
Actions to take
then ...
If ...
use Load Identification to define it. For more information, see
Operating manual - IRC5 with FlexPendant .
the payload is incorrectly
defined
increase supervision level
the payload has large mass
or inertia
manually define the arm load or increase supervision level
the arm load (cables or simil-
ar) cause trigger
increase the supervision level for jogging and program exe-
cution in steps of 30 percent until you no longer receive the
error code.
the application involves
many external process
forces
use the instruction MotionSup to raise the supervision level
or turn the function off temporarily.
the external process forces
are only temporary
turn off Collision Detection.
everything else fails
282
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7 Motion Supervision
7.1.6.4 How to avoid false triggering
7.1.7 Collision Avoidance
Introduction
The function Collision Avoidance monitors a detailed geometric model of the robot.
By defining additional geometrical models of bodies in the robot workarea, the
controller will warn about a predicted collision and stops the robot if two bodies
come too close to each other. The system parameter Coll-Pred Safety Distance
determines at what distance the two objects are considered to be in collision.
The function Collision Avoidance is useful for example when setting up and testing
programs, or for programs where positions are not static but created from sensors,
such as cameras (non-deterministic programs). By using trigger-signals (see Trigger
signals on page 284 ), Collision Avoidance can be used for implementing safe
workspace sharing between multiple robots.
Besides the robot itself the function will monitor up 10 objects that is created via
the configurator in RobotStudio. Typical objects to be monitored are tool mounted
on the robot flange, additional equipment mounted on the robot arm (typically axis
3) or static volume around the robot.
The geometric models are set up in RobotStudio.
The functionality is activated by the system input Collision Avoidance . A high signal
will activate the functionality and a low signal will deactivate the functionality. The
functionality is by default active if no signal has been assigned to the system input
Collision Avoidance .
Collision Avoidance is active both during jogging and when running programs.
Also, the RAPID function IsCollFree provides a way to check possible collisions
before moving to a position.
CAUTION
Always be careful to avoid collisions with external equipment, since a collision
could damage the mechanical structure of the arm.
Collision Avoidance is no guarantee for avoiding collisions.
Tip
How to configure Collision Avoidance is described in Operating
manual - RobotStudio .
Tip
Collision Avoidance adds the user configuration in the folder CA under the HOME
folder. This is created when adding a configuration in RobotStudio.
If disk space is needed, the rsgfx files can be removed.
Continues on next page
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7 Motion Supervision
7.1.7 Collision Avoidance
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7.1.6.4 How to avoid false triggering
About false triggering
Because the supervision is designed to be very sensitive, it may trigger if the load
data is incorrect or if there are large process forces acting on the robot.
Actions to take
then ...
If ...
use Load Identification to define it. For more information, see
Operating manual - IRC5 with FlexPendant .
the payload is incorrectly
defined
increase supervision level
the payload has large mass
or inertia
manually define the arm load or increase supervision level
the arm load (cables or simil-
ar) cause trigger
increase the supervision level for jogging and program exe-
cution in steps of 30 percent until you no longer receive the
error code.
the application involves
many external process
forces
use the instruction MotionSup to raise the supervision level
or turn the function off temporarily.
the external process forces
are only temporary
turn off Collision Detection.
everything else fails
282
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© Copyright 2014-2025 ABB. All rights reserved.
7 Motion Supervision
7.1.6.4 How to avoid false triggering
7.1.7 Collision Avoidance
Introduction
The function Collision Avoidance monitors a detailed geometric model of the robot.
By defining additional geometrical models of bodies in the robot workarea, the
controller will warn about a predicted collision and stops the robot if two bodies
come too close to each other. The system parameter Coll-Pred Safety Distance
determines at what distance the two objects are considered to be in collision.
The function Collision Avoidance is useful for example when setting up and testing
programs, or for programs where positions are not static but created from sensors,
such as cameras (non-deterministic programs). By using trigger-signals (see Trigger
signals on page 284 ), Collision Avoidance can be used for implementing safe
workspace sharing between multiple robots.
Besides the robot itself the function will monitor up 10 objects that is created via
the configurator in RobotStudio. Typical objects to be monitored are tool mounted
on the robot flange, additional equipment mounted on the robot arm (typically axis
3) or static volume around the robot.
The geometric models are set up in RobotStudio.
The functionality is activated by the system input Collision Avoidance . A high signal
will activate the functionality and a low signal will deactivate the functionality. The
functionality is by default active if no signal has been assigned to the system input
Collision Avoidance .
Collision Avoidance is active both during jogging and when running programs.
Also, the RAPID function IsCollFree provides a way to check possible collisions
before moving to a position.
CAUTION
Always be careful to avoid collisions with external equipment, since a collision
could damage the mechanical structure of the arm.
Collision Avoidance is no guarantee for avoiding collisions.
Tip
How to configure Collision Avoidance is described in Operating
manual - RobotStudio .
Tip
Collision Avoidance adds the user configuration in the folder CA under the HOME
folder. This is created when adding a configuration in RobotStudio.
If disk space is needed, the rsgfx files can be removed.
Continues on next page
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7 Motion Supervision
7.1.7 Collision Avoidance
False collision warning
There are different ways to lower the sensitivity of the function Collision Avoidance
to avoid false warnings.
•
Temporarily disable Collision Avoidance , see Disabling Collision Avoidance
on page 285 .
•
For IRB 14000, decrease the safety distance for the arm or geometric model
that triggers the false collision warning, see Decrease sensitivity between
links for IRB 14000 on page 285 .
•
Decrease the general safety distance with the system parameter Coll-Pred
Safety Distance .
Activation/deactivation of objects
By default, a defined collision object is active all the time. However, it is possible
to configure a collision object with an activation signal, which basically connects
it to a digital input that determines whether the object is active or not. This is useful,
for example, for modelling multiple tools, where only one tool at a time is active.
Another use case is modelling of objects that can be present or absent in the robot
cell, for example a pallet.
Note that changing the state of an activation signal will immediately change the
activation state of the connected collision object, and no synchronization to the
robot path planning is made. Activating a collision object while the robot is moving
towards the object can thus lead to a collision because the planned path may
already have passed by the collision object while it was inactive. If synchronization
is important, then activation signals should either be changed in finepoints when
the robot is standing still or using trigg instructions like TriggL or TriggJ .
Trigger signals
A non-moving collision object can be configured with a trigger signal. The value
of the trigger signal reflects which robots are in contact with the collision object.
More specifically, the value of a trigger signal should be interpreted as a bit pattern,
where bit k is high if robot k is in contact with the collision object. For example, if
the trigger signal has the value 6, which is 110 in binary, it means that ROB_2 and
ROB_3 are in contact with the collision object. Trigger signals can be used to
implement safe workspace sharing between multiple robots.
A trigger signal can be configured with two timing behaviors: immediate or
on-arrival . If configured with immediate behavior, then the trigger signal is changed
as quickly as possible, well before the robot has physically reached the position
where it comes into contact with the collision object. If configured with on-arrival
behavior, then the trigger signal changes state when the robot physically reaches
the position where it comes in contact with the zone.
Limitations
CAUTION
Collision Avoidance shall not be used for safety of personnel.
Continues on next page
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7 Motion Supervision
7.1.7 Collision Avoidance
Continued
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7.1.7 Collision Avoidance
Introduction
The function Collision Avoidance monitors a detailed geometric model of the robot.
By defining additional geometrical models of bodies in the robot workarea, the
controller will warn about a predicted collision and stops the robot if two bodies
come too close to each other. The system parameter Coll-Pred Safety Distance
determines at what distance the two objects are considered to be in collision.
The function Collision Avoidance is useful for example when setting up and testing
programs, or for programs where positions are not static but created from sensors,
such as cameras (non-deterministic programs). By using trigger-signals (see Trigger
signals on page 284 ), Collision Avoidance can be used for implementing safe
workspace sharing between multiple robots.
Besides the robot itself the function will monitor up 10 objects that is created via
the configurator in RobotStudio. Typical objects to be monitored are tool mounted
on the robot flange, additional equipment mounted on the robot arm (typically axis
3) or static volume around the robot.
The geometric models are set up in RobotStudio.
The functionality is activated by the system input Collision Avoidance . A high signal
will activate the functionality and a low signal will deactivate the functionality. The
functionality is by default active if no signal has been assigned to the system input
Collision Avoidance .
Collision Avoidance is active both during jogging and when running programs.
Also, the RAPID function IsCollFree provides a way to check possible collisions
before moving to a position.
CAUTION
Always be careful to avoid collisions with external equipment, since a collision
could damage the mechanical structure of the arm.
Collision Avoidance is no guarantee for avoiding collisions.
Tip
How to configure Collision Avoidance is described in Operating
manual - RobotStudio .
Tip
Collision Avoidance adds the user configuration in the folder CA under the HOME
folder. This is created when adding a configuration in RobotStudio.
If disk space is needed, the rsgfx files can be removed.
Continues on next page
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© Copyright 2014-2025 ABB. All rights reserved.
7 Motion Supervision
7.1.7 Collision Avoidance
False collision warning
There are different ways to lower the sensitivity of the function Collision Avoidance
to avoid false warnings.
•
Temporarily disable Collision Avoidance , see Disabling Collision Avoidance
on page 285 .
•
For IRB 14000, decrease the safety distance for the arm or geometric model
that triggers the false collision warning, see Decrease sensitivity between
links for IRB 14000 on page 285 .
•
Decrease the general safety distance with the system parameter Coll-Pred
Safety Distance .
Activation/deactivation of objects
By default, a defined collision object is active all the time. However, it is possible
to configure a collision object with an activation signal, which basically connects
it to a digital input that determines whether the object is active or not. This is useful,
for example, for modelling multiple tools, where only one tool at a time is active.
Another use case is modelling of objects that can be present or absent in the robot
cell, for example a pallet.
Note that changing the state of an activation signal will immediately change the
activation state of the connected collision object, and no synchronization to the
robot path planning is made. Activating a collision object while the robot is moving
towards the object can thus lead to a collision because the planned path may
already have passed by the collision object while it was inactive. If synchronization
is important, then activation signals should either be changed in finepoints when
the robot is standing still or using trigg instructions like TriggL or TriggJ .
Trigger signals
A non-moving collision object can be configured with a trigger signal. The value
of the trigger signal reflects which robots are in contact with the collision object.
More specifically, the value of a trigger signal should be interpreted as a bit pattern,
where bit k is high if robot k is in contact with the collision object. For example, if
the trigger signal has the value 6, which is 110 in binary, it means that ROB_2 and
ROB_3 are in contact with the collision object. Trigger signals can be used to
implement safe workspace sharing between multiple robots.
A trigger signal can be configured with two timing behaviors: immediate or
on-arrival . If configured with immediate behavior, then the trigger signal is changed
as quickly as possible, well before the robot has physically reached the position
where it comes into contact with the collision object. If configured with on-arrival
behavior, then the trigger signal changes state when the robot physically reaches
the position where it comes in contact with the zone.
Limitations
CAUTION
Collision Avoidance shall not be used for safety of personnel.
Continues on next page
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7 Motion Supervision
7.1.7 Collision Avoidance
Continued
•
Collision Avoidance is a function included in the option Collision Detection .
•
Paint robots, IRB 6620LX, and delta robots are not supported.
•
Collision Avoidance cannot be used in manual mode together with responsive
jogging. The system parameter Jog Mode must be changed to Standard .
•
Only stationary/non-moving objects can be configured with a trigger signal.
A trigger signal must correspond to a group signal. Furthermore, each
collision object must have its own trigger signal.
•
There is no support for applications that do corrections to the path, such as
conveyor tracking, WeldGuide, Force Control, SoftMove, SoftAct etc.
•
The Collision Avoidance functionality between 2 robots (or more) can only
be achieved when using a MultiMove system.
Disabling Collision Avoidance
It is possible to temporarily disable the function Collision Avoidance if the robot
has already collided or is within the default safety distance, or when the robot arms
need to be very close and the risk of collision is acceptable.
Set the system input signal Collision Avoidance to 0 to disable Collision
Avoidance . It is recommended to enable it (set Collision Avoidance to 1) as
soon as the work is done that required Collision Avoidance to be disabled.
Decrease sensitivity between links for IRB 14000
For dual arm robots, the sensitivity can be decreased between individual robot
arm links. This is useful if two links come close to each other, but the general safety
distance should be maintained.
Open the file irb_14000_common_config.xml located in the folder
<SystemName>\PRODUCT\ROBOTWARE_6.XX.XXXX\robots\CA\irb_14000 .
For example, to decrease the safety distance between the left arm's link 3 and the
right arm's link 4 to 1 mm, add the following row:
<Pair object1="ROB_L_Link3" object2="ROB_R_Link4"
safetyDistance="0.001"/>
To decrease the safety distance between the left arm's link 5 and the robot base
to 2 mm, add the following row:
<Pair object1="ROB_L_Link5" object2="Base" safetyDistance="0.002"/>
To disable collision avoidance between the left arm's link 2 and the right arm's link
3, add the following row:
<Pair object1="ROB_L_Link2" object2="ROB_R_Link3" exclude="true"/>
Note
The safety distance between two links can be decreased by adding a row to this
XML file, but it cannot be increased to a higher value than defined by the system
parameter Coll-Pred Safety Distance .
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7 Motion Supervision
7.1.7 Collision Avoidance
Continued
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False collision warning
There are different ways to lower the sensitivity of the function Collision Avoidance
to avoid false warnings.
•
Temporarily disable Collision Avoidance , see Disabling Collision Avoidance
on page 285 .
•
For IRB 14000, decrease the safety distance for the arm or geometric model
that triggers the false collision warning, see Decrease sensitivity between
links for IRB 14000 on page 285 .
•
Decrease the general safety distance with the system parameter Coll-Pred
Safety Distance .
Activation/deactivation of objects
By default, a defined collision object is active all the time. However, it is possible
to configure a collision object with an activation signal, which basically connects
it to a digital input that determines whether the object is active or not. This is useful,
for example, for modelling multiple tools, where only one tool at a time is active.
Another use case is modelling of objects that can be present or absent in the robot
cell, for example a pallet.
Note that changing the state of an activation signal will immediately change the
activation state of the connected collision object, and no synchronization to the
robot path planning is made. Activating a collision object while the robot is moving
towards the object can thus lead to a collision because the planned path may
already have passed by the collision object while it was inactive. If synchronization
is important, then activation signals should either be changed in finepoints when
the robot is standing still or using trigg instructions like TriggL or TriggJ .
Trigger signals
A non-moving collision object can be configured with a trigger signal. The value
of the trigger signal reflects which robots are in contact with the collision object.
More specifically, the value of a trigger signal should be interpreted as a bit pattern,
where bit k is high if robot k is in contact with the collision object. For example, if
the trigger signal has the value 6, which is 110 in binary, it means that ROB_2 and
ROB_3 are in contact with the collision object. Trigger signals can be used to
implement safe workspace sharing between multiple robots.
A trigger signal can be configured with two timing behaviors: immediate or
on-arrival . If configured with immediate behavior, then the trigger signal is changed
as quickly as possible, well before the robot has physically reached the position
where it comes into contact with the collision object. If configured with on-arrival
behavior, then the trigger signal changes state when the robot physically reaches
the position where it comes in contact with the zone.
Limitations
CAUTION
Collision Avoidance shall not be used for safety of personnel.
Continues on next page
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7 Motion Supervision
7.1.7 Collision Avoidance
Continued
•
Collision Avoidance is a function included in the option Collision Detection .
•
Paint robots, IRB 6620LX, and delta robots are not supported.
•
Collision Avoidance cannot be used in manual mode together with responsive
jogging. The system parameter Jog Mode must be changed to Standard .
•
Only stationary/non-moving objects can be configured with a trigger signal.
A trigger signal must correspond to a group signal. Furthermore, each
collision object must have its own trigger signal.
•
There is no support for applications that do corrections to the path, such as
conveyor tracking, WeldGuide, Force Control, SoftMove, SoftAct etc.
•
The Collision Avoidance functionality between 2 robots (or more) can only
be achieved when using a MultiMove system.
Disabling Collision Avoidance
It is possible to temporarily disable the function Collision Avoidance if the robot
has already collided or is within the default safety distance, or when the robot arms
need to be very close and the risk of collision is acceptable.
Set the system input signal Collision Avoidance to 0 to disable Collision
Avoidance . It is recommended to enable it (set Collision Avoidance to 1) as
soon as the work is done that required Collision Avoidance to be disabled.
Decrease sensitivity between links for IRB 14000
For dual arm robots, the sensitivity can be decreased between individual robot
arm links. This is useful if two links come close to each other, but the general safety
distance should be maintained.
Open the file irb_14000_common_config.xml located in the folder
<SystemName>\PRODUCT\ROBOTWARE_6.XX.XXXX\robots\CA\irb_14000 .
For example, to decrease the safety distance between the left arm's link 3 and the
right arm's link 4 to 1 mm, add the following row:
<Pair object1="ROB_L_Link3" object2="ROB_R_Link4"
safetyDistance="0.001"/>
To decrease the safety distance between the left arm's link 5 and the robot base
to 2 mm, add the following row:
<Pair object1="ROB_L_Link5" object2="Base" safetyDistance="0.002"/>
To disable collision avoidance between the left arm's link 2 and the right arm's link
3, add the following row:
<Pair object1="ROB_L_Link2" object2="ROB_R_Link3" exclude="true"/>
Note
The safety distance between two links can be decreased by adding a row to this
XML file, but it cannot be increased to a higher value than defined by the system
parameter Coll-Pred Safety Distance .
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7 Motion Supervision
7.1.7 Collision Avoidance
Continued
7.2 SafeMove Assistant
Purpose
SafeMove Assistant is a functionality in RobotWare that helps users to program
their application when there is an active SafeMove configuration. The assistant
will read the active configuration and plan the trajectories according to the limits
and settings in that configuration. It will set the speed so that SafeMove will not
trigger violations etc. It will also stop with error message in case the robot is
programmed to enter a forbidden zone etc.
SafeMove Assistant will automatically adjust robot behavior to adopt to the active
SafeMove configuration, the robot will adopt to speed limited zones and stop before
entering forbidden zones.
CAUTION
SafeMove Assistant is not a safety function.
For example, if using a fence, then a safety distance is required between the
safe cartesian zone and the fence.
Note
In case of SafeMove Assistant fails, the SafeMove supervision will trigger an
emergency stop.
Description
SafeMove Assistant will check if any SafeMove speed limit is active for any
Cartesian speed checkpoint (TCP, tool points, and elbow). If this is the case, a
corresponding speed limit is applied in the path planner. For technical reasons,
only the speed of the TCP, the wrist center point (WCP), and the elbow are limited
by the path planner. Therefore, in cases where other tool points move faster than
the TCP, SafeMove may trigger a Tool Speed violation. To avoid this, change the
program or decrease the value of the parameter SafeMove assistance speed factor
(see below).
SafeMove Assistant is not active in manual mode.
SafeMove Assistant does not take path corrections generated at lower level into
account. It is therefore an increased risk of SafeMove violations when running
applications like Externally Guided Motion or conveyor tracking.
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7 Motion Supervision
7.2 SafeMove Assistant
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•
Collision Avoidance is a function included in the option Collision Detection .
•
Paint robots, IRB 6620LX, and delta robots are not supported.
•
Collision Avoidance cannot be used in manual mode together with responsive
jogging. The system parameter Jog Mode must be changed to Standard .
•
Only stationary/non-moving objects can be configured with a trigger signal.
A trigger signal must correspond to a group signal. Furthermore, each
collision object must have its own trigger signal.
•
There is no support for applications that do corrections to the path, such as
conveyor tracking, WeldGuide, Force Control, SoftMove, SoftAct etc.
•
The Collision Avoidance functionality between 2 robots (or more) can only
be achieved when using a MultiMove system.
Disabling Collision Avoidance
It is possible to temporarily disable the function Collision Avoidance if the robot
has already collided or is within the default safety distance, or when the robot arms
need to be very close and the risk of collision is acceptable.
Set the system input signal Collision Avoidance to 0 to disable Collision
Avoidance . It is recommended to enable it (set Collision Avoidance to 1) as
soon as the work is done that required Collision Avoidance to be disabled.
Decrease sensitivity between links for IRB 14000
For dual arm robots, the sensitivity can be decreased between individual robot
arm links. This is useful if two links come close to each other, but the general safety
distance should be maintained.
Open the file irb_14000_common_config.xml located in the folder
<SystemName>\PRODUCT\ROBOTWARE_6.XX.XXXX\robots\CA\irb_14000 .
For example, to decrease the safety distance between the left arm's link 3 and the
right arm's link 4 to 1 mm, add the following row:
<Pair object1="ROB_L_Link3" object2="ROB_R_Link4"
safetyDistance="0.001"/>
To decrease the safety distance between the left arm's link 5 and the robot base
to 2 mm, add the following row:
<Pair object1="ROB_L_Link5" object2="Base" safetyDistance="0.002"/>
To disable collision avoidance between the left arm's link 2 and the right arm's link
3, add the following row:
<Pair object1="ROB_L_Link2" object2="ROB_R_Link3" exclude="true"/>
Note
The safety distance between two links can be decreased by adding a row to this
XML file, but it cannot be increased to a higher value than defined by the system
parameter Coll-Pred Safety Distance .
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7 Motion Supervision
7.1.7 Collision Avoidance
Continued
7.2 SafeMove Assistant
Purpose
SafeMove Assistant is a functionality in RobotWare that helps users to program
their application when there is an active SafeMove configuration. The assistant
will read the active configuration and plan the trajectories according to the limits
and settings in that configuration. It will set the speed so that SafeMove will not
trigger violations etc. It will also stop with error message in case the robot is
programmed to enter a forbidden zone etc.
SafeMove Assistant will automatically adjust robot behavior to adopt to the active
SafeMove configuration, the robot will adopt to speed limited zones and stop before
entering forbidden zones.
CAUTION
SafeMove Assistant is not a safety function.
For example, if using a fence, then a safety distance is required between the
safe cartesian zone and the fence.
Note
In case of SafeMove Assistant fails, the SafeMove supervision will trigger an
emergency stop.
Description
SafeMove Assistant will check if any SafeMove speed limit is active for any
Cartesian speed checkpoint (TCP, tool points, and elbow). If this is the case, a
corresponding speed limit is applied in the path planner. For technical reasons,
only the speed of the TCP, the wrist center point (WCP), and the elbow are limited
by the path planner. Therefore, in cases where other tool points move faster than
the TCP, SafeMove may trigger a Tool Speed violation. To avoid this, change the
program or decrease the value of the parameter SafeMove assistance speed factor
(see below).
SafeMove Assistant is not active in manual mode.
SafeMove Assistant does not take path corrections generated at lower level into
account. It is therefore an increased risk of SafeMove violations when running
applications like Externally Guided Motion or conveyor tracking.
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7 Motion Supervision
7.2 SafeMove Assistant
System parameters
SafeMove Assistant can be disabled for the SafeMove validation etc. This is done
with the parameter Disable SafeMove Assistance , in the type in Motion System .
There are some parameters that can be changed in case robot system has minor
overshoot or in any other way triggers SafeMove violations.
Description
Parameter
That has a default setting of 0.96 which corresponds to 96% of speed
supervision will be the speed that path planner will use. This parameter
can be decreased to reduce that risk but can in most cases be left at
default value.
SafeMove Assist-
ance Speed
Factor
When robot is running on a zone border there is a small risk that Safe-
Move can trigger violations when going in and out of the zone. This
parameter can be increased to reduce that risk but can in most cases
be left at default value.
SafeMove assist-
ance zone mar-
gin
For more information, see the parameters in the type Motion System described in
Technical reference manual - System parameters .
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7 Motion Supervision
7.2 SafeMove Assistant
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7.2 SafeMove Assistant
Purpose
SafeMove Assistant is a functionality in RobotWare that helps users to program
their application when there is an active SafeMove configuration. The assistant
will read the active configuration and plan the trajectories according to the limits
and settings in that configuration. It will set the speed so that SafeMove will not
trigger violations etc. It will also stop with error message in case the robot is
programmed to enter a forbidden zone etc.
SafeMove Assistant will automatically adjust robot behavior to adopt to the active
SafeMove configuration, the robot will adopt to speed limited zones and stop before
entering forbidden zones.
CAUTION
SafeMove Assistant is not a safety function.
For example, if using a fence, then a safety distance is required between the
safe cartesian zone and the fence.
Note
In case of SafeMove Assistant fails, the SafeMove supervision will trigger an
emergency stop.
Description
SafeMove Assistant will check if any SafeMove speed limit is active for any
Cartesian speed checkpoint (TCP, tool points, and elbow). If this is the case, a
corresponding speed limit is applied in the path planner. For technical reasons,
only the speed of the TCP, the wrist center point (WCP), and the elbow are limited
by the path planner. Therefore, in cases where other tool points move faster than
the TCP, SafeMove may trigger a Tool Speed violation. To avoid this, change the
program or decrease the value of the parameter SafeMove assistance speed factor
(see below).
SafeMove Assistant is not active in manual mode.
SafeMove Assistant does not take path corrections generated at lower level into
account. It is therefore an increased risk of SafeMove violations when running
applications like Externally Guided Motion or conveyor tracking.
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7 Motion Supervision
7.2 SafeMove Assistant
System parameters
SafeMove Assistant can be disabled for the SafeMove validation etc. This is done
with the parameter Disable SafeMove Assistance , in the type in Motion System .
There are some parameters that can be changed in case robot system has minor
overshoot or in any other way triggers SafeMove violations.
Description
Parameter
That has a default setting of 0.96 which corresponds to 96% of speed
supervision will be the speed that path planner will use. This parameter
can be decreased to reduce that risk but can in most cases be left at
default value.
SafeMove Assist-
ance Speed
Factor
When robot is running on a zone border there is a small risk that Safe-
Move can trigger violations when going in and out of the zone. This
parameter can be increased to reduce that risk but can in most cases
be left at default value.
SafeMove assist-
ance zone mar-
gin
For more information, see the parameters in the type Motion System described in
Technical reference manual - System parameters .
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7 Motion Supervision
7.2 SafeMove Assistant
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System parameters
SafeMove Assistant can be disabled for the SafeMove validation etc. This is done
with the parameter Disable SafeMove Assistance , in the type in Motion System .
There are some parameters that can be changed in case robot system has minor
overshoot or in any other way triggers SafeMove violations.
Description
Parameter
That has a default setting of 0.96 which corresponds to 96% of speed
supervision will be the speed that path planner will use. This parameter
can be decreased to reduce that risk but can in most cases be left at
default value.
SafeMove Assist-
ance Speed
Factor
When robot is running on a zone border there is a small risk that Safe-
Move can trigger violations when going in and out of the zone. This
parameter can be increased to reduce that risk but can in most cases
be left at default value.
SafeMove assist-
ance zone mar-
gin
For more information, see the parameters in the type Motion System described in
Technical reference manual - System parameters .
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7 Motion Supervision
7.2 SafeMove Assistant
Continued
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8 Communication
8.1 FTP Client [614-1]
8.1.1 Introduction to FTP Client
Purpose
The purpose of FTP Client is to enable the robot to access remote mounted disks,
for example a hard disk drive on a PC.
Here are some examples of applications:
•
Backup to a remote computer.
•
Load programs from a remote computer.
Network illustration
![Image]
en0300000505
Description
Several robots can access the same computer over an Ethernet network.
Once the FTP application protocol is configured, the remote computer can be
accessed in the same way as the controller's internal hard disk.
What is included
The RobotWare option FTP and NFS Client gives you access to the system
parameter type Application protocol and its parameters: Name , Type , Transmission
protocol , Server address , Server type , Trusted , Local path , Server path , Username ,
Password , and Show Device .
Basic approach
This is the general approach for using FTP Client. For more detailed examples of
how this is done, see Examples on page 292 .
1
Configure an Application protocol to point out a disk or directory on a remote
computer that will be accessible from the robot.
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8 Communication
8.1 FTP Client [614-1]
8.1.1 Introduction to FTP Client
Purpose
The purpose of FTP Client is to enable the robot to access remote mounted disks,
for example a hard disk drive on a PC.
Here are some examples of applications:
•
Backup to a remote computer.
•
Load programs from a remote computer.
Network illustration
![Image]
en0300000505
Description
Several robots can access the same computer over an Ethernet network.
Once the FTP application protocol is configured, the remote computer can be
accessed in the same way as the controller's internal hard disk.
What is included
The RobotWare option FTP and NFS Client gives you access to the system
parameter type Application protocol and its parameters: Name , Type , Transmission
protocol , Server address , Server type , Trusted , Local path , Server path , Username ,
Password , and Show Device .
Basic approach
This is the general approach for using FTP Client. For more detailed examples of
how this is done, see Examples on page 292 .
1
Configure an Application protocol to point out a disk or directory on a remote
computer that will be accessible from the robot.
Continues on next page
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8 Communication
8.1.1 Introduction to FTP Client
2
Read and write to the remote computer in the same way as with the
controller's internal hard disk.
Requirements
The external computer must have:
•
TCP/IP stack
•
FTP Server
Directory listing style on FTP server
The FTP server must list directories in a UNIX style.
Example:
drwxrwxrwx 1 owner group 25 May 18 16:39 backups
The MS-DOS style does not work.
Tip
For Internet Information Services (IIS) in Windows, the directory listing style is
configurable.
Welcome Message from FTP server
The welcome message from the FTP server can only consist of one line. For the
FileZilla FTP server, change the custom welcome message to "FileZilla".
Limitations
When using the FTP Client the maximum length for a file name is 99 characters.
When using the FTP Client the maximum length for a file path including the file
name is 200 characters. The whole path is included in the 200 characters, not only
the server path. When ordering a backup towards a mounted disk all the directories
created by the backup has to be included in the max path.
Example
Value
Parameter
pc:
Local path
C:\robot_1
Server path
•
A backup is saved to pc:/Backups/Backup_20130109
(27 characters)
•
The path on the PC will be C:\robot_1\Backups\Backup_20130109
(34 characters)
•
The longest file path inside this backup is
C:\robot_1\Backups\Backup_20130109\RAPID\TASK1\PROGMOD\myprogram.mod
(54+13 characters)
The maximum path length for this example first looks like 27 characters but is
actually 67 characters.
290
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8.1.1 Introduction to FTP Client
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8 Communication
8.1 FTP Client [614-1]
8.1.1 Introduction to FTP Client
Purpose
The purpose of FTP Client is to enable the robot to access remote mounted disks,
for example a hard disk drive on a PC.
Here are some examples of applications:
•
Backup to a remote computer.
•
Load programs from a remote computer.
Network illustration
![Image]
en0300000505
Description
Several robots can access the same computer over an Ethernet network.
Once the FTP application protocol is configured, the remote computer can be
accessed in the same way as the controller's internal hard disk.
What is included
The RobotWare option FTP and NFS Client gives you access to the system
parameter type Application protocol and its parameters: Name , Type , Transmission
protocol , Server address , Server type , Trusted , Local path , Server path , Username ,
Password , and Show Device .
Basic approach
This is the general approach for using FTP Client. For more detailed examples of
how this is done, see Examples on page 292 .
1
Configure an Application protocol to point out a disk or directory on a remote
computer that will be accessible from the robot.
Continues on next page
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8 Communication
8.1.1 Introduction to FTP Client
2
Read and write to the remote computer in the same way as with the
controller's internal hard disk.
Requirements
The external computer must have:
•
TCP/IP stack
•
FTP Server
Directory listing style on FTP server
The FTP server must list directories in a UNIX style.
Example:
drwxrwxrwx 1 owner group 25 May 18 16:39 backups
The MS-DOS style does not work.
Tip
For Internet Information Services (IIS) in Windows, the directory listing style is
configurable.
Welcome Message from FTP server
The welcome message from the FTP server can only consist of one line. For the
FileZilla FTP server, change the custom welcome message to "FileZilla".
Limitations
When using the FTP Client the maximum length for a file name is 99 characters.
When using the FTP Client the maximum length for a file path including the file
name is 200 characters. The whole path is included in the 200 characters, not only
the server path. When ordering a backup towards a mounted disk all the directories
created by the backup has to be included in the max path.
Example
Value
Parameter
pc:
Local path
C:\robot_1
Server path
•
A backup is saved to pc:/Backups/Backup_20130109
(27 characters)
•
The path on the PC will be C:\robot_1\Backups\Backup_20130109
(34 characters)
•
The longest file path inside this backup is
C:\robot_1\Backups\Backup_20130109\RAPID\TASK1\PROGMOD\myprogram.mod
(54+13 characters)
The maximum path length for this example first looks like 27 characters but is
actually 67 characters.
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8 Communication
8.1.1 Introduction to FTP Client
Continued
8.1.2 System parameters
Application protocol
This is a brief description of the parameters used to configure an application
protocol. For more information, see the respective parameter below.
These parameters belongs to the type Application protocol in the topic
Communication .
Description
Parameter
Name of the application protocol.
Name
Type of application protocol.
Type
Set this to "FTP".
Name of the transmission protocol the protocol should use (for ex-
ample "TCPIP1").
Transmission protocol
The IP address of the computer with the FTP server.
Server address
The type of FTP server the FTP client is connected to.
Server type
This flag decides if this computer should be trusted, i.e. if losing the
connection should make the program stop.
Trusted
Defines what the shared unit will be called on the robot. The para-
meter value must end with a colon (:).
Local path
If, for example the unit is named "pc:", the name of the test.mod on
this unit would be pc:test.mod
The name of the disk or folder to connect to, on the remote com-
puter.
Server path
If not specified, the application protocol will reference the directory
that is shared by the FTP server.
Note: The exported path should not be specified if communicating
with an FTP server of type Distinct FTP, FileZilla or MS IIS.
The user name used by the robot when it logs on to the remote
computer.
Username
The user account must be set up on the FTP server.
The password used by the robot when it logs on to the remote
computer.
Password
Note that the password written here will be visible to all who has
access to the system parameters.
Shall the device be visible on external clients, e.g. on the FlexPend-
ant?
Show Device
Transmission protocol
For network devices, the connection instance is configured by setting the parameter
Type to "TCP/IP" and the parameter Name to, for example, "TCPIP1".
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2
Read and write to the remote computer in the same way as with the
controller's internal hard disk.
Requirements
The external computer must have:
•
TCP/IP stack
•
FTP Server
Directory listing style on FTP server
The FTP server must list directories in a UNIX style.
Example:
drwxrwxrwx 1 owner group 25 May 18 16:39 backups
The MS-DOS style does not work.
Tip
For Internet Information Services (IIS) in Windows, the directory listing style is
configurable.
Welcome Message from FTP server
The welcome message from the FTP server can only consist of one line. For the
FileZilla FTP server, change the custom welcome message to "FileZilla".
Limitations
When using the FTP Client the maximum length for a file name is 99 characters.
When using the FTP Client the maximum length for a file path including the file
name is 200 characters. The whole path is included in the 200 characters, not only
the server path. When ordering a backup towards a mounted disk all the directories
created by the backup has to be included in the max path.
Example
Value
Parameter
pc:
Local path
C:\robot_1
Server path
•
A backup is saved to pc:/Backups/Backup_20130109
(27 characters)
•
The path on the PC will be C:\robot_1\Backups\Backup_20130109
(34 characters)
•
The longest file path inside this backup is
C:\robot_1\Backups\Backup_20130109\RAPID\TASK1\PROGMOD\myprogram.mod
(54+13 characters)
The maximum path length for this example first looks like 27 characters but is
actually 67 characters.
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8 Communication
8.1.1 Introduction to FTP Client
Continued
8.1.2 System parameters
Application protocol
This is a brief description of the parameters used to configure an application
protocol. For more information, see the respective parameter below.
These parameters belongs to the type Application protocol in the topic
Communication .
Description
Parameter
Name of the application protocol.
Name
Type of application protocol.
Type
Set this to "FTP".
Name of the transmission protocol the protocol should use (for ex-
ample "TCPIP1").
Transmission protocol
The IP address of the computer with the FTP server.
Server address
The type of FTP server the FTP client is connected to.
Server type
This flag decides if this computer should be trusted, i.e. if losing the
connection should make the program stop.
Trusted
Defines what the shared unit will be called on the robot. The para-
meter value must end with a colon (:).
Local path
If, for example the unit is named "pc:", the name of the test.mod on
this unit would be pc:test.mod
The name of the disk or folder to connect to, on the remote com-
puter.
Server path
If not specified, the application protocol will reference the directory
that is shared by the FTP server.
Note: The exported path should not be specified if communicating
with an FTP server of type Distinct FTP, FileZilla or MS IIS.
The user name used by the robot when it logs on to the remote
computer.
Username
The user account must be set up on the FTP server.
The password used by the robot when it logs on to the remote
computer.
Password
Note that the password written here will be visible to all who has
access to the system parameters.
Shall the device be visible on external clients, e.g. on the FlexPend-
ant?
Show Device
Transmission protocol
For network devices, the connection instance is configured by setting the parameter
Type to "TCP/IP" and the parameter Name to, for example, "TCPIP1".
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8 Communication
8.1.2 System parameters
8.1.3 Examples
Example configuration
This is an example of how an application protocol can be configured for FTP.
Value
Parameter
my_FTP_protocol
Name
FTP
Type
TCPIP1
Transmission protocol
100.100.100.100
Server address
NotSet
Server type
No
Trusted
pc:
Local path
C:\robot_1
Server path
Robot1
Username
robot1
Password
Note: The value of Server path should exclude the exported path if communicating
with an FTP server of type Distinct FTP, FileZilla or MS IIS.
Example with FlexPendant
This example shows how to use the FlexPendant to make a backup to the remote
PC. We assume that the configuration is done according to the example
configuration shown above.
1
Tap ABB and select Backup and Restore .
2
Tap on Backup Current System .
3
Save the backup to pc:/Backup/Backup_20031008 (the path on the PC will
be C:\robot_1\Backup\Backup_20031008).
Example with RAPID code
The following examples show how to open the file C:\robot_1\files\file1.txt on the
remote PC from a RAPID program on the controller. We assume that the
configuration is done according to the example configuration shown above.
For the home directory on IRC5:
Open "HOME:" \FILE:="file1.txt", file;
For the directory on the PC (e.g. C: \ ABB which is specified in the server):
Open "pc:" \FILE:="file1.txt", file;
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8.1.2 System parameters
Application protocol
This is a brief description of the parameters used to configure an application
protocol. For more information, see the respective parameter below.
These parameters belongs to the type Application protocol in the topic
Communication .
Description
Parameter
Name of the application protocol.
Name
Type of application protocol.
Type
Set this to "FTP".
Name of the transmission protocol the protocol should use (for ex-
ample "TCPIP1").
Transmission protocol
The IP address of the computer with the FTP server.
Server address
The type of FTP server the FTP client is connected to.
Server type
This flag decides if this computer should be trusted, i.e. if losing the
connection should make the program stop.
Trusted
Defines what the shared unit will be called on the robot. The para-
meter value must end with a colon (:).
Local path
If, for example the unit is named "pc:", the name of the test.mod on
this unit would be pc:test.mod
The name of the disk or folder to connect to, on the remote com-
puter.
Server path
If not specified, the application protocol will reference the directory
that is shared by the FTP server.
Note: The exported path should not be specified if communicating
with an FTP server of type Distinct FTP, FileZilla or MS IIS.
The user name used by the robot when it logs on to the remote
computer.
Username
The user account must be set up on the FTP server.
The password used by the robot when it logs on to the remote
computer.
Password
Note that the password written here will be visible to all who has
access to the system parameters.
Shall the device be visible on external clients, e.g. on the FlexPend-
ant?
Show Device
Transmission protocol
For network devices, the connection instance is configured by setting the parameter
Type to "TCP/IP" and the parameter Name to, for example, "TCPIP1".
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8 Communication
8.1.2 System parameters
8.1.3 Examples
Example configuration
This is an example of how an application protocol can be configured for FTP.
Value
Parameter
my_FTP_protocol
Name
FTP
Type
TCPIP1
Transmission protocol
100.100.100.100
Server address
NotSet
Server type
No
Trusted
pc:
Local path
C:\robot_1
Server path
Robot1
Username
robot1
Password
Note: The value of Server path should exclude the exported path if communicating
with an FTP server of type Distinct FTP, FileZilla or MS IIS.
Example with FlexPendant
This example shows how to use the FlexPendant to make a backup to the remote
PC. We assume that the configuration is done according to the example
configuration shown above.
1
Tap ABB and select Backup and Restore .
2
Tap on Backup Current System .
3
Save the backup to pc:/Backup/Backup_20031008 (the path on the PC will
be C:\robot_1\Backup\Backup_20031008).
Example with RAPID code
The following examples show how to open the file C:\robot_1\files\file1.txt on the
remote PC from a RAPID program on the controller. We assume that the
configuration is done according to the example configuration shown above.
For the home directory on IRC5:
Open "HOME:" \FILE:="file1.txt", file;
For the directory on the PC (e.g. C: \ ABB which is specified in the server):
Open "pc:" \FILE:="file1.txt", file;
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8 Communication
8.1.3 Examples
8.2 SFTP Client [614-1]
8.2.1 Introduction to SFTP Client
Purpose
The purpose of SFTP Client is to enable the robot to access remote mounted disks,
for example a hard disk drive on a PC.
Here are some examples of applications:
•
Backup to a remote computer.
•
Load programs from a remote computer.
Network illustration
![Image]
en0300000505
Description
Several robots can access the same computer over an Ethernet network.
Once the SFTP application protocol is configured, the remote computer can be
accessed in the same way as the controller's internal hard disk.
What is included
The RobotWare option FTP and NFS Client gives you access to the system
parameter type Application protocol and its parameters: Name , Type , Transmission
protocol , Server address , Trusted , Local path , Server path , Username , Password ,
Show Device , and FingerPrint .
Basic approach
This is the general approach for using SFTP Client. For more detailed examples
of how this is done, see Examples on page 292 .
1
Configure an Application protocol to point out a disk or directory on a remote
computer that will be accessible from the robot.
2
Read and write to the remote computer in the same way as with the
controller's internal hard disk.
Continues on next page
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8.1.3 Examples
Example configuration
This is an example of how an application protocol can be configured for FTP.
Value
Parameter
my_FTP_protocol
Name
FTP
Type
TCPIP1
Transmission protocol
100.100.100.100
Server address
NotSet
Server type
No
Trusted
pc:
Local path
C:\robot_1
Server path
Robot1
Username
robot1
Password
Note: The value of Server path should exclude the exported path if communicating
with an FTP server of type Distinct FTP, FileZilla or MS IIS.
Example with FlexPendant
This example shows how to use the FlexPendant to make a backup to the remote
PC. We assume that the configuration is done according to the example
configuration shown above.
1
Tap ABB and select Backup and Restore .
2
Tap on Backup Current System .
3
Save the backup to pc:/Backup/Backup_20031008 (the path on the PC will
be C:\robot_1\Backup\Backup_20031008).
Example with RAPID code
The following examples show how to open the file C:\robot_1\files\file1.txt on the
remote PC from a RAPID program on the controller. We assume that the
configuration is done according to the example configuration shown above.
For the home directory on IRC5:
Open "HOME:" \FILE:="file1.txt", file;
For the directory on the PC (e.g. C: \ ABB which is specified in the server):
Open "pc:" \FILE:="file1.txt", file;
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8 Communication
8.1.3 Examples
8.2 SFTP Client [614-1]
8.2.1 Introduction to SFTP Client
Purpose
The purpose of SFTP Client is to enable the robot to access remote mounted disks,
for example a hard disk drive on a PC.
Here are some examples of applications:
•
Backup to a remote computer.
•
Load programs from a remote computer.
Network illustration
![Image]
en0300000505
Description
Several robots can access the same computer over an Ethernet network.
Once the SFTP application protocol is configured, the remote computer can be
accessed in the same way as the controller's internal hard disk.
What is included
The RobotWare option FTP and NFS Client gives you access to the system
parameter type Application protocol and its parameters: Name , Type , Transmission
protocol , Server address , Trusted , Local path , Server path , Username , Password ,
Show Device , and FingerPrint .
Basic approach
This is the general approach for using SFTP Client. For more detailed examples
of how this is done, see Examples on page 292 .
1
Configure an Application protocol to point out a disk or directory on a remote
computer that will be accessible from the robot.
2
Read and write to the remote computer in the same way as with the
controller's internal hard disk.
Continues on next page
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8 Communication
8.2.1 Introduction to SFTP Client
SFTP supports the following servers:
•
Rebex version 1.0.3
•
CompleteFTP version 11.0.0
•
Cerberus version 9.0.4.0
In certain SFTP servers, as Complete SFTP server, there is a configuration setting,
Timeout for idle sessions , which defines the time that the connection can be idle.
If no client requests are made during this time interval, the connection is closed.
Setting the value as No timeout will keep the connection alive, even though client
requests are not made.
Requirements
The external computer must have:
•
TCP/IP stack
•
SFTP Server
Limitations
When using the SFTP Client the maximum length for a file name is 99 characters.
When using the SFTP Client the maximum length for a file path including the file
name is 200 characters. The whole path is included in the 200 characters, not only
the server path. When ordering a backup towards a mounted disk all the directories
created by the backup has to be included in the max path.
Example
Value
Parameter
pc:
Local path
•
A backup is saved to pc:/Backups/Backup_20130109
(27 characters)
•
The path on the PC will be \Backups\Backup_20130109
(24 characters)
•
The longest file path inside this backup is
\Backups\Backup_20130109\RAPID\TASK1\PROGMOD\myprogram.mod
(44+13 characters)
The maximum path length for this example first looks like 27 characters but is
actually 57 characters.
294
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8 Communication
8.2.1 Introduction to SFTP Client
Continued
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8.2 SFTP Client [614-1]
8.2.1 Introduction to SFTP Client
Purpose
The purpose of SFTP Client is to enable the robot to access remote mounted disks,
for example a hard disk drive on a PC.
Here are some examples of applications:
•
Backup to a remote computer.
•
Load programs from a remote computer.
Network illustration
![Image]
en0300000505
Description
Several robots can access the same computer over an Ethernet network.
Once the SFTP application protocol is configured, the remote computer can be
accessed in the same way as the controller's internal hard disk.
What is included
The RobotWare option FTP and NFS Client gives you access to the system
parameter type Application protocol and its parameters: Name , Type , Transmission
protocol , Server address , Trusted , Local path , Server path , Username , Password ,
Show Device , and FingerPrint .
Basic approach
This is the general approach for using SFTP Client. For more detailed examples
of how this is done, see Examples on page 292 .
1
Configure an Application protocol to point out a disk or directory on a remote
computer that will be accessible from the robot.
2
Read and write to the remote computer in the same way as with the
controller's internal hard disk.
Continues on next page
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8 Communication
8.2.1 Introduction to SFTP Client
SFTP supports the following servers:
•
Rebex version 1.0.3
•
CompleteFTP version 11.0.0
•
Cerberus version 9.0.4.0
In certain SFTP servers, as Complete SFTP server, there is a configuration setting,
Timeout for idle sessions , which defines the time that the connection can be idle.
If no client requests are made during this time interval, the connection is closed.
Setting the value as No timeout will keep the connection alive, even though client
requests are not made.
Requirements
The external computer must have:
•
TCP/IP stack
•
SFTP Server
Limitations
When using the SFTP Client the maximum length for a file name is 99 characters.
When using the SFTP Client the maximum length for a file path including the file
name is 200 characters. The whole path is included in the 200 characters, not only
the server path. When ordering a backup towards a mounted disk all the directories
created by the backup has to be included in the max path.
Example
Value
Parameter
pc:
Local path
•
A backup is saved to pc:/Backups/Backup_20130109
(27 characters)
•
The path on the PC will be \Backups\Backup_20130109
(24 characters)
•
The longest file path inside this backup is
\Backups\Backup_20130109\RAPID\TASK1\PROGMOD\myprogram.mod
(44+13 characters)
The maximum path length for this example first looks like 27 characters but is
actually 57 characters.
294
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8 Communication
8.2.1 Introduction to SFTP Client
Continued
8.2.2 System parameters
Application protocol
This is a brief description of the parameters used to configure an application
protocol. For more information, see the respective parameter below.
These parameters belongs to the type Application protocol in the topic
Communication .
Description
Parameter
Name of the application protocol.
Name
Type of application protocol.
Type
Set this to "SFTP".
Name of the transmission protocol the protocol should use (for ex-
ample "TCPIP1").
Transmission protocol
The IP address of the computer with the SFTP server.
Server address
This flag decides if this computer should be trusted, i.e. if losing the
connection should make the program stop.
Trusted
Defines what the shared unit will be called on the robot. The para-
meter value must end with a colon (:).
Local path
If, for example the unit is named "pc:", the name of the test.mod on
this unit would be pc:test.mod
The user name used by the robot when it logs on to the remote
computer.
Username
The user account must be set up on the SFTP server.
The password used by the robot when it logs on to the remote
computer.
Password
Note that the password written here will be visible to all who has
access to the system parameters.
Shall the device be visible on external clients, e.g. on the FlexPend-
ant?
Show Device
To guarantee that the controller connects to the expected SFTP
server, and not a malicious server, a server fingerprint can be used.
FingerPrint
Transmission protocol
For network devices, the connection instance is configured by setting the parameter
Type to "TCP/IP" and the parameter Name to, for example, "TCPIP1".
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SFTP supports the following servers:
•
Rebex version 1.0.3
•
CompleteFTP version 11.0.0
•
Cerberus version 9.0.4.0
In certain SFTP servers, as Complete SFTP server, there is a configuration setting,
Timeout for idle sessions , which defines the time that the connection can be idle.
If no client requests are made during this time interval, the connection is closed.
Setting the value as No timeout will keep the connection alive, even though client
requests are not made.
Requirements
The external computer must have:
•
TCP/IP stack
•
SFTP Server
Limitations
When using the SFTP Client the maximum length for a file name is 99 characters.
When using the SFTP Client the maximum length for a file path including the file
name is 200 characters. The whole path is included in the 200 characters, not only
the server path. When ordering a backup towards a mounted disk all the directories
created by the backup has to be included in the max path.
Example
Value
Parameter
pc:
Local path
•
A backup is saved to pc:/Backups/Backup_20130109
(27 characters)
•
The path on the PC will be \Backups\Backup_20130109
(24 characters)
•
The longest file path inside this backup is
\Backups\Backup_20130109\RAPID\TASK1\PROGMOD\myprogram.mod
(44+13 characters)
The maximum path length for this example first looks like 27 characters but is
actually 57 characters.
294
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8 Communication
8.2.1 Introduction to SFTP Client
Continued
8.2.2 System parameters
Application protocol
This is a brief description of the parameters used to configure an application
protocol. For more information, see the respective parameter below.
These parameters belongs to the type Application protocol in the topic
Communication .
Description
Parameter
Name of the application protocol.
Name
Type of application protocol.
Type
Set this to "SFTP".
Name of the transmission protocol the protocol should use (for ex-
ample "TCPIP1").
Transmission protocol
The IP address of the computer with the SFTP server.
Server address
This flag decides if this computer should be trusted, i.e. if losing the
connection should make the program stop.
Trusted
Defines what the shared unit will be called on the robot. The para-
meter value must end with a colon (:).
Local path
If, for example the unit is named "pc:", the name of the test.mod on
this unit would be pc:test.mod
The user name used by the robot when it logs on to the remote
computer.
Username
The user account must be set up on the SFTP server.
The password used by the robot when it logs on to the remote
computer.
Password
Note that the password written here will be visible to all who has
access to the system parameters.
Shall the device be visible on external clients, e.g. on the FlexPend-
ant?
Show Device
To guarantee that the controller connects to the expected SFTP
server, and not a malicious server, a server fingerprint can be used.
FingerPrint
Transmission protocol
For network devices, the connection instance is configured by setting the parameter
Type to "TCP/IP" and the parameter Name to, for example, "TCPIP1".
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8 Communication
8.2.2 System parameters
8.2.3 Examples
Example configuration
This is an example of how an application protocol can be configured for SFTP.
Value
Parameter
my_SFTP_protocol
Name
SFTP
Type
TCPIP1
Transmission protocol
100.100.100.100
Server address
No
Trusted
pc:
Local path
Robot1
Username
robot1
Password
Yes
Show Device
A2:3E:41:90:4C:F6:32:BD:0A:7E:FB:57:89:D4:8E:13:20:07:B6:AF
FingerPrint
Example with FlexPendant
This example shows how to use the FlexPendant to make a backup to the remote
PC. We assume that the configuration is done according to the example
configuration shown above.
1
Tap ABB and select Backup and Restore .
2
Tap on Backup Current System .
3
Save the backup to pc:/Backup/Backup_20031008 .
Example with RAPID code
This example shows how to open the file files\file1.txt on the remote PC from a
RAPID program on the controller.
For the home directory on IRC5:
Open "HOME:" \FILE:="file1.txt", file;
For the directory on the PC (e.g. C: \ ABB which is specified in the server):
Open "pc:" \FILE:="file1.txt", file;
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8.2.3 Examples
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8.2.2 System parameters
Application protocol
This is a brief description of the parameters used to configure an application
protocol. For more information, see the respective parameter below.
These parameters belongs to the type Application protocol in the topic
Communication .
Description
Parameter
Name of the application protocol.
Name
Type of application protocol.
Type
Set this to "SFTP".
Name of the transmission protocol the protocol should use (for ex-
ample "TCPIP1").
Transmission protocol
The IP address of the computer with the SFTP server.
Server address
This flag decides if this computer should be trusted, i.e. if losing the
connection should make the program stop.
Trusted
Defines what the shared unit will be called on the robot. The para-
meter value must end with a colon (:).
Local path
If, for example the unit is named "pc:", the name of the test.mod on
this unit would be pc:test.mod
The user name used by the robot when it logs on to the remote
computer.
Username
The user account must be set up on the SFTP server.
The password used by the robot when it logs on to the remote
computer.
Password
Note that the password written here will be visible to all who has
access to the system parameters.
Shall the device be visible on external clients, e.g. on the FlexPend-
ant?
Show Device
To guarantee that the controller connects to the expected SFTP
server, and not a malicious server, a server fingerprint can be used.
FingerPrint
Transmission protocol
For network devices, the connection instance is configured by setting the parameter
Type to "TCP/IP" and the parameter Name to, for example, "TCPIP1".
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8 Communication
8.2.2 System parameters
8.2.3 Examples
Example configuration
This is an example of how an application protocol can be configured for SFTP.
Value
Parameter
my_SFTP_protocol
Name
SFTP
Type
TCPIP1
Transmission protocol
100.100.100.100
Server address
No
Trusted
pc:
Local path
Robot1
Username
robot1
Password
Yes
Show Device
A2:3E:41:90:4C:F6:32:BD:0A:7E:FB:57:89:D4:8E:13:20:07:B6:AF
FingerPrint
Example with FlexPendant
This example shows how to use the FlexPendant to make a backup to the remote
PC. We assume that the configuration is done according to the example
configuration shown above.
1
Tap ABB and select Backup and Restore .
2
Tap on Backup Current System .
3
Save the backup to pc:/Backup/Backup_20031008 .
Example with RAPID code
This example shows how to open the file files\file1.txt on the remote PC from a
RAPID program on the controller.
For the home directory on IRC5:
Open "HOME:" \FILE:="file1.txt", file;
For the directory on the PC (e.g. C: \ ABB which is specified in the server):
Open "pc:" \FILE:="file1.txt", file;
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8 Communication
8.2.3 Examples
8.3 NFS Client [614-1]
8.3.1 Introduction to NFS Client
Purpose
The purpose of NFS Client is to enable the robot to access remote mounted disks,
for example a hard disk drive on a PC.
Here are some examples of applications:
•
Backup to a remote computer.
•
Load programs from a remote computer.
Note
The controller has no antivirus software to check the data transferred to/from
the controller via the remote mounted disk. It is up to the customer to secure the
external data storage.
Description
Several robots can access the same computer over an Ethernet network.
The NFS mounted device is accessed by its name, as specified in the Name system
parameter.
Once the NFS application protocol is configured, the remote computer can be
accessed in the same way as the controller's internal hard disk.
What is included
The RobotWare option FTP and NFS Client gives you access to the system
parameter type Application protocol and its parameters: Name , Type , Transmission
protocol , Server address , Server type , Trusted , Local path , Server path , User ID ,
Group ID , and Show Device .
Basic approach
This is the general approach for using NFS Client. For more detailed examples of
how this is done, see Examples on page 292 .
1
Configure an Application protocol to point out a disk or directory on a remote
computer that will be accessible from the robot.
2
Read and write to the remote computer in the same way as with the
controller's internal hard disk.
Prerequisites
The external computer must have:
•
TCP/IP stack
•
NFS Server
Continues on next page
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8.3.1 Introduction to NFS Client
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8.2.3 Examples
Example configuration
This is an example of how an application protocol can be configured for SFTP.
Value
Parameter
my_SFTP_protocol
Name
SFTP
Type
TCPIP1
Transmission protocol
100.100.100.100
Server address
No
Trusted
pc:
Local path
Robot1
Username
robot1
Password
Yes
Show Device
A2:3E:41:90:4C:F6:32:BD:0A:7E:FB:57:89:D4:8E:13:20:07:B6:AF
FingerPrint
Example with FlexPendant
This example shows how to use the FlexPendant to make a backup to the remote
PC. We assume that the configuration is done according to the example
configuration shown above.
1
Tap ABB and select Backup and Restore .
2
Tap on Backup Current System .
3
Save the backup to pc:/Backup/Backup_20031008 .
Example with RAPID code
This example shows how to open the file files\file1.txt on the remote PC from a
RAPID program on the controller.
For the home directory on IRC5:
Open "HOME:" \FILE:="file1.txt", file;
For the directory on the PC (e.g. C: \ ABB which is specified in the server):
Open "pc:" \FILE:="file1.txt", file;
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8 Communication
8.2.3 Examples
8.3 NFS Client [614-1]
8.3.1 Introduction to NFS Client
Purpose
The purpose of NFS Client is to enable the robot to access remote mounted disks,
for example a hard disk drive on a PC.
Here are some examples of applications:
•
Backup to a remote computer.
•
Load programs from a remote computer.
Note
The controller has no antivirus software to check the data transferred to/from
the controller via the remote mounted disk. It is up to the customer to secure the
external data storage.
Description
Several robots can access the same computer over an Ethernet network.
The NFS mounted device is accessed by its name, as specified in the Name system
parameter.
Once the NFS application protocol is configured, the remote computer can be
accessed in the same way as the controller's internal hard disk.
What is included
The RobotWare option FTP and NFS Client gives you access to the system
parameter type Application protocol and its parameters: Name , Type , Transmission
protocol , Server address , Server type , Trusted , Local path , Server path , User ID ,
Group ID , and Show Device .
Basic approach
This is the general approach for using NFS Client. For more detailed examples of
how this is done, see Examples on page 292 .
1
Configure an Application protocol to point out a disk or directory on a remote
computer that will be accessible from the robot.
2
Read and write to the remote computer in the same way as with the
controller's internal hard disk.
Prerequisites
The external computer must have:
•
TCP/IP stack
•
NFS Server
Continues on next page
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8 Communication
8.3.1 Introduction to NFS Client
Limitations
When using the NFS Client the maximum length for a file path including the file
name is 248 characters. The whole path is included in the 248 characters, not only
the server path. When ordering a backup towards a mounted disk all the directories
created by the backup has to be included in the max path.
298
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8 Communication
8.3.1 Introduction to NFS Client
Continued
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|
8.3 NFS Client [614-1]
8.3.1 Introduction to NFS Client
Purpose
The purpose of NFS Client is to enable the robot to access remote mounted disks,
for example a hard disk drive on a PC.
Here are some examples of applications:
•
Backup to a remote computer.
•
Load programs from a remote computer.
Note
The controller has no antivirus software to check the data transferred to/from
the controller via the remote mounted disk. It is up to the customer to secure the
external data storage.
Description
Several robots can access the same computer over an Ethernet network.
The NFS mounted device is accessed by its name, as specified in the Name system
parameter.
Once the NFS application protocol is configured, the remote computer can be
accessed in the same way as the controller's internal hard disk.
What is included
The RobotWare option FTP and NFS Client gives you access to the system
parameter type Application protocol and its parameters: Name , Type , Transmission
protocol , Server address , Server type , Trusted , Local path , Server path , User ID ,
Group ID , and Show Device .
Basic approach
This is the general approach for using NFS Client. For more detailed examples of
how this is done, see Examples on page 292 .
1
Configure an Application protocol to point out a disk or directory on a remote
computer that will be accessible from the robot.
2
Read and write to the remote computer in the same way as with the
controller's internal hard disk.
Prerequisites
The external computer must have:
•
TCP/IP stack
•
NFS Server
Continues on next page
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8 Communication
8.3.1 Introduction to NFS Client
Limitations
When using the NFS Client the maximum length for a file path including the file
name is 248 characters. The whole path is included in the 248 characters, not only
the server path. When ordering a backup towards a mounted disk all the directories
created by the backup has to be included in the max path.
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8.3.1 Introduction to NFS Client
Continued
8.3.2 System parameters
Application protocol
This is a brief description of the parameters used to configure an application
protocol. For more information, see the respective parameter below.
These parameters belongs to the type Application protocol in the topic
Communication .
Description
Parameter
Name of the application protocol.
Name
Type of application protocol.
Type
Set this to "NFS".
Name of the transmission protocol the protocol should use (for
example "TCPIP1").
Transmission protocol
The IP address of the computer with the NFS server.
Server address
The type of FTP server the FTP client is connected to.
Server type
This flag decides if this computer should be trusted, i.e. if losing
the connection should make the program stop.
Trusted
Defines what the shared unit will be called on the robot. The
parameter value must end with a colon (:).
Local path
If, for example the unit is named "pc:", the name of the test.mod
on this unit would be pc:test.mod
The name of the exported disk or folder on the remote computer.
Server path
For NFS, Server Path must be specified.
Used by the NFS protocol as a way of authorizing the user to ac-
cess a specific server.
User ID
If this parameter is not used, which is usually the case on a PC,
set it to the default value 0.
Note that User ID must be the same for all mountings on one robot
controller.
Used by the NFS protocol as a way of authorizing the user to ac-
cess a specific server.
Group ID
If this parameter is not used, which is usually the case on a PC,
set it to the default value 0.
Note that Group ID must be the same for all mountings on one
robot controller.
Shall the device be visible on external clients, e.g. on the FlexPend-
ant?
Show Device
Transmission protocol
For network devices, the connection instance is configured by setting the parameter
Type to "TCP/IP" and the parameter Name to, for example, "TCPIP1".
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Limitations
When using the NFS Client the maximum length for a file path including the file
name is 248 characters. The whole path is included in the 248 characters, not only
the server path. When ordering a backup towards a mounted disk all the directories
created by the backup has to be included in the max path.
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8 Communication
8.3.1 Introduction to NFS Client
Continued
8.3.2 System parameters
Application protocol
This is a brief description of the parameters used to configure an application
protocol. For more information, see the respective parameter below.
These parameters belongs to the type Application protocol in the topic
Communication .
Description
Parameter
Name of the application protocol.
Name
Type of application protocol.
Type
Set this to "NFS".
Name of the transmission protocol the protocol should use (for
example "TCPIP1").
Transmission protocol
The IP address of the computer with the NFS server.
Server address
The type of FTP server the FTP client is connected to.
Server type
This flag decides if this computer should be trusted, i.e. if losing
the connection should make the program stop.
Trusted
Defines what the shared unit will be called on the robot. The
parameter value must end with a colon (:).
Local path
If, for example the unit is named "pc:", the name of the test.mod
on this unit would be pc:test.mod
The name of the exported disk or folder on the remote computer.
Server path
For NFS, Server Path must be specified.
Used by the NFS protocol as a way of authorizing the user to ac-
cess a specific server.
User ID
If this parameter is not used, which is usually the case on a PC,
set it to the default value 0.
Note that User ID must be the same for all mountings on one robot
controller.
Used by the NFS protocol as a way of authorizing the user to ac-
cess a specific server.
Group ID
If this parameter is not used, which is usually the case on a PC,
set it to the default value 0.
Note that Group ID must be the same for all mountings on one
robot controller.
Shall the device be visible on external clients, e.g. on the FlexPend-
ant?
Show Device
Transmission protocol
For network devices, the connection instance is configured by setting the parameter
Type to "TCP/IP" and the parameter Name to, for example, "TCPIP1".
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8 Communication
8.3.2 System parameters
8.3.3 Examples
Example configuration
This is an example of how an application protocol can be configured for NFS.
Value
Parameter
my_NFS_protocol
Name
NFS
Type
TCP/IP
Transmission protocol
100.100.100.100
Server address
NotSet
Server type
No
Trusted
pc:
Local path
C:\robot_1
Server path
Robot1
User ID
robot1
Group ID
Example with FlexPendant
This example shows how to use the FlexPendant to make a backup to the remote
PC. We assume that the configuration is done according to the example
configuration shown above.
1
Tap ABB and select Backup and Restore .
2
Tap on Backup Current System .
3
Save the backup to pc:/Backup/Backup_20031008 (the path on the PC will
be C:\robot_1\Backup\Backup_20031008).
Example with RAPID code
This example shows how to open the file C:\robot_1\files\file1.txt on the remote
PC from a RAPID program on the controller. We assume that the configuration is
done according to the example configuration shown above.
For the home directory on IRC5:
Open "HOME:" \FILE:="file1.txt", file;
For the directory on the PC (e.g. C: \ ABB which is specified in the server):
Open "pc:" \FILE:="file1.txt", file;
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8.3.2 System parameters
Application protocol
This is a brief description of the parameters used to configure an application
protocol. For more information, see the respective parameter below.
These parameters belongs to the type Application protocol in the topic
Communication .
Description
Parameter
Name of the application protocol.
Name
Type of application protocol.
Type
Set this to "NFS".
Name of the transmission protocol the protocol should use (for
example "TCPIP1").
Transmission protocol
The IP address of the computer with the NFS server.
Server address
The type of FTP server the FTP client is connected to.
Server type
This flag decides if this computer should be trusted, i.e. if losing
the connection should make the program stop.
Trusted
Defines what the shared unit will be called on the robot. The
parameter value must end with a colon (:).
Local path
If, for example the unit is named "pc:", the name of the test.mod
on this unit would be pc:test.mod
The name of the exported disk or folder on the remote computer.
Server path
For NFS, Server Path must be specified.
Used by the NFS protocol as a way of authorizing the user to ac-
cess a specific server.
User ID
If this parameter is not used, which is usually the case on a PC,
set it to the default value 0.
Note that User ID must be the same for all mountings on one robot
controller.
Used by the NFS protocol as a way of authorizing the user to ac-
cess a specific server.
Group ID
If this parameter is not used, which is usually the case on a PC,
set it to the default value 0.
Note that Group ID must be the same for all mountings on one
robot controller.
Shall the device be visible on external clients, e.g. on the FlexPend-
ant?
Show Device
Transmission protocol
For network devices, the connection instance is configured by setting the parameter
Type to "TCP/IP" and the parameter Name to, for example, "TCPIP1".
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8 Communication
8.3.2 System parameters
8.3.3 Examples
Example configuration
This is an example of how an application protocol can be configured for NFS.
Value
Parameter
my_NFS_protocol
Name
NFS
Type
TCP/IP
Transmission protocol
100.100.100.100
Server address
NotSet
Server type
No
Trusted
pc:
Local path
C:\robot_1
Server path
Robot1
User ID
robot1
Group ID
Example with FlexPendant
This example shows how to use the FlexPendant to make a backup to the remote
PC. We assume that the configuration is done according to the example
configuration shown above.
1
Tap ABB and select Backup and Restore .
2
Tap on Backup Current System .
3
Save the backup to pc:/Backup/Backup_20031008 (the path on the PC will
be C:\robot_1\Backup\Backup_20031008).
Example with RAPID code
This example shows how to open the file C:\robot_1\files\file1.txt on the remote
PC from a RAPID program on the controller. We assume that the configuration is
done according to the example configuration shown above.
For the home directory on IRC5:
Open "HOME:" \FILE:="file1.txt", file;
For the directory on the PC (e.g. C: \ ABB which is specified in the server):
Open "pc:" \FILE:="file1.txt", file;
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8 Communication
8.3.3 Examples
8.4 PC Interface [616-1]
8.4.1 Introduction to PC Interface
Purpose
PC Interface is used for communication between the controller and a PC.
The option PC Interface is required when connecting to a controller over LAN with
RobotStudio.
With PC Interface, data can be sent to and from a PC. This is, for example, used
for:
•
Backup.
•
Production statistics logging.
•
Operator information presented on a PC.
•
Send command to the robot from a PC operator interface.
•
RobotStudio add-in that performs operations on the controller.
Note
If connecting over the service port, then the option PC Interface is not required
for RobotStudio and ABB software.
What is included
The RobotWare option PC Interface gives you access to:
•
An Ethernet communication interface, which is used by some ABB software
products.
Basic approach
The general approach for using PC Interface is the same as setting up a PC SDK
client application on a PC. For more information, see http://developercenter.robot-
studio.com .
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8.3.3 Examples
Example configuration
This is an example of how an application protocol can be configured for NFS.
Value
Parameter
my_NFS_protocol
Name
NFS
Type
TCP/IP
Transmission protocol
100.100.100.100
Server address
NotSet
Server type
No
Trusted
pc:
Local path
C:\robot_1
Server path
Robot1
User ID
robot1
Group ID
Example with FlexPendant
This example shows how to use the FlexPendant to make a backup to the remote
PC. We assume that the configuration is done according to the example
configuration shown above.
1
Tap ABB and select Backup and Restore .
2
Tap on Backup Current System .
3
Save the backup to pc:/Backup/Backup_20031008 (the path on the PC will
be C:\robot_1\Backup\Backup_20031008).
Example with RAPID code
This example shows how to open the file C:\robot_1\files\file1.txt on the remote
PC from a RAPID program on the controller. We assume that the configuration is
done according to the example configuration shown above.
For the home directory on IRC5:
Open "HOME:" \FILE:="file1.txt", file;
For the directory on the PC (e.g. C: \ ABB which is specified in the server):
Open "pc:" \FILE:="file1.txt", file;
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8 Communication
8.3.3 Examples
8.4 PC Interface [616-1]
8.4.1 Introduction to PC Interface
Purpose
PC Interface is used for communication between the controller and a PC.
The option PC Interface is required when connecting to a controller over LAN with
RobotStudio.
With PC Interface, data can be sent to and from a PC. This is, for example, used
for:
•
Backup.
•
Production statistics logging.
•
Operator information presented on a PC.
•
Send command to the robot from a PC operator interface.
•
RobotStudio add-in that performs operations on the controller.
Note
If connecting over the service port, then the option PC Interface is not required
for RobotStudio and ABB software.
What is included
The RobotWare option PC Interface gives you access to:
•
An Ethernet communication interface, which is used by some ABB software
products.
Basic approach
The general approach for using PC Interface is the same as setting up a PC SDK
client application on a PC. For more information, see http://developercenter.robot-
studio.com .
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8 Communication
8.4.1 Introduction to PC Interface
8.4.2 Send variable from RAPID
SCWrite instruction
The instruction SCWrite ( Superior Computer Write ) can be used to send persistent
variables to a client application on a PC. For more information, see Technical
reference manual - RAPID Instructions, Functions and Data types .
The PC must have a client application that can subscribe to the information that
is sent to or from the controller.
Code example
In this example the robot moves objects to a position where they can be treated
by a process that is controlled by the PC. When the object is ready the robot moves
it to its next station.
The program uses SCWrite to inform the PC when the object is in position and
when it has been moved to the next station. It also sends a message to the PC
about how many objects that have been handled.
RAPID module for the sender
VAR rmqslot destination_slot;
VAR user_def
RMQFindSlot destination_slot,"RMQ_Task2";
WHILE TRUE DO
! Wait for next object
WaitDI di1,1;
! Call first routine
move_obj_to_pos();
! Send message to PC that object is in position
user_def = 0;
in_position:=TRUE;
RMQSendMessage destination_slot, in_position \UserDef:=user_def;
! Wait for object to be ready
WaitDI di2,1;
! Call second routine
move_obj_to_next();
! Send message to PC that object is gone
in_position:=FALSE;
RMQSendMessage destination_slot, in_position \UserDef:=user_def;
! Inform PC how many object has been handled
nbr_objects:= nbr_objects+1;
user_def = 1;
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8.4 PC Interface [616-1]
8.4.1 Introduction to PC Interface
Purpose
PC Interface is used for communication between the controller and a PC.
The option PC Interface is required when connecting to a controller over LAN with
RobotStudio.
With PC Interface, data can be sent to and from a PC. This is, for example, used
for:
•
Backup.
•
Production statistics logging.
•
Operator information presented on a PC.
•
Send command to the robot from a PC operator interface.
•
RobotStudio add-in that performs operations on the controller.
Note
If connecting over the service port, then the option PC Interface is not required
for RobotStudio and ABB software.
What is included
The RobotWare option PC Interface gives you access to:
•
An Ethernet communication interface, which is used by some ABB software
products.
Basic approach
The general approach for using PC Interface is the same as setting up a PC SDK
client application on a PC. For more information, see http://developercenter.robot-
studio.com .
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8 Communication
8.4.1 Introduction to PC Interface
8.4.2 Send variable from RAPID
SCWrite instruction
The instruction SCWrite ( Superior Computer Write ) can be used to send persistent
variables to a client application on a PC. For more information, see Technical
reference manual - RAPID Instructions, Functions and Data types .
The PC must have a client application that can subscribe to the information that
is sent to or from the controller.
Code example
In this example the robot moves objects to a position where they can be treated
by a process that is controlled by the PC. When the object is ready the robot moves
it to its next station.
The program uses SCWrite to inform the PC when the object is in position and
when it has been moved to the next station. It also sends a message to the PC
about how many objects that have been handled.
RAPID module for the sender
VAR rmqslot destination_slot;
VAR user_def
RMQFindSlot destination_slot,"RMQ_Task2";
WHILE TRUE DO
! Wait for next object
WaitDI di1,1;
! Call first routine
move_obj_to_pos();
! Send message to PC that object is in position
user_def = 0;
in_position:=TRUE;
RMQSendMessage destination_slot, in_position \UserDef:=user_def;
! Wait for object to be ready
WaitDI di2,1;
! Call second routine
move_obj_to_next();
! Send message to PC that object is gone
in_position:=FALSE;
RMQSendMessage destination_slot, in_position \UserDef:=user_def;
! Inform PC how many object has been handled
nbr_objects:= nbr_objects+1;
user_def = 1;
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8 Communication
8.4.2 Send variable from RAPID
RMQSendMessage destination_slot, nbr_objects \UserDef:=user_def;
ENDWHILE
PC SDK for the receiver
public void ReceiveObjectPosition()
{
const string destination_slot = "RMQ_Task2";
IpcQueue queue = Controller.Ipc.CreateQueue(destination_slot,
16, Ipc.MaxMessageSize);
// Until application is closed
while (uiclose)
{
IpcMessage message = new IpcMessage();
IpcReturnType retValue = IpcReturnType.Timeout;
retValue = queue.Receive(1000, message);
if (IpcReturnType.OK == retValue)
{
string receivemessage = message.Data.ToString().ToLower();
// if message.UserDef is 0 means Object position data else
number of objects
if (message.UserDef == 0)
{
if (receivemessage == "true")
{
// Object is in position
}
else
{
// Object is not in position
}
}
else
{
// number of objects in receivemessage
}
}
}
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8 Communication
8.4.2 Send variable from RAPID
Continued
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8.4.2 Send variable from RAPID
SCWrite instruction
The instruction SCWrite ( Superior Computer Write ) can be used to send persistent
variables to a client application on a PC. For more information, see Technical
reference manual - RAPID Instructions, Functions and Data types .
The PC must have a client application that can subscribe to the information that
is sent to or from the controller.
Code example
In this example the robot moves objects to a position where they can be treated
by a process that is controlled by the PC. When the object is ready the robot moves
it to its next station.
The program uses SCWrite to inform the PC when the object is in position and
when it has been moved to the next station. It also sends a message to the PC
about how many objects that have been handled.
RAPID module for the sender
VAR rmqslot destination_slot;
VAR user_def
RMQFindSlot destination_slot,"RMQ_Task2";
WHILE TRUE DO
! Wait for next object
WaitDI di1,1;
! Call first routine
move_obj_to_pos();
! Send message to PC that object is in position
user_def = 0;
in_position:=TRUE;
RMQSendMessage destination_slot, in_position \UserDef:=user_def;
! Wait for object to be ready
WaitDI di2,1;
! Call second routine
move_obj_to_next();
! Send message to PC that object is gone
in_position:=FALSE;
RMQSendMessage destination_slot, in_position \UserDef:=user_def;
! Inform PC how many object has been handled
nbr_objects:= nbr_objects+1;
user_def = 1;
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8.4.2 Send variable from RAPID
RMQSendMessage destination_slot, nbr_objects \UserDef:=user_def;
ENDWHILE
PC SDK for the receiver
public void ReceiveObjectPosition()
{
const string destination_slot = "RMQ_Task2";
IpcQueue queue = Controller.Ipc.CreateQueue(destination_slot,
16, Ipc.MaxMessageSize);
// Until application is closed
while (uiclose)
{
IpcMessage message = new IpcMessage();
IpcReturnType retValue = IpcReturnType.Timeout;
retValue = queue.Receive(1000, message);
if (IpcReturnType.OK == retValue)
{
string receivemessage = message.Data.ToString().ToLower();
// if message.UserDef is 0 means Object position data else
number of objects
if (message.UserDef == 0)
{
if (receivemessage == "true")
{
// Object is in position
}
else
{
// Object is not in position
}
}
else
{
// number of objects in receivemessage
}
}
}
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8 Communication
8.4.2 Send variable from RAPID
Continued
8.4.3 ABB software using PC Interface
Overview
PC Interface provides a communication interface between the controller and a PC
connected to an Ethernet network.
This functionality can be used by different software applications from ABB. Note
that the products mentioned below are examples of applications using PC Interface,
not a complete list.
RobotStudio
RobotStudio is a software product delivered with the robot. Some of the functionality
requires PC Interface when connecting over the WAN port.
The following table shows some examples of RobotStudio functionality that is only
available if you have PC Interface:
Description
Functionality
Error messages and similar events can be shown or logged on the PC.
Event recorder
Allows on-line editing against the controller from the PC.
RAPID editor
For more information, see Operating manual - RobotStudio .
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RMQSendMessage destination_slot, nbr_objects \UserDef:=user_def;
ENDWHILE
PC SDK for the receiver
public void ReceiveObjectPosition()
{
const string destination_slot = "RMQ_Task2";
IpcQueue queue = Controller.Ipc.CreateQueue(destination_slot,
16, Ipc.MaxMessageSize);
// Until application is closed
while (uiclose)
{
IpcMessage message = new IpcMessage();
IpcReturnType retValue = IpcReturnType.Timeout;
retValue = queue.Receive(1000, message);
if (IpcReturnType.OK == retValue)
{
string receivemessage = message.Data.ToString().ToLower();
// if message.UserDef is 0 means Object position data else
number of objects
if (message.UserDef == 0)
{
if (receivemessage == "true")
{
// Object is in position
}
else
{
// Object is not in position
}
}
else
{
// number of objects in receivemessage
}
}
}
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8 Communication
8.4.2 Send variable from RAPID
Continued
8.4.3 ABB software using PC Interface
Overview
PC Interface provides a communication interface between the controller and a PC
connected to an Ethernet network.
This functionality can be used by different software applications from ABB. Note
that the products mentioned below are examples of applications using PC Interface,
not a complete list.
RobotStudio
RobotStudio is a software product delivered with the robot. Some of the functionality
requires PC Interface when connecting over the WAN port.
The following table shows some examples of RobotStudio functionality that is only
available if you have PC Interface:
Description
Functionality
Error messages and similar events can be shown or logged on the PC.
Event recorder
Allows on-line editing against the controller from the PC.
RAPID editor
For more information, see Operating manual - RobotStudio .
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8.4.3 ABB software using PC Interface
8.5 Socket Messaging [616-1]
8.5.1 Introduction to Socket Messaging
Purpose
The purpose of Socket Messaging is to allow a RAPID programmer to transmit
application data between computers, using the TCP/IP network protocol. A socket
represents a general communication channel, independent of the network protocol
being used.
Socket communication is a standard that has its origin in Berkeley Software
Distribution Unix. Besides Unix, it is supported by, for example, Microsoft Windows.
With Socket Messaging, a RAPID program on a robot controller can, for example,
communicate with a C/C++ program on another computer.
What is included
The RobotWare functionality Socket Messaging gives you access to RAPID data
types, instructions and functions for socket communication between computers.
Basic approach
This is the general approach for using Socket Messaging. For a more detailed
example of how this is done, see Code examples for Socket Messaging on page310 .
1
Create a socket, both on client and server. A robot controller can be either
client or server.
2
Use SocketBind and SocketListen on the server, to prepare it for a
connection request.
3
Order the server to accept incoming socket connection requests.
4
Request socket connection from the client.
5
Send and receive data between client and server.
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8.4.3 ABB software using PC Interface
Overview
PC Interface provides a communication interface between the controller and a PC
connected to an Ethernet network.
This functionality can be used by different software applications from ABB. Note
that the products mentioned below are examples of applications using PC Interface,
not a complete list.
RobotStudio
RobotStudio is a software product delivered with the robot. Some of the functionality
requires PC Interface when connecting over the WAN port.
The following table shows some examples of RobotStudio functionality that is only
available if you have PC Interface:
Description
Functionality
Error messages and similar events can be shown or logged on the PC.
Event recorder
Allows on-line editing against the controller from the PC.
RAPID editor
For more information, see Operating manual - RobotStudio .
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8 Communication
8.4.3 ABB software using PC Interface
8.5 Socket Messaging [616-1]
8.5.1 Introduction to Socket Messaging
Purpose
The purpose of Socket Messaging is to allow a RAPID programmer to transmit
application data between computers, using the TCP/IP network protocol. A socket
represents a general communication channel, independent of the network protocol
being used.
Socket communication is a standard that has its origin in Berkeley Software
Distribution Unix. Besides Unix, it is supported by, for example, Microsoft Windows.
With Socket Messaging, a RAPID program on a robot controller can, for example,
communicate with a C/C++ program on another computer.
What is included
The RobotWare functionality Socket Messaging gives you access to RAPID data
types, instructions and functions for socket communication between computers.
Basic approach
This is the general approach for using Socket Messaging. For a more detailed
example of how this is done, see Code examples for Socket Messaging on page310 .
1
Create a socket, both on client and server. A robot controller can be either
client or server.
2
Use SocketBind and SocketListen on the server, to prepare it for a
connection request.
3
Order the server to accept incoming socket connection requests.
4
Request socket connection from the client.
5
Send and receive data between client and server.
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8.5.1 Introduction to Socket Messaging
8.5.2 Schematic picture of socket communication
Illustration of socket communication
en0600003224
Tip
Do not create and close sockets more than necessary. Keep the socket open
until the communication is completed. The socket is not really closed until a
certain time after SocketClose (due to TCP/IP functionality).
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8.5.2 Schematic picture of socket communication
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8.5 Socket Messaging [616-1]
8.5.1 Introduction to Socket Messaging
Purpose
The purpose of Socket Messaging is to allow a RAPID programmer to transmit
application data between computers, using the TCP/IP network protocol. A socket
represents a general communication channel, independent of the network protocol
being used.
Socket communication is a standard that has its origin in Berkeley Software
Distribution Unix. Besides Unix, it is supported by, for example, Microsoft Windows.
With Socket Messaging, a RAPID program on a robot controller can, for example,
communicate with a C/C++ program on another computer.
What is included
The RobotWare functionality Socket Messaging gives you access to RAPID data
types, instructions and functions for socket communication between computers.
Basic approach
This is the general approach for using Socket Messaging. For a more detailed
example of how this is done, see Code examples for Socket Messaging on page310 .
1
Create a socket, both on client and server. A robot controller can be either
client or server.
2
Use SocketBind and SocketListen on the server, to prepare it for a
connection request.
3
Order the server to accept incoming socket connection requests.
4
Request socket connection from the client.
5
Send and receive data between client and server.
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8 Communication
8.5.1 Introduction to Socket Messaging
8.5.2 Schematic picture of socket communication
Illustration of socket communication
en0600003224
Tip
Do not create and close sockets more than necessary. Keep the socket open
until the communication is completed. The socket is not really closed until a
certain time after SocketClose (due to TCP/IP functionality).
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8 Communication
8.5.2 Schematic picture of socket communication
8.5.3 Technical facts about Socket Messaging
Overview
When using the functionality Socket Messaging to communicate with a client or
server that is not a RAPID task, the following information can be useful.
No string termination
When sending a data message, no string termination sign is sent in the message.
The number of bytes sent is equal to the return value of the function strlen(str)
in the programming language C.
Unintended merge of messages
If sending two messages with no delay between them, the result can be that the
second message is appended to the first. The result is one big message instead
of two messages. To avoid this, use acknowledge messages from the receiver of
the data, if the client/server is just receiving messages.
Non printable characters
If a client that is not a RAPID task needs to receive non printable characters (binary
data) in a string from a RAPID task, this can be done by RAPID as shown in the
example below.
SocketSend socket1 \Str:="\0D\0A";
For more information, see Technical reference manual - RAPID kernel , section
String literals .
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8.5.2 Schematic picture of socket communication
Illustration of socket communication
en0600003224
Tip
Do not create and close sockets more than necessary. Keep the socket open
until the communication is completed. The socket is not really closed until a
certain time after SocketClose (due to TCP/IP functionality).
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8 Communication
8.5.2 Schematic picture of socket communication
8.5.3 Technical facts about Socket Messaging
Overview
When using the functionality Socket Messaging to communicate with a client or
server that is not a RAPID task, the following information can be useful.
No string termination
When sending a data message, no string termination sign is sent in the message.
The number of bytes sent is equal to the return value of the function strlen(str)
in the programming language C.
Unintended merge of messages
If sending two messages with no delay between them, the result can be that the
second message is appended to the first. The result is one big message instead
of two messages. To avoid this, use acknowledge messages from the receiver of
the data, if the client/server is just receiving messages.
Non printable characters
If a client that is not a RAPID task needs to receive non printable characters (binary
data) in a string from a RAPID task, this can be done by RAPID as shown in the
example below.
SocketSend socket1 \Str:="\0D\0A";
For more information, see Technical reference manual - RAPID kernel , section
String literals .
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8.5.3 Technical facts about Socket Messaging
8.5.4 RAPID components
Data types
This is a brief description of each data type in Socket Messaging. For more
information, see Technical reference manual - RAPID Instructions, Functions and
Data types .
Description
Data type
A socket device used to communicate with other computers on a net-
work.
socketdev
Can contain status information from a socketdev variable.
socketstatus
Instructions for client
This is a brief description of each instruction used by the a Socket Messaging
client. For more information, see Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Instruction
Creates a new socket and assigns it to a socketdev variable.
SocketCreate
Makes a connection request to a remote computer. Used by the client
to connect to the server.
SocketConnect
Sends data via a socket connection to a remote computer. The data
can be a string or rawbytes variable, or a byte array.
SocketSend
Receives data and stores it in a string or rawbytes variable, or in
a byte array.
SocketReceive
Closes a socket and release all resources.
SocketClose
Tip
Do not use SocketClose directly after SocketSend . Wait for acknowledgement
before closing the socket.
Instructions for server
A Socket Messaging server uses the same instructions as the client, except for
SocketConnect . In addition, the server use the following instructions:
Description
Instruction
Binds the socket to a specified port number on the server.
Used by the server to define on which port (on the server) to
listen for a connection.
SocketBind
The IP address defines a physical computer and the port
defines a logical channel to a program on that computer.
Makes the computer act as a server and accept incoming
connections. It will listen for a connection on the port specified
by SocketBind .
SocketListen
Accepts an incoming connection request. Used by the server
to accept the client’s request.
SocketAccept
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8.5.3 Technical facts about Socket Messaging
Overview
When using the functionality Socket Messaging to communicate with a client or
server that is not a RAPID task, the following information can be useful.
No string termination
When sending a data message, no string termination sign is sent in the message.
The number of bytes sent is equal to the return value of the function strlen(str)
in the programming language C.
Unintended merge of messages
If sending two messages with no delay between them, the result can be that the
second message is appended to the first. The result is one big message instead
of two messages. To avoid this, use acknowledge messages from the receiver of
the data, if the client/server is just receiving messages.
Non printable characters
If a client that is not a RAPID task needs to receive non printable characters (binary
data) in a string from a RAPID task, this can be done by RAPID as shown in the
example below.
SocketSend socket1 \Str:="\0D\0A";
For more information, see Technical reference manual - RAPID kernel , section
String literals .
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8.5.3 Technical facts about Socket Messaging
8.5.4 RAPID components
Data types
This is a brief description of each data type in Socket Messaging. For more
information, see Technical reference manual - RAPID Instructions, Functions and
Data types .
Description
Data type
A socket device used to communicate with other computers on a net-
work.
socketdev
Can contain status information from a socketdev variable.
socketstatus
Instructions for client
This is a brief description of each instruction used by the a Socket Messaging
client. For more information, see Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Instruction
Creates a new socket and assigns it to a socketdev variable.
SocketCreate
Makes a connection request to a remote computer. Used by the client
to connect to the server.
SocketConnect
Sends data via a socket connection to a remote computer. The data
can be a string or rawbytes variable, or a byte array.
SocketSend
Receives data and stores it in a string or rawbytes variable, or in
a byte array.
SocketReceive
Closes a socket and release all resources.
SocketClose
Tip
Do not use SocketClose directly after SocketSend . Wait for acknowledgement
before closing the socket.
Instructions for server
A Socket Messaging server uses the same instructions as the client, except for
SocketConnect . In addition, the server use the following instructions:
Description
Instruction
Binds the socket to a specified port number on the server.
Used by the server to define on which port (on the server) to
listen for a connection.
SocketBind
The IP address defines a physical computer and the port
defines a logical channel to a program on that computer.
Makes the computer act as a server and accept incoming
connections. It will listen for a connection on the port specified
by SocketBind .
SocketListen
Accepts an incoming connection request. Used by the server
to accept the client’s request.
SocketAccept
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8.5.4 RAPID components
Note
The server application must be started before the client application, so that the
instruction SocketAccept is executed before any client execute
SocketConnect .
Functions
This is a brief description of each function in Socket Messaging. For more
information, see Technical reference manual - RAPID Instructions, Functions and
Data types .
Description
Function
Returns information about the last instruction performed on the socket
(created, connected, bound, listening, closed).
SocketGetStatus
SocketGetStatus does not detect changes from outside RAPID (such
as a broken connection).
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8.5.4 RAPID components
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8.5.4 RAPID components
Data types
This is a brief description of each data type in Socket Messaging. For more
information, see Technical reference manual - RAPID Instructions, Functions and
Data types .
Description
Data type
A socket device used to communicate with other computers on a net-
work.
socketdev
Can contain status information from a socketdev variable.
socketstatus
Instructions for client
This is a brief description of each instruction used by the a Socket Messaging
client. For more information, see Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Instruction
Creates a new socket and assigns it to a socketdev variable.
SocketCreate
Makes a connection request to a remote computer. Used by the client
to connect to the server.
SocketConnect
Sends data via a socket connection to a remote computer. The data
can be a string or rawbytes variable, or a byte array.
SocketSend
Receives data and stores it in a string or rawbytes variable, or in
a byte array.
SocketReceive
Closes a socket and release all resources.
SocketClose
Tip
Do not use SocketClose directly after SocketSend . Wait for acknowledgement
before closing the socket.
Instructions for server
A Socket Messaging server uses the same instructions as the client, except for
SocketConnect . In addition, the server use the following instructions:
Description
Instruction
Binds the socket to a specified port number on the server.
Used by the server to define on which port (on the server) to
listen for a connection.
SocketBind
The IP address defines a physical computer and the port
defines a logical channel to a program on that computer.
Makes the computer act as a server and accept incoming
connections. It will listen for a connection on the port specified
by SocketBind .
SocketListen
Accepts an incoming connection request. Used by the server
to accept the client’s request.
SocketAccept
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8 Communication
8.5.4 RAPID components
Note
The server application must be started before the client application, so that the
instruction SocketAccept is executed before any client execute
SocketConnect .
Functions
This is a brief description of each function in Socket Messaging. For more
information, see Technical reference manual - RAPID Instructions, Functions and
Data types .
Description
Function
Returns information about the last instruction performed on the socket
(created, connected, bound, listening, closed).
SocketGetStatus
SocketGetStatus does not detect changes from outside RAPID (such
as a broken connection).
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8.5.4 RAPID components
Continued
8.5.5 Code examples for Socket Messaging
Example of client/server communication
This example shows program code for a client and a server, communicating with
each other.
The server will write on the FlexPendant:
Client wrote - Hello server
Client wrote - Shutdown connection
The client will write on its FlexPendant:
Server wrote - Message acknowledged
Server wrote - Shutdown acknowledged
In this example, both the client and the server use RAPID programs. In reality, one
of the programs would often be running on a PC (or similar computer) and be
written in another program language.
Code example for client, contacting server with IP address 192.168.0.2:
! WaitTime to delay start of client.
! Server application should start first.
WaitTime 5;
VAR socketdev socket1;
VAR string received_string;
PROC main()
SocketCreate socket1;
SocketConnect socket1, "192.168.0.2", 1025;
! Communication
SocketSend socket1 \Str:="Hello server";
SocketReceive socket1 \Str:=received_string;
TPWrite "Server wrote - " + received_string;
received_string := "";
! Continue sending and receiving
...
! Shutdown the connection
SocketSend socket1 \Str:="Shutdown connection";
SocketReceive socket1 \Str:=received_string;
TPWrite "Server wrote - " + received_string;
SocketClose socket1;
ENDPROC
Code example for server (with IP address 192.168.0.2):
VAR socketdev temp_socket;
VAR socketdev client_socket;
VAR string received_string;
VAR bool keep_listening := TRUE;
PROC main()
SocketCreate temp_socket;
SocketBind temp_socket, "192.168.0.2", 1025;
SocketListen temp_socket;
WHILE keep_listening DO
! Waiting for a connection request
SocketAccept temp_socket, client_socket;
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8.5.5 Code examples for Socket Messaging
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Note
The server application must be started before the client application, so that the
instruction SocketAccept is executed before any client execute
SocketConnect .
Functions
This is a brief description of each function in Socket Messaging. For more
information, see Technical reference manual - RAPID Instructions, Functions and
Data types .
Description
Function
Returns information about the last instruction performed on the socket
(created, connected, bound, listening, closed).
SocketGetStatus
SocketGetStatus does not detect changes from outside RAPID (such
as a broken connection).
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8.5.4 RAPID components
Continued
8.5.5 Code examples for Socket Messaging
Example of client/server communication
This example shows program code for a client and a server, communicating with
each other.
The server will write on the FlexPendant:
Client wrote - Hello server
Client wrote - Shutdown connection
The client will write on its FlexPendant:
Server wrote - Message acknowledged
Server wrote - Shutdown acknowledged
In this example, both the client and the server use RAPID programs. In reality, one
of the programs would often be running on a PC (or similar computer) and be
written in another program language.
Code example for client, contacting server with IP address 192.168.0.2:
! WaitTime to delay start of client.
! Server application should start first.
WaitTime 5;
VAR socketdev socket1;
VAR string received_string;
PROC main()
SocketCreate socket1;
SocketConnect socket1, "192.168.0.2", 1025;
! Communication
SocketSend socket1 \Str:="Hello server";
SocketReceive socket1 \Str:=received_string;
TPWrite "Server wrote - " + received_string;
received_string := "";
! Continue sending and receiving
...
! Shutdown the connection
SocketSend socket1 \Str:="Shutdown connection";
SocketReceive socket1 \Str:=received_string;
TPWrite "Server wrote - " + received_string;
SocketClose socket1;
ENDPROC
Code example for server (with IP address 192.168.0.2):
VAR socketdev temp_socket;
VAR socketdev client_socket;
VAR string received_string;
VAR bool keep_listening := TRUE;
PROC main()
SocketCreate temp_socket;
SocketBind temp_socket, "192.168.0.2", 1025;
SocketListen temp_socket;
WHILE keep_listening DO
! Waiting for a connection request
SocketAccept temp_socket, client_socket;
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8 Communication
8.5.5 Code examples for Socket Messaging
! Communication
SocketReceive client_socket \Str:=received_string;
TPWrite "Client wrote - " + received_string;
received_string := "";
SocketSend client_socket \Str:="Message acknowledged";
! Shutdown the connection
SocketReceive client_socket \Str:=received_string;
TPWrite "Client wrote - " + received_string;
SocketSend client_socket \Str:="Shutdown acknowledged";
SocketClose client_socket;
ENDWHILE
SocketClose temp_socket;
ENDPROC
Example of error handler
The following error handlers will take care of power failure or broken connection.
Error handler for client in previous example:
! Error handler to make it possible to handle power fail
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
ELSEIF ERRNO=ERR_SOCK_CLOSED THEN
SocketClose socket1;
! WaitTime to delay start of client.
! Server application should start first.
WaitTime 10;
SocketCreate socket1;
SocketConnect socket1, "192.168.0.2", 1025;
RETRY;
ELSE
TPWrite "ERRNO = "\Num:=ERRNO;
Stop;
ENDIF
Error handler for server in previous example:
! Error handler for power fail and connection lost
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
ELSEIF ERRNO=ERR_SOCK_CLOSED THEN
SocketClose temp_socket;
SocketClose client_socket;
SocketCreate temp_socket;
SocketBind temp_socket, "192.168.0.2", 1025;
SocketListen temp_socket;
SocketAccept temp_socket, client_socket;
RETRY;
ELSE
TPWrite "ERRNO = "\Num:=ERRNO;
Stop;
ENDIF
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8.5.5 Code examples for Socket Messaging
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8.5.5 Code examples for Socket Messaging
Example of client/server communication
This example shows program code for a client and a server, communicating with
each other.
The server will write on the FlexPendant:
Client wrote - Hello server
Client wrote - Shutdown connection
The client will write on its FlexPendant:
Server wrote - Message acknowledged
Server wrote - Shutdown acknowledged
In this example, both the client and the server use RAPID programs. In reality, one
of the programs would often be running on a PC (or similar computer) and be
written in another program language.
Code example for client, contacting server with IP address 192.168.0.2:
! WaitTime to delay start of client.
! Server application should start first.
WaitTime 5;
VAR socketdev socket1;
VAR string received_string;
PROC main()
SocketCreate socket1;
SocketConnect socket1, "192.168.0.2", 1025;
! Communication
SocketSend socket1 \Str:="Hello server";
SocketReceive socket1 \Str:=received_string;
TPWrite "Server wrote - " + received_string;
received_string := "";
! Continue sending and receiving
...
! Shutdown the connection
SocketSend socket1 \Str:="Shutdown connection";
SocketReceive socket1 \Str:=received_string;
TPWrite "Server wrote - " + received_string;
SocketClose socket1;
ENDPROC
Code example for server (with IP address 192.168.0.2):
VAR socketdev temp_socket;
VAR socketdev client_socket;
VAR string received_string;
VAR bool keep_listening := TRUE;
PROC main()
SocketCreate temp_socket;
SocketBind temp_socket, "192.168.0.2", 1025;
SocketListen temp_socket;
WHILE keep_listening DO
! Waiting for a connection request
SocketAccept temp_socket, client_socket;
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8 Communication
8.5.5 Code examples for Socket Messaging
! Communication
SocketReceive client_socket \Str:=received_string;
TPWrite "Client wrote - " + received_string;
received_string := "";
SocketSend client_socket \Str:="Message acknowledged";
! Shutdown the connection
SocketReceive client_socket \Str:=received_string;
TPWrite "Client wrote - " + received_string;
SocketSend client_socket \Str:="Shutdown acknowledged";
SocketClose client_socket;
ENDWHILE
SocketClose temp_socket;
ENDPROC
Example of error handler
The following error handlers will take care of power failure or broken connection.
Error handler for client in previous example:
! Error handler to make it possible to handle power fail
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
ELSEIF ERRNO=ERR_SOCK_CLOSED THEN
SocketClose socket1;
! WaitTime to delay start of client.
! Server application should start first.
WaitTime 10;
SocketCreate socket1;
SocketConnect socket1, "192.168.0.2", 1025;
RETRY;
ELSE
TPWrite "ERRNO = "\Num:=ERRNO;
Stop;
ENDIF
Error handler for server in previous example:
! Error handler for power fail and connection lost
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
ELSEIF ERRNO=ERR_SOCK_CLOSED THEN
SocketClose temp_socket;
SocketClose client_socket;
SocketCreate temp_socket;
SocketBind temp_socket, "192.168.0.2", 1025;
SocketListen temp_socket;
SocketAccept temp_socket, client_socket;
RETRY;
ELSE
TPWrite "ERRNO = "\Num:=ERRNO;
Stop;
ENDIF
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8 Communication
8.5.5 Code examples for Socket Messaging
Continued
8.6 RAPID Message Queue [included in 616-1, 623-1]
8.6.1 Introduction to RAPID Message Queue
Purpose
The purpose of RAPID Message Queue is to communicate with another RAPID
task or PC application using PC SDK.
Here are some examples of applications:
•
Sending data between two RAPID tasks.
•
Sending data between a RAPID task and a PC application.
RAPID Message Queue can be defined for interrupt or synchronous mode. Default
setting is interrupt mode.
What is included
The RAPID Message Queue functionality is included in the RobotWare options:
•
PC Interface
•
Multitasking
RAPID Message Queue gives you access to RAPID instructions, functions, and
data types for sending and receiving data.
Basic approach
This is the general approach for using RAPID Message Queue. For a more detailed
example of how this is done, see Code examples on page 319 .
1
For interrupt mode: The receiver sets up a trap routine that reads a message
and connects an interrupt so the trap routine is called when a new message
appears.
For synchronous mode: The message is handled by a waiting or the next
executed RMQReadWait instruction.
2
The sender looks up the slot identity of the queue in the receiver task.
3
The sender sends the message.
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! Communication
SocketReceive client_socket \Str:=received_string;
TPWrite "Client wrote - " + received_string;
received_string := "";
SocketSend client_socket \Str:="Message acknowledged";
! Shutdown the connection
SocketReceive client_socket \Str:=received_string;
TPWrite "Client wrote - " + received_string;
SocketSend client_socket \Str:="Shutdown acknowledged";
SocketClose client_socket;
ENDWHILE
SocketClose temp_socket;
ENDPROC
Example of error handler
The following error handlers will take care of power failure or broken connection.
Error handler for client in previous example:
! Error handler to make it possible to handle power fail
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
ELSEIF ERRNO=ERR_SOCK_CLOSED THEN
SocketClose socket1;
! WaitTime to delay start of client.
! Server application should start first.
WaitTime 10;
SocketCreate socket1;
SocketConnect socket1, "192.168.0.2", 1025;
RETRY;
ELSE
TPWrite "ERRNO = "\Num:=ERRNO;
Stop;
ENDIF
Error handler for server in previous example:
! Error handler for power fail and connection lost
ERROR
IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;
ELSEIF ERRNO=ERR_SOCK_CLOSED THEN
SocketClose temp_socket;
SocketClose client_socket;
SocketCreate temp_socket;
SocketBind temp_socket, "192.168.0.2", 1025;
SocketListen temp_socket;
SocketAccept temp_socket, client_socket;
RETRY;
ELSE
TPWrite "ERRNO = "\Num:=ERRNO;
Stop;
ENDIF
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8 Communication
8.5.5 Code examples for Socket Messaging
Continued
8.6 RAPID Message Queue [included in 616-1, 623-1]
8.6.1 Introduction to RAPID Message Queue
Purpose
The purpose of RAPID Message Queue is to communicate with another RAPID
task or PC application using PC SDK.
Here are some examples of applications:
•
Sending data between two RAPID tasks.
•
Sending data between a RAPID task and a PC application.
RAPID Message Queue can be defined for interrupt or synchronous mode. Default
setting is interrupt mode.
What is included
The RAPID Message Queue functionality is included in the RobotWare options:
•
PC Interface
•
Multitasking
RAPID Message Queue gives you access to RAPID instructions, functions, and
data types for sending and receiving data.
Basic approach
This is the general approach for using RAPID Message Queue. For a more detailed
example of how this is done, see Code examples on page 319 .
1
For interrupt mode: The receiver sets up a trap routine that reads a message
and connects an interrupt so the trap routine is called when a new message
appears.
For synchronous mode: The message is handled by a waiting or the next
executed RMQReadWait instruction.
2
The sender looks up the slot identity of the queue in the receiver task.
3
The sender sends the message.
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8 Communication
8.6.1 Introduction to RAPID Message Queue
8.6.2 RAPID Message Queue behavior
Illustration of communication
The picture below shows various possible senders, receivers, and queues in the
system. Each arrow is an example of a way to post a message to a queue.
PC
PC SDK
Queue
Robot
controller
Queue
Queue
RAPID
task
RAPID
task
en0700000430
Creating a PC SDK client
This manual only describes how to use RAPID Message Queue to make a RAPID
task communicate with other RAPID tasks and PC SDK clients. For information
about how to set up the communication on a PC SDK client, see http://developer-
center.robotstudio.com .
What can be sent in a message
The data in a message can be any data type in RAPID, except:
•
non-value
•
semi-value
Continues on next page
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8 Communication
8.6.2 RAPID Message Queue behavior
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|
8.6 RAPID Message Queue [included in 616-1, 623-1]
8.6.1 Introduction to RAPID Message Queue
Purpose
The purpose of RAPID Message Queue is to communicate with another RAPID
task or PC application using PC SDK.
Here are some examples of applications:
•
Sending data between two RAPID tasks.
•
Sending data between a RAPID task and a PC application.
RAPID Message Queue can be defined for interrupt or synchronous mode. Default
setting is interrupt mode.
What is included
The RAPID Message Queue functionality is included in the RobotWare options:
•
PC Interface
•
Multitasking
RAPID Message Queue gives you access to RAPID instructions, functions, and
data types for sending and receiving data.
Basic approach
This is the general approach for using RAPID Message Queue. For a more detailed
example of how this is done, see Code examples on page 319 .
1
For interrupt mode: The receiver sets up a trap routine that reads a message
and connects an interrupt so the trap routine is called when a new message
appears.
For synchronous mode: The message is handled by a waiting or the next
executed RMQReadWait instruction.
2
The sender looks up the slot identity of the queue in the receiver task.
3
The sender sends the message.
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8 Communication
8.6.1 Introduction to RAPID Message Queue
8.6.2 RAPID Message Queue behavior
Illustration of communication
The picture below shows various possible senders, receivers, and queues in the
system. Each arrow is an example of a way to post a message to a queue.
PC
PC SDK
Queue
Robot
controller
Queue
Queue
RAPID
task
RAPID
task
en0700000430
Creating a PC SDK client
This manual only describes how to use RAPID Message Queue to make a RAPID
task communicate with other RAPID tasks and PC SDK clients. For information
about how to set up the communication on a PC SDK client, see http://developer-
center.robotstudio.com .
What can be sent in a message
The data in a message can be any data type in RAPID, except:
•
non-value
•
semi-value
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8 Communication
8.6.2 RAPID Message Queue behavior
•
motsetdata
The data in a message can also be an array of a data type.
User defined records are allowed, but both sender and receiver must have identical
declarations of the record.
Tip
To keep backward compatibility, do not change a user defined record once it is
used in a released product. It is better to create a new record. This way, it is
possible to receive messages from both old and new applications.
Queue name
The name of the queue configured for a RAPID task is the same as the name of
the task with the prefix RMQ_, for example RMQ_T_ROB1. This name is used by
the instruction RMQFindSlot .
Queue handling
Messages in queues are handled in the order that they are received. This is known
as FIFO, first in first out. If a message is received while a previous message is
being handled, the new message is placed in the queue. As soon as the first
message handling is completed, the next message in the queue is handled.
Queue modes
The queue mode is defined with the system parameter RMQ Mode . Default behavior
is interrupt mode.
Interrupt mode
In interrupt mode the messages are handled depending on data type. Messages
are only handled for connected data types.
A cyclic interrupt must be set up for each data type that the receiver should handle.
The same trap routine can be called from more than one interrupt, that is for more
than one data type.
Messages of a data type with no connected interrupt will be discarded with only a
warning message in the event log.
Receiving an answer to the instruction RMQSendWait does not result in an interrupt.
No interrupt needs to be set up to receive this answer.
Synchronous mode
In synchronous mode, the task executes an RMQReadWait instruction to receive
a message of any data type. All messages are queued and handled in order they
arrive.
If there is a waiting RMQReadWait instruction, the message is handled immediately.
If there is no waiting RMQReadWait instruction, the next executed RMQReadWait
instruction will handle the message.
Continues on next page
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8 Communication
8.6.2 RAPID Message Queue behavior
Continued
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|
8.6.2 RAPID Message Queue behavior
Illustration of communication
The picture below shows various possible senders, receivers, and queues in the
system. Each arrow is an example of a way to post a message to a queue.
PC
PC SDK
Queue
Robot
controller
Queue
Queue
RAPID
task
RAPID
task
en0700000430
Creating a PC SDK client
This manual only describes how to use RAPID Message Queue to make a RAPID
task communicate with other RAPID tasks and PC SDK clients. For information
about how to set up the communication on a PC SDK client, see http://developer-
center.robotstudio.com .
What can be sent in a message
The data in a message can be any data type in RAPID, except:
•
non-value
•
semi-value
Continues on next page
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8 Communication
8.6.2 RAPID Message Queue behavior
•
motsetdata
The data in a message can also be an array of a data type.
User defined records are allowed, but both sender and receiver must have identical
declarations of the record.
Tip
To keep backward compatibility, do not change a user defined record once it is
used in a released product. It is better to create a new record. This way, it is
possible to receive messages from both old and new applications.
Queue name
The name of the queue configured for a RAPID task is the same as the name of
the task with the prefix RMQ_, for example RMQ_T_ROB1. This name is used by
the instruction RMQFindSlot .
Queue handling
Messages in queues are handled in the order that they are received. This is known
as FIFO, first in first out. If a message is received while a previous message is
being handled, the new message is placed in the queue. As soon as the first
message handling is completed, the next message in the queue is handled.
Queue modes
The queue mode is defined with the system parameter RMQ Mode . Default behavior
is interrupt mode.
Interrupt mode
In interrupt mode the messages are handled depending on data type. Messages
are only handled for connected data types.
A cyclic interrupt must be set up for each data type that the receiver should handle.
The same trap routine can be called from more than one interrupt, that is for more
than one data type.
Messages of a data type with no connected interrupt will be discarded with only a
warning message in the event log.
Receiving an answer to the instruction RMQSendWait does not result in an interrupt.
No interrupt needs to be set up to receive this answer.
Synchronous mode
In synchronous mode, the task executes an RMQReadWait instruction to receive
a message of any data type. All messages are queued and handled in order they
arrive.
If there is a waiting RMQReadWait instruction, the message is handled immediately.
If there is no waiting RMQReadWait instruction, the next executed RMQReadWait
instruction will handle the message.
Continues on next page
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8 Communication
8.6.2 RAPID Message Queue behavior
Continued
Message content
A RAPID Message Queue message consists of a header, containing receiver
identity, and a RAPID message. The RAPID message is a pretty-printed string with
data type name (and array dimensions) followed by the actual data value.
RAPID message examples:
"robtarget;[[930,0,1455],[1,0,0,0],[0,0,0,0],
[9E9,9E9,9E9,9E9,9E9,9E9]]"
"string;"A message string""
"stringarr:["string1","string2"]
"msgrec;[100,200]"
"bool{2,2};[[TRUE,TRUE],[FALSE,FALSE]]"
RAPID task not executing
It is possible to post messages to a RAPID task queue even though the RAPID
task containing the queue is not currently executing. The interrupt will not be
executed until the RAPID task is executing again.
Message size limitations
Before a message is sent, the maximum size (for the specific data type and
dimension) is calculated. If the size is greater than 5000 bytes, the message will
be discarded and an error will be raised. The sender can get same error if the
receiver is a PC SDK client with a maximum message size smaller than 400 bytes.
Sending a message of a specific data type with specific dimensions will either
always be possible or never possible.
When a message is received (when calling the instruction RMQGetMsgData ), the
maximum size (for the specific data type and dimension) is calculated. If the size
is greater than the maximum message size configured for the queue of this task,
the message will be discarded and an error will be logged. Receiving a message
of a specific data type with specific dimensions will either always be possible or
never possible.
Message lost
In interrupt mode, any messages that cannot be received by a RAPID task will be
discarded. The message will be lost and a warning will be placed in the event log.
Example of reasons for discarding a message:
•
The data type that is sent is not supported by the receiving task.
•
The receiving task has not set up an interrupt for the data type that is sent,
and no RMQSendWait instruction is waiting for this data type.
•
The interrupt queue of the receiving task is full
Queue lost
The queue is cleared at power fail.
When the execution context in a RAPID task is lost, for example when the program
pointer is moved to main, the corresponding queue is emptied.
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8 Communication
8.6.2 RAPID Message Queue behavior
Continued
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|
•
motsetdata
The data in a message can also be an array of a data type.
User defined records are allowed, but both sender and receiver must have identical
declarations of the record.
Tip
To keep backward compatibility, do not change a user defined record once it is
used in a released product. It is better to create a new record. This way, it is
possible to receive messages from both old and new applications.
Queue name
The name of the queue configured for a RAPID task is the same as the name of
the task with the prefix RMQ_, for example RMQ_T_ROB1. This name is used by
the instruction RMQFindSlot .
Queue handling
Messages in queues are handled in the order that they are received. This is known
as FIFO, first in first out. If a message is received while a previous message is
being handled, the new message is placed in the queue. As soon as the first
message handling is completed, the next message in the queue is handled.
Queue modes
The queue mode is defined with the system parameter RMQ Mode . Default behavior
is interrupt mode.
Interrupt mode
In interrupt mode the messages are handled depending on data type. Messages
are only handled for connected data types.
A cyclic interrupt must be set up for each data type that the receiver should handle.
The same trap routine can be called from more than one interrupt, that is for more
than one data type.
Messages of a data type with no connected interrupt will be discarded with only a
warning message in the event log.
Receiving an answer to the instruction RMQSendWait does not result in an interrupt.
No interrupt needs to be set up to receive this answer.
Synchronous mode
In synchronous mode, the task executes an RMQReadWait instruction to receive
a message of any data type. All messages are queued and handled in order they
arrive.
If there is a waiting RMQReadWait instruction, the message is handled immediately.
If there is no waiting RMQReadWait instruction, the next executed RMQReadWait
instruction will handle the message.
Continues on next page
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8 Communication
8.6.2 RAPID Message Queue behavior
Continued
Message content
A RAPID Message Queue message consists of a header, containing receiver
identity, and a RAPID message. The RAPID message is a pretty-printed string with
data type name (and array dimensions) followed by the actual data value.
RAPID message examples:
"robtarget;[[930,0,1455],[1,0,0,0],[0,0,0,0],
[9E9,9E9,9E9,9E9,9E9,9E9]]"
"string;"A message string""
"stringarr:["string1","string2"]
"msgrec;[100,200]"
"bool{2,2};[[TRUE,TRUE],[FALSE,FALSE]]"
RAPID task not executing
It is possible to post messages to a RAPID task queue even though the RAPID
task containing the queue is not currently executing. The interrupt will not be
executed until the RAPID task is executing again.
Message size limitations
Before a message is sent, the maximum size (for the specific data type and
dimension) is calculated. If the size is greater than 5000 bytes, the message will
be discarded and an error will be raised. The sender can get same error if the
receiver is a PC SDK client with a maximum message size smaller than 400 bytes.
Sending a message of a specific data type with specific dimensions will either
always be possible or never possible.
When a message is received (when calling the instruction RMQGetMsgData ), the
maximum size (for the specific data type and dimension) is calculated. If the size
is greater than the maximum message size configured for the queue of this task,
the message will be discarded and an error will be logged. Receiving a message
of a specific data type with specific dimensions will either always be possible or
never possible.
Message lost
In interrupt mode, any messages that cannot be received by a RAPID task will be
discarded. The message will be lost and a warning will be placed in the event log.
Example of reasons for discarding a message:
•
The data type that is sent is not supported by the receiving task.
•
The receiving task has not set up an interrupt for the data type that is sent,
and no RMQSendWait instruction is waiting for this data type.
•
The interrupt queue of the receiving task is full
Queue lost
The queue is cleared at power fail.
When the execution context in a RAPID task is lost, for example when the program
pointer is moved to main, the corresponding queue is emptied.
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8 Communication
8.6.2 RAPID Message Queue behavior
Continued
Related information
For more information on queues and messages, see Technical reference
manual - RAPID kernel .
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8.6.2 RAPID Message Queue behavior
Continued
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|
Message content
A RAPID Message Queue message consists of a header, containing receiver
identity, and a RAPID message. The RAPID message is a pretty-printed string with
data type name (and array dimensions) followed by the actual data value.
RAPID message examples:
"robtarget;[[930,0,1455],[1,0,0,0],[0,0,0,0],
[9E9,9E9,9E9,9E9,9E9,9E9]]"
"string;"A message string""
"stringarr:["string1","string2"]
"msgrec;[100,200]"
"bool{2,2};[[TRUE,TRUE],[FALSE,FALSE]]"
RAPID task not executing
It is possible to post messages to a RAPID task queue even though the RAPID
task containing the queue is not currently executing. The interrupt will not be
executed until the RAPID task is executing again.
Message size limitations
Before a message is sent, the maximum size (for the specific data type and
dimension) is calculated. If the size is greater than 5000 bytes, the message will
be discarded and an error will be raised. The sender can get same error if the
receiver is a PC SDK client with a maximum message size smaller than 400 bytes.
Sending a message of a specific data type with specific dimensions will either
always be possible or never possible.
When a message is received (when calling the instruction RMQGetMsgData ), the
maximum size (for the specific data type and dimension) is calculated. If the size
is greater than the maximum message size configured for the queue of this task,
the message will be discarded and an error will be logged. Receiving a message
of a specific data type with specific dimensions will either always be possible or
never possible.
Message lost
In interrupt mode, any messages that cannot be received by a RAPID task will be
discarded. The message will be lost and a warning will be placed in the event log.
Example of reasons for discarding a message:
•
The data type that is sent is not supported by the receiving task.
•
The receiving task has not set up an interrupt for the data type that is sent,
and no RMQSendWait instruction is waiting for this data type.
•
The interrupt queue of the receiving task is full
Queue lost
The queue is cleared at power fail.
When the execution context in a RAPID task is lost, for example when the program
pointer is moved to main, the corresponding queue is emptied.
Continues on next page
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8 Communication
8.6.2 RAPID Message Queue behavior
Continued
Related information
For more information on queues and messages, see Technical reference
manual - RAPID kernel .
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8 Communication
8.6.2 RAPID Message Queue behavior
Continued
8.6.3 System parameters
About the system parameters
This is a brief description of each parameter in the functionality RAPID Message
Queue . For more information, see the respective parameter in Technical reference
manual - System parameters .
Type Task
These parameters belong to the type Task in the topic Controller .
Description
Parameter
Can have one of the following values:
•
None - Disable all communication with RAPID Message
Queue for this RAPID task.
•
Internal - Enable the receiving of RAPID Message
Queue messages from other tasks on the controller,
but not from external clients (FlexPendant and PC ap-
plications). The task is still able to send messages to
external clients.
•
Remote - Enable communication with RAPID Message
Queue for this task, both with other tasks on the con-
troller and external clients (FlexPendant and PC applic-
ations).
The default value is None .
RMQ Type
Defines the mode of the queue.
RMQ Mode
Can have one of the following values:
•
Interrupt - A message can only be received by connect-
ing a trap routine to a specified message type.
•
Synchronous - A message can only be received by
executing an RMQReadWait instruction.
Default value is Interrupt .
The maximum data size, in bytes, for a RAPID Message
Queue message.
RMQ Max Message Size
An integer between 400 and 5000. The default value is 448.
Note
The value cannot be changed in RobotStudio or on the Flex-
Pendant. The only way to change the value is to edit the
sys.cfg file by adding the attribute RmqMaxMsgSize with the
desired value.
The maximum number of RAPID Message Queue messages
in the queue to this task.
RMQ Max No Of Messages
An integer between 1 and 10. The default value is 5.
Note
The value cannot be changed in RobotStudio or on the Flex-
Pendant. The only way to change the value is to edit the
sys.cfg file by adding the attribute RmqMaxNoOfMsg with the
desired value.
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8.6.3 System parameters
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|
Related information
For more information on queues and messages, see Technical reference
manual - RAPID kernel .
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8 Communication
8.6.2 RAPID Message Queue behavior
Continued
8.6.3 System parameters
About the system parameters
This is a brief description of each parameter in the functionality RAPID Message
Queue . For more information, see the respective parameter in Technical reference
manual - System parameters .
Type Task
These parameters belong to the type Task in the topic Controller .
Description
Parameter
Can have one of the following values:
•
None - Disable all communication with RAPID Message
Queue for this RAPID task.
•
Internal - Enable the receiving of RAPID Message
Queue messages from other tasks on the controller,
but not from external clients (FlexPendant and PC ap-
plications). The task is still able to send messages to
external clients.
•
Remote - Enable communication with RAPID Message
Queue for this task, both with other tasks on the con-
troller and external clients (FlexPendant and PC applic-
ations).
The default value is None .
RMQ Type
Defines the mode of the queue.
RMQ Mode
Can have one of the following values:
•
Interrupt - A message can only be received by connect-
ing a trap routine to a specified message type.
•
Synchronous - A message can only be received by
executing an RMQReadWait instruction.
Default value is Interrupt .
The maximum data size, in bytes, for a RAPID Message
Queue message.
RMQ Max Message Size
An integer between 400 and 5000. The default value is 448.
Note
The value cannot be changed in RobotStudio or on the Flex-
Pendant. The only way to change the value is to edit the
sys.cfg file by adding the attribute RmqMaxMsgSize with the
desired value.
The maximum number of RAPID Message Queue messages
in the queue to this task.
RMQ Max No Of Messages
An integer between 1 and 10. The default value is 5.
Note
The value cannot be changed in RobotStudio or on the Flex-
Pendant. The only way to change the value is to edit the
sys.cfg file by adding the attribute RmqMaxNoOfMsg with the
desired value.
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8 Communication
8.6.3 System parameters
8.6.4 RAPID components
About the RAPID components
This is a brief description of each instruction, function, and data type in RAPID
Message Queue. For more information, see the respective parameter in Technical
reference manual - RAPID Instructions, Functions and Data types .
Instructions
Description
Instruction
Find the slot identity number of the queue configured for a
RAPID task or Robot Application Builder client.
RMQFindSlot
Send data to the queue configured for a RAPID task or Robot
Application Builder client.
RMQSendMessage
Order and enable cyclic interrupts for a specific data type.
IRMQMessage
Get the first message from the queue of this task. Can only
be used if RMQ Mode is defined as Interrupt .
RMQGetMessage
Get the header part from a message.
RMQGetMsgHeader
Get the data part from a message.
RMQGetMsgData
Send a message and wait for the answer. Can only be used
if RMQ Mode is defined as Interrupt .
RMQSendWait
Wait for a message. Can only be used if RMQ Mode is defined
as Synchronous .
RMQReadWait
Empty the queue.
RMQEmptyQueue
Functions
Description
Function
Get the name of the queue configured for a RAPID task or
Robot Application Builder client, given a slot identity number,
i.e. given a rmqslot .
RMQGetSlotName
Data types
Description
Data type
Slot identity of a RAPID task or Robot Application Builder
client.
rmqslot
A message used to store data in when communicating with
RAPID Message Queue. It contains information about what
type of data is sent, the slot identity of the sender, and the
actual data.
rmqmessage
Note: rmqmessage is a large data type. Declaring too many
variables of this data type can lead to memory problems.
Reuse the same rmqmessage variables as much as possible.
The rmqheader describes the message and can be read by
the RAPID program.
rmqheader
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8.6.3 System parameters
About the system parameters
This is a brief description of each parameter in the functionality RAPID Message
Queue . For more information, see the respective parameter in Technical reference
manual - System parameters .
Type Task
These parameters belong to the type Task in the topic Controller .
Description
Parameter
Can have one of the following values:
•
None - Disable all communication with RAPID Message
Queue for this RAPID task.
•
Internal - Enable the receiving of RAPID Message
Queue messages from other tasks on the controller,
but not from external clients (FlexPendant and PC ap-
plications). The task is still able to send messages to
external clients.
•
Remote - Enable communication with RAPID Message
Queue for this task, both with other tasks on the con-
troller and external clients (FlexPendant and PC applic-
ations).
The default value is None .
RMQ Type
Defines the mode of the queue.
RMQ Mode
Can have one of the following values:
•
Interrupt - A message can only be received by connect-
ing a trap routine to a specified message type.
•
Synchronous - A message can only be received by
executing an RMQReadWait instruction.
Default value is Interrupt .
The maximum data size, in bytes, for a RAPID Message
Queue message.
RMQ Max Message Size
An integer between 400 and 5000. The default value is 448.
Note
The value cannot be changed in RobotStudio or on the Flex-
Pendant. The only way to change the value is to edit the
sys.cfg file by adding the attribute RmqMaxMsgSize with the
desired value.
The maximum number of RAPID Message Queue messages
in the queue to this task.
RMQ Max No Of Messages
An integer between 1 and 10. The default value is 5.
Note
The value cannot be changed in RobotStudio or on the Flex-
Pendant. The only way to change the value is to edit the
sys.cfg file by adding the attribute RmqMaxNoOfMsg with the
desired value.
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8.6.3 System parameters
8.6.4 RAPID components
About the RAPID components
This is a brief description of each instruction, function, and data type in RAPID
Message Queue. For more information, see the respective parameter in Technical
reference manual - RAPID Instructions, Functions and Data types .
Instructions
Description
Instruction
Find the slot identity number of the queue configured for a
RAPID task or Robot Application Builder client.
RMQFindSlot
Send data to the queue configured for a RAPID task or Robot
Application Builder client.
RMQSendMessage
Order and enable cyclic interrupts for a specific data type.
IRMQMessage
Get the first message from the queue of this task. Can only
be used if RMQ Mode is defined as Interrupt .
RMQGetMessage
Get the header part from a message.
RMQGetMsgHeader
Get the data part from a message.
RMQGetMsgData
Send a message and wait for the answer. Can only be used
if RMQ Mode is defined as Interrupt .
RMQSendWait
Wait for a message. Can only be used if RMQ Mode is defined
as Synchronous .
RMQReadWait
Empty the queue.
RMQEmptyQueue
Functions
Description
Function
Get the name of the queue configured for a RAPID task or
Robot Application Builder client, given a slot identity number,
i.e. given a rmqslot .
RMQGetSlotName
Data types
Description
Data type
Slot identity of a RAPID task or Robot Application Builder
client.
rmqslot
A message used to store data in when communicating with
RAPID Message Queue. It contains information about what
type of data is sent, the slot identity of the sender, and the
actual data.
rmqmessage
Note: rmqmessage is a large data type. Declaring too many
variables of this data type can lead to memory problems.
Reuse the same rmqmessage variables as much as possible.
The rmqheader describes the message and can be read by
the RAPID program.
rmqheader
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8.6.4 RAPID components
8.6.5 Code examples
Example using RMQSendMessage and RMQGetMessage with PC SDK
This is an example using RMQSendMessage and RMQGetMessage with PC SDK.
The PC SDK, creates data (a string) with a request to receive current position of
the mechanical unit. The T_ROB1 task receives the request and creates data
containing the position and sends it back to the PC SDK.
Example of RAPID with RMQ
MODULE MainModule
RECORD position
num x;
num y;
num z;
ENDRECORD
RECORD message
string msg1;
string msg2;
ENDRECORD
VAR position posData;
VAR message request;
VAR intnum rmqMsg;
VAR rmqslot clientSlot;
VAR pos currPosition;
CONST string unknownRequest := "Unknown request";
PROC main()
RMQFindSlot clientSlot, "RMQ_PC_SDK";
CONNECT rmqMsg WITH rmqMessageHandler;
IRMQMessage request, rmqMsg;
WHILE TRUE DO
...
currPosition := CPos(\Tool:=tool0 \WObj:=wobj0);
...
ENDWHILE
IDelete rmqMsg;
EXIT;
ENDPROC
TRAP rmqMessageHandler
VAR rmqmessage rmqMsg;
VAR rmqheader header;
RMQGetMessage rmqMsg;
RMQGetMsgHeader rmqMsg\Header := header\SenderId := clientSlot;
IF header.datatype = "message" THEN
RMQGetMsgData rmqMsg, request;
IF request.msg1 = "Get current position" THEN
posData.x := currPosition.x;
posData.y := currPosition.y;
posData.z := currPosition.z;
RMQSendMessage clientSlot, posData;
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8.6.4 RAPID components
About the RAPID components
This is a brief description of each instruction, function, and data type in RAPID
Message Queue. For more information, see the respective parameter in Technical
reference manual - RAPID Instructions, Functions and Data types .
Instructions
Description
Instruction
Find the slot identity number of the queue configured for a
RAPID task or Robot Application Builder client.
RMQFindSlot
Send data to the queue configured for a RAPID task or Robot
Application Builder client.
RMQSendMessage
Order and enable cyclic interrupts for a specific data type.
IRMQMessage
Get the first message from the queue of this task. Can only
be used if RMQ Mode is defined as Interrupt .
RMQGetMessage
Get the header part from a message.
RMQGetMsgHeader
Get the data part from a message.
RMQGetMsgData
Send a message and wait for the answer. Can only be used
if RMQ Mode is defined as Interrupt .
RMQSendWait
Wait for a message. Can only be used if RMQ Mode is defined
as Synchronous .
RMQReadWait
Empty the queue.
RMQEmptyQueue
Functions
Description
Function
Get the name of the queue configured for a RAPID task or
Robot Application Builder client, given a slot identity number,
i.e. given a rmqslot .
RMQGetSlotName
Data types
Description
Data type
Slot identity of a RAPID task or Robot Application Builder
client.
rmqslot
A message used to store data in when communicating with
RAPID Message Queue. It contains information about what
type of data is sent, the slot identity of the sender, and the
actual data.
rmqmessage
Note: rmqmessage is a large data type. Declaring too many
variables of this data type can lead to memory problems.
Reuse the same rmqmessage variables as much as possible.
The rmqheader describes the message and can be read by
the RAPID program.
rmqheader
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8.6.4 RAPID components
8.6.5 Code examples
Example using RMQSendMessage and RMQGetMessage with PC SDK
This is an example using RMQSendMessage and RMQGetMessage with PC SDK.
The PC SDK, creates data (a string) with a request to receive current position of
the mechanical unit. The T_ROB1 task receives the request and creates data
containing the position and sends it back to the PC SDK.
Example of RAPID with RMQ
MODULE MainModule
RECORD position
num x;
num y;
num z;
ENDRECORD
RECORD message
string msg1;
string msg2;
ENDRECORD
VAR position posData;
VAR message request;
VAR intnum rmqMsg;
VAR rmqslot clientSlot;
VAR pos currPosition;
CONST string unknownRequest := "Unknown request";
PROC main()
RMQFindSlot clientSlot, "RMQ_PC_SDK";
CONNECT rmqMsg WITH rmqMessageHandler;
IRMQMessage request, rmqMsg;
WHILE TRUE DO
...
currPosition := CPos(\Tool:=tool0 \WObj:=wobj0);
...
ENDWHILE
IDelete rmqMsg;
EXIT;
ENDPROC
TRAP rmqMessageHandler
VAR rmqmessage rmqMsg;
VAR rmqheader header;
RMQGetMessage rmqMsg;
RMQGetMsgHeader rmqMsg\Header := header\SenderId := clientSlot;
IF header.datatype = "message" THEN
RMQGetMsgData rmqMsg, request;
IF request.msg1 = "Get current position" THEN
posData.x := currPosition.x;
posData.y := currPosition.y;
posData.z := currPosition.z;
RMQSendMessage clientSlot, posData;
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ELSE
RMQSendMessage clientSlot, unknownRequest;
ENDIF
ENDIF
ENDTRAP
ENDMODULE
Example of PC SDK with RMQ
class Messaging
{
private static Controller ctrl;
private static IpcQueue pcsdkQueue;
private static IpcQueue trob1Queue;
private static float X;
private static float Y;
private static float Z;
private static string message1 = "\"Get current position\"";
private static string message2 = "\"\"";
static void Main(string[] args)
{
...
//Connect and login to selected controller.
...
if (ctrl != null)
{
trob1Queue = ctrl.Ipc.GetQueue("RMQ_T_ROB1");
string pcsdkQueueName = "RMQ_PC_SDK";
if (ctrl.Ipc.Exists(pcsdkQueueName))
{
ctrl.Ipc.DeleteQueue(ctrl.Ipc.GetQueueId(pcsdkQueueName));
}
pcsdkQueue = ctrl.Ipc.CreateQueue(pcsdkQueueName, 16,
ctrl.Ipc.GetMaximumMessageSize());
SendMessage(message1, message2);
...
ctrl.Ipc.DeleteQueue(ctrl.Ipc.GetQueueId(pcsdkQueueName));
ctrl.Logoff();
...
}
}
public static void SendMessage(string message1, string message2)
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8.6.5 Code examples
Example using RMQSendMessage and RMQGetMessage with PC SDK
This is an example using RMQSendMessage and RMQGetMessage with PC SDK.
The PC SDK, creates data (a string) with a request to receive current position of
the mechanical unit. The T_ROB1 task receives the request and creates data
containing the position and sends it back to the PC SDK.
Example of RAPID with RMQ
MODULE MainModule
RECORD position
num x;
num y;
num z;
ENDRECORD
RECORD message
string msg1;
string msg2;
ENDRECORD
VAR position posData;
VAR message request;
VAR intnum rmqMsg;
VAR rmqslot clientSlot;
VAR pos currPosition;
CONST string unknownRequest := "Unknown request";
PROC main()
RMQFindSlot clientSlot, "RMQ_PC_SDK";
CONNECT rmqMsg WITH rmqMessageHandler;
IRMQMessage request, rmqMsg;
WHILE TRUE DO
...
currPosition := CPos(\Tool:=tool0 \WObj:=wobj0);
...
ENDWHILE
IDelete rmqMsg;
EXIT;
ENDPROC
TRAP rmqMessageHandler
VAR rmqmessage rmqMsg;
VAR rmqheader header;
RMQGetMessage rmqMsg;
RMQGetMsgHeader rmqMsg\Header := header\SenderId := clientSlot;
IF header.datatype = "message" THEN
RMQGetMsgData rmqMsg, request;
IF request.msg1 = "Get current position" THEN
posData.x := currPosition.x;
posData.y := currPosition.y;
posData.z := currPosition.z;
RMQSendMessage clientSlot, posData;
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ELSE
RMQSendMessage clientSlot, unknownRequest;
ENDIF
ENDIF
ENDTRAP
ENDMODULE
Example of PC SDK with RMQ
class Messaging
{
private static Controller ctrl;
private static IpcQueue pcsdkQueue;
private static IpcQueue trob1Queue;
private static float X;
private static float Y;
private static float Z;
private static string message1 = "\"Get current position\"";
private static string message2 = "\"\"";
static void Main(string[] args)
{
...
//Connect and login to selected controller.
...
if (ctrl != null)
{
trob1Queue = ctrl.Ipc.GetQueue("RMQ_T_ROB1");
string pcsdkQueueName = "RMQ_PC_SDK";
if (ctrl.Ipc.Exists(pcsdkQueueName))
{
ctrl.Ipc.DeleteQueue(ctrl.Ipc.GetQueueId(pcsdkQueueName));
}
pcsdkQueue = ctrl.Ipc.CreateQueue(pcsdkQueueName, 16,
ctrl.Ipc.GetMaximumMessageSize());
SendMessage(message1, message2);
...
ctrl.Ipc.DeleteQueue(ctrl.Ipc.GetQueueId(pcsdkQueueName));
ctrl.Logoff();
...
}
}
public static void SendMessage(string message1, string message2)
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Continued
{
IpcMessage message = new IpcMessage();
byte[] data;
if (pcsdkQueue != null && trob1Queue != null)
{
data = new UTF8Encoding().GetBytes("message;[" + message1 +
" , " + message2 + "]");
message.SetData(data);
message.Sender = pcsdkQueue.QueueId;
trob1Queue.Send(message);
System.Threading.Tasks.Task.Run(() => { receiveMessage();
});
}
}
private static void receiveMessage()
{
IpcMessage message = new IpcMessage();
IpcReturnType ret;
int timeout = 5000;
if (pcsdkQueue != null)
{
ret = pcsdkQueue.Receive(timeout, message);
if (ret == IpcReturnType.OK)
{
string answer = new
UTF8Encoding().GetString(message.Data);
string[] answerStructure = answer.Split(';');
if (answerStructure[0] == "position")
{
string pos = answer.Substring((answer.IndexOf('[')) +
1, answer.IndexOf(']') - ((answer.IndexOf('['))
+ 1));
string [] array=pos.Split(',');
X = float.Parse(array[0]);
Y = float.Parse(array[1]);
Z = float.Parse(array[2]);
...
}
else if(answerStructure[0] == "string")
{
string valueCharacter = "\"";
int valueStartIndex = answer.IndexOf(valueCharacter);
int valueEndIndex = answer.IndexOf(valueCharacter,
valueStartIndex + 1);
string returnText = answer.Substring(valueStartIndex
+ 1, valueEndIndex - (valueStartIndex + 1));
...
}
}
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ELSE
RMQSendMessage clientSlot, unknownRequest;
ENDIF
ENDIF
ENDTRAP
ENDMODULE
Example of PC SDK with RMQ
class Messaging
{
private static Controller ctrl;
private static IpcQueue pcsdkQueue;
private static IpcQueue trob1Queue;
private static float X;
private static float Y;
private static float Z;
private static string message1 = "\"Get current position\"";
private static string message2 = "\"\"";
static void Main(string[] args)
{
...
//Connect and login to selected controller.
...
if (ctrl != null)
{
trob1Queue = ctrl.Ipc.GetQueue("RMQ_T_ROB1");
string pcsdkQueueName = "RMQ_PC_SDK";
if (ctrl.Ipc.Exists(pcsdkQueueName))
{
ctrl.Ipc.DeleteQueue(ctrl.Ipc.GetQueueId(pcsdkQueueName));
}
pcsdkQueue = ctrl.Ipc.CreateQueue(pcsdkQueueName, 16,
ctrl.Ipc.GetMaximumMessageSize());
SendMessage(message1, message2);
...
ctrl.Ipc.DeleteQueue(ctrl.Ipc.GetQueueId(pcsdkQueueName));
ctrl.Logoff();
...
}
}
public static void SendMessage(string message1, string message2)
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Continued
{
IpcMessage message = new IpcMessage();
byte[] data;
if (pcsdkQueue != null && trob1Queue != null)
{
data = new UTF8Encoding().GetBytes("message;[" + message1 +
" , " + message2 + "]");
message.SetData(data);
message.Sender = pcsdkQueue.QueueId;
trob1Queue.Send(message);
System.Threading.Tasks.Task.Run(() => { receiveMessage();
});
}
}
private static void receiveMessage()
{
IpcMessage message = new IpcMessage();
IpcReturnType ret;
int timeout = 5000;
if (pcsdkQueue != null)
{
ret = pcsdkQueue.Receive(timeout, message);
if (ret == IpcReturnType.OK)
{
string answer = new
UTF8Encoding().GetString(message.Data);
string[] answerStructure = answer.Split(';');
if (answerStructure[0] == "position")
{
string pos = answer.Substring((answer.IndexOf('[')) +
1, answer.IndexOf(']') - ((answer.IndexOf('['))
+ 1));
string [] array=pos.Split(',');
X = float.Parse(array[0]);
Y = float.Parse(array[1]);
Z = float.Parse(array[2]);
...
}
else if(answerStructure[0] == "string")
{
string valueCharacter = "\"";
int valueStartIndex = answer.IndexOf(valueCharacter);
int valueEndIndex = answer.IndexOf(valueCharacter,
valueStartIndex + 1);
string returnText = answer.Substring(valueStartIndex
+ 1, valueEndIndex - (valueStartIndex + 1));
...
}
}
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Continued
else
{
//No message recieved within time limit.
...
}
}
else
{
//No queue found
...
}
}
}
}
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{
IpcMessage message = new IpcMessage();
byte[] data;
if (pcsdkQueue != null && trob1Queue != null)
{
data = new UTF8Encoding().GetBytes("message;[" + message1 +
" , " + message2 + "]");
message.SetData(data);
message.Sender = pcsdkQueue.QueueId;
trob1Queue.Send(message);
System.Threading.Tasks.Task.Run(() => { receiveMessage();
});
}
}
private static void receiveMessage()
{
IpcMessage message = new IpcMessage();
IpcReturnType ret;
int timeout = 5000;
if (pcsdkQueue != null)
{
ret = pcsdkQueue.Receive(timeout, message);
if (ret == IpcReturnType.OK)
{
string answer = new
UTF8Encoding().GetString(message.Data);
string[] answerStructure = answer.Split(';');
if (answerStructure[0] == "position")
{
string pos = answer.Substring((answer.IndexOf('[')) +
1, answer.IndexOf(']') - ((answer.IndexOf('['))
+ 1));
string [] array=pos.Split(',');
X = float.Parse(array[0]);
Y = float.Parse(array[1]);
Z = float.Parse(array[2]);
...
}
else if(answerStructure[0] == "string")
{
string valueCharacter = "\"";
int valueStartIndex = answer.IndexOf(valueCharacter);
int valueEndIndex = answer.IndexOf(valueCharacter,
valueStartIndex + 1);
string returnText = answer.Substring(valueStartIndex
+ 1, valueEndIndex - (valueStartIndex + 1));
...
}
}
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Continued
else
{
//No message recieved within time limit.
...
}
}
else
{
//No queue found
...
}
}
}
}
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Continued
9 Engineering tools
9.1 Multitasking [623-1]
9.1.1 Introduction to Multitasking
Purpose
The purpose of the option Multitasking is to be able to execute more than one
program at a time.
Examples of applications to run in parallel with the main program:
•
Continuous supervision of signals, even if the main program has stopped.
This can in some cases take over the job of a PLC. However, the response
time will not match that of a PLC.
•
Operator input from the FlexPendant while the robot is working.
•
Control and activation/deactivation of external equipment.
Basic description
Up to 20 tasks can be run at the same time. This includes tasks from add-ins and
options, that might be running in the background.
Each task consists of one program (with several program modules) and several
system modules. The modules are local in the respective task.
en0300000517
Variables and constants are local in the respective task, but persistents are not.
Every task has its own trap handling and event routines are triggered only on its
own task system states.
What is included
The RobotWare option Multitasking gives you access to:
•
The possibility to run up to 20 programs in parallel (one per task).
•
The system parameters: The type Task and all its parameters.
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else
{
//No message recieved within time limit.
...
}
}
else
{
//No queue found
...
}
}
}
}
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Continued
9 Engineering tools
9.1 Multitasking [623-1]
9.1.1 Introduction to Multitasking
Purpose
The purpose of the option Multitasking is to be able to execute more than one
program at a time.
Examples of applications to run in parallel with the main program:
•
Continuous supervision of signals, even if the main program has stopped.
This can in some cases take over the job of a PLC. However, the response
time will not match that of a PLC.
•
Operator input from the FlexPendant while the robot is working.
•
Control and activation/deactivation of external equipment.
Basic description
Up to 20 tasks can be run at the same time. This includes tasks from add-ins and
options, that might be running in the background.
Each task consists of one program (with several program modules) and several
system modules. The modules are local in the respective task.
en0300000517
Variables and constants are local in the respective task, but persistents are not.
Every task has its own trap handling and event routines are triggered only on its
own task system states.
What is included
The RobotWare option Multitasking gives you access to:
•
The possibility to run up to 20 programs in parallel (one per task).
•
The system parameters: The type Task and all its parameters.
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9.1.1 Introduction to Multitasking
•
The data types: taskid , syncident , and tasks .
•
The instruction: WaitSyncTask .
•
The functions: TestAndSet , TaskRunMec , and TaskRunRob .
Note
TestAndSet , TaskRunMec , and TaskRunRob can be used without the option
Multitasking, but they are much more useful together with Multitasking.
Basic approach
This is the basic approach for setting up Multitasking. For more information, see
Debug strategies for setting up tasks on page 328 , and RAPID components on
page 327 .
1
Define the tasks you need.
2
Write RAPID code for each task.
3
Specify which modules to load in each task.
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9 Engineering tools
9.1 Multitasking [623-1]
9.1.1 Introduction to Multitasking
Purpose
The purpose of the option Multitasking is to be able to execute more than one
program at a time.
Examples of applications to run in parallel with the main program:
•
Continuous supervision of signals, even if the main program has stopped.
This can in some cases take over the job of a PLC. However, the response
time will not match that of a PLC.
•
Operator input from the FlexPendant while the robot is working.
•
Control and activation/deactivation of external equipment.
Basic description
Up to 20 tasks can be run at the same time. This includes tasks from add-ins and
options, that might be running in the background.
Each task consists of one program (with several program modules) and several
system modules. The modules are local in the respective task.
en0300000517
Variables and constants are local in the respective task, but persistents are not.
Every task has its own trap handling and event routines are triggered only on its
own task system states.
What is included
The RobotWare option Multitasking gives you access to:
•
The possibility to run up to 20 programs in parallel (one per task).
•
The system parameters: The type Task and all its parameters.
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9.1.1 Introduction to Multitasking
•
The data types: taskid , syncident , and tasks .
•
The instruction: WaitSyncTask .
•
The functions: TestAndSet , TaskRunMec , and TaskRunRob .
Note
TestAndSet , TaskRunMec , and TaskRunRob can be used without the option
Multitasking, but they are much more useful together with Multitasking.
Basic approach
This is the basic approach for setting up Multitasking. For more information, see
Debug strategies for setting up tasks on page 328 , and RAPID components on
page 327 .
1
Define the tasks you need.
2
Write RAPID code for each task.
3
Specify which modules to load in each task.
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9.1.1 Introduction to Multitasking
Continued
9.1.2 System parameters
About the system parameters
This is a brief description of each parameter in the option Multitasking . For more
information, see the respective parameter in Technical reference manual - System
parameters .
Task
These parameters belongs to the type Task in the topic Controller .
Description
Parameter
The name of the task.
Task
Note that the name of the task must be unique. This means that it cannot
have the same name as the mechanical unit, and no variable in the
RAPID program can have the same name.
Note that editing the task entry in the configuration editor and changing
the task name will remove the old task and add a new one. This means
that any program or module in the task will disappear after a restart with
these kind of changes.
Used to set priorities between tasks.
Task in fore-
ground
Task in foreground contains the name of the task that should run in the
foreground of this task. This means that the program of the task, for which
the parameter is set, will only execute if the foreground task program is
idle.
If Task in foreground is set to empty string for a task, it runs at the highest
level.
Controls the start/stop and system restart behavior:
•
Normal (NORMAL) - The task program is manually started and
stopped (e.g. from the FlexPendant). The task stops at emergency
stop.
•
Static (STATIC) - At a restart the task program continues from
where the it was. The task program is normally not stopped by the
FlexPendant or by emergency stop.
•
Semistatic (SEMISTATIC) - The task program restarts from the
beginning at restart. The task program is normally not stopped by
the FlexPendant or by emergency stop.
A task that controls a mechanical unit must be of the type normal .
Type
The name of the start routine for the task program.
Main entry
This parameter should be set to NO if the system is to accept unsolved
references in the program while linking a module, otherwise set to YES.
Check unre-
solved refer-
ences
TrustLevel defines the system behavior when a static or semistatic task
program is stopped (e.g. due to error):
•
SysFail - If the program of this task stops, the system will be set
to SYS_FAIL. This will cause the programs of all NORMAL tasks
to stop (static and semistatic tasks will continue execution if pos-
sible). No jogging or program start can be made. A restart is re-
quired.
•
SysHalt -If the program of this task stops, the programs of all
normal tasks will be stopped. If "motors on" is set, jogging is
possible, but not program start. A restart is required.
•
SysStop - If the program of this task stops, the programs of all
normal tasks will be stopped but are restartable. Jogging is also
possible.
•
NoSafety - Only the program of this task will stop.
TrustLevel
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•
The data types: taskid , syncident , and tasks .
•
The instruction: WaitSyncTask .
•
The functions: TestAndSet , TaskRunMec , and TaskRunRob .
Note
TestAndSet , TaskRunMec , and TaskRunRob can be used without the option
Multitasking, but they are much more useful together with Multitasking.
Basic approach
This is the basic approach for setting up Multitasking. For more information, see
Debug strategies for setting up tasks on page 328 , and RAPID components on
page 327 .
1
Define the tasks you need.
2
Write RAPID code for each task.
3
Specify which modules to load in each task.
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9.1.1 Introduction to Multitasking
Continued
9.1.2 System parameters
About the system parameters
This is a brief description of each parameter in the option Multitasking . For more
information, see the respective parameter in Technical reference manual - System
parameters .
Task
These parameters belongs to the type Task in the topic Controller .
Description
Parameter
The name of the task.
Task
Note that the name of the task must be unique. This means that it cannot
have the same name as the mechanical unit, and no variable in the
RAPID program can have the same name.
Note that editing the task entry in the configuration editor and changing
the task name will remove the old task and add a new one. This means
that any program or module in the task will disappear after a restart with
these kind of changes.
Used to set priorities between tasks.
Task in fore-
ground
Task in foreground contains the name of the task that should run in the
foreground of this task. This means that the program of the task, for which
the parameter is set, will only execute if the foreground task program is
idle.
If Task in foreground is set to empty string for a task, it runs at the highest
level.
Controls the start/stop and system restart behavior:
•
Normal (NORMAL) - The task program is manually started and
stopped (e.g. from the FlexPendant). The task stops at emergency
stop.
•
Static (STATIC) - At a restart the task program continues from
where the it was. The task program is normally not stopped by the
FlexPendant or by emergency stop.
•
Semistatic (SEMISTATIC) - The task program restarts from the
beginning at restart. The task program is normally not stopped by
the FlexPendant or by emergency stop.
A task that controls a mechanical unit must be of the type normal .
Type
The name of the start routine for the task program.
Main entry
This parameter should be set to NO if the system is to accept unsolved
references in the program while linking a module, otherwise set to YES.
Check unre-
solved refer-
ences
TrustLevel defines the system behavior when a static or semistatic task
program is stopped (e.g. due to error):
•
SysFail - If the program of this task stops, the system will be set
to SYS_FAIL. This will cause the programs of all NORMAL tasks
to stop (static and semistatic tasks will continue execution if pos-
sible). No jogging or program start can be made. A restart is re-
quired.
•
SysHalt -If the program of this task stops, the programs of all
normal tasks will be stopped. If "motors on" is set, jogging is
possible, but not program start. A restart is required.
•
SysStop - If the program of this task stops, the programs of all
normal tasks will be stopped but are restartable. Jogging is also
possible.
•
NoSafety - Only the program of this task will stop.
TrustLevel
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9.1.2 System parameters
Description
Parameter
Indicates whether the task program can control robot movement with
RAPID move instructions.
MotionTask
Only one task can have MotionTask set to YES unless the option Mul-
tiMove is used.
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9.1.2 System parameters
About the system parameters
This is a brief description of each parameter in the option Multitasking . For more
information, see the respective parameter in Technical reference manual - System
parameters .
Task
These parameters belongs to the type Task in the topic Controller .
Description
Parameter
The name of the task.
Task
Note that the name of the task must be unique. This means that it cannot
have the same name as the mechanical unit, and no variable in the
RAPID program can have the same name.
Note that editing the task entry in the configuration editor and changing
the task name will remove the old task and add a new one. This means
that any program or module in the task will disappear after a restart with
these kind of changes.
Used to set priorities between tasks.
Task in fore-
ground
Task in foreground contains the name of the task that should run in the
foreground of this task. This means that the program of the task, for which
the parameter is set, will only execute if the foreground task program is
idle.
If Task in foreground is set to empty string for a task, it runs at the highest
level.
Controls the start/stop and system restart behavior:
•
Normal (NORMAL) - The task program is manually started and
stopped (e.g. from the FlexPendant). The task stops at emergency
stop.
•
Static (STATIC) - At a restart the task program continues from
where the it was. The task program is normally not stopped by the
FlexPendant or by emergency stop.
•
Semistatic (SEMISTATIC) - The task program restarts from the
beginning at restart. The task program is normally not stopped by
the FlexPendant or by emergency stop.
A task that controls a mechanical unit must be of the type normal .
Type
The name of the start routine for the task program.
Main entry
This parameter should be set to NO if the system is to accept unsolved
references in the program while linking a module, otherwise set to YES.
Check unre-
solved refer-
ences
TrustLevel defines the system behavior when a static or semistatic task
program is stopped (e.g. due to error):
•
SysFail - If the program of this task stops, the system will be set
to SYS_FAIL. This will cause the programs of all NORMAL tasks
to stop (static and semistatic tasks will continue execution if pos-
sible). No jogging or program start can be made. A restart is re-
quired.
•
SysHalt -If the program of this task stops, the programs of all
normal tasks will be stopped. If "motors on" is set, jogging is
possible, but not program start. A restart is required.
•
SysStop - If the program of this task stops, the programs of all
normal tasks will be stopped but are restartable. Jogging is also
possible.
•
NoSafety - Only the program of this task will stop.
TrustLevel
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9.1.2 System parameters
Description
Parameter
Indicates whether the task program can control robot movement with
RAPID move instructions.
MotionTask
Only one task can have MotionTask set to YES unless the option Mul-
tiMove is used.
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9.1.2 System parameters
Continued
9.1.3 RAPID components
Data types
This is a brief description of each data type in Multitasking. For more information,
see the respective data type in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Data type
taskid identify available tasks in the system.
taskid
This identity is defined by the system parameter Task , and cannot be
defined in the RAPID program. However, the data type taskid can be
used as a parameter when declaring a routine.
For code example, see taskid on page 345 .
syncident is used to identify the waiting point in the program, when
using the instruction WaitSyncTask .
syncident
The name of the syncident variable must be the same in all task pro-
grams.
For code example, see WaitSyncTask example on page 339 .
A variable of the data type tasks contains names of the tasks that will
be synchronized by the instruction WaitSyncTask .
tasks
For code example, see WaitSyncTask example on page 339 .
Instructions
This is a brief description of each instruction in Multitasking. For more information,
see the respective instruction in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Instruction
WaitSyncTask is used to synchronize several task programs at a special
point in the program.
WaitSyncTask
A WaitSyncTask instruction will delay program execution and wait for
the other task programs. When all task programs have reached the point,
the respective program will continue its execution.
For code example, see WaitSyncTask example on page 339 .
Functions
This is a brief description of each function in Multitasking. For more information,
see the respective function in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Function
TestAndSet is used, together with a boolean flag, to ensure that only one
task program at the time use a specific RAPID code area or system re-
source.
TestAndSet
For code example, see Example with flag and TestAndSet on page 343 .
Check if the task program controls any mechanical unit (robot or other
unit).
TaskRunMec
For code example, see Test if task controls mechanical unit on page 344 .
Check if the task program controls any robot with TCP.
TaskRunRob
For code example, see Test if task controls mechanical unit on page 344 .
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Description
Parameter
Indicates whether the task program can control robot movement with
RAPID move instructions.
MotionTask
Only one task can have MotionTask set to YES unless the option Mul-
tiMove is used.
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9.1.2 System parameters
Continued
9.1.3 RAPID components
Data types
This is a brief description of each data type in Multitasking. For more information,
see the respective data type in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Data type
taskid identify available tasks in the system.
taskid
This identity is defined by the system parameter Task , and cannot be
defined in the RAPID program. However, the data type taskid can be
used as a parameter when declaring a routine.
For code example, see taskid on page 345 .
syncident is used to identify the waiting point in the program, when
using the instruction WaitSyncTask .
syncident
The name of the syncident variable must be the same in all task pro-
grams.
For code example, see WaitSyncTask example on page 339 .
A variable of the data type tasks contains names of the tasks that will
be synchronized by the instruction WaitSyncTask .
tasks
For code example, see WaitSyncTask example on page 339 .
Instructions
This is a brief description of each instruction in Multitasking. For more information,
see the respective instruction in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Instruction
WaitSyncTask is used to synchronize several task programs at a special
point in the program.
WaitSyncTask
A WaitSyncTask instruction will delay program execution and wait for
the other task programs. When all task programs have reached the point,
the respective program will continue its execution.
For code example, see WaitSyncTask example on page 339 .
Functions
This is a brief description of each function in Multitasking. For more information,
see the respective function in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Function
TestAndSet is used, together with a boolean flag, to ensure that only one
task program at the time use a specific RAPID code area or system re-
source.
TestAndSet
For code example, see Example with flag and TestAndSet on page 343 .
Check if the task program controls any mechanical unit (robot or other
unit).
TaskRunMec
For code example, see Test if task controls mechanical unit on page 344 .
Check if the task program controls any robot with TCP.
TaskRunRob
For code example, see Test if task controls mechanical unit on page 344 .
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9.1.3 RAPID components
9.1.4 Task configuration
9.1.4.1 Debug strategies for setting up tasks
Tip
The instructions below show the safe way to make updates. By setting the
parameter Type to NORMAL and TrustLevel to NoSafety the task program will
be easier to test and any error that may occur will be easier to correct.
If you are certain that the code you introduce is correct, you can skip changing
values for Type and TrustLevel . If you do not change any system parameters
you may not have to do any restart mode.
Setting up tasks
Follow this instruction when adding a new task to your system.
1
Define the new task by adding an instance of the system parameter type
Task , in the topic Controller .
2
Set the parameter Type to NORMAL.
This will make it easier to create and test the modules in the task.
3
Create the modules that should be in the task, either from the FlexPendant
or offline, and save them.
4
In the system parameters for topic Controller and type Automatic loading of
Modules , specify all modules that should be preloaded to the new task.
For NORMAL tasks the modules can be loaded later, but STATIC or
SEMISTATIC tasks the modules must be preloaded.
5
Stop the controller.
6
In Motors on state, test and debug the modules until the functionality is
satisfactory.
7
Change the parameters Type and TrustLevel to desired values (e.g.
SEMISTATIC and SysFail).
8
Restart the system.
Make changes to task program
Follow this instruction when editing a program in an existing task with Type set to
STATIC or SEMISTATIC.
Action
Change the system parameter TrustLevel to NoSafety.
1
This will make it possible to change and test the modules in the task.
If the system parameter needed to be changed, restart the controller.
2
On the FlexPendant, start the Control Panel from the ABB menu. Then tap FlexPendant
and Task Panel Settings . Select All tasks and tap OK .
3
In the Quickset menu, select which tasks to start and stop manually. See Select which
tasks to start with START button on page 333 .
4
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9.1.3 RAPID components
Data types
This is a brief description of each data type in Multitasking. For more information,
see the respective data type in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Data type
taskid identify available tasks in the system.
taskid
This identity is defined by the system parameter Task , and cannot be
defined in the RAPID program. However, the data type taskid can be
used as a parameter when declaring a routine.
For code example, see taskid on page 345 .
syncident is used to identify the waiting point in the program, when
using the instruction WaitSyncTask .
syncident
The name of the syncident variable must be the same in all task pro-
grams.
For code example, see WaitSyncTask example on page 339 .
A variable of the data type tasks contains names of the tasks that will
be synchronized by the instruction WaitSyncTask .
tasks
For code example, see WaitSyncTask example on page 339 .
Instructions
This is a brief description of each instruction in Multitasking. For more information,
see the respective instruction in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Instruction
WaitSyncTask is used to synchronize several task programs at a special
point in the program.
WaitSyncTask
A WaitSyncTask instruction will delay program execution and wait for
the other task programs. When all task programs have reached the point,
the respective program will continue its execution.
For code example, see WaitSyncTask example on page 339 .
Functions
This is a brief description of each function in Multitasking. For more information,
see the respective function in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Function
TestAndSet is used, together with a boolean flag, to ensure that only one
task program at the time use a specific RAPID code area or system re-
source.
TestAndSet
For code example, see Example with flag and TestAndSet on page 343 .
Check if the task program controls any mechanical unit (robot or other
unit).
TaskRunMec
For code example, see Test if task controls mechanical unit on page 344 .
Check if the task program controls any robot with TCP.
TaskRunRob
For code example, see Test if task controls mechanical unit on page 344 .
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9.1.3 RAPID components
9.1.4 Task configuration
9.1.4.1 Debug strategies for setting up tasks
Tip
The instructions below show the safe way to make updates. By setting the
parameter Type to NORMAL and TrustLevel to NoSafety the task program will
be easier to test and any error that may occur will be easier to correct.
If you are certain that the code you introduce is correct, you can skip changing
values for Type and TrustLevel . If you do not change any system parameters
you may not have to do any restart mode.
Setting up tasks
Follow this instruction when adding a new task to your system.
1
Define the new task by adding an instance of the system parameter type
Task , in the topic Controller .
2
Set the parameter Type to NORMAL.
This will make it easier to create and test the modules in the task.
3
Create the modules that should be in the task, either from the FlexPendant
or offline, and save them.
4
In the system parameters for topic Controller and type Automatic loading of
Modules , specify all modules that should be preloaded to the new task.
For NORMAL tasks the modules can be loaded later, but STATIC or
SEMISTATIC tasks the modules must be preloaded.
5
Stop the controller.
6
In Motors on state, test and debug the modules until the functionality is
satisfactory.
7
Change the parameters Type and TrustLevel to desired values (e.g.
SEMISTATIC and SysFail).
8
Restart the system.
Make changes to task program
Follow this instruction when editing a program in an existing task with Type set to
STATIC or SEMISTATIC.
Action
Change the system parameter TrustLevel to NoSafety.
1
This will make it possible to change and test the modules in the task.
If the system parameter needed to be changed, restart the controller.
2
On the FlexPendant, start the Control Panel from the ABB menu. Then tap FlexPendant
and Task Panel Settings . Select All tasks and tap OK .
3
In the Quickset menu, select which tasks to start and stop manually. See Select which
tasks to start with START button on page 333 .
4
Continues on next page
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9.1.4.1 Debug strategies for setting up tasks
Action
Press the STOP button to stop the selected STATIC and SEMISTATIC tasks.
5
Start the Program Editor .
6
The STATIC and SEMISTATIC tasks are now also editable.
Change, test, and save the modules.
7
Start the Control Panel again and open the Task Panel Settings . Select Only Normal
tasks and tap OK .
8
Change the parameter TrustLevel back to desired value (e.g. SysFail).
9
Restart the system.
10
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9.1.4.1 Debug strategies for setting up tasks
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9.1.4 Task configuration
9.1.4.1 Debug strategies for setting up tasks
Tip
The instructions below show the safe way to make updates. By setting the
parameter Type to NORMAL and TrustLevel to NoSafety the task program will
be easier to test and any error that may occur will be easier to correct.
If you are certain that the code you introduce is correct, you can skip changing
values for Type and TrustLevel . If you do not change any system parameters
you may not have to do any restart mode.
Setting up tasks
Follow this instruction when adding a new task to your system.
1
Define the new task by adding an instance of the system parameter type
Task , in the topic Controller .
2
Set the parameter Type to NORMAL.
This will make it easier to create and test the modules in the task.
3
Create the modules that should be in the task, either from the FlexPendant
or offline, and save them.
4
In the system parameters for topic Controller and type Automatic loading of
Modules , specify all modules that should be preloaded to the new task.
For NORMAL tasks the modules can be loaded later, but STATIC or
SEMISTATIC tasks the modules must be preloaded.
5
Stop the controller.
6
In Motors on state, test and debug the modules until the functionality is
satisfactory.
7
Change the parameters Type and TrustLevel to desired values (e.g.
SEMISTATIC and SysFail).
8
Restart the system.
Make changes to task program
Follow this instruction when editing a program in an existing task with Type set to
STATIC or SEMISTATIC.
Action
Change the system parameter TrustLevel to NoSafety.
1
This will make it possible to change and test the modules in the task.
If the system parameter needed to be changed, restart the controller.
2
On the FlexPendant, start the Control Panel from the ABB menu. Then tap FlexPendant
and Task Panel Settings . Select All tasks and tap OK .
3
In the Quickset menu, select which tasks to start and stop manually. See Select which
tasks to start with START button on page 333 .
4
Continues on next page
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9.1.4.1 Debug strategies for setting up tasks
Action
Press the STOP button to stop the selected STATIC and SEMISTATIC tasks.
5
Start the Program Editor .
6
The STATIC and SEMISTATIC tasks are now also editable.
Change, test, and save the modules.
7
Start the Control Panel again and open the Task Panel Settings . Select Only Normal
tasks and tap OK .
8
Change the parameter TrustLevel back to desired value (e.g. SysFail).
9
Restart the system.
10
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9.1.4.1 Debug strategies for setting up tasks
Continued
9.1.4.2 Priorities
How priorities work
The default behavior is that all task programs run at the same priority, in a Round
Robin way.
It is possible to change the priority of one task by setting it in the background of
another task. Then the program of the background task will only execute when the
foreground task program is idle, waiting for an event, for example. Another situation
when the background task program will execute is when the foreground task
program has executed a move instruction, as the foreground task will then have
to wait until the robot has moved .
To set a task in the background of another task, use the parameter Task in
foreground .
Example of priorities
6 tasks are used, with Task in foreground set as shown in the table below.
Task in foreground
Task name
MAIN
MAIN
BACK1
BACK1
BACK2
BACK1
BACK3
SUP1
SUP1
SUP2
The priority structure will then look like this:
![Image]
en0300000451
The programs of the tasks MAIN and SUP1 will take turns in executing an instruction
each (Case 1 in figure below).
If the MAIN task program is idle, the programs of BACK1 and SUP1 will take turns
in executing an instruction each (Case 2 in figure below).
Continues on next page
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Action
Press the STOP button to stop the selected STATIC and SEMISTATIC tasks.
5
Start the Program Editor .
6
The STATIC and SEMISTATIC tasks are now also editable.
Change, test, and save the modules.
7
Start the Control Panel again and open the Task Panel Settings . Select Only Normal
tasks and tap OK .
8
Change the parameter TrustLevel back to desired value (e.g. SysFail).
9
Restart the system.
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9.1.4.1 Debug strategies for setting up tasks
Continued
9.1.4.2 Priorities
How priorities work
The default behavior is that all task programs run at the same priority, in a Round
Robin way.
It is possible to change the priority of one task by setting it in the background of
another task. Then the program of the background task will only execute when the
foreground task program is idle, waiting for an event, for example. Another situation
when the background task program will execute is when the foreground task
program has executed a move instruction, as the foreground task will then have
to wait until the robot has moved .
To set a task in the background of another task, use the parameter Task in
foreground .
Example of priorities
6 tasks are used, with Task in foreground set as shown in the table below.
Task in foreground
Task name
MAIN
MAIN
BACK1
BACK1
BACK2
BACK1
BACK3
SUP1
SUP1
SUP2
The priority structure will then look like this:
![Image]
en0300000451
The programs of the tasks MAIN and SUP1 will take turns in executing an instruction
each (Case 1 in figure below).
If the MAIN task program is idle, the programs of BACK1 and SUP1 will take turns
in executing an instruction each (Case 2 in figure below).
Continues on next page
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9.1.4.2 Priorities
If both MAIN and BACK1 task programs are idle, the programs of BACK2, BACK3,
and SUP1 will take turns in executing an instruction each (Case 3 in figure below).
![Image]
en0300000479
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9.1.4.2 Priorities
Continued
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9.1.4.2 Priorities
How priorities work
The default behavior is that all task programs run at the same priority, in a Round
Robin way.
It is possible to change the priority of one task by setting it in the background of
another task. Then the program of the background task will only execute when the
foreground task program is idle, waiting for an event, for example. Another situation
when the background task program will execute is when the foreground task
program has executed a move instruction, as the foreground task will then have
to wait until the robot has moved .
To set a task in the background of another task, use the parameter Task in
foreground .
Example of priorities
6 tasks are used, with Task in foreground set as shown in the table below.
Task in foreground
Task name
MAIN
MAIN
BACK1
BACK1
BACK2
BACK1
BACK3
SUP1
SUP1
SUP2
The priority structure will then look like this:
![Image]
en0300000451
The programs of the tasks MAIN and SUP1 will take turns in executing an instruction
each (Case 1 in figure below).
If the MAIN task program is idle, the programs of BACK1 and SUP1 will take turns
in executing an instruction each (Case 2 in figure below).
Continues on next page
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9.1.4.2 Priorities
If both MAIN and BACK1 task programs are idle, the programs of BACK2, BACK3,
and SUP1 will take turns in executing an instruction each (Case 3 in figure below).
![Image]
en0300000479
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9.1.4.2 Priorities
Continued
9.1.4.3 Task Panel Settings
Purpose of Task Panel Settings
The default behavior is that only NORMAL tasks are started and stopped with the
START and STOP buttons. In the Task Selection Panel you can select which
NORMAL tasks to start and stop, see Select which tasks to start with START button
on page 333 .
In the Task Panel Settings the default behavior can be altered so that STATIC and
SEMISTATIC tasks also can be stepped, started and stopped with the START and
STOP buttons. However, these tasks can only be started and stopped if they have
TrustLevel set to NoSafety and they can only be started and stopped in manual
mode.
Allow selection of STATIC and SEMISTATIC tasks in tasks panel
The following procedure details how to make STATIC and SEMISTATIC tasks
selectable in the tasks panel.
Action
On the ABB menu, tap Control Panel , then FlexPendant and then Task Panel Settings .
1
Select All tasks (Normal/Static/Semistatic) with trustlevel nosafety and tap OK .
2
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If both MAIN and BACK1 task programs are idle, the programs of BACK2, BACK3,
and SUP1 will take turns in executing an instruction each (Case 3 in figure below).
![Image]
en0300000479
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9.1.4.2 Priorities
Continued
9.1.4.3 Task Panel Settings
Purpose of Task Panel Settings
The default behavior is that only NORMAL tasks are started and stopped with the
START and STOP buttons. In the Task Selection Panel you can select which
NORMAL tasks to start and stop, see Select which tasks to start with START button
on page 333 .
In the Task Panel Settings the default behavior can be altered so that STATIC and
SEMISTATIC tasks also can be stepped, started and stopped with the START and
STOP buttons. However, these tasks can only be started and stopped if they have
TrustLevel set to NoSafety and they can only be started and stopped in manual
mode.
Allow selection of STATIC and SEMISTATIC tasks in tasks panel
The following procedure details how to make STATIC and SEMISTATIC tasks
selectable in the tasks panel.
Action
On the ABB menu, tap Control Panel , then FlexPendant and then Task Panel Settings .
1
Select All tasks (Normal/Static/Semistatic) with trustlevel nosafety and tap OK .
2
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9.1.4.3 Task Panel Settings
9.1.4.4 Select which tasks to start with START button
Background
The default behavior is that the programs of all NORMAL tasks are started
simultaneously when pressing the START button. However, not all NORMAL task
programs need to run at the same time. It is possible to select which of the NORMAL
task programs will start when pressing the START button.
If All Tasks is selected in the Task Panel Settings , the programs of all STATIC
and SEMISTATIC tasks with TrustLevel set to NoSafety can be selected to be
started with the START button, forward stepped with the FWD button, backward
stepped with the BWD button, and stopped with the STOP button.
If Task Panel Settings is set to Only Normal tasks , all STATIC and SEMISTATIC
tasks are greyed out and cannot be selected in the task panel, Quickset menu (see
Operating manual - IRC5 with FlexPendant , section Quickset menu ). All STATIC
and SEMISTATIC tasks will be started if the start button is pressed.
If Task Panel Settings is set to All tasks , STATIC and SEMISTATIC tasks with
TrustLevel NoSafety can be selected in the task panel. All selected STATIC and
SEMISTATIC tasks can be stopped, stepped, and started. .
A STATIC or SEMISTATIC task, not selected in the task panel, can still be executing.
This is not possible for a NORMAL task.
Run Mode is always continuous for STATIC and SEMISTATIC tasks. The Run Mode
setting in the Quickset menu is only applicable for NORMAL tasks (see Operating
manual - IRC5 with FlexPendant , section Quickset menu ).
This will only work in manual mode, no STATIC or SEMISTATIC task can be started,
stepped, or stopped in auto mode.
Task Panel Settings
To start the Task Panel Settings , tap the ABB menu, and then Control Panel ,
FlexPendant and Task Panel Settings .
Selecting tasks
Use this procedure to select which of the tasks are to be started with the START
button.
Action
Set the controller to manual mode.
1
On the FlexPendant, tap the QuickSet button and then the tasks panel button to show
all tasks.
2
If Task Panel Settings is set to Only Normal tasks , all STATIC and SEMISTATIC tasks
are greyed out and cannot be selected.
If Task Panel Settings is set to All tasks , STATIC and SEMISTATIC tasks with Trust-
Level NoSafety can be selected, while STATIC and SEMISTATIC tasks with TrustLevel
set to other values are grayed out and cannot be selected.
Select the check boxes for the tasks whose program should be started by the START
button.
3
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9.1.4.3 Task Panel Settings
Purpose of Task Panel Settings
The default behavior is that only NORMAL tasks are started and stopped with the
START and STOP buttons. In the Task Selection Panel you can select which
NORMAL tasks to start and stop, see Select which tasks to start with START button
on page 333 .
In the Task Panel Settings the default behavior can be altered so that STATIC and
SEMISTATIC tasks also can be stepped, started and stopped with the START and
STOP buttons. However, these tasks can only be started and stopped if they have
TrustLevel set to NoSafety and they can only be started and stopped in manual
mode.
Allow selection of STATIC and SEMISTATIC tasks in tasks panel
The following procedure details how to make STATIC and SEMISTATIC tasks
selectable in the tasks panel.
Action
On the ABB menu, tap Control Panel , then FlexPendant and then Task Panel Settings .
1
Select All tasks (Normal/Static/Semistatic) with trustlevel nosafety and tap OK .
2
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9.1.4.3 Task Panel Settings
9.1.4.4 Select which tasks to start with START button
Background
The default behavior is that the programs of all NORMAL tasks are started
simultaneously when pressing the START button. However, not all NORMAL task
programs need to run at the same time. It is possible to select which of the NORMAL
task programs will start when pressing the START button.
If All Tasks is selected in the Task Panel Settings , the programs of all STATIC
and SEMISTATIC tasks with TrustLevel set to NoSafety can be selected to be
started with the START button, forward stepped with the FWD button, backward
stepped with the BWD button, and stopped with the STOP button.
If Task Panel Settings is set to Only Normal tasks , all STATIC and SEMISTATIC
tasks are greyed out and cannot be selected in the task panel, Quickset menu (see
Operating manual - IRC5 with FlexPendant , section Quickset menu ). All STATIC
and SEMISTATIC tasks will be started if the start button is pressed.
If Task Panel Settings is set to All tasks , STATIC and SEMISTATIC tasks with
TrustLevel NoSafety can be selected in the task panel. All selected STATIC and
SEMISTATIC tasks can be stopped, stepped, and started. .
A STATIC or SEMISTATIC task, not selected in the task panel, can still be executing.
This is not possible for a NORMAL task.
Run Mode is always continuous for STATIC and SEMISTATIC tasks. The Run Mode
setting in the Quickset menu is only applicable for NORMAL tasks (see Operating
manual - IRC5 with FlexPendant , section Quickset menu ).
This will only work in manual mode, no STATIC or SEMISTATIC task can be started,
stepped, or stopped in auto mode.
Task Panel Settings
To start the Task Panel Settings , tap the ABB menu, and then Control Panel ,
FlexPendant and Task Panel Settings .
Selecting tasks
Use this procedure to select which of the tasks are to be started with the START
button.
Action
Set the controller to manual mode.
1
On the FlexPendant, tap the QuickSet button and then the tasks panel button to show
all tasks.
2
If Task Panel Settings is set to Only Normal tasks , all STATIC and SEMISTATIC tasks
are greyed out and cannot be selected.
If Task Panel Settings is set to All tasks , STATIC and SEMISTATIC tasks with Trust-
Level NoSafety can be selected, while STATIC and SEMISTATIC tasks with TrustLevel
set to other values are grayed out and cannot be selected.
Select the check boxes for the tasks whose program should be started by the START
button.
3
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9.1.4.4 Select which tasks to start with START button
Resetting debug settings in manual mode
Use this procedure to resume normal execution manual mode.
Action
Select Only Normal tasks in the Task Panel Settings .
1
Press START button.
2
All STATIC and SEMISTATIC will run continuously and not be stopped by the STOP
button or emergency stop.
Switching to auto mode
When switching to auto mode, all STATIC and SEMISTATIC tasks will be deselected
from the tasks panel. The stopped STATIC and SEMISTATIC tasks will start next
time any of the START, FWD or BWD button are pressed. These tasks will then
run continuously forward and not be stopped by the STOP button or emergency
stop.
What happens with NORMAL tasks that has been deselected in the tasks panel
depends on the system parameter Reset in type Auto Condition Reset in topic
Controller . If Reset is set to Yes, all NORMAL tasks will be selected in the tasks
panel and be started with the START button. If Reset is set to No, only those
NORMAL tasks selected in tasks panel will be started by the START button.
Note
Note that changing the value of the system parameter Reset will affect all the
debug resettings (for example speed override and simulated I/O). For more
information, see Technical reference manual - System parameters , section Auto
Condition Reset .
Restarting the controller
If the controller is restarted, all NORMAL tasks will keep their status while all
STATIC and SEMISTATIC tasks will be deselected from the tasks panel. As the
controller starts up all STATIC and SEMISTATIC tasks will be started and then run
continuously.
Deselect task in synchronized mode
If a task is in a synchronized mode, that is program pointer between SyncMoveOn
and SyncMoveOff , the task can be deselected but not reselected. The task cannot
be selected until the synchronization is terminated. If the execution continues, the
synchronization will eventually be terminated for the other tasks, but not for the
deselected task. The synchronization can be terminated for this task by moving
the program pointer to main or to a routine.
If the system parameter Reset is set to Yes, any attempt to change to Auto mode
will fail while a deselected task is in synchronized mode. Changing to Auto mode
should make all NORMAL tasks selected, and when this is not possible it is not
possible to change to Auto mode.
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9.1.4.4 Select which tasks to start with START button
Continued
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9.1.4.4 Select which tasks to start with START button
Background
The default behavior is that the programs of all NORMAL tasks are started
simultaneously when pressing the START button. However, not all NORMAL task
programs need to run at the same time. It is possible to select which of the NORMAL
task programs will start when pressing the START button.
If All Tasks is selected in the Task Panel Settings , the programs of all STATIC
and SEMISTATIC tasks with TrustLevel set to NoSafety can be selected to be
started with the START button, forward stepped with the FWD button, backward
stepped with the BWD button, and stopped with the STOP button.
If Task Panel Settings is set to Only Normal tasks , all STATIC and SEMISTATIC
tasks are greyed out and cannot be selected in the task panel, Quickset menu (see
Operating manual - IRC5 with FlexPendant , section Quickset menu ). All STATIC
and SEMISTATIC tasks will be started if the start button is pressed.
If Task Panel Settings is set to All tasks , STATIC and SEMISTATIC tasks with
TrustLevel NoSafety can be selected in the task panel. All selected STATIC and
SEMISTATIC tasks can be stopped, stepped, and started. .
A STATIC or SEMISTATIC task, not selected in the task panel, can still be executing.
This is not possible for a NORMAL task.
Run Mode is always continuous for STATIC and SEMISTATIC tasks. The Run Mode
setting in the Quickset menu is only applicable for NORMAL tasks (see Operating
manual - IRC5 with FlexPendant , section Quickset menu ).
This will only work in manual mode, no STATIC or SEMISTATIC task can be started,
stepped, or stopped in auto mode.
Task Panel Settings
To start the Task Panel Settings , tap the ABB menu, and then Control Panel ,
FlexPendant and Task Panel Settings .
Selecting tasks
Use this procedure to select which of the tasks are to be started with the START
button.
Action
Set the controller to manual mode.
1
On the FlexPendant, tap the QuickSet button and then the tasks panel button to show
all tasks.
2
If Task Panel Settings is set to Only Normal tasks , all STATIC and SEMISTATIC tasks
are greyed out and cannot be selected.
If Task Panel Settings is set to All tasks , STATIC and SEMISTATIC tasks with Trust-
Level NoSafety can be selected, while STATIC and SEMISTATIC tasks with TrustLevel
set to other values are grayed out and cannot be selected.
Select the check boxes for the tasks whose program should be started by the START
button.
3
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9.1.4.4 Select which tasks to start with START button
Resetting debug settings in manual mode
Use this procedure to resume normal execution manual mode.
Action
Select Only Normal tasks in the Task Panel Settings .
1
Press START button.
2
All STATIC and SEMISTATIC will run continuously and not be stopped by the STOP
button or emergency stop.
Switching to auto mode
When switching to auto mode, all STATIC and SEMISTATIC tasks will be deselected
from the tasks panel. The stopped STATIC and SEMISTATIC tasks will start next
time any of the START, FWD or BWD button are pressed. These tasks will then
run continuously forward and not be stopped by the STOP button or emergency
stop.
What happens with NORMAL tasks that has been deselected in the tasks panel
depends on the system parameter Reset in type Auto Condition Reset in topic
Controller . If Reset is set to Yes, all NORMAL tasks will be selected in the tasks
panel and be started with the START button. If Reset is set to No, only those
NORMAL tasks selected in tasks panel will be started by the START button.
Note
Note that changing the value of the system parameter Reset will affect all the
debug resettings (for example speed override and simulated I/O). For more
information, see Technical reference manual - System parameters , section Auto
Condition Reset .
Restarting the controller
If the controller is restarted, all NORMAL tasks will keep their status while all
STATIC and SEMISTATIC tasks will be deselected from the tasks panel. As the
controller starts up all STATIC and SEMISTATIC tasks will be started and then run
continuously.
Deselect task in synchronized mode
If a task is in a synchronized mode, that is program pointer between SyncMoveOn
and SyncMoveOff , the task can be deselected but not reselected. The task cannot
be selected until the synchronization is terminated. If the execution continues, the
synchronization will eventually be terminated for the other tasks, but not for the
deselected task. The synchronization can be terminated for this task by moving
the program pointer to main or to a routine.
If the system parameter Reset is set to Yes, any attempt to change to Auto mode
will fail while a deselected task is in synchronized mode. Changing to Auto mode
should make all NORMAL tasks selected, and when this is not possible it is not
possible to change to Auto mode.
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9.1.4.4 Select which tasks to start with START button
Continued
9.1.5 Communication between tasks
9.1.5.1 Persistent variables
About persistent variables
To share data between tasks, use persistent variables.
A persistent variable is global in all tasks where it is declared. The persistent
variable must be declared as the same type and size (array dimension) in all tasks.
Otherwise a runtime error will occur.
It is sufficient to specify an initial value for the persistent variable in one task. If
initial values are specified in several tasks, only the initial value of the first module
to load will be used.
Tip
When a program is saved, the current value of a persistent variable will be used
as initial value in the future. If this is not desired, reset the persistent variable
directly after the communication.
Example with persistent variable
In this example the persistent variables startsync and stringtosend are
accessed by both tasks, and can therefore be used for communication between
the task programs.
Main task program:
MODULE module1
PERS bool startsync:=FALSE;
PERS string stringtosend:="";
PROC main()
stringtosend:="this is a test";
startsync:= TRUE
ENDPROC
ENDMODULE
Background task program:
MODULE module2
PERS bool startsync;
PERS string stringtosend;
PROC main()
WaitUntil startsync;
IF stringtosend = "this is a test" THEN
...
ENDIF
!reset persistent variables
startsync:=FALSE;
stringtosend:="";
ENDPROC
ENDMODULE
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9.1.5.1 Persistent variables
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Resetting debug settings in manual mode
Use this procedure to resume normal execution manual mode.
Action
Select Only Normal tasks in the Task Panel Settings .
1
Press START button.
2
All STATIC and SEMISTATIC will run continuously and not be stopped by the STOP
button or emergency stop.
Switching to auto mode
When switching to auto mode, all STATIC and SEMISTATIC tasks will be deselected
from the tasks panel. The stopped STATIC and SEMISTATIC tasks will start next
time any of the START, FWD or BWD button are pressed. These tasks will then
run continuously forward and not be stopped by the STOP button or emergency
stop.
What happens with NORMAL tasks that has been deselected in the tasks panel
depends on the system parameter Reset in type Auto Condition Reset in topic
Controller . If Reset is set to Yes, all NORMAL tasks will be selected in the tasks
panel and be started with the START button. If Reset is set to No, only those
NORMAL tasks selected in tasks panel will be started by the START button.
Note
Note that changing the value of the system parameter Reset will affect all the
debug resettings (for example speed override and simulated I/O). For more
information, see Technical reference manual - System parameters , section Auto
Condition Reset .
Restarting the controller
If the controller is restarted, all NORMAL tasks will keep their status while all
STATIC and SEMISTATIC tasks will be deselected from the tasks panel. As the
controller starts up all STATIC and SEMISTATIC tasks will be started and then run
continuously.
Deselect task in synchronized mode
If a task is in a synchronized mode, that is program pointer between SyncMoveOn
and SyncMoveOff , the task can be deselected but not reselected. The task cannot
be selected until the synchronization is terminated. If the execution continues, the
synchronization will eventually be terminated for the other tasks, but not for the
deselected task. The synchronization can be terminated for this task by moving
the program pointer to main or to a routine.
If the system parameter Reset is set to Yes, any attempt to change to Auto mode
will fail while a deselected task is in synchronized mode. Changing to Auto mode
should make all NORMAL tasks selected, and when this is not possible it is not
possible to change to Auto mode.
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9.1.4.4 Select which tasks to start with START button
Continued
9.1.5 Communication between tasks
9.1.5.1 Persistent variables
About persistent variables
To share data between tasks, use persistent variables.
A persistent variable is global in all tasks where it is declared. The persistent
variable must be declared as the same type and size (array dimension) in all tasks.
Otherwise a runtime error will occur.
It is sufficient to specify an initial value for the persistent variable in one task. If
initial values are specified in several tasks, only the initial value of the first module
to load will be used.
Tip
When a program is saved, the current value of a persistent variable will be used
as initial value in the future. If this is not desired, reset the persistent variable
directly after the communication.
Example with persistent variable
In this example the persistent variables startsync and stringtosend are
accessed by both tasks, and can therefore be used for communication between
the task programs.
Main task program:
MODULE module1
PERS bool startsync:=FALSE;
PERS string stringtosend:="";
PROC main()
stringtosend:="this is a test";
startsync:= TRUE
ENDPROC
ENDMODULE
Background task program:
MODULE module2
PERS bool startsync;
PERS string stringtosend;
PROC main()
WaitUntil startsync;
IF stringtosend = "this is a test" THEN
...
ENDIF
!reset persistent variables
startsync:=FALSE;
stringtosend:="";
ENDPROC
ENDMODULE
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9.1.5.1 Persistent variables
Module for common data
When using persistent variables in several tasks, there should be declarations in
all the tasks. The best way to do this, to avoid type errors or forgetting a declaration
somewhere, is to declare all common variables in a system module. The system
module can then be loaded into all tasks that require the variables.
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9.1.5.1 Persistent variables
Continued
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9.1.5 Communication between tasks
9.1.5.1 Persistent variables
About persistent variables
To share data between tasks, use persistent variables.
A persistent variable is global in all tasks where it is declared. The persistent
variable must be declared as the same type and size (array dimension) in all tasks.
Otherwise a runtime error will occur.
It is sufficient to specify an initial value for the persistent variable in one task. If
initial values are specified in several tasks, only the initial value of the first module
to load will be used.
Tip
When a program is saved, the current value of a persistent variable will be used
as initial value in the future. If this is not desired, reset the persistent variable
directly after the communication.
Example with persistent variable
In this example the persistent variables startsync and stringtosend are
accessed by both tasks, and can therefore be used for communication between
the task programs.
Main task program:
MODULE module1
PERS bool startsync:=FALSE;
PERS string stringtosend:="";
PROC main()
stringtosend:="this is a test";
startsync:= TRUE
ENDPROC
ENDMODULE
Background task program:
MODULE module2
PERS bool startsync;
PERS string stringtosend;
PROC main()
WaitUntil startsync;
IF stringtosend = "this is a test" THEN
...
ENDIF
!reset persistent variables
startsync:=FALSE;
stringtosend:="";
ENDPROC
ENDMODULE
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9.1.5.1 Persistent variables
Module for common data
When using persistent variables in several tasks, there should be declarations in
all the tasks. The best way to do this, to avoid type errors or forgetting a declaration
somewhere, is to declare all common variables in a system module. The system
module can then be loaded into all tasks that require the variables.
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9.1.5.1 Persistent variables
Continued
9.1.5.2 Waiting for other tasks
Two techniques
Some applications have task programs that execute independently of other tasks,
but often task programs need to know what other tasks are doing.
A task program can be made to wait for another task program. This is accomplished
either by setting a persistent variable that the other task program can poll, or by
setting a signal that the other task program can connect to an interrupt.
Polling
This is the easiest way to make a task program wait for another, but the performance
will be the slowest. Persistent variables are used together with the instructions
WaitUntil or WHILE .
If the instruction WaitUntil is used, it will poll internally every 100 ms.
CAUTION
Do not poll more frequently than every 100 ms. A loop that polls without a wait
instruction can cause overload, resulting in lost contact with the FlexPendant.
Polling example
Main task program:
MODULE module1
PERS bool startsync:=FALSE;
PROC main()
startsync:= TRUE;
...
ENDPROC
ENDMODULE
Background task program:
MODULE module2
PERS bool startsync:=FALSE;
PROC main()
WaitUntil startsync;
! This is the point where the execution
! continues after startsync is set to TRUE
...
ENDPROC
ENDMODULE
Interrupt
By setting a signal in one task program and using an interrupt in another task
program, quick response is obtained without the work load caused by polling.
The drawback is that the code executed after the interrupt must be placed in a trap
routine.
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Module for common data
When using persistent variables in several tasks, there should be declarations in
all the tasks. The best way to do this, to avoid type errors or forgetting a declaration
somewhere, is to declare all common variables in a system module. The system
module can then be loaded into all tasks that require the variables.
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9.1.5.1 Persistent variables
Continued
9.1.5.2 Waiting for other tasks
Two techniques
Some applications have task programs that execute independently of other tasks,
but often task programs need to know what other tasks are doing.
A task program can be made to wait for another task program. This is accomplished
either by setting a persistent variable that the other task program can poll, or by
setting a signal that the other task program can connect to an interrupt.
Polling
This is the easiest way to make a task program wait for another, but the performance
will be the slowest. Persistent variables are used together with the instructions
WaitUntil or WHILE .
If the instruction WaitUntil is used, it will poll internally every 100 ms.
CAUTION
Do not poll more frequently than every 100 ms. A loop that polls without a wait
instruction can cause overload, resulting in lost contact with the FlexPendant.
Polling example
Main task program:
MODULE module1
PERS bool startsync:=FALSE;
PROC main()
startsync:= TRUE;
...
ENDPROC
ENDMODULE
Background task program:
MODULE module2
PERS bool startsync:=FALSE;
PROC main()
WaitUntil startsync;
! This is the point where the execution
! continues after startsync is set to TRUE
...
ENDPROC
ENDMODULE
Interrupt
By setting a signal in one task program and using an interrupt in another task
program, quick response is obtained without the work load caused by polling.
The drawback is that the code executed after the interrupt must be placed in a trap
routine.
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9.1.5.2 Waiting for other tasks
Interrupt example
Main task program:
MODULE module1
PROC main()
SetDO do1,1;
...
ENDPROC
ENDMODULE
Background task program:
MODULE module2
VAR intnum intno1;
PROC main()
CONNECT intno1 WITH wait_trap;
ISignalDO do1, 1, intno1;
WHILE TRUE DO
WaitTime 10;
ENDWHILE
ENDPROC
TRAP wait_trap
! This is the point where the execution
! continues after do1 is set in main task
...
IDelete intno1;
ENDTRAP
ENDMODULE
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9.1.5.2 Waiting for other tasks
Two techniques
Some applications have task programs that execute independently of other tasks,
but often task programs need to know what other tasks are doing.
A task program can be made to wait for another task program. This is accomplished
either by setting a persistent variable that the other task program can poll, or by
setting a signal that the other task program can connect to an interrupt.
Polling
This is the easiest way to make a task program wait for another, but the performance
will be the slowest. Persistent variables are used together with the instructions
WaitUntil or WHILE .
If the instruction WaitUntil is used, it will poll internally every 100 ms.
CAUTION
Do not poll more frequently than every 100 ms. A loop that polls without a wait
instruction can cause overload, resulting in lost contact with the FlexPendant.
Polling example
Main task program:
MODULE module1
PERS bool startsync:=FALSE;
PROC main()
startsync:= TRUE;
...
ENDPROC
ENDMODULE
Background task program:
MODULE module2
PERS bool startsync:=FALSE;
PROC main()
WaitUntil startsync;
! This is the point where the execution
! continues after startsync is set to TRUE
...
ENDPROC
ENDMODULE
Interrupt
By setting a signal in one task program and using an interrupt in another task
program, quick response is obtained without the work load caused by polling.
The drawback is that the code executed after the interrupt must be placed in a trap
routine.
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9.1.5.2 Waiting for other tasks
Interrupt example
Main task program:
MODULE module1
PROC main()
SetDO do1,1;
...
ENDPROC
ENDMODULE
Background task program:
MODULE module2
VAR intnum intno1;
PROC main()
CONNECT intno1 WITH wait_trap;
ISignalDO do1, 1, intno1;
WHILE TRUE DO
WaitTime 10;
ENDWHILE
ENDPROC
TRAP wait_trap
! This is the point where the execution
! continues after do1 is set in main task
...
IDelete intno1;
ENDTRAP
ENDMODULE
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9.1.5.2 Waiting for other tasks
Continued
9.1.5.3 Synchronizing between tasks
Synchronizing using WaitSyncTask
Synchronization is useful when task programs are depending on each other. No
task program will continue beyond a synchronization point in the program code
until all task programs have reached that point in the respective program code.
The instruction WaitSyncTask is used to synchronize task programs. No task
program will continue its execution until all task programs have reached the same
WaitSyncTask instruction.
WaitSyncTask example
In this example, the background task program calculates the next object's position
while the main task program handles the robots work with the current object.
The background task program may have to wait for operator input or I/O signals,
but the main task program will not continue with the next object until the new
position is calculated. Likewise, the background task program must not start the
next calculation until the main task program is done with one object and ready to
receive the new value.
Main task program:
MODULE module1
PERS pos object_position:=[0,0,0];
PERS tasks task_list{2} := [["MAIN"], ["BACK1"]];
VAR syncident sync1;
PROC main()
VAR pos position;
WHILE TRUE DO
!Wait for calculation of next object_position
WaitSyncTask sync1, task_list;
position:=object_position;
!Call routine to handle object
handle_object(position);
ENDWHILE
ENDPROC
PROC handle_object(pos position)
...
ENDPROC
ENDMODULE
Background task program:
MODULE module2
PERS pos object_position:=[0,0,0];
PERS tasks task_list{2} := [["MAIN"], ["BACK1"]];
VAR syncident sync1;
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Interrupt example
Main task program:
MODULE module1
PROC main()
SetDO do1,1;
...
ENDPROC
ENDMODULE
Background task program:
MODULE module2
VAR intnum intno1;
PROC main()
CONNECT intno1 WITH wait_trap;
ISignalDO do1, 1, intno1;
WHILE TRUE DO
WaitTime 10;
ENDWHILE
ENDPROC
TRAP wait_trap
! This is the point where the execution
! continues after do1 is set in main task
...
IDelete intno1;
ENDTRAP
ENDMODULE
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9.1.5.2 Waiting for other tasks
Continued
9.1.5.3 Synchronizing between tasks
Synchronizing using WaitSyncTask
Synchronization is useful when task programs are depending on each other. No
task program will continue beyond a synchronization point in the program code
until all task programs have reached that point in the respective program code.
The instruction WaitSyncTask is used to synchronize task programs. No task
program will continue its execution until all task programs have reached the same
WaitSyncTask instruction.
WaitSyncTask example
In this example, the background task program calculates the next object's position
while the main task program handles the robots work with the current object.
The background task program may have to wait for operator input or I/O signals,
but the main task program will not continue with the next object until the new
position is calculated. Likewise, the background task program must not start the
next calculation until the main task program is done with one object and ready to
receive the new value.
Main task program:
MODULE module1
PERS pos object_position:=[0,0,0];
PERS tasks task_list{2} := [["MAIN"], ["BACK1"]];
VAR syncident sync1;
PROC main()
VAR pos position;
WHILE TRUE DO
!Wait for calculation of next object_position
WaitSyncTask sync1, task_list;
position:=object_position;
!Call routine to handle object
handle_object(position);
ENDWHILE
ENDPROC
PROC handle_object(pos position)
...
ENDPROC
ENDMODULE
Background task program:
MODULE module2
PERS pos object_position:=[0,0,0];
PERS tasks task_list{2} := [["MAIN"], ["BACK1"]];
VAR syncident sync1;
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9.1.5.3 Synchronizing between tasks
PROC main()
WHILE TRUE DO
!Call routine to calculate object_position
calculate_position;
!Wait for handling of current object
WaitSyncTask sync1, task_list;
ENDWHILE
ENDPROC
PROC calculate_position()
...
object_position:= ...
ENDPROC
ENDMODULE
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9.1.5.3 Synchronizing between tasks
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9.1.5.3 Synchronizing between tasks
Synchronizing using WaitSyncTask
Synchronization is useful when task programs are depending on each other. No
task program will continue beyond a synchronization point in the program code
until all task programs have reached that point in the respective program code.
The instruction WaitSyncTask is used to synchronize task programs. No task
program will continue its execution until all task programs have reached the same
WaitSyncTask instruction.
WaitSyncTask example
In this example, the background task program calculates the next object's position
while the main task program handles the robots work with the current object.
The background task program may have to wait for operator input or I/O signals,
but the main task program will not continue with the next object until the new
position is calculated. Likewise, the background task program must not start the
next calculation until the main task program is done with one object and ready to
receive the new value.
Main task program:
MODULE module1
PERS pos object_position:=[0,0,0];
PERS tasks task_list{2} := [["MAIN"], ["BACK1"]];
VAR syncident sync1;
PROC main()
VAR pos position;
WHILE TRUE DO
!Wait for calculation of next object_position
WaitSyncTask sync1, task_list;
position:=object_position;
!Call routine to handle object
handle_object(position);
ENDWHILE
ENDPROC
PROC handle_object(pos position)
...
ENDPROC
ENDMODULE
Background task program:
MODULE module2
PERS pos object_position:=[0,0,0];
PERS tasks task_list{2} := [["MAIN"], ["BACK1"]];
VAR syncident sync1;
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9.1.5.3 Synchronizing between tasks
PROC main()
WHILE TRUE DO
!Call routine to calculate object_position
calculate_position;
!Wait for handling of current object
WaitSyncTask sync1, task_list;
ENDWHILE
ENDPROC
PROC calculate_position()
...
object_position:= ...
ENDPROC
ENDMODULE
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9.1.5.3 Synchronizing between tasks
Continued
9.1.5.4 Using a dispatcher
What is a dispatcher?
A digital signal can be used to indicate when another task should do something.
However, it cannot contain information about what to do.
Instead of using one signal for each routine, a dispatcher can be used to determine
which routine to call. A dispatcher can be a persistent string variable containing
the name of the routine to execute in another task.
Dispatcher example
In this example, the main task program calls routines in the background task by
setting routine_string to the routine name and then setting do5 to 1. In this
way, the main task program initialize that the background task program should
execute the routine clean_gun first and then routine1 .
Main task program:
MODULE module1
PERS string routine_string:="";
PROC main()
!Call clean_gun in background task
routine_string:="clean_gun";
SetDO do5,1;
WaitDO do5,0;
!Call routine1 in background task
routine_string:="routine1";
SetDO do5,1;
WaitDO do5,0;
...
ENDPROC
ENDMODULE
Background task program:
MODULE module2
PERS string routine_string:="";
PROC main()
WaitDO do5,1;
%routine_string%;
SetDO do5,0;
ENDPROC
PROC clean_gun()
...
ENDPROC
PROC routine1()
...
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PROC main()
WHILE TRUE DO
!Call routine to calculate object_position
calculate_position;
!Wait for handling of current object
WaitSyncTask sync1, task_list;
ENDWHILE
ENDPROC
PROC calculate_position()
...
object_position:= ...
ENDPROC
ENDMODULE
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9.1.5.3 Synchronizing between tasks
Continued
9.1.5.4 Using a dispatcher
What is a dispatcher?
A digital signal can be used to indicate when another task should do something.
However, it cannot contain information about what to do.
Instead of using one signal for each routine, a dispatcher can be used to determine
which routine to call. A dispatcher can be a persistent string variable containing
the name of the routine to execute in another task.
Dispatcher example
In this example, the main task program calls routines in the background task by
setting routine_string to the routine name and then setting do5 to 1. In this
way, the main task program initialize that the background task program should
execute the routine clean_gun first and then routine1 .
Main task program:
MODULE module1
PERS string routine_string:="";
PROC main()
!Call clean_gun in background task
routine_string:="clean_gun";
SetDO do5,1;
WaitDO do5,0;
!Call routine1 in background task
routine_string:="routine1";
SetDO do5,1;
WaitDO do5,0;
...
ENDPROC
ENDMODULE
Background task program:
MODULE module2
PERS string routine_string:="";
PROC main()
WaitDO do5,1;
%routine_string%;
SetDO do5,0;
ENDPROC
PROC clean_gun()
...
ENDPROC
PROC routine1()
...
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9.1.5.4 Using a dispatcher
ENDPROC
ENDMODULE
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9.1.5.4 Using a dispatcher
Continued
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9.1.5.4 Using a dispatcher
What is a dispatcher?
A digital signal can be used to indicate when another task should do something.
However, it cannot contain information about what to do.
Instead of using one signal for each routine, a dispatcher can be used to determine
which routine to call. A dispatcher can be a persistent string variable containing
the name of the routine to execute in another task.
Dispatcher example
In this example, the main task program calls routines in the background task by
setting routine_string to the routine name and then setting do5 to 1. In this
way, the main task program initialize that the background task program should
execute the routine clean_gun first and then routine1 .
Main task program:
MODULE module1
PERS string routine_string:="";
PROC main()
!Call clean_gun in background task
routine_string:="clean_gun";
SetDO do5,1;
WaitDO do5,0;
!Call routine1 in background task
routine_string:="routine1";
SetDO do5,1;
WaitDO do5,0;
...
ENDPROC
ENDMODULE
Background task program:
MODULE module2
PERS string routine_string:="";
PROC main()
WaitDO do5,1;
%routine_string%;
SetDO do5,0;
ENDPROC
PROC clean_gun()
...
ENDPROC
PROC routine1()
...
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ENDPROC
ENDMODULE
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9.1.5.4 Using a dispatcher
Continued
9.1.6 Other programming issues
9.1.6.1 Share resource between tasks
Flag indicating occupied resource
System resources, such as FlexPendant, file system and I/O signals, are available
from all tasks. However, if several task programs use the same resource, make
sure that they take turns using the resource, rather than using it at the same time.
To avoid having two task programs using the same resource at the same time, use
a flag to indicate that the resource is already in use. A boolean variable can be set
to true while the task program uses the resource.
To facilitate this handling, the instruction TestAndSet is used. It will first test the
flag. If the flag is false, it will set the flag to true and return true. Otherwise, it will
return false.
Example with flag and TestAndSet
In this example, two task programs try to write three lines each to the FlexPendant.
If no flag is used, there is a risk that these lines are mixed with each other. By using
a flag, the task program that first execute the TestAndSet instruction will write all
three lines first. The other task program will wait until the flag is set to false and
then write all its lines.
Main task program:
PERS bool tproutine_inuse := FALSE;
...
WaitUntil TestAndSet(tproutine_inuse);
TPWrite "First line from MAIN";
TPWrite "Second line from MAIN";
TPWrite "Third line from MAIN";
tproutine_inuse := FALSE;
Background task program:
PERS bool tproutine_inuse := FALSE;
...
WaitUntil TestAndSet(tproutine_inuse);
TPWrite "First line from BACK1";
TPWrite "Second line from BACK1";
TPWrite "Third line from BACK1";
tproutine_inuse := FALSE;
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ENDPROC
ENDMODULE
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9.1.5.4 Using a dispatcher
Continued
9.1.6 Other programming issues
9.1.6.1 Share resource between tasks
Flag indicating occupied resource
System resources, such as FlexPendant, file system and I/O signals, are available
from all tasks. However, if several task programs use the same resource, make
sure that they take turns using the resource, rather than using it at the same time.
To avoid having two task programs using the same resource at the same time, use
a flag to indicate that the resource is already in use. A boolean variable can be set
to true while the task program uses the resource.
To facilitate this handling, the instruction TestAndSet is used. It will first test the
flag. If the flag is false, it will set the flag to true and return true. Otherwise, it will
return false.
Example with flag and TestAndSet
In this example, two task programs try to write three lines each to the FlexPendant.
If no flag is used, there is a risk that these lines are mixed with each other. By using
a flag, the task program that first execute the TestAndSet instruction will write all
three lines first. The other task program will wait until the flag is set to false and
then write all its lines.
Main task program:
PERS bool tproutine_inuse := FALSE;
...
WaitUntil TestAndSet(tproutine_inuse);
TPWrite "First line from MAIN";
TPWrite "Second line from MAIN";
TPWrite "Third line from MAIN";
tproutine_inuse := FALSE;
Background task program:
PERS bool tproutine_inuse := FALSE;
...
WaitUntil TestAndSet(tproutine_inuse);
TPWrite "First line from BACK1";
TPWrite "Second line from BACK1";
TPWrite "Third line from BACK1";
tproutine_inuse := FALSE;
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9.1.6.1 Share resource between tasks
9.1.6.2 Test if task controls mechanical unit
Two functions for inquiring
There are functions for checking if the task program has control of any mechanical
unit, TaskRunMec , or of a robot, TaskRunRob .
TaskRunMec will return true if the task program controls a robot or other mechanical
unit. TaskRunRob will only return true if the task program controls a robot with
TCP.
TaskRunMec and TaskRunRob are useful when using MultiMove. With MultiMove
you can have several tasks controlling mechanical units, see Application
manual - MultiMove .
Note
For a task to have control of a robot, the parameter Type must be set to normal,
and the type MotionTask must be set to YES. See System parameters on page325 .
Example with TaskRunMec and TaskRunRob
In this example, the maximum speed for external equipment is set. If the task
program controls a robot, the maximum speed for external equipment is set to the
same value as the maximum speed for the robot. If the task program controls
external equipment but no robot, the maximum speed is set to 5000 mm/s.
IF TaskRunMec() THEN
IF TaskRunRob() THEN
!If task controls a robot
MaxExtSpeed := MaxRobSpeed();
ELSE
!If task controls other mech unit than robot
MaxExtSpeed := 5000;
ENDIF
ENDIF
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9.1.6 Other programming issues
9.1.6.1 Share resource between tasks
Flag indicating occupied resource
System resources, such as FlexPendant, file system and I/O signals, are available
from all tasks. However, if several task programs use the same resource, make
sure that they take turns using the resource, rather than using it at the same time.
To avoid having two task programs using the same resource at the same time, use
a flag to indicate that the resource is already in use. A boolean variable can be set
to true while the task program uses the resource.
To facilitate this handling, the instruction TestAndSet is used. It will first test the
flag. If the flag is false, it will set the flag to true and return true. Otherwise, it will
return false.
Example with flag and TestAndSet
In this example, two task programs try to write three lines each to the FlexPendant.
If no flag is used, there is a risk that these lines are mixed with each other. By using
a flag, the task program that first execute the TestAndSet instruction will write all
three lines first. The other task program will wait until the flag is set to false and
then write all its lines.
Main task program:
PERS bool tproutine_inuse := FALSE;
...
WaitUntil TestAndSet(tproutine_inuse);
TPWrite "First line from MAIN";
TPWrite "Second line from MAIN";
TPWrite "Third line from MAIN";
tproutine_inuse := FALSE;
Background task program:
PERS bool tproutine_inuse := FALSE;
...
WaitUntil TestAndSet(tproutine_inuse);
TPWrite "First line from BACK1";
TPWrite "Second line from BACK1";
TPWrite "Third line from BACK1";
tproutine_inuse := FALSE;
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9.1.6.1 Share resource between tasks
9.1.6.2 Test if task controls mechanical unit
Two functions for inquiring
There are functions for checking if the task program has control of any mechanical
unit, TaskRunMec , or of a robot, TaskRunRob .
TaskRunMec will return true if the task program controls a robot or other mechanical
unit. TaskRunRob will only return true if the task program controls a robot with
TCP.
TaskRunMec and TaskRunRob are useful when using MultiMove. With MultiMove
you can have several tasks controlling mechanical units, see Application
manual - MultiMove .
Note
For a task to have control of a robot, the parameter Type must be set to normal,
and the type MotionTask must be set to YES. See System parameters on page325 .
Example with TaskRunMec and TaskRunRob
In this example, the maximum speed for external equipment is set. If the task
program controls a robot, the maximum speed for external equipment is set to the
same value as the maximum speed for the robot. If the task program controls
external equipment but no robot, the maximum speed is set to 5000 mm/s.
IF TaskRunMec() THEN
IF TaskRunRob() THEN
!If task controls a robot
MaxExtSpeed := MaxRobSpeed();
ELSE
!If task controls other mech unit than robot
MaxExtSpeed := 5000;
ENDIF
ENDIF
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9.1.6.2 Test if task controls mechanical unit
9.1.6.3 taskid
taskid syntax
A task always has a predefined variable of type taskid that consists of the name
of the task and the suffix "Id". For example, the variable name of the MAIN task is
MAINId.
Code example
In this example, the module PART_A is saved in the task BACK1, even though the
Save instruction is executed in another task.
BACK1Id is a variable of type taskid that is automatically declared by the system.
Save \TaskRef:=BACK1Id, "PART_A"
\FilePath:="HOME:/DOORDIR/PART_A.MOD";
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9.1.6.2 Test if task controls mechanical unit
Two functions for inquiring
There are functions for checking if the task program has control of any mechanical
unit, TaskRunMec , or of a robot, TaskRunRob .
TaskRunMec will return true if the task program controls a robot or other mechanical
unit. TaskRunRob will only return true if the task program controls a robot with
TCP.
TaskRunMec and TaskRunRob are useful when using MultiMove. With MultiMove
you can have several tasks controlling mechanical units, see Application
manual - MultiMove .
Note
For a task to have control of a robot, the parameter Type must be set to normal,
and the type MotionTask must be set to YES. See System parameters on page325 .
Example with TaskRunMec and TaskRunRob
In this example, the maximum speed for external equipment is set. If the task
program controls a robot, the maximum speed for external equipment is set to the
same value as the maximum speed for the robot. If the task program controls
external equipment but no robot, the maximum speed is set to 5000 mm/s.
IF TaskRunMec() THEN
IF TaskRunRob() THEN
!If task controls a robot
MaxExtSpeed := MaxRobSpeed();
ELSE
!If task controls other mech unit than robot
MaxExtSpeed := 5000;
ENDIF
ENDIF
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9.1.6.2 Test if task controls mechanical unit
9.1.6.3 taskid
taskid syntax
A task always has a predefined variable of type taskid that consists of the name
of the task and the suffix "Id". For example, the variable name of the MAIN task is
MAINId.
Code example
In this example, the module PART_A is saved in the task BACK1, even though the
Save instruction is executed in another task.
BACK1Id is a variable of type taskid that is automatically declared by the system.
Save \TaskRef:=BACK1Id, "PART_A"
\FilePath:="HOME:/DOORDIR/PART_A.MOD";
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9.1.6.3 taskid
9.1.6.4 Avoid heavy loops
Background tasks loop continuously
A task program is normally executed continuously. This means that a background
task program is in effect an eternal loop. If this program does not have any waiting
instruction, the background task may use too much computer power and make the
controller unable to handle the other tasks.
Example
MODULE background_module
PROC main()
WaitTime 1;
IF di1=1 THEN
...
ENDIF
ENDPROC
ENDMODULE
If there was no wait instruction in this example and di1 was 0, then this background
task would use up the computer power with a loop doing nothing.
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9.1.6.3 taskid
taskid syntax
A task always has a predefined variable of type taskid that consists of the name
of the task and the suffix "Id". For example, the variable name of the MAIN task is
MAINId.
Code example
In this example, the module PART_A is saved in the task BACK1, even though the
Save instruction is executed in another task.
BACK1Id is a variable of type taskid that is automatically declared by the system.
Save \TaskRef:=BACK1Id, "PART_A"
\FilePath:="HOME:/DOORDIR/PART_A.MOD";
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9.1.6.3 taskid
9.1.6.4 Avoid heavy loops
Background tasks loop continuously
A task program is normally executed continuously. This means that a background
task program is in effect an eternal loop. If this program does not have any waiting
instruction, the background task may use too much computer power and make the
controller unable to handle the other tasks.
Example
MODULE background_module
PROC main()
WaitTime 1;
IF di1=1 THEN
...
ENDIF
ENDPROC
ENDMODULE
If there was no wait instruction in this example and di1 was 0, then this background
task would use up the computer power with a loop doing nothing.
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9.1.6.4 Avoid heavy loops
9.2 Sensor Interface [628-1]
9.2.1 Introduction to Sensor Interface
Purpose
The option Sensor Interface is used for communication with external sensors via
a serial or Ethernet channel.
The sensor may be accessed using a package of RAPID instructions that provide
the ability to read and write raw sensor data.
An interrupt feature allows subscriptions on changes in sensor data.
Tip
The communication provided by Sensor Interface is integrated in arc welding
instructions for seam tracking and adaptive control of process parameters. These
instructions handle communication and corrections for you, whereas with Sensor
Interface you handle this yourself. For more information, see Application
manual - Arc and Arc Sensor and Application manual - Continuous Application
Platform .
What is included
The RobotWare option Sensor Interface gives you access to:
•
ABB supported sensor protocols.
•
Instruction used to connect to a sensor device: SenDevice .
•
Instruction used to set up interrupt, based on input from the
sensor: IVarValue .
•
Instruction used to write to a sensor: WriteVar .
•
Function for reading from a sensor: ReadVar .
•
Laser Tracker Calibration (LTC) functionality for optical sensor calibration.
Basic approach
This is the basic approach for using Sensor Interface.
1
Configure the sensor. See Configuring sensors on page 348 .
2
Use interrupts in the RAPID code to make adjustments according to the input
from the sensor. For an example, see Interrupt welding to adjust settings on
page 354 .
Limitations
Interrupts with IVarValue is only possible to use with the instructions ArcL , ArcC ,
CapL , and CapC . The switch Track must be used. That is, the controller must be
equipped with either RobotWare Arc or Continuous Application Platform together
with Optical Tracking , or with the option Weldguide .
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9.1.6.4 Avoid heavy loops
Background tasks loop continuously
A task program is normally executed continuously. This means that a background
task program is in effect an eternal loop. If this program does not have any waiting
instruction, the background task may use too much computer power and make the
controller unable to handle the other tasks.
Example
MODULE background_module
PROC main()
WaitTime 1;
IF di1=1 THEN
...
ENDIF
ENDPROC
ENDMODULE
If there was no wait instruction in this example and di1 was 0, then this background
task would use up the computer power with a loop doing nothing.
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9.1.6.4 Avoid heavy loops
9.2 Sensor Interface [628-1]
9.2.1 Introduction to Sensor Interface
Purpose
The option Sensor Interface is used for communication with external sensors via
a serial or Ethernet channel.
The sensor may be accessed using a package of RAPID instructions that provide
the ability to read and write raw sensor data.
An interrupt feature allows subscriptions on changes in sensor data.
Tip
The communication provided by Sensor Interface is integrated in arc welding
instructions for seam tracking and adaptive control of process parameters. These
instructions handle communication and corrections for you, whereas with Sensor
Interface you handle this yourself. For more information, see Application
manual - Arc and Arc Sensor and Application manual - Continuous Application
Platform .
What is included
The RobotWare option Sensor Interface gives you access to:
•
ABB supported sensor protocols.
•
Instruction used to connect to a sensor device: SenDevice .
•
Instruction used to set up interrupt, based on input from the
sensor: IVarValue .
•
Instruction used to write to a sensor: WriteVar .
•
Function for reading from a sensor: ReadVar .
•
Laser Tracker Calibration (LTC) functionality for optical sensor calibration.
Basic approach
This is the basic approach for using Sensor Interface.
1
Configure the sensor. See Configuring sensors on page 348 .
2
Use interrupts in the RAPID code to make adjustments according to the input
from the sensor. For an example, see Interrupt welding to adjust settings on
page 354 .
Limitations
Interrupts with IVarValue is only possible to use with the instructions ArcL , ArcC ,
CapL , and CapC . The switch Track must be used. That is, the controller must be
equipped with either RobotWare Arc or Continuous Application Platform together
with Optical Tracking , or with the option Weldguide .
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9.2.1 Introduction to Sensor Interface
9.2.2 Configuring sensors
9.2.2.1 About the sensors
Supported sensors
Sensor Interface supports:
•
Sensors connected via serial channels using the RTP1 protocol. For
configuration, see Configuring sensors on serial channels on page 349 .
•
Sensors connected to Ethernet using the RoboCom Light protocol from
Servo-Robot Inc, the LTAPP or the LTPROTOBUF protocol from ABB. For
configuration, see Configuring sensors on Ethernet channels on page 350 .
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9.2 Sensor Interface [628-1]
9.2.1 Introduction to Sensor Interface
Purpose
The option Sensor Interface is used for communication with external sensors via
a serial or Ethernet channel.
The sensor may be accessed using a package of RAPID instructions that provide
the ability to read and write raw sensor data.
An interrupt feature allows subscriptions on changes in sensor data.
Tip
The communication provided by Sensor Interface is integrated in arc welding
instructions for seam tracking and adaptive control of process parameters. These
instructions handle communication and corrections for you, whereas with Sensor
Interface you handle this yourself. For more information, see Application
manual - Arc and Arc Sensor and Application manual - Continuous Application
Platform .
What is included
The RobotWare option Sensor Interface gives you access to:
•
ABB supported sensor protocols.
•
Instruction used to connect to a sensor device: SenDevice .
•
Instruction used to set up interrupt, based on input from the
sensor: IVarValue .
•
Instruction used to write to a sensor: WriteVar .
•
Function for reading from a sensor: ReadVar .
•
Laser Tracker Calibration (LTC) functionality for optical sensor calibration.
Basic approach
This is the basic approach for using Sensor Interface.
1
Configure the sensor. See Configuring sensors on page 348 .
2
Use interrupts in the RAPID code to make adjustments according to the input
from the sensor. For an example, see Interrupt welding to adjust settings on
page 354 .
Limitations
Interrupts with IVarValue is only possible to use with the instructions ArcL , ArcC ,
CapL , and CapC . The switch Track must be used. That is, the controller must be
equipped with either RobotWare Arc or Continuous Application Platform together
with Optical Tracking , or with the option Weldguide .
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9.2.1 Introduction to Sensor Interface
9.2.2 Configuring sensors
9.2.2.1 About the sensors
Supported sensors
Sensor Interface supports:
•
Sensors connected via serial channels using the RTP1 protocol. For
configuration, see Configuring sensors on serial channels on page 349 .
•
Sensors connected to Ethernet using the RoboCom Light protocol from
Servo-Robot Inc, the LTAPP or the LTPROTOBUF protocol from ABB. For
configuration, see Configuring sensors on Ethernet channels on page 350 .
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9.2.2.1 About the sensors
9.2.2.2 Configuring sensors on serial channels
Overview
Sensor Interface communicates with a maximum of one sensor over serial channels
using the RTP1 protocol.
System parameters
This is a brief description of the parameters used when configuring a sensor. For
more information about the parameters, see Technical reference manual - System
parameters .
These parameters belong to the type Transmission Protocol in the topic
Communication .
Description
Parameter
The name of the transmission protocol.
Name
For a sensor the name must end with ":". For example "laser1:" or
"swg:".
The type of transmission protocol.
Type
For a sensor using serial channel, it must be "RTP1".
The name of the serial port that will be used for the sensor. This refers
to the parameter Name in the type Serial Port .
Serial Port
For information on how to configure a serial port, see Technical refer-
ence manual - System parameters .
Configuration example
This is an example of how a transmission protocol can be configured for a sensor.
We assume that there already is a serial port configured with the name "COM1".
Serial Port
Type
Name
COM1
RTP1
laser1:
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9.2.2.1 About the sensors
Supported sensors
Sensor Interface supports:
•
Sensors connected via serial channels using the RTP1 protocol. For
configuration, see Configuring sensors on serial channels on page 349 .
•
Sensors connected to Ethernet using the RoboCom Light protocol from
Servo-Robot Inc, the LTAPP or the LTPROTOBUF protocol from ABB. For
configuration, see Configuring sensors on Ethernet channels on page 350 .
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9.2.2.1 About the sensors
9.2.2.2 Configuring sensors on serial channels
Overview
Sensor Interface communicates with a maximum of one sensor over serial channels
using the RTP1 protocol.
System parameters
This is a brief description of the parameters used when configuring a sensor. For
more information about the parameters, see Technical reference manual - System
parameters .
These parameters belong to the type Transmission Protocol in the topic
Communication .
Description
Parameter
The name of the transmission protocol.
Name
For a sensor the name must end with ":". For example "laser1:" or
"swg:".
The type of transmission protocol.
Type
For a sensor using serial channel, it must be "RTP1".
The name of the serial port that will be used for the sensor. This refers
to the parameter Name in the type Serial Port .
Serial Port
For information on how to configure a serial port, see Technical refer-
ence manual - System parameters .
Configuration example
This is an example of how a transmission protocol can be configured for a sensor.
We assume that there already is a serial port configured with the name "COM1".
Serial Port
Type
Name
COM1
RTP1
laser1:
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9.2.2.2 Configuring sensors on serial channels
9.2.2.3 Configuring sensors on Ethernet channels
Overview
Sensor Interface can communicate with a maximum of six sensors over Ethernet
channel using the RoboCom Light protocol version E04 (from Servo-Robot Inc),
the LTAPP or the LTPROTOBUF protocol (from ABB). RoboCom Light is an XML
based protocol using TCP/IP.
The sensor acts as a server, the robot controller acts as a client. I.e. the robot
controller initiates the connection to the sensor.
RoboCom Light has the default TCP port 6344 on the external sensor side, and
LTAPPTCP has the default TCP port 5020.
System parameters
This is a brief description of the parameters used when configuring a sensor. For
more information about the parameters, see Technical reference manual - System
parameters .
These parameters belong to the type Transmission Protocol in the topic
Communication .
Description
Parameter
The name of the transmission protocol.
Name
For a sensor the name must end with ":". For example "laser1:" or
"swg:".
The type of transmission protocol.
Type
For RoboCom Light the protocol type SOCKDEV has to be configured,
and for LTAPPTCP it is LTAPPTCP.
The name of the serial port that will be used for the sensor. This refers
to the parameter Name in the type Serial Port .
Serial Port
For information on how to configure a serial port, see Technical refer-
ence manual - System parameters .
For IP based transmission protocols (i.e. Type has value TCP/IP,
SOCKDEV, LTAPPTCP or UDPUC), Serial Port is not used and has
the value N/A.
The IP address of the sensor. This refers to the type Remote Address .
Remote Address
For information on how to configure Remote Address, see Technical
reference manual - System parameters .
Remote Port specifies the port number on the network node identified
by Remote Address with which the connection shall be established.
Remote Port
The default value for SOCKDEV is 6344, and for LTAPPTCP it is 5020.
Configuration examples
These are examples of how a transmission protocol can be configured for a sensor.
Remote Port
Remote Address
Serial Port
Type
Name
6344
192.168.125.101
N/A
SOCKDEV
laser2:
5020
192.168.125.102
N/A
LTAPPTCP
laser3:
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9.2.2.2 Configuring sensors on serial channels
Overview
Sensor Interface communicates with a maximum of one sensor over serial channels
using the RTP1 protocol.
System parameters
This is a brief description of the parameters used when configuring a sensor. For
more information about the parameters, see Technical reference manual - System
parameters .
These parameters belong to the type Transmission Protocol in the topic
Communication .
Description
Parameter
The name of the transmission protocol.
Name
For a sensor the name must end with ":". For example "laser1:" or
"swg:".
The type of transmission protocol.
Type
For a sensor using serial channel, it must be "RTP1".
The name of the serial port that will be used for the sensor. This refers
to the parameter Name in the type Serial Port .
Serial Port
For information on how to configure a serial port, see Technical refer-
ence manual - System parameters .
Configuration example
This is an example of how a transmission protocol can be configured for a sensor.
We assume that there already is a serial port configured with the name "COM1".
Serial Port
Type
Name
COM1
RTP1
laser1:
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9.2.2.2 Configuring sensors on serial channels
9.2.2.3 Configuring sensors on Ethernet channels
Overview
Sensor Interface can communicate with a maximum of six sensors over Ethernet
channel using the RoboCom Light protocol version E04 (from Servo-Robot Inc),
the LTAPP or the LTPROTOBUF protocol (from ABB). RoboCom Light is an XML
based protocol using TCP/IP.
The sensor acts as a server, the robot controller acts as a client. I.e. the robot
controller initiates the connection to the sensor.
RoboCom Light has the default TCP port 6344 on the external sensor side, and
LTAPPTCP has the default TCP port 5020.
System parameters
This is a brief description of the parameters used when configuring a sensor. For
more information about the parameters, see Technical reference manual - System
parameters .
These parameters belong to the type Transmission Protocol in the topic
Communication .
Description
Parameter
The name of the transmission protocol.
Name
For a sensor the name must end with ":". For example "laser1:" or
"swg:".
The type of transmission protocol.
Type
For RoboCom Light the protocol type SOCKDEV has to be configured,
and for LTAPPTCP it is LTAPPTCP.
The name of the serial port that will be used for the sensor. This refers
to the parameter Name in the type Serial Port .
Serial Port
For information on how to configure a serial port, see Technical refer-
ence manual - System parameters .
For IP based transmission protocols (i.e. Type has value TCP/IP,
SOCKDEV, LTAPPTCP or UDPUC), Serial Port is not used and has
the value N/A.
The IP address of the sensor. This refers to the type Remote Address .
Remote Address
For information on how to configure Remote Address, see Technical
reference manual - System parameters .
Remote Port specifies the port number on the network node identified
by Remote Address with which the connection shall be established.
Remote Port
The default value for SOCKDEV is 6344, and for LTAPPTCP it is 5020.
Configuration examples
These are examples of how a transmission protocol can be configured for a sensor.
Remote Port
Remote Address
Serial Port
Type
Name
6344
192.168.125.101
N/A
SOCKDEV
laser2:
5020
192.168.125.102
N/A
LTAPPTCP
laser3:
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9.2.2.3 Configuring sensors on Ethernet channels
9.2.3 RAPID
9.2.3.1 RAPID components
Data types
There are no data types for Sensor Interface .
Instructions
This is a brief description of each instruction in Sensor Interface . For more
information, see respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
SenDevice is used, to connect to a physical sensor device.
SenDevice
IVarVal (Interrupt Variable Value) is used to order and enable an interrupt
when the value of a variable accessed via the sensor interface is changed.
IVarValue
ReadBlock is used to read a block of data from a device connected to the
serial sensor interface. The data is stored in a file.
ReadBlock
ReadBlock can only be used with a serial channel connected sensor (not
Ethernet connected sensor.)
WriteBlock is used to write a block of data to a device connected to the
serial sensor interface. The data is fetched from a file.
WriteBlock
WriteBlock can only be used with a serial channel connected sensor (not
Ethernet connected sensor.)
WriteVar is used to write a variable to a device connected to the sensor
interface.
WriteVar
Functions
This is a brief description of each function in Sensor Interface . For more information,
see respective function in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Function
ReadVar is used to read a variable from a device connected to the sensor
interface.
ReadVar
Modules
The option Sensor Interface includes one system module, LTAPP__Variables . This
module contains the variable numbers defined in the protocol LTAPP. It is
automatically loaded as SHARED and makes the variables (CONST num) available
in all RAPID tasks.
Note! A copy of the module is placed in the robot system directory HOME/LTC,
but the copy is NOT the loaded module.
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9.2.2.3 Configuring sensors on Ethernet channels
Overview
Sensor Interface can communicate with a maximum of six sensors over Ethernet
channel using the RoboCom Light protocol version E04 (from Servo-Robot Inc),
the LTAPP or the LTPROTOBUF protocol (from ABB). RoboCom Light is an XML
based protocol using TCP/IP.
The sensor acts as a server, the robot controller acts as a client. I.e. the robot
controller initiates the connection to the sensor.
RoboCom Light has the default TCP port 6344 on the external sensor side, and
LTAPPTCP has the default TCP port 5020.
System parameters
This is a brief description of the parameters used when configuring a sensor. For
more information about the parameters, see Technical reference manual - System
parameters .
These parameters belong to the type Transmission Protocol in the topic
Communication .
Description
Parameter
The name of the transmission protocol.
Name
For a sensor the name must end with ":". For example "laser1:" or
"swg:".
The type of transmission protocol.
Type
For RoboCom Light the protocol type SOCKDEV has to be configured,
and for LTAPPTCP it is LTAPPTCP.
The name of the serial port that will be used for the sensor. This refers
to the parameter Name in the type Serial Port .
Serial Port
For information on how to configure a serial port, see Technical refer-
ence manual - System parameters .
For IP based transmission protocols (i.e. Type has value TCP/IP,
SOCKDEV, LTAPPTCP or UDPUC), Serial Port is not used and has
the value N/A.
The IP address of the sensor. This refers to the type Remote Address .
Remote Address
For information on how to configure Remote Address, see Technical
reference manual - System parameters .
Remote Port specifies the port number on the network node identified
by Remote Address with which the connection shall be established.
Remote Port
The default value for SOCKDEV is 6344, and for LTAPPTCP it is 5020.
Configuration examples
These are examples of how a transmission protocol can be configured for a sensor.
Remote Port
Remote Address
Serial Port
Type
Name
6344
192.168.125.101
N/A
SOCKDEV
laser2:
5020
192.168.125.102
N/A
LTAPPTCP
laser3:
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9.2.2.3 Configuring sensors on Ethernet channels
9.2.3 RAPID
9.2.3.1 RAPID components
Data types
There are no data types for Sensor Interface .
Instructions
This is a brief description of each instruction in Sensor Interface . For more
information, see respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
SenDevice is used, to connect to a physical sensor device.
SenDevice
IVarVal (Interrupt Variable Value) is used to order and enable an interrupt
when the value of a variable accessed via the sensor interface is changed.
IVarValue
ReadBlock is used to read a block of data from a device connected to the
serial sensor interface. The data is stored in a file.
ReadBlock
ReadBlock can only be used with a serial channel connected sensor (not
Ethernet connected sensor.)
WriteBlock is used to write a block of data to a device connected to the
serial sensor interface. The data is fetched from a file.
WriteBlock
WriteBlock can only be used with a serial channel connected sensor (not
Ethernet connected sensor.)
WriteVar is used to write a variable to a device connected to the sensor
interface.
WriteVar
Functions
This is a brief description of each function in Sensor Interface . For more information,
see respective function in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Function
ReadVar is used to read a variable from a device connected to the sensor
interface.
ReadVar
Modules
The option Sensor Interface includes one system module, LTAPP__Variables . This
module contains the variable numbers defined in the protocol LTAPP. It is
automatically loaded as SHARED and makes the variables (CONST num) available
in all RAPID tasks.
Note! A copy of the module is placed in the robot system directory HOME/LTC,
but the copy is NOT the loaded module.
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9.2.3.1 RAPID components
Constants
Description
Read/write
(R/W)
Number
Name
A value that identifies the sensor soft-
ware version.
R
1
LTAPP__VERSION
Reset the sensor to the initial state,
regardless of what state it is currently
in.
W
3
LTAPP__RESET
Sensor returns a response indicating
its status.
W
4
LTAPP__PING
Start camera check of the sensor. If
this cannot be done within the time
limit specified in the link protocol a Not
ready yet status will be returned.
W
5
LTAPP__CAMCHECK
Turn power on (1) or off (0) for the
sensor and initialize the filters. (Power
on can take several seconds!)
RW
6
LTAPP__POWER_UP
Switch the laser beam off (1) or on (0)
and measure.
RW
7
LTAPP__LASER_OFF
Measured X value, unsigned word. The
units are determined by the variable
Unit .
R
8
LTAPP__X
Measured Y value, unsigned word. The
units are determined by the variable
Unit .
R
9
LTAPP__Y
Measured Z value, unsigned word. The
units are determined by the variable
Unit .
R
10
LTAPP__Z
The gap between two sheets of metal.
The units are determined by the vari-
able Unit , -32768 if not valid.
R
11
LTAPP__GAP
Mismatch, unsigned word. The units
are determined by the variable Unit .
-32768 if not valid.
R
12
LTAPP__MISMATCH
Seam area, units in mm2, -32768 if not
valid.
R
13
LTAPP__AREA
Plate thickness of sheet that the
sensor should look for, LSB=0.1mm.
RW
14
LTAPP__THICKNESS
Step direction of the joint: Step on left
(1) or right (0) side of path direction.
RW
15
LTAPP__STEPDIR
Set or get active joint number.
RW
16
LTAPP__JOINT_NO
Time since profile acquisition (ms),
unsigned word.
R
17
LTAPP__AGE
Angle of the normal to the joint relative
sensor coordinate system Z direction
- in 0.1 degrees.
R
18
LTAPP__ANGLE
Units of X, Y, Z, gap, and mismatch.
0= 0.1mm, 1= 0.01mm.
RW
19
LTAPP__UNIT
Reserved for internal use.
-
20
-
Servo robot only! Adaptive parameter
1
R
31
LTAPP__APM_P1
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9.2.3 RAPID
9.2.3.1 RAPID components
Data types
There are no data types for Sensor Interface .
Instructions
This is a brief description of each instruction in Sensor Interface . For more
information, see respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
SenDevice is used, to connect to a physical sensor device.
SenDevice
IVarVal (Interrupt Variable Value) is used to order and enable an interrupt
when the value of a variable accessed via the sensor interface is changed.
IVarValue
ReadBlock is used to read a block of data from a device connected to the
serial sensor interface. The data is stored in a file.
ReadBlock
ReadBlock can only be used with a serial channel connected sensor (not
Ethernet connected sensor.)
WriteBlock is used to write a block of data to a device connected to the
serial sensor interface. The data is fetched from a file.
WriteBlock
WriteBlock can only be used with a serial channel connected sensor (not
Ethernet connected sensor.)
WriteVar is used to write a variable to a device connected to the sensor
interface.
WriteVar
Functions
This is a brief description of each function in Sensor Interface . For more information,
see respective function in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Function
ReadVar is used to read a variable from a device connected to the sensor
interface.
ReadVar
Modules
The option Sensor Interface includes one system module, LTAPP__Variables . This
module contains the variable numbers defined in the protocol LTAPP. It is
automatically loaded as SHARED and makes the variables (CONST num) available
in all RAPID tasks.
Note! A copy of the module is placed in the robot system directory HOME/LTC,
but the copy is NOT the loaded module.
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9.2.3.1 RAPID components
Constants
Description
Read/write
(R/W)
Number
Name
A value that identifies the sensor soft-
ware version.
R
1
LTAPP__VERSION
Reset the sensor to the initial state,
regardless of what state it is currently
in.
W
3
LTAPP__RESET
Sensor returns a response indicating
its status.
W
4
LTAPP__PING
Start camera check of the sensor. If
this cannot be done within the time
limit specified in the link protocol a Not
ready yet status will be returned.
W
5
LTAPP__CAMCHECK
Turn power on (1) or off (0) for the
sensor and initialize the filters. (Power
on can take several seconds!)
RW
6
LTAPP__POWER_UP
Switch the laser beam off (1) or on (0)
and measure.
RW
7
LTAPP__LASER_OFF
Measured X value, unsigned word. The
units are determined by the variable
Unit .
R
8
LTAPP__X
Measured Y value, unsigned word. The
units are determined by the variable
Unit .
R
9
LTAPP__Y
Measured Z value, unsigned word. The
units are determined by the variable
Unit .
R
10
LTAPP__Z
The gap between two sheets of metal.
The units are determined by the vari-
able Unit , -32768 if not valid.
R
11
LTAPP__GAP
Mismatch, unsigned word. The units
are determined by the variable Unit .
-32768 if not valid.
R
12
LTAPP__MISMATCH
Seam area, units in mm2, -32768 if not
valid.
R
13
LTAPP__AREA
Plate thickness of sheet that the
sensor should look for, LSB=0.1mm.
RW
14
LTAPP__THICKNESS
Step direction of the joint: Step on left
(1) or right (0) side of path direction.
RW
15
LTAPP__STEPDIR
Set or get active joint number.
RW
16
LTAPP__JOINT_NO
Time since profile acquisition (ms),
unsigned word.
R
17
LTAPP__AGE
Angle of the normal to the joint relative
sensor coordinate system Z direction
- in 0.1 degrees.
R
18
LTAPP__ANGLE
Units of X, Y, Z, gap, and mismatch.
0= 0.1mm, 1= 0.01mm.
RW
19
LTAPP__UNIT
Reserved for internal use.
-
20
-
Servo robot only! Adaptive parameter
1
R
31
LTAPP__APM_P1
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9.2.3.1 RAPID components
Continued
Description
Read/write
(R/W)
Number
Name
Servo robot only! Adaptive parameter
2
R
32
LTAPP__APM_P2
Servo robot only! Adaptive parameter
3
R
33
LTAPP__APM_P3
Servo robot only! Adaptive parameter
4
R
34
LTAPP__APM_P4
Servo robot only! Adaptive parameter
5
R
35
LTAPP__APM_P5
Servo robot only! Adaptive parameter
6
R
36
LTAPP__APM_P6
Measured angle around sensor Y axis
R
51
LTAPP__ROT_Y
Measured angle around sensor Z axis
A
R
52
LTAPP__ROT_Z
Scansonic sensors only. Measured X
value line 1, unsigned word. The units
are determined by the variable Unit .
R
54
LTAPP__X0
Scansonic sensors only. Measured Y
value line 1, unsigned word. The units
are determined by the variable Unit .
R
55
LTAPP__Y0
Scansonic sensors only. Measured Z
value line 1, unsigned word. The units
are determined by the variable Unit .
R
56
LTAPP__Z0
Scansonic sensors only. Measured X
value line 2, unsigned word. The units
are determined by the variable Unit .
R
57
LTAPP__X1
Scansonic sensors only. Measured Y
value line 2, unsigned word. The units
are determined by the variable Unit .
R
58
LTAPP__Y1
Scansonic sensors only. Measured Z
value line 2, unsigned word. The units
are determined by the variable Unit .
R
59
LTAPP__Z1
Scansonic sensors only. Measured X
value line 3, unsigned word. The units
are determined by the variable Unit .
R
60
LTAPP__X2
Scansonic sensors only. Measured Y
value line 3, unsigned word. The units
are determined by the variable Unit .
R
61
LTAPP__Y2
Scansonic sensors only. Measured Z
value line 3, unsigned word. The units
are determined by the variable Unit .
R
62
LTAPP__Z2
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Constants
Description
Read/write
(R/W)
Number
Name
A value that identifies the sensor soft-
ware version.
R
1
LTAPP__VERSION
Reset the sensor to the initial state,
regardless of what state it is currently
in.
W
3
LTAPP__RESET
Sensor returns a response indicating
its status.
W
4
LTAPP__PING
Start camera check of the sensor. If
this cannot be done within the time
limit specified in the link protocol a Not
ready yet status will be returned.
W
5
LTAPP__CAMCHECK
Turn power on (1) or off (0) for the
sensor and initialize the filters. (Power
on can take several seconds!)
RW
6
LTAPP__POWER_UP
Switch the laser beam off (1) or on (0)
and measure.
RW
7
LTAPP__LASER_OFF
Measured X value, unsigned word. The
units are determined by the variable
Unit .
R
8
LTAPP__X
Measured Y value, unsigned word. The
units are determined by the variable
Unit .
R
9
LTAPP__Y
Measured Z value, unsigned word. The
units are determined by the variable
Unit .
R
10
LTAPP__Z
The gap between two sheets of metal.
The units are determined by the vari-
able Unit , -32768 if not valid.
R
11
LTAPP__GAP
Mismatch, unsigned word. The units
are determined by the variable Unit .
-32768 if not valid.
R
12
LTAPP__MISMATCH
Seam area, units in mm2, -32768 if not
valid.
R
13
LTAPP__AREA
Plate thickness of sheet that the
sensor should look for, LSB=0.1mm.
RW
14
LTAPP__THICKNESS
Step direction of the joint: Step on left
(1) or right (0) side of path direction.
RW
15
LTAPP__STEPDIR
Set or get active joint number.
RW
16
LTAPP__JOINT_NO
Time since profile acquisition (ms),
unsigned word.
R
17
LTAPP__AGE
Angle of the normal to the joint relative
sensor coordinate system Z direction
- in 0.1 degrees.
R
18
LTAPP__ANGLE
Units of X, Y, Z, gap, and mismatch.
0= 0.1mm, 1= 0.01mm.
RW
19
LTAPP__UNIT
Reserved for internal use.
-
20
-
Servo robot only! Adaptive parameter
1
R
31
LTAPP__APM_P1
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9.2.3.1 RAPID components
Continued
Description
Read/write
(R/W)
Number
Name
Servo robot only! Adaptive parameter
2
R
32
LTAPP__APM_P2
Servo robot only! Adaptive parameter
3
R
33
LTAPP__APM_P3
Servo robot only! Adaptive parameter
4
R
34
LTAPP__APM_P4
Servo robot only! Adaptive parameter
5
R
35
LTAPP__APM_P5
Servo robot only! Adaptive parameter
6
R
36
LTAPP__APM_P6
Measured angle around sensor Y axis
R
51
LTAPP__ROT_Y
Measured angle around sensor Z axis
A
R
52
LTAPP__ROT_Z
Scansonic sensors only. Measured X
value line 1, unsigned word. The units
are determined by the variable Unit .
R
54
LTAPP__X0
Scansonic sensors only. Measured Y
value line 1, unsigned word. The units
are determined by the variable Unit .
R
55
LTAPP__Y0
Scansonic sensors only. Measured Z
value line 1, unsigned word. The units
are determined by the variable Unit .
R
56
LTAPP__Z0
Scansonic sensors only. Measured X
value line 2, unsigned word. The units
are determined by the variable Unit .
R
57
LTAPP__X1
Scansonic sensors only. Measured Y
value line 2, unsigned word. The units
are determined by the variable Unit .
R
58
LTAPP__Y1
Scansonic sensors only. Measured Z
value line 2, unsigned word. The units
are determined by the variable Unit .
R
59
LTAPP__Z1
Scansonic sensors only. Measured X
value line 3, unsigned word. The units
are determined by the variable Unit .
R
60
LTAPP__X2
Scansonic sensors only. Measured Y
value line 3, unsigned word. The units
are determined by the variable Unit .
R
61
LTAPP__Y2
Scansonic sensors only. Measured Z
value line 3, unsigned word. The units
are determined by the variable Unit .
R
62
LTAPP__Z2
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9.2.3.1 RAPID components
Continued
9.2.4 Examples
9.2.4.1 Code examples
Interrupt welding to adjust settings
This is an example of a welding program where a sensor is used. The sensor reads
the gap (in mm) and an interrupt occurs every time the value from the sensor
changes. The new value from the sensor is then used to determine correct settings
for voltage, wire feed and speed.
LOCAL PERS num adptVlt{8}:=
[1,1.2,1.4,1.6,1.8,2,2.2,2.5];
LOCAL PERS num adptWfd{8}:=
[2,2.2,2.4,2.6,2.8,3,3.2,3.5];
LOCAL PERS num adptSpd{8}:=
[10,12,14,16,18,20,22,25];
LOCAL CONST num GAP_VARIABLE_NO:=11;
PERS num gap_value:=0;
PERS trackdata track:=[0,FALSE,150,[0,0,0,0,0,0,0,0,0],
[3,1,5,200,0,0,0]];
VAR intnum IntAdap;
PROC main()
! Setup the interrupt. The trap routine AdapTrap will be called
! when the gap variable with number GAP_VARIABLE_NO in the sensor
! interface has been changed. The new value will be available in
! the gap_value variable.
CONNECT IntAdap WITH AdapTrap;
IVarValue "laser1:", GAP_VARIABLE_NO, gap_value, IntAdap;
! Start welding
ArcLStart p1,v100,adaptSm,adaptWd,fine, tool\j\Track:=track;
ArcLEnd p2,v100,adaptSm,adaptWd,fine, tool\j\Track:=track;
ENDPROC
TRAP AdapTrap
VAR num ArrInd;
! Scale the raw gap value received
ArrInd:=ArrIndx(gap_value);
! Update active weld data variable adaptWd with new data from
! the predefined parameter arrays.
! The scaled gap value is used as index in the voltage,
! wirefeed and speed arrays.
adaptWd.weld_voltage:=adptVlt{ArrInd};
adaptWd.weld_wirefeed:=adptWfd{ArrInd};
adaptWd.weld_speed:=adptSpd{ArrInd};
! Request a refresh of welding parameters using the new data
! in adaptWd
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Description
Read/write
(R/W)
Number
Name
Servo robot only! Adaptive parameter
2
R
32
LTAPP__APM_P2
Servo robot only! Adaptive parameter
3
R
33
LTAPP__APM_P3
Servo robot only! Adaptive parameter
4
R
34
LTAPP__APM_P4
Servo robot only! Adaptive parameter
5
R
35
LTAPP__APM_P5
Servo robot only! Adaptive parameter
6
R
36
LTAPP__APM_P6
Measured angle around sensor Y axis
R
51
LTAPP__ROT_Y
Measured angle around sensor Z axis
A
R
52
LTAPP__ROT_Z
Scansonic sensors only. Measured X
value line 1, unsigned word. The units
are determined by the variable Unit .
R
54
LTAPP__X0
Scansonic sensors only. Measured Y
value line 1, unsigned word. The units
are determined by the variable Unit .
R
55
LTAPP__Y0
Scansonic sensors only. Measured Z
value line 1, unsigned word. The units
are determined by the variable Unit .
R
56
LTAPP__Z0
Scansonic sensors only. Measured X
value line 2, unsigned word. The units
are determined by the variable Unit .
R
57
LTAPP__X1
Scansonic sensors only. Measured Y
value line 2, unsigned word. The units
are determined by the variable Unit .
R
58
LTAPP__Y1
Scansonic sensors only. Measured Z
value line 2, unsigned word. The units
are determined by the variable Unit .
R
59
LTAPP__Z1
Scansonic sensors only. Measured X
value line 3, unsigned word. The units
are determined by the variable Unit .
R
60
LTAPP__X2
Scansonic sensors only. Measured Y
value line 3, unsigned word. The units
are determined by the variable Unit .
R
61
LTAPP__Y2
Scansonic sensors only. Measured Z
value line 3, unsigned word. The units
are determined by the variable Unit .
R
62
LTAPP__Z2
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9 Engineering tools
9.2.3.1 RAPID components
Continued
9.2.4 Examples
9.2.4.1 Code examples
Interrupt welding to adjust settings
This is an example of a welding program where a sensor is used. The sensor reads
the gap (in mm) and an interrupt occurs every time the value from the sensor
changes. The new value from the sensor is then used to determine correct settings
for voltage, wire feed and speed.
LOCAL PERS num adptVlt{8}:=
[1,1.2,1.4,1.6,1.8,2,2.2,2.5];
LOCAL PERS num adptWfd{8}:=
[2,2.2,2.4,2.6,2.8,3,3.2,3.5];
LOCAL PERS num adptSpd{8}:=
[10,12,14,16,18,20,22,25];
LOCAL CONST num GAP_VARIABLE_NO:=11;
PERS num gap_value:=0;
PERS trackdata track:=[0,FALSE,150,[0,0,0,0,0,0,0,0,0],
[3,1,5,200,0,0,0]];
VAR intnum IntAdap;
PROC main()
! Setup the interrupt. The trap routine AdapTrap will be called
! when the gap variable with number GAP_VARIABLE_NO in the sensor
! interface has been changed. The new value will be available in
! the gap_value variable.
CONNECT IntAdap WITH AdapTrap;
IVarValue "laser1:", GAP_VARIABLE_NO, gap_value, IntAdap;
! Start welding
ArcLStart p1,v100,adaptSm,adaptWd,fine, tool\j\Track:=track;
ArcLEnd p2,v100,adaptSm,adaptWd,fine, tool\j\Track:=track;
ENDPROC
TRAP AdapTrap
VAR num ArrInd;
! Scale the raw gap value received
ArrInd:=ArrIndx(gap_value);
! Update active weld data variable adaptWd with new data from
! the predefined parameter arrays.
! The scaled gap value is used as index in the voltage,
! wirefeed and speed arrays.
adaptWd.weld_voltage:=adptVlt{ArrInd};
adaptWd.weld_wirefeed:=adptWfd{ArrInd};
adaptWd.weld_speed:=adptSpd{ArrInd};
! Request a refresh of welding parameters using the new data
! in adaptWd
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9.2.4.1 Code examples
ArcRefresh;
ENDTRAP
FUNC ArrIndx(num value)
IF value < 0.5 THEN RETURN 1;
ELSEIF value < 1.0 THEN RETURN 2;
ELSEIF value < 1.5 THEN RETURN 3;
ELSEIF value < 2.0 THEN RETURN 4;
ELSEIF value < 2.5 THEN RETURN 5;
ELSEIF value < 3.0 THEN RETURN 6;
ELSEIF value < 3.5 THEN RETURN 7;
ELSE RETURN 8;
ENDIF
ENDFUNC
Reading positions from sensor
In this example, the sensor is turned on and the coordinates are read from the
sensor.
! Define variable numbers
CONST num SensorOn := 6;
CONST num YCoord := 9;
CONST num ZCoord := 10;
! Define the transformation matrix
CONST pose SensorMatrix := [[100,0,0],[1,0,0,0]];
VAR pos SensorPos;
VAR pos RobotPos;
! Request start of sensor measurements
WriteVar SensorOn, 1;
! Read a Cartesian position from the sensor
SensorPos.x := 0;
SensorPos.y := ReadVar (YCoord);
SensorPos.z := ReadVar (ZCoord);
! Stop sensor
WriteVar SensorOn, 0;
! Convert to robot coordinates
RobotPos := PoseVect(SensorMatrix, SensorPos);
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9.2.4 Examples
9.2.4.1 Code examples
Interrupt welding to adjust settings
This is an example of a welding program where a sensor is used. The sensor reads
the gap (in mm) and an interrupt occurs every time the value from the sensor
changes. The new value from the sensor is then used to determine correct settings
for voltage, wire feed and speed.
LOCAL PERS num adptVlt{8}:=
[1,1.2,1.4,1.6,1.8,2,2.2,2.5];
LOCAL PERS num adptWfd{8}:=
[2,2.2,2.4,2.6,2.8,3,3.2,3.5];
LOCAL PERS num adptSpd{8}:=
[10,12,14,16,18,20,22,25];
LOCAL CONST num GAP_VARIABLE_NO:=11;
PERS num gap_value:=0;
PERS trackdata track:=[0,FALSE,150,[0,0,0,0,0,0,0,0,0],
[3,1,5,200,0,0,0]];
VAR intnum IntAdap;
PROC main()
! Setup the interrupt. The trap routine AdapTrap will be called
! when the gap variable with number GAP_VARIABLE_NO in the sensor
! interface has been changed. The new value will be available in
! the gap_value variable.
CONNECT IntAdap WITH AdapTrap;
IVarValue "laser1:", GAP_VARIABLE_NO, gap_value, IntAdap;
! Start welding
ArcLStart p1,v100,adaptSm,adaptWd,fine, tool\j\Track:=track;
ArcLEnd p2,v100,adaptSm,adaptWd,fine, tool\j\Track:=track;
ENDPROC
TRAP AdapTrap
VAR num ArrInd;
! Scale the raw gap value received
ArrInd:=ArrIndx(gap_value);
! Update active weld data variable adaptWd with new data from
! the predefined parameter arrays.
! The scaled gap value is used as index in the voltage,
! wirefeed and speed arrays.
adaptWd.weld_voltage:=adptVlt{ArrInd};
adaptWd.weld_wirefeed:=adptWfd{ArrInd};
adaptWd.weld_speed:=adptSpd{ArrInd};
! Request a refresh of welding parameters using the new data
! in adaptWd
Continues on next page
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9 Engineering tools
9.2.4.1 Code examples
ArcRefresh;
ENDTRAP
FUNC ArrIndx(num value)
IF value < 0.5 THEN RETURN 1;
ELSEIF value < 1.0 THEN RETURN 2;
ELSEIF value < 1.5 THEN RETURN 3;
ELSEIF value < 2.0 THEN RETURN 4;
ELSEIF value < 2.5 THEN RETURN 5;
ELSEIF value < 3.0 THEN RETURN 6;
ELSEIF value < 3.5 THEN RETURN 7;
ELSE RETURN 8;
ENDIF
ENDFUNC
Reading positions from sensor
In this example, the sensor is turned on and the coordinates are read from the
sensor.
! Define variable numbers
CONST num SensorOn := 6;
CONST num YCoord := 9;
CONST num ZCoord := 10;
! Define the transformation matrix
CONST pose SensorMatrix := [[100,0,0],[1,0,0,0]];
VAR pos SensorPos;
VAR pos RobotPos;
! Request start of sensor measurements
WriteVar SensorOn, 1;
! Read a Cartesian position from the sensor
SensorPos.x := 0;
SensorPos.y := ReadVar (YCoord);
SensorPos.z := ReadVar (ZCoord);
! Stop sensor
WriteVar SensorOn, 0;
! Convert to robot coordinates
RobotPos := PoseVect(SensorMatrix, SensorPos);
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9 Engineering tools
9.2.4.1 Code examples
Continued
9.3 Robot Reference Interface [included in 689-1]
9.3.1 Introduction to Robot Reference Interface
Introduction
Robot Reference Interface is included in the RobotWare option Externally Guided
Motion . It can be used for 4-axis, 6-axis, and 7-axis robots.
Robot Reference Interface supports data exchange on the cyclic channel. It provides
the possibility to periodically send planned and actual robot position data from the
robot controller, as well as the exchange of other RAPID variables from and to the
robot controller. The message contents are represented in XML format and are
configured using appropriate sensor configuration files.
Robot Reference Interface
The cyclic communication channel (TCP or UDP) can be executed in the high-priority
network environment of the IRC5 Controller which ensures a stable data exchange
up to 250Hz.
Robot
Sensor
Rapid data
Motion data
RRI
Cyclic channel (TCP or UDP)
read/write
Receive commands,
parameters and
robot data
Return parameters
and sensor data
read only
Cabinet status
read only
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ArcRefresh;
ENDTRAP
FUNC ArrIndx(num value)
IF value < 0.5 THEN RETURN 1;
ELSEIF value < 1.0 THEN RETURN 2;
ELSEIF value < 1.5 THEN RETURN 3;
ELSEIF value < 2.0 THEN RETURN 4;
ELSEIF value < 2.5 THEN RETURN 5;
ELSEIF value < 3.0 THEN RETURN 6;
ELSEIF value < 3.5 THEN RETURN 7;
ELSE RETURN 8;
ENDIF
ENDFUNC
Reading positions from sensor
In this example, the sensor is turned on and the coordinates are read from the
sensor.
! Define variable numbers
CONST num SensorOn := 6;
CONST num YCoord := 9;
CONST num ZCoord := 10;
! Define the transformation matrix
CONST pose SensorMatrix := [[100,0,0],[1,0,0,0]];
VAR pos SensorPos;
VAR pos RobotPos;
! Request start of sensor measurements
WriteVar SensorOn, 1;
! Read a Cartesian position from the sensor
SensorPos.x := 0;
SensorPos.y := ReadVar (YCoord);
SensorPos.z := ReadVar (ZCoord);
! Stop sensor
WriteVar SensorOn, 0;
! Convert to robot coordinates
RobotPos := PoseVect(SensorMatrix, SensorPos);
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9 Engineering tools
9.2.4.1 Code examples
Continued
9.3 Robot Reference Interface [included in 689-1]
9.3.1 Introduction to Robot Reference Interface
Introduction
Robot Reference Interface is included in the RobotWare option Externally Guided
Motion . It can be used for 4-axis, 6-axis, and 7-axis robots.
Robot Reference Interface supports data exchange on the cyclic channel. It provides
the possibility to periodically send planned and actual robot position data from the
robot controller, as well as the exchange of other RAPID variables from and to the
robot controller. The message contents are represented in XML format and are
configured using appropriate sensor configuration files.
Robot Reference Interface
The cyclic communication channel (TCP or UDP) can be executed in the high-priority
network environment of the IRC5 Controller which ensures a stable data exchange
up to 250Hz.
Robot
Sensor
Rapid data
Motion data
RRI
Cyclic channel (TCP or UDP)
read/write
Receive commands,
parameters and
robot data
Return parameters
and sensor data
read only
Cabinet status
read only
xx0800000128
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9 Engineering tools
9.3.1 Introduction to Robot Reference Interface
9.3.2 Installation
9.3.2.1 Connecting the communication cable
Overview
This section describes where to connect the communication cable on the controller.
For further instructions, see the corresponding product manual for your robot
system.
Location
A
B
xx1300000609
Service port on the computer unit (connected to the service port on the controller)
A
WAN port on the computer unit
B
Note
Action
Note
The service connection can only be
used if it is free.
Use one of these two connections (A or B).
1
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9.3.2.1 Connecting the communication cable
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|
9.3 Robot Reference Interface [included in 689-1]
9.3.1 Introduction to Robot Reference Interface
Introduction
Robot Reference Interface is included in the RobotWare option Externally Guided
Motion . It can be used for 4-axis, 6-axis, and 7-axis robots.
Robot Reference Interface supports data exchange on the cyclic channel. It provides
the possibility to periodically send planned and actual robot position data from the
robot controller, as well as the exchange of other RAPID variables from and to the
robot controller. The message contents are represented in XML format and are
configured using appropriate sensor configuration files.
Robot Reference Interface
The cyclic communication channel (TCP or UDP) can be executed in the high-priority
network environment of the IRC5 Controller which ensures a stable data exchange
up to 250Hz.
Robot
Sensor
Rapid data
Motion data
RRI
Cyclic channel (TCP or UDP)
read/write
Receive commands,
parameters and
robot data
Return parameters
and sensor data
read only
Cabinet status
read only
xx0800000128
356
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9 Engineering tools
9.3.1 Introduction to Robot Reference Interface
9.3.2 Installation
9.3.2.1 Connecting the communication cable
Overview
This section describes where to connect the communication cable on the controller.
For further instructions, see the corresponding product manual for your robot
system.
Location
A
B
xx1300000609
Service port on the computer unit (connected to the service port on the controller)
A
WAN port on the computer unit
B
Note
Action
Note
The service connection can only be
used if it is free.
Use one of these two connections (A or B).
1
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9 Engineering tools
9.3.2.1 Connecting the communication cable
9.3.2.2 Prerequisites
Overview
This section describes the prerequisites for using Robot Reference Interface .
UDP/IP or TCP IP
Robot Reference Interface supports the communication over the standard IP
protocols UDP or TCP.
Recommendations
The delay in the overall communication mostly depends on the topology of the
employed network. In a switched network the transmission will be delayed due to
buffering of the messages in the switches. In a parallel network collisions with
multiple communication partners will lead to messages being resent.
Therefore we recommended using a dedicated Ethernet link between the external
system and the robot controller to provide the required performance for real-time
applications. Robot Reference Interface can be used to communicate with any
processor-based devices, that support IP via Ethernet and can serialize data into
XML format.
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9.3.2.2 Prerequisites
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| 358
|
9.3.2 Installation
9.3.2.1 Connecting the communication cable
Overview
This section describes where to connect the communication cable on the controller.
For further instructions, see the corresponding product manual for your robot
system.
Location
A
B
xx1300000609
Service port on the computer unit (connected to the service port on the controller)
A
WAN port on the computer unit
B
Note
Action
Note
The service connection can only be
used if it is free.
Use one of these two connections (A or B).
1
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9 Engineering tools
9.3.2.1 Connecting the communication cable
9.3.2.2 Prerequisites
Overview
This section describes the prerequisites for using Robot Reference Interface .
UDP/IP or TCP IP
Robot Reference Interface supports the communication over the standard IP
protocols UDP or TCP.
Recommendations
The delay in the overall communication mostly depends on the topology of the
employed network. In a switched network the transmission will be delayed due to
buffering of the messages in the switches. In a parallel network collisions with
multiple communication partners will lead to messages being resent.
Therefore we recommended using a dedicated Ethernet link between the external
system and the robot controller to provide the required performance for real-time
applications. Robot Reference Interface can be used to communicate with any
processor-based devices, that support IP via Ethernet and can serialize data into
XML format.
358
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9 Engineering tools
9.3.2.2 Prerequisites
9.3.2.3 Data orchestration
Overview
The outgoing message can be combined from any data from the RAPID level and
internal data from the cabinet and motion topic. The orchestration of the data is
defined in the device configuration by setting the Link attribute of internally linked
data to Intern .
Illustration
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
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xx0800000178
Data from the Controller topic
Comment
Description
Type
Name
The mapping of the members for the Op-
Mode type can be defined in the configura-
tion file.
Operation mode
of the robot.
OpMode
OperationMode
Data from the Motion topic
Comment
Description
Type
Name
There is a delay of approxim-
ately 8ms.
Time stamp for the robot posi-
tion from drive feedback.
Time
FeedbackTime
Current tool and workobject
are used for calculation.
Note
The work object data needs to
refer to a fixed work object.
For example, it will not work
with conveyor tracking. For
more information about
wobjdata , see Technical ref-
erence manual - RAPID Instruc-
tions, Functions and Data
types .
Robot TCP calculated from
drive feedback.
Frame
FeedbackPose
Robot joint values gathered
from drive feedback.
Joints
FeedbackJoints
Continues on next page
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9 Engineering tools
9.3.2.3 Data orchestration
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| 359
|
9.3.2.2 Prerequisites
Overview
This section describes the prerequisites for using Robot Reference Interface .
UDP/IP or TCP IP
Robot Reference Interface supports the communication over the standard IP
protocols UDP or TCP.
Recommendations
The delay in the overall communication mostly depends on the topology of the
employed network. In a switched network the transmission will be delayed due to
buffering of the messages in the switches. In a parallel network collisions with
multiple communication partners will lead to messages being resent.
Therefore we recommended using a dedicated Ethernet link between the external
system and the robot controller to provide the required performance for real-time
applications. Robot Reference Interface can be used to communicate with any
processor-based devices, that support IP via Ethernet and can serialize data into
XML format.
358
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9 Engineering tools
9.3.2.2 Prerequisites
9.3.2.3 Data orchestration
Overview
The outgoing message can be combined from any data from the RAPID level and
internal data from the cabinet and motion topic. The orchestration of the data is
defined in the device configuration by setting the Link attribute of internally linked
data to Intern .
Illustration
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx0800000178
Data from the Controller topic
Comment
Description
Type
Name
The mapping of the members for the Op-
Mode type can be defined in the configura-
tion file.
Operation mode
of the robot.
OpMode
OperationMode
Data from the Motion topic
Comment
Description
Type
Name
There is a delay of approxim-
ately 8ms.
Time stamp for the robot posi-
tion from drive feedback.
Time
FeedbackTime
Current tool and workobject
are used for calculation.
Note
The work object data needs to
refer to a fixed work object.
For example, it will not work
with conveyor tracking. For
more information about
wobjdata , see Technical ref-
erence manual - RAPID Instruc-
tions, Functions and Data
types .
Robot TCP calculated from
drive feedback.
Frame
FeedbackPose
Robot joint values gathered
from drive feedback.
Joints
FeedbackJoints
Continues on next page
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9 Engineering tools
9.3.2.3 Data orchestration
Comment
Description
Type
Name
Prediction time from approxim-
ately 24ms to 60ms depending
on robot type.
Timestamp for planned robot
TCP position and joint values.
Time
PredictedTime
Current tool and workobject
are used for calculation.
Planned robot TCP.
Frame
PlannedPose
Planned robot joint values.
Joints
PlannedJoints
360
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9 Engineering tools
9.3.2.3 Data orchestration
Continued
|
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| 360
|
9.3.2.3 Data orchestration
Overview
The outgoing message can be combined from any data from the RAPID level and
internal data from the cabinet and motion topic. The orchestration of the data is
defined in the device configuration by setting the Link attribute of internally linked
data to Intern .
Illustration
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx0800000178
Data from the Controller topic
Comment
Description
Type
Name
The mapping of the members for the Op-
Mode type can be defined in the configura-
tion file.
Operation mode
of the robot.
OpMode
OperationMode
Data from the Motion topic
Comment
Description
Type
Name
There is a delay of approxim-
ately 8ms.
Time stamp for the robot posi-
tion from drive feedback.
Time
FeedbackTime
Current tool and workobject
are used for calculation.
Note
The work object data needs to
refer to a fixed work object.
For example, it will not work
with conveyor tracking. For
more information about
wobjdata , see Technical ref-
erence manual - RAPID Instruc-
tions, Functions and Data
types .
Robot TCP calculated from
drive feedback.
Frame
FeedbackPose
Robot joint values gathered
from drive feedback.
Joints
FeedbackJoints
Continues on next page
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9 Engineering tools
9.3.2.3 Data orchestration
Comment
Description
Type
Name
Prediction time from approxim-
ately 24ms to 60ms depending
on robot type.
Timestamp for planned robot
TCP position and joint values.
Time
PredictedTime
Current tool and workobject
are used for calculation.
Planned robot TCP.
Frame
PlannedPose
Planned robot joint values.
Joints
PlannedJoints
360
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9 Engineering tools
9.3.2.3 Data orchestration
Continued
9.3.2.4 Supported data types
Overview
This section contains a short description of the Robot Reference Interface supported
data types, for more detailed information about the supported data types see
References on page 11 .
Data types
Robot Reference Interface supports the following simple data types:
RAPID type mapping
Description
Data type
bool
Boolean value.
bool
num
Single precision, floating point value.
real
num
Time in seconds expressed as floating point value.
time
string
String with max length of 80 characters.
string
pose
Cartesian position and orientation in Euler Angles
(Roll-Pitch-Jaw).
frame
robjoint
Robot joint values.
joint
In addition, user-defined records can also be transferred from the external system
to the robot controller, which are composed from the supported simple data types.
User defined record types must be specified in the configuration file of the external
device. See Device configuration on page 367 for a description on how to create
user-defined record types.
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9 Engineering tools
9.3.2.4 Supported data types
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|
Comment
Description
Type
Name
Prediction time from approxim-
ately 24ms to 60ms depending
on robot type.
Timestamp for planned robot
TCP position and joint values.
Time
PredictedTime
Current tool and workobject
are used for calculation.
Planned robot TCP.
Frame
PlannedPose
Planned robot joint values.
Joints
PlannedJoints
360
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9 Engineering tools
9.3.2.3 Data orchestration
Continued
9.3.2.4 Supported data types
Overview
This section contains a short description of the Robot Reference Interface supported
data types, for more detailed information about the supported data types see
References on page 11 .
Data types
Robot Reference Interface supports the following simple data types:
RAPID type mapping
Description
Data type
bool
Boolean value.
bool
num
Single precision, floating point value.
real
num
Time in seconds expressed as floating point value.
time
string
String with max length of 80 characters.
string
pose
Cartesian position and orientation in Euler Angles
(Roll-Pitch-Jaw).
frame
robjoint
Robot joint values.
joint
In addition, user-defined records can also be transferred from the external system
to the robot controller, which are composed from the supported simple data types.
User defined record types must be specified in the configuration file of the external
device. See Device configuration on page 367 for a description on how to create
user-defined record types.
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9 Engineering tools
9.3.2.4 Supported data types
9.3.3 Configuration
9.3.3.1 Interface configuration
Configuration files
The configuration and settings files for the interface must be located in the folder
HOME/GSI. This ensures that the configuration files are included in system backups.
![Image]
xx0800000177
Related information
For more detailed information of the Settings.xml file see Interface settings on
page 363 .
For more detailed information of the Description.xml file see Device description
on page 364 .
For more detailed information of the Configuration.xml file see Device configuration
on page 367 .
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| 362
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9.3.2.4 Supported data types
Overview
This section contains a short description of the Robot Reference Interface supported
data types, for more detailed information about the supported data types see
References on page 11 .
Data types
Robot Reference Interface supports the following simple data types:
RAPID type mapping
Description
Data type
bool
Boolean value.
bool
num
Single precision, floating point value.
real
num
Time in seconds expressed as floating point value.
time
string
String with max length of 80 characters.
string
pose
Cartesian position and orientation in Euler Angles
(Roll-Pitch-Jaw).
frame
robjoint
Robot joint values.
joint
In addition, user-defined records can also be transferred from the external system
to the robot controller, which are composed from the supported simple data types.
User defined record types must be specified in the configuration file of the external
device. See Device configuration on page 367 for a description on how to create
user-defined record types.
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9 Engineering tools
9.3.2.4 Supported data types
9.3.3 Configuration
9.3.3.1 Interface configuration
Configuration files
The configuration and settings files for the interface must be located in the folder
HOME/GSI. This ensures that the configuration files are included in system backups.
![Image]
xx0800000177
Related information
For more detailed information of the Settings.xml file see Interface settings on
page 363 .
For more detailed information of the Description.xml file see Device description
on page 364 .
For more detailed information of the Configuration.xml file see Device configuration
on page 367 .
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9.3.3.1 Interface configuration
9.3.3.2 Interface settings
Overview
This section describes the use of the xml file Settings.xml .
Settings.xml
The settings file Settings.xml contains the general settings for the GSI interface.
It is located in the folder HOME/GSI. For the option Robot Reference Interface this
file refers to a list of all communication clients for external systems installed in the
controller. The Settings.xml file can be defined according to the XML schema
Settings.xsd.
Example
For each communication client installed on the controller, the file Settings.xml must
contain a Client entry in the Clients section. The Convention attribute identifies the
protocol convention used by the client, for the Robot Reference Interface option
only CDP is supported. The Name attribute identifies the name of the client and
also specifies the folder with the device related configuration files.
<?xml version="1.0" encoding="UTF-8"?>
<Settings>
<Clients>
<Client Convention="CDP" Name="MySensor" />
</Clients>
</Settings>
CDP stands for cyclic data protocol and is the internal name of the protocol, on
which Robot Reference Interface messages are transferred.
An internal client node of the interface module will be created, which is able to
connect to the external system MySensor that runs a data server application and
can communicate via Robot Reference Interface with the robot.
For each sensor system, a subdirectory named with the sensor system identifier,
for example MySensor , contains further settings.
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9.3.3 Configuration
9.3.3.1 Interface configuration
Configuration files
The configuration and settings files for the interface must be located in the folder
HOME/GSI. This ensures that the configuration files are included in system backups.
![Image]
xx0800000177
Related information
For more detailed information of the Settings.xml file see Interface settings on
page 363 .
For more detailed information of the Description.xml file see Device description
on page 364 .
For more detailed information of the Configuration.xml file see Device configuration
on page 367 .
362
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© Copyright 2014-2025 ABB. All rights reserved.
9 Engineering tools
9.3.3.1 Interface configuration
9.3.3.2 Interface settings
Overview
This section describes the use of the xml file Settings.xml .
Settings.xml
The settings file Settings.xml contains the general settings for the GSI interface.
It is located in the folder HOME/GSI. For the option Robot Reference Interface this
file refers to a list of all communication clients for external systems installed in the
controller. The Settings.xml file can be defined according to the XML schema
Settings.xsd.
Example
For each communication client installed on the controller, the file Settings.xml must
contain a Client entry in the Clients section. The Convention attribute identifies the
protocol convention used by the client, for the Robot Reference Interface option
only CDP is supported. The Name attribute identifies the name of the client and
also specifies the folder with the device related configuration files.
<?xml version="1.0" encoding="UTF-8"?>
<Settings>
<Clients>
<Client Convention="CDP" Name="MySensor" />
</Clients>
</Settings>
CDP stands for cyclic data protocol and is the internal name of the protocol, on
which Robot Reference Interface messages are transferred.
An internal client node of the interface module will be created, which is able to
connect to the external system MySensor that runs a data server application and
can communicate via Robot Reference Interface with the robot.
For each sensor system, a subdirectory named with the sensor system identifier,
for example MySensor , contains further settings.
Application manual - Controller software IRC5
363
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
9 Engineering tools
9.3.3.2 Interface settings
9.3.3.3 Device description
Overview
This section describes the use of the xml file Description.xml .
Description.xml
The device description file Description.xml is located in the corresponding
subdirectory of the device. It specifies the general device parameters, network
connection and CDP specific communication settings for an installed device. A
device description can be defined according to the XML schema Description.xsd.
Example
This is an example of a device description:
<?xml version="1.0" encoding="utf-8"?>
<Description>
<Name>AnyDevice</Name>
<Convention>CDP</Convention>
<Type>IntelligentCamera</Type>
<Class>MachineVision</Class>
<Network Address="10.49.65.74" Port="Service">
<Channel Type="Cyclic" Protocol="Udp" Port="3002" />
</Network>
<Settings>
<TimeOut>2000</TimeOut>
<MaxLost>30</MaxLost>
<DryRun>false</DryRun>
</Settings>
</Description>
Name
The first section defines the general device parameters. The Name element
identifies the name of the device and should correspond to the device name
specified in the settings file. It must correspond to the identifier specified for the
device descriptor on the RAPID level, because the descriptor name will be used
initially to refer to the device in the RAPID instructions.
Comment
Value
Description
Attribute
Element
Maximum 16 characters
Any string
Device identifier
Name
Convention
The Convention element identifies the protocol that should be used by the device,
for the Robot Reference Interface option only the Cyclic Data Protocol (CDP) is
supported.
Comment
Value
Description
Attribute
Element
CDP
Protocol type
Convention
Continues on next page
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© Copyright 2014-2025 ABB. All rights reserved.
9 Engineering tools
9.3.3.3 Device description
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9.3.3.2 Interface settings
Overview
This section describes the use of the xml file Settings.xml .
Settings.xml
The settings file Settings.xml contains the general settings for the GSI interface.
It is located in the folder HOME/GSI. For the option Robot Reference Interface this
file refers to a list of all communication clients for external systems installed in the
controller. The Settings.xml file can be defined according to the XML schema
Settings.xsd.
Example
For each communication client installed on the controller, the file Settings.xml must
contain a Client entry in the Clients section. The Convention attribute identifies the
protocol convention used by the client, for the Robot Reference Interface option
only CDP is supported. The Name attribute identifies the name of the client and
also specifies the folder with the device related configuration files.
<?xml version="1.0" encoding="UTF-8"?>
<Settings>
<Clients>
<Client Convention="CDP" Name="MySensor" />
</Clients>
</Settings>
CDP stands for cyclic data protocol and is the internal name of the protocol, on
which Robot Reference Interface messages are transferred.
An internal client node of the interface module will be created, which is able to
connect to the external system MySensor that runs a data server application and
can communicate via Robot Reference Interface with the robot.
For each sensor system, a subdirectory named with the sensor system identifier,
for example MySensor , contains further settings.
Application manual - Controller software IRC5
363
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
9 Engineering tools
9.3.3.2 Interface settings
9.3.3.3 Device description
Overview
This section describes the use of the xml file Description.xml .
Description.xml
The device description file Description.xml is located in the corresponding
subdirectory of the device. It specifies the general device parameters, network
connection and CDP specific communication settings for an installed device. A
device description can be defined according to the XML schema Description.xsd.
Example
This is an example of a device description:
<?xml version="1.0" encoding="utf-8"?>
<Description>
<Name>AnyDevice</Name>
<Convention>CDP</Convention>
<Type>IntelligentCamera</Type>
<Class>MachineVision</Class>
<Network Address="10.49.65.74" Port="Service">
<Channel Type="Cyclic" Protocol="Udp" Port="3002" />
</Network>
<Settings>
<TimeOut>2000</TimeOut>
<MaxLost>30</MaxLost>
<DryRun>false</DryRun>
</Settings>
</Description>
Name
The first section defines the general device parameters. The Name element
identifies the name of the device and should correspond to the device name
specified in the settings file. It must correspond to the identifier specified for the
device descriptor on the RAPID level, because the descriptor name will be used
initially to refer to the device in the RAPID instructions.
Comment
Value
Description
Attribute
Element
Maximum 16 characters
Any string
Device identifier
Name
Convention
The Convention element identifies the protocol that should be used by the device,
for the Robot Reference Interface option only the Cyclic Data Protocol (CDP) is
supported.
Comment
Value
Description
Attribute
Element
CDP
Protocol type
Convention
Continues on next page
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© Copyright 2014-2025 ABB. All rights reserved.
9 Engineering tools
9.3.3.3 Device description
Type and Class
The Type and Class elements identifies the device type and class and are currently
not validated, therefore they can also contain undefined device types or classes.
Comment
Value
Description
Attribute
Element
Not validated
Any string
Sensor type
Type
Not validated
Any string
Sensor class
Class
Network
The Network section defines the network connection settings for the device. The
Address attribute specifies the IP address or host name of the device on the
network. The optional Port attribute is used to specify the physical Ethernet port
on the controller side that the cable is plugged into. Valid values are WAN and
Service . The attribute can be omitted if the WAN port is used for communication.
Comment
Value
Description
Attribute
Element
Network settings
Network
10.49.65.249
Any valid IP ad-
dress or host
name
IP address or host name
of the device
Address
DE-L-0328122
Optional. Can be omit-
ted if WAN port is
used.
WAN
Service
Physical Ethernet port on
the controller
Port
Channel
The Channel element defines the settings for the communication channel between
the robot controller and the external device. The Type attribute identifies the channel
type, only Cyclic is supported by Robot Reference Interface .
The Protocol attribute identifies the IP protocol used on the channel, for Robot
Reference Interface you can specify to use Tcp or Udp . The Port attribute specifies
the logical port number for the channel on the device side.
Comment
Value
Description
Attribute
Element
Channel settings
Channel
Cyclic
Channel type
Type
Tcp
The IP protocol type
Protocol
Udp
Any available port num-
ber on the device, maxim-
um 65535.
uShort
The logical port num-
ber of the channel
Port
Continues on next page
Application manual - Controller software IRC5
365
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
9 Engineering tools
9.3.3.3 Device description
Continued
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