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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
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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
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9.3.3.3 Device description
Continued
Settings
The Settings section contains communication parameters specific to the CDP
protocol. The TimeOut element defines the timeout for not received messages.
This element identifies the time until the connection is considered broken and is
only needed for bidirectional communication. The MaxLost attribute defines the
maximum number of not acknowledged or lost messages allowed. The DryRun
element identifies, if the acknowledgement of messages is supervised and can be
used to setup an unidirectional communication.
Comment
Value
Description
Element
Time in milliseconds, a multiple of 4
ms.
Time out for commu-
nication
TimeOut
Integer
Maximum loss of
packages allowed
MaxLost
If TRUE, TimeOut and MaxLost will not
be checked.
Bool
Interface run mode
DryRun
If the element DryRun in the Description.xml is set to FALSE, communication
supervision is established on the protocol level of the Robot Reference Interface ,
using the settings for TimeOut and MaxLost . This supervision requires that each
message that is sent out from the robot controller is answered by the connected
device. The supervision generates a communication error, if the maximum response
time or the maximum number of lost packages is exceeded. Each sent out message
has an ID, which needs to be used for the ID in the reply too, to identify the reply
message and to detect which packages have been lost. See also the example in
section Transmitted XML messages on page 374 .
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9.3.3.3 Device description
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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
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9.3.3.3 Device description
Continued
Settings
The Settings section contains communication parameters specific to the CDP
protocol. The TimeOut element defines the timeout for not received messages.
This element identifies the time until the connection is considered broken and is
only needed for bidirectional communication. The MaxLost attribute defines the
maximum number of not acknowledged or lost messages allowed. The DryRun
element identifies, if the acknowledgement of messages is supervised and can be
used to setup an unidirectional communication.
Comment
Value
Description
Element
Time in milliseconds, a multiple of 4
ms.
Time out for commu-
nication
TimeOut
Integer
Maximum loss of
packages allowed
MaxLost
If TRUE, TimeOut and MaxLost will not
be checked.
Bool
Interface run mode
DryRun
If the element DryRun in the Description.xml is set to FALSE, communication
supervision is established on the protocol level of the Robot Reference Interface ,
using the settings for TimeOut and MaxLost . This supervision requires that each
message that is sent out from the robot controller is answered by the connected
device. The supervision generates a communication error, if the maximum response
time or the maximum number of lost packages is exceeded. Each sent out message
has an ID, which needs to be used for the ID in the reply too, to identify the reply
message and to detect which packages have been lost. See also the example in
section Transmitted XML messages on page 374 .
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9.3.3.3 Device description
Continued
9.3.3.4 Device configuration
Overview
The device configuration file Configuration.xml is located in the corresponding
subdirectory of the device. It defines the enumerated and complex types used by
the device and identifies the available parameters, which can be subscribed for
cyclic transmission. The configuration file can be defined according to the XML
schema Configuration.xsd. The following document shows a simplified device
configuration.
Example
<?xml version="1.0" encoding="utf-8"?>
<Configuration>
<Enums>
<Enum Name="opmode" Link="Intern">
<Member Name="ReducedSpeed" Alias="Alias"/>
</Enum>
</Enums>
<Records>
<Record Name="senddata">
<Field Name="PlannedPose" Type="Pose" Link="Intern" />
</Record>
</Records>
<Properties>
<Property Name="DataToSend" Type="senddata" Flag="WriteOnly"
/>
</Properties>
</Configuration>
Enums
In the Enums section each Enum element defines an enumerated type. The Name
attribute of the Enum element specifies the name of the enumerated type, the
optional Link attribute identifies if the members of the enumerated type have internal
linkage.
Comment
Value
Descriptions
Attribute
Element
Maximum 16 characters.
A valid RAPID
symbol name
Name of enumer-
ated type
Name
Enum
Optional. Can be omitted if
members only have RAPID
linkage.
Intern
Linkage of mem-
bers of enumer-
ated type
Link
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Settings
The Settings section contains communication parameters specific to the CDP
protocol. The TimeOut element defines the timeout for not received messages.
This element identifies the time until the connection is considered broken and is
only needed for bidirectional communication. The MaxLost attribute defines the
maximum number of not acknowledged or lost messages allowed. The DryRun
element identifies, if the acknowledgement of messages is supervised and can be
used to setup an unidirectional communication.
Comment
Value
Description
Element
Time in milliseconds, a multiple of 4
ms.
Time out for commu-
nication
TimeOut
Integer
Maximum loss of
packages allowed
MaxLost
If TRUE, TimeOut and MaxLost will not
be checked.
Bool
Interface run mode
DryRun
If the element DryRun in the Description.xml is set to FALSE, communication
supervision is established on the protocol level of the Robot Reference Interface ,
using the settings for TimeOut and MaxLost . This supervision requires that each
message that is sent out from the robot controller is answered by the connected
device. The supervision generates a communication error, if the maximum response
time or the maximum number of lost packages is exceeded. Each sent out message
has an ID, which needs to be used for the ID in the reply too, to identify the reply
message and to detect which packages have been lost. See also the example in
section Transmitted XML messages on page 374 .
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9.3.3.3 Device description
Continued
9.3.3.4 Device configuration
Overview
The device configuration file Configuration.xml is located in the corresponding
subdirectory of the device. It defines the enumerated and complex types used by
the device and identifies the available parameters, which can be subscribed for
cyclic transmission. The configuration file can be defined according to the XML
schema Configuration.xsd. The following document shows a simplified device
configuration.
Example
<?xml version="1.0" encoding="utf-8"?>
<Configuration>
<Enums>
<Enum Name="opmode" Link="Intern">
<Member Name="ReducedSpeed" Alias="Alias"/>
</Enum>
</Enums>
<Records>
<Record Name="senddata">
<Field Name="PlannedPose" Type="Pose" Link="Intern" />
</Record>
</Records>
<Properties>
<Property Name="DataToSend" Type="senddata" Flag="WriteOnly"
/>
</Properties>
</Configuration>
Enums
In the Enums section each Enum element defines an enumerated type. The Name
attribute of the Enum element specifies the name of the enumerated type, the
optional Link attribute identifies if the members of the enumerated type have internal
linkage.
Comment
Value
Descriptions
Attribute
Element
Maximum 16 characters.
A valid RAPID
symbol name
Name of enumer-
ated type
Name
Enum
Optional. Can be omitted if
members only have RAPID
linkage.
Intern
Linkage of mem-
bers of enumer-
ated type
Link
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9.3.3.4 Device configuration
Member
Each Member element defines a member element of the enumerated type. The
Name attribute specifies the name of the member on the controller side (on RAPID
level). The Alias attribute identifies the name of the member on the device side
(and in the transmitted message).
Comment
Value
Descriptions
Attribute
Element
Maximum 16 characters.Valid
internal RAPID symbol
names. See Data orchestra-
tion on page 359 .
A valid RAPID
symbol name
Name of enumer-
ated type mem-
ber
Name
Member
Optional. The alias name is
used on the device side and
in message
String
Alias name of
enumerated type
member
Alias
Record
In the Records section each Record element defines a declaration of a complex
type. In RAPID this complex type will be represented as a RECORD declaration.
The Name attribute identifies the name of the complex type on the controller side.
The Alias attribute defines the alias name of the type on the device side and in the
message.
Comment
Value
Descriptions
Attribute
Element
Maximum 16 characters.
A valid RAPID
symbol name
Name of the com-
plex type.
Name
Record
Optional. The alias name is
used on the device side and
in message.
String
Alias name of
complex type.
Alias
Field
Each Field element defines a field element of a complex type. The Name attribute
identifies the name of the field. The Type attribute identifies the enumerated,
complex or simple type associated with the field. The Size attribute defines the
size of a multi-dimensional field. The Link attribute identifies if the field has internal
linkage.
Comment
Value
Descriptions
Attribute
Element
Maximum 16 characters.Valid
internal RAPID symbol
names. See Data orchestra-
tion on page 359 .
A valid RAPID
symbol name
Name of the com-
plex type field
Name
Field
Described in section Suppor-
ted data types on page 361 .
All supported
data types
Data type of the
field
Type
Optional. Only basic types
can be defined as array.
Integer
Dimensions of
the field (size of
array)
Size
Optional. Can be omitted if
field has RAPID linkage.
Intern
Linkage of com-
plex type field
Link
Optional. The alias name is
used on device side and in
message.
String
Alias name of
complex type
field
Alias
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9.3.3.4 Device configuration
Continued
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9.3.3.4 Device configuration
Overview
The device configuration file Configuration.xml is located in the corresponding
subdirectory of the device. It defines the enumerated and complex types used by
the device and identifies the available parameters, which can be subscribed for
cyclic transmission. The configuration file can be defined according to the XML
schema Configuration.xsd. The following document shows a simplified device
configuration.
Example
<?xml version="1.0" encoding="utf-8"?>
<Configuration>
<Enums>
<Enum Name="opmode" Link="Intern">
<Member Name="ReducedSpeed" Alias="Alias"/>
</Enum>
</Enums>
<Records>
<Record Name="senddata">
<Field Name="PlannedPose" Type="Pose" Link="Intern" />
</Record>
</Records>
<Properties>
<Property Name="DataToSend" Type="senddata" Flag="WriteOnly"
/>
</Properties>
</Configuration>
Enums
In the Enums section each Enum element defines an enumerated type. The Name
attribute of the Enum element specifies the name of the enumerated type, the
optional Link attribute identifies if the members of the enumerated type have internal
linkage.
Comment
Value
Descriptions
Attribute
Element
Maximum 16 characters.
A valid RAPID
symbol name
Name of enumer-
ated type
Name
Enum
Optional. Can be omitted if
members only have RAPID
linkage.
Intern
Linkage of mem-
bers of enumer-
ated type
Link
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9.3.3.4 Device configuration
Member
Each Member element defines a member element of the enumerated type. The
Name attribute specifies the name of the member on the controller side (on RAPID
level). The Alias attribute identifies the name of the member on the device side
(and in the transmitted message).
Comment
Value
Descriptions
Attribute
Element
Maximum 16 characters.Valid
internal RAPID symbol
names. See Data orchestra-
tion on page 359 .
A valid RAPID
symbol name
Name of enumer-
ated type mem-
ber
Name
Member
Optional. The alias name is
used on the device side and
in message
String
Alias name of
enumerated type
member
Alias
Record
In the Records section each Record element defines a declaration of a complex
type. In RAPID this complex type will be represented as a RECORD declaration.
The Name attribute identifies the name of the complex type on the controller side.
The Alias attribute defines the alias name of the type on the device side and in the
message.
Comment
Value
Descriptions
Attribute
Element
Maximum 16 characters.
A valid RAPID
symbol name
Name of the com-
plex type.
Name
Record
Optional. The alias name is
used on the device side and
in message.
String
Alias name of
complex type.
Alias
Field
Each Field element defines a field element of a complex type. The Name attribute
identifies the name of the field. The Type attribute identifies the enumerated,
complex or simple type associated with the field. The Size attribute defines the
size of a multi-dimensional field. The Link attribute identifies if the field has internal
linkage.
Comment
Value
Descriptions
Attribute
Element
Maximum 16 characters.Valid
internal RAPID symbol
names. See Data orchestra-
tion on page 359 .
A valid RAPID
symbol name
Name of the com-
plex type field
Name
Field
Described in section Suppor-
ted data types on page 361 .
All supported
data types
Data type of the
field
Type
Optional. Only basic types
can be defined as array.
Integer
Dimensions of
the field (size of
array)
Size
Optional. Can be omitted if
field has RAPID linkage.
Intern
Linkage of com-
plex type field
Link
Optional. The alias name is
used on device side and in
message.
String
Alias name of
complex type
field
Alias
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9.3.3.4 Device configuration
Continued
Properties
In the Properties section each Property element defines a RAPID variable that can
be used in the SiGetCyclic and SiSetCyclic instructions.
Comment
Value
Descriptions
Attribute
Element
Maximum 16 characters.
An valid RAPID
symbol name
Name of the
property
Name
Property
Described in section Suppor-
ted data types on page 361 .
All supported
data types
Data type of the
property
Type
Optional. Only basic types
can be defined as array.
Integer
Dimension (Size
of array)
Size
Optional. Can be omitted if
property is read and write en-
abled.
None
ReadOnly
WriteOnly
Access Flag
Flag
ReadWrite
Mandatory if field has RAPID
linkage.
Intern
Linkage of prop-
erty
Link
Optional. The alias name is
used on device side and in
message.
String
Alias name of the
property
Alias
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9.3.3.4 Device configuration
Continued
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Member
Each Member element defines a member element of the enumerated type. The
Name attribute specifies the name of the member on the controller side (on RAPID
level). The Alias attribute identifies the name of the member on the device side
(and in the transmitted message).
Comment
Value
Descriptions
Attribute
Element
Maximum 16 characters.Valid
internal RAPID symbol
names. See Data orchestra-
tion on page 359 .
A valid RAPID
symbol name
Name of enumer-
ated type mem-
ber
Name
Member
Optional. The alias name is
used on the device side and
in message
String
Alias name of
enumerated type
member
Alias
Record
In the Records section each Record element defines a declaration of a complex
type. In RAPID this complex type will be represented as a RECORD declaration.
The Name attribute identifies the name of the complex type on the controller side.
The Alias attribute defines the alias name of the type on the device side and in the
message.
Comment
Value
Descriptions
Attribute
Element
Maximum 16 characters.
A valid RAPID
symbol name
Name of the com-
plex type.
Name
Record
Optional. The alias name is
used on the device side and
in message.
String
Alias name of
complex type.
Alias
Field
Each Field element defines a field element of a complex type. The Name attribute
identifies the name of the field. The Type attribute identifies the enumerated,
complex or simple type associated with the field. The Size attribute defines the
size of a multi-dimensional field. The Link attribute identifies if the field has internal
linkage.
Comment
Value
Descriptions
Attribute
Element
Maximum 16 characters.Valid
internal RAPID symbol
names. See Data orchestra-
tion on page 359 .
A valid RAPID
symbol name
Name of the com-
plex type field
Name
Field
Described in section Suppor-
ted data types on page 361 .
All supported
data types
Data type of the
field
Type
Optional. Only basic types
can be defined as array.
Integer
Dimensions of
the field (size of
array)
Size
Optional. Can be omitted if
field has RAPID linkage.
Intern
Linkage of com-
plex type field
Link
Optional. The alias name is
used on device side and in
message.
String
Alias name of
complex type
field
Alias
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9.3.3.4 Device configuration
Continued
Properties
In the Properties section each Property element defines a RAPID variable that can
be used in the SiGetCyclic and SiSetCyclic instructions.
Comment
Value
Descriptions
Attribute
Element
Maximum 16 characters.
An valid RAPID
symbol name
Name of the
property
Name
Property
Described in section Suppor-
ted data types on page 361 .
All supported
data types
Data type of the
property
Type
Optional. Only basic types
can be defined as array.
Integer
Dimension (Size
of array)
Size
Optional. Can be omitted if
property is read and write en-
abled.
None
ReadOnly
WriteOnly
Access Flag
Flag
ReadWrite
Mandatory if field has RAPID
linkage.
Intern
Linkage of prop-
erty
Link
Optional. The alias name is
used on device side and in
message.
String
Alias name of the
property
Alias
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9.3.3.4 Device configuration
Continued
9.3.4 Configuration examples
9.3.4.1 RAPID programming
RAPID module
A RAPID module containing the corresponding RAPID record declarations and
variable declarations must be created and loaded.
The FlexPendant user interface is not included in RobotWare.
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Properties
In the Properties section each Property element defines a RAPID variable that can
be used in the SiGetCyclic and SiSetCyclic instructions.
Comment
Value
Descriptions
Attribute
Element
Maximum 16 characters.
An valid RAPID
symbol name
Name of the
property
Name
Property
Described in section Suppor-
ted data types on page 361 .
All supported
data types
Data type of the
property
Type
Optional. Only basic types
can be defined as array.
Integer
Dimension (Size
of array)
Size
Optional. Can be omitted if
property is read and write en-
abled.
None
ReadOnly
WriteOnly
Access Flag
Flag
ReadWrite
Mandatory if field has RAPID
linkage.
Intern
Linkage of prop-
erty
Link
Optional. The alias name is
used on device side and in
message.
String
Alias name of the
property
Alias
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9 Engineering tools
9.3.3.4 Device configuration
Continued
9.3.4 Configuration examples
9.3.4.1 RAPID programming
RAPID module
A RAPID module containing the corresponding RAPID record declarations and
variable declarations must be created and loaded.
The FlexPendant user interface is not included in RobotWare.
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9.3.4.1 RAPID programming
9.3.4.2 Example configuration
Overview
The files Settings.xml, Description.xml, and Configuration.xml are located in the
folder HOME\GSI\
![Image]
xx0800000177
Note
The name of the folder must correspond to the name of the device. See Device
description on page 364 . In this example we have used the name AnyDevice .
The network address used in Description.xml is to the PC running the server,
not the robot controller. See Device description on page 364 .
Settings.xml
<?xml version="1.0" encoding="utf-8"?>
<Settings>
<Servers>
<Servers/>
<Clients>
<Client Convention="CDP" Name="AnyDevice" />
</Clients>
</Settings
Description.xml
<?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>
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9.3.4 Configuration examples
9.3.4.1 RAPID programming
RAPID module
A RAPID module containing the corresponding RAPID record declarations and
variable declarations must be created and loaded.
The FlexPendant user interface is not included in RobotWare.
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9.3.4.1 RAPID programming
9.3.4.2 Example configuration
Overview
The files Settings.xml, Description.xml, and Configuration.xml are located in the
folder HOME\GSI\
![Image]
xx0800000177
Note
The name of the folder must correspond to the name of the device. See Device
description on page 364 . In this example we have used the name AnyDevice .
The network address used in Description.xml is to the PC running the server,
not the robot controller. See Device description on page 364 .
Settings.xml
<?xml version="1.0" encoding="utf-8"?>
<Settings>
<Servers>
<Servers/>
<Clients>
<Client Convention="CDP" Name="AnyDevice" />
</Clients>
</Settings
Description.xml
<?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>
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<MaxLost>30</MaxLost>
<DryRun>false</DryRun>
</Settings>
</Description>
Configuration.xml
<?xml version="1.0" encoding="utf-8" ?>
<Configuration>
<Enums>
<Enum Name="OperationMode" Link="Intern">
<Member Name="Automatic" Alias="Auto" />
<Member Name="ReducedSpeed" Alias="ManRS" />
<Member Name="FullSpeed" Alias="ManFS" />
</Enum>
</Enums>
<Records>
<Record Name="RobotData">
<Field Name="OperationMode" Type="OperationMode" Link="Intern"
Alias="RobMode" />
<Field Name="FeedbackTime" Type="Time" Link="Intern"
Alias="Ts_act" />
<Field Name="FeedbackPose" Type="Frame" Link="Intern"
Alias="P_act" />
<Field Name="FeedbackJoints" Type="Joints" Link="Intern"
Alias="J_act" />
<Field Name="PredictedTime" Type="Time" Link="Intern"
Alias="Ts_des" />
<Field Name="PlannedPose" Type="Frame" Link="Intern"
Alias="P_des" />
<Field Name="PlannedJoints" Type="Joints" Link="Intern"
Alias="J_des" />
<Field Name="ApplicationData" Type="Real" Size="18"
Alias="AppData" />
</Record>
<Record Name="SensorData">
<Field Name="ErrorString" Type="String" Alias="EStr" />
<Field Name="ApplicationData" Type="Real" Size="18"
Alias="AppData" />
</Record>
</Records>
<Properties>
<Property Name="RobData" Type="RobotData" Flag="WriteOnly"/>
<Property Name="SensData" Type="SensorData" Flag="ReadOnly"/>
</Properties>
</Configuration>
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9.3.4.2 Example configuration
Overview
The files Settings.xml, Description.xml, and Configuration.xml are located in the
folder HOME\GSI\
![Image]
xx0800000177
Note
The name of the folder must correspond to the name of the device. See Device
description on page 364 . In this example we have used the name AnyDevice .
The network address used in Description.xml is to the PC running the server,
not the robot controller. See Device description on page 364 .
Settings.xml
<?xml version="1.0" encoding="utf-8"?>
<Settings>
<Servers>
<Servers/>
<Clients>
<Client Convention="CDP" Name="AnyDevice" />
</Clients>
</Settings
Description.xml
<?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>
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9.3.4.2 Example configuration
<MaxLost>30</MaxLost>
<DryRun>false</DryRun>
</Settings>
</Description>
Configuration.xml
<?xml version="1.0" encoding="utf-8" ?>
<Configuration>
<Enums>
<Enum Name="OperationMode" Link="Intern">
<Member Name="Automatic" Alias="Auto" />
<Member Name="ReducedSpeed" Alias="ManRS" />
<Member Name="FullSpeed" Alias="ManFS" />
</Enum>
</Enums>
<Records>
<Record Name="RobotData">
<Field Name="OperationMode" Type="OperationMode" Link="Intern"
Alias="RobMode" />
<Field Name="FeedbackTime" Type="Time" Link="Intern"
Alias="Ts_act" />
<Field Name="FeedbackPose" Type="Frame" Link="Intern"
Alias="P_act" />
<Field Name="FeedbackJoints" Type="Joints" Link="Intern"
Alias="J_act" />
<Field Name="PredictedTime" Type="Time" Link="Intern"
Alias="Ts_des" />
<Field Name="PlannedPose" Type="Frame" Link="Intern"
Alias="P_des" />
<Field Name="PlannedJoints" Type="Joints" Link="Intern"
Alias="J_des" />
<Field Name="ApplicationData" Type="Real" Size="18"
Alias="AppData" />
</Record>
<Record Name="SensorData">
<Field Name="ErrorString" Type="String" Alias="EStr" />
<Field Name="ApplicationData" Type="Real" Size="18"
Alias="AppData" />
</Record>
</Records>
<Properties>
<Property Name="RobData" Type="RobotData" Flag="WriteOnly"/>
<Property Name="SensData" Type="SensorData" Flag="ReadOnly"/>
</Properties>
</Configuration>
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Continued
RAPID configuration
This is an example for an RRI implementation. The out data uses an array of 18
num (robdata). The in data receives a string and an array of 18 num (sensdata).
This needs to defined according the file configuration.xml.
RECORD applicationdata
num Item1;
num Item2;
num Item3;
num Item4;
num Item5;
num Item6;
num Item7;
num Item8;
num Item9;
num Item10;
num Item11;
num Item12;
num Item13;
num Item14;
num Item15;
num Item16;
num Item17;
num Item18;
ENDRECORD
RECORD RobotData
applicationdata AppData;
ENDRECORD
RECORD SensorData
string ErrString;
applicationdata AppData;
ENDRECORD
! Sensor Declarations
PERS sensor AnyDevice := [1,4,0];
PERS RobotData RobData := [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]];
PERS SensorData SensData :=
["No",[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]];
! Setup Interface Procedure
PROC RRI_Open()
SiConnect AnyDevice;
! Send and receive data cyclic with 64 ms rate
SiGetCyclic AnyDevice, SensData, 64;
SiSetCyclic AnyDevice, RobData, 64;
ENDPROC
! Close Interface Procedure
PROC RRI_Close()
! Close the connection
SiClose RsMaster;
ENDPROC
ENDMODULE
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<MaxLost>30</MaxLost>
<DryRun>false</DryRun>
</Settings>
</Description>
Configuration.xml
<?xml version="1.0" encoding="utf-8" ?>
<Configuration>
<Enums>
<Enum Name="OperationMode" Link="Intern">
<Member Name="Automatic" Alias="Auto" />
<Member Name="ReducedSpeed" Alias="ManRS" />
<Member Name="FullSpeed" Alias="ManFS" />
</Enum>
</Enums>
<Records>
<Record Name="RobotData">
<Field Name="OperationMode" Type="OperationMode" Link="Intern"
Alias="RobMode" />
<Field Name="FeedbackTime" Type="Time" Link="Intern"
Alias="Ts_act" />
<Field Name="FeedbackPose" Type="Frame" Link="Intern"
Alias="P_act" />
<Field Name="FeedbackJoints" Type="Joints" Link="Intern"
Alias="J_act" />
<Field Name="PredictedTime" Type="Time" Link="Intern"
Alias="Ts_des" />
<Field Name="PlannedPose" Type="Frame" Link="Intern"
Alias="P_des" />
<Field Name="PlannedJoints" Type="Joints" Link="Intern"
Alias="J_des" />
<Field Name="ApplicationData" Type="Real" Size="18"
Alias="AppData" />
</Record>
<Record Name="SensorData">
<Field Name="ErrorString" Type="String" Alias="EStr" />
<Field Name="ApplicationData" Type="Real" Size="18"
Alias="AppData" />
</Record>
</Records>
<Properties>
<Property Name="RobData" Type="RobotData" Flag="WriteOnly"/>
<Property Name="SensData" Type="SensorData" Flag="ReadOnly"/>
</Properties>
</Configuration>
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9.3.4.2 Example configuration
Continued
RAPID configuration
This is an example for an RRI implementation. The out data uses an array of 18
num (robdata). The in data receives a string and an array of 18 num (sensdata).
This needs to defined according the file configuration.xml.
RECORD applicationdata
num Item1;
num Item2;
num Item3;
num Item4;
num Item5;
num Item6;
num Item7;
num Item8;
num Item9;
num Item10;
num Item11;
num Item12;
num Item13;
num Item14;
num Item15;
num Item16;
num Item17;
num Item18;
ENDRECORD
RECORD RobotData
applicationdata AppData;
ENDRECORD
RECORD SensorData
string ErrString;
applicationdata AppData;
ENDRECORD
! Sensor Declarations
PERS sensor AnyDevice := [1,4,0];
PERS RobotData RobData := [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]];
PERS SensorData SensData :=
["No",[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]];
! Setup Interface Procedure
PROC RRI_Open()
SiConnect AnyDevice;
! Send and receive data cyclic with 64 ms rate
SiGetCyclic AnyDevice, SensData, 64;
SiSetCyclic AnyDevice, RobData, 64;
ENDPROC
! Close Interface Procedure
PROC RRI_Close()
! Close the connection
SiClose RsMaster;
ENDPROC
ENDMODULE
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9.3.4.2 Example configuration
Continued
Transmitted XML messages
Each XML message has the data variable name as root element with the attributes
Id (the message ID) and Ts (the time stamp of the message). The subelements
are then the record fields. The values of a multiple value field (array or record) are
expressed as attributes.
Message sent out from robot controller
The time unit is second (float) with a resolution of 1 ms. The position (length) unit
is millimeter (float). The position (angle) unit is radians.
Description
Data type
Name
Last received robot data message ID
Integer
Id
Time stamp (message)
Float
Ts
Operation mode
Operationmode
RobMode
Time stamp (actual position)
Float
TS_act
Actual cartesian position
Pose
P_act
Actual joint position
Joint
J_act
Time stamp (desired position)
Float
TS_des
Desired cartesian position
Pose
P_des
Desired joint position
Joint
J_des
Free defined application data
Array of 18 Floats
AppData
<RobData Id="111" Ts="1.202" >
<RobMode>Auto</RobMode>
<Ts_act>1.200</Ts_act>
<P_act X="1620.0" Y="1620.0" Z="1620.0" Rx="100.0" Ry="100.0"
Rz="100.0" />
<J_act J1="1.0" J2="1.0" J3="1.0" J4="1.0" J5="1.0" J6="1.0" />
<Ts_des>1.200</Ts_des>
<P_des X="1620.0" Y="1620.0" Z="1620.0" Rx="100.0" Ry="100.0"
Rz="100.0" />
<J_des J1="1.0" J2="1.0" J3="1.0" J4="1.0" J5="1.0" J6="1.0" />
<AppData X1="1" X2="1620.000" X3="1620.000" X4="1620.000"
X5="1620.000" X6="1620.000" X7="1620.000" X8="1620.000"
X9="1620.000" X10="1620.000" X11="1620.000" X12="1620.000"
X13="1620.000" X14="1620.000" X15="1620.000" X16="1620.000"
X17="1620.000" X18="1620.000" />
</RobData>
Message received from robot controller
The time unit is seconds (float).
Description
Data type
Name
Last received data message ID. This ID
must correspond to the ID sent from the
robot controller.
Integer
Id
Time stamp
Float
Ts
Error message
String
EStr
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RAPID configuration
This is an example for an RRI implementation. The out data uses an array of 18
num (robdata). The in data receives a string and an array of 18 num (sensdata).
This needs to defined according the file configuration.xml.
RECORD applicationdata
num Item1;
num Item2;
num Item3;
num Item4;
num Item5;
num Item6;
num Item7;
num Item8;
num Item9;
num Item10;
num Item11;
num Item12;
num Item13;
num Item14;
num Item15;
num Item16;
num Item17;
num Item18;
ENDRECORD
RECORD RobotData
applicationdata AppData;
ENDRECORD
RECORD SensorData
string ErrString;
applicationdata AppData;
ENDRECORD
! Sensor Declarations
PERS sensor AnyDevice := [1,4,0];
PERS RobotData RobData := [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]];
PERS SensorData SensData :=
["No",[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]];
! Setup Interface Procedure
PROC RRI_Open()
SiConnect AnyDevice;
! Send and receive data cyclic with 64 ms rate
SiGetCyclic AnyDevice, SensData, 64;
SiSetCyclic AnyDevice, RobData, 64;
ENDPROC
! Close Interface Procedure
PROC RRI_Close()
! Close the connection
SiClose RsMaster;
ENDPROC
ENDMODULE
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9.3.4.2 Example configuration
Continued
Transmitted XML messages
Each XML message has the data variable name as root element with the attributes
Id (the message ID) and Ts (the time stamp of the message). The subelements
are then the record fields. The values of a multiple value field (array or record) are
expressed as attributes.
Message sent out from robot controller
The time unit is second (float) with a resolution of 1 ms. The position (length) unit
is millimeter (float). The position (angle) unit is radians.
Description
Data type
Name
Last received robot data message ID
Integer
Id
Time stamp (message)
Float
Ts
Operation mode
Operationmode
RobMode
Time stamp (actual position)
Float
TS_act
Actual cartesian position
Pose
P_act
Actual joint position
Joint
J_act
Time stamp (desired position)
Float
TS_des
Desired cartesian position
Pose
P_des
Desired joint position
Joint
J_des
Free defined application data
Array of 18 Floats
AppData
<RobData Id="111" Ts="1.202" >
<RobMode>Auto</RobMode>
<Ts_act>1.200</Ts_act>
<P_act X="1620.0" Y="1620.0" Z="1620.0" Rx="100.0" Ry="100.0"
Rz="100.0" />
<J_act J1="1.0" J2="1.0" J3="1.0" J4="1.0" J5="1.0" J6="1.0" />
<Ts_des>1.200</Ts_des>
<P_des X="1620.0" Y="1620.0" Z="1620.0" Rx="100.0" Ry="100.0"
Rz="100.0" />
<J_des J1="1.0" J2="1.0" J3="1.0" J4="1.0" J5="1.0" J6="1.0" />
<AppData X1="1" X2="1620.000" X3="1620.000" X4="1620.000"
X5="1620.000" X6="1620.000" X7="1620.000" X8="1620.000"
X9="1620.000" X10="1620.000" X11="1620.000" X12="1620.000"
X13="1620.000" X14="1620.000" X15="1620.000" X16="1620.000"
X17="1620.000" X18="1620.000" />
</RobData>
Message received from robot controller
The time unit is seconds (float).
Description
Data type
Name
Last received data message ID. This ID
must correspond to the ID sent from the
robot controller.
Integer
Id
Time stamp
Float
Ts
Error message
String
EStr
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Continued
Description
Data type
Name
Free defined application data
Array of 18 floats
AppData
The corresponding XML message on the network would look like this:
<SensData Id="111" Ts="1.234">
<EStr>xxxx</Estr>
<AppData X1="232.661" X2="1620.293" X3="463.932"
X4="1231.053" X5="735.874" X6="948.263" X7="2103.584"
X8="574.228" X9="65.406" X10="2372.633" X11="20.475"
X12="96.729" X13="884.382" X14="927.954" X15="748.294"
X16="3285.574" X17="583.293" X18="684.338" />
</SensData>
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|
Transmitted XML messages
Each XML message has the data variable name as root element with the attributes
Id (the message ID) and Ts (the time stamp of the message). The subelements
are then the record fields. The values of a multiple value field (array or record) are
expressed as attributes.
Message sent out from robot controller
The time unit is second (float) with a resolution of 1 ms. The position (length) unit
is millimeter (float). The position (angle) unit is radians.
Description
Data type
Name
Last received robot data message ID
Integer
Id
Time stamp (message)
Float
Ts
Operation mode
Operationmode
RobMode
Time stamp (actual position)
Float
TS_act
Actual cartesian position
Pose
P_act
Actual joint position
Joint
J_act
Time stamp (desired position)
Float
TS_des
Desired cartesian position
Pose
P_des
Desired joint position
Joint
J_des
Free defined application data
Array of 18 Floats
AppData
<RobData Id="111" Ts="1.202" >
<RobMode>Auto</RobMode>
<Ts_act>1.200</Ts_act>
<P_act X="1620.0" Y="1620.0" Z="1620.0" Rx="100.0" Ry="100.0"
Rz="100.0" />
<J_act J1="1.0" J2="1.0" J3="1.0" J4="1.0" J5="1.0" J6="1.0" />
<Ts_des>1.200</Ts_des>
<P_des X="1620.0" Y="1620.0" Z="1620.0" Rx="100.0" Ry="100.0"
Rz="100.0" />
<J_des J1="1.0" J2="1.0" J3="1.0" J4="1.0" J5="1.0" J6="1.0" />
<AppData X1="1" X2="1620.000" X3="1620.000" X4="1620.000"
X5="1620.000" X6="1620.000" X7="1620.000" X8="1620.000"
X9="1620.000" X10="1620.000" X11="1620.000" X12="1620.000"
X13="1620.000" X14="1620.000" X15="1620.000" X16="1620.000"
X17="1620.000" X18="1620.000" />
</RobData>
Message received from robot controller
The time unit is seconds (float).
Description
Data type
Name
Last received data message ID. This ID
must correspond to the ID sent from the
robot controller.
Integer
Id
Time stamp
Float
Ts
Error message
String
EStr
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Continued
Description
Data type
Name
Free defined application data
Array of 18 floats
AppData
The corresponding XML message on the network would look like this:
<SensData Id="111" Ts="1.234">
<EStr>xxxx</Estr>
<AppData X1="232.661" X2="1620.293" X3="463.932"
X4="1231.053" X5="735.874" X6="948.263" X7="2103.584"
X8="574.228" X9="65.406" X10="2372.633" X11="20.475"
X12="96.729" X13="884.382" X14="927.954" X15="748.294"
X16="3285.574" X17="583.293" X18="684.338" />
</SensData>
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9.3.4.2 Example configuration
Continued
9.3.5 RAPID components
About the RAPID components
This is an overview of all instructions, functions, and data types in Robot Reference
Interface .
For more information, see Technical reference manual - RAPID Instructions,
Functions and Data types .
Instructions
Description
Instructions
Sensor Interface Connect
SiConnect
Sensor Interface Close
SiClose
Sensor Interface Get Cyclic
SiGetCyclic
Sensor Interface Set Cyclic
SiSetCyclic
Functions
Robot Reference Interface includes no functions.
Data types
Description
Data types
External device descriptor
sensor
Communication state of the device
sensorstate
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Description
Data type
Name
Free defined application data
Array of 18 floats
AppData
The corresponding XML message on the network would look like this:
<SensData Id="111" Ts="1.234">
<EStr>xxxx</Estr>
<AppData X1="232.661" X2="1620.293" X3="463.932"
X4="1231.053" X5="735.874" X6="948.263" X7="2103.584"
X8="574.228" X9="65.406" X10="2372.633" X11="20.475"
X12="96.729" X13="884.382" X14="927.954" X15="748.294"
X16="3285.574" X17="583.293" X18="684.338" />
</SensData>
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9 Engineering tools
9.3.4.2 Example configuration
Continued
9.3.5 RAPID components
About the RAPID components
This is an overview of all instructions, functions, and data types in Robot Reference
Interface .
For more information, see Technical reference manual - RAPID Instructions,
Functions and Data types .
Instructions
Description
Instructions
Sensor Interface Connect
SiConnect
Sensor Interface Close
SiClose
Sensor Interface Get Cyclic
SiGetCyclic
Sensor Interface Set Cyclic
SiSetCyclic
Functions
Robot Reference Interface includes no functions.
Data types
Description
Data types
External device descriptor
sensor
Communication state of the device
sensorstate
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9 Engineering tools
9.3.5 RAPID components
9.4 Auto Acknowledge Input
Description
The RobotWare base functionality Auto Acknowledge Input is an option that enables
a system input which will acknowledge the dialog presented on the FlexPendant
when switching the operator mode from manual to auto with the key switch on the
robot controller.
WARNING
Note that using such an input will be contrary to the regulations in the safety
standard ISO 10218-1 chapter 5.3.5 Single point of control with following text:
" The robot control system shall be designed and constructed so that when the
robot is placed under local pendant control or other teaching device control,
initiation of robot motion or change of local control selection from any other
source shall be prevented. "
Thus it is absolutely necessary to use other means of safety to maintain the
requirements of the standard and the machinery directive and also to make a
risk assessment of the completed cell. Such additional arrangements and risk
assessment is the responsibility of the system integrator and the system must
not be put into service until these actions have been completed.
Remote control of operating mode
For information about using the safety module and a PLC for remote control of
operating mode, see Application manual - Functional safety and SafeMove2 .
Limitations
The system parameter cannot be defined using the FlexPendant or RobotStudio,
only with a text string in the I/O configuration file.
Activate Auto Acknowledge Input
The robot system must be installed with the option Auto Acknowledge Input using
the Modify Installation function.
Use the following procedure to activate the system input for Auto Acknowledge
Input .
Action
Save a copy of the I/O configuration file, eio.cfg , using the FlexPendant or RobotStudio.
1
Edit the I/O configuration file, eio.cfg , using a text editor. Add the following line in the
group SYSSIG_IN :
-Signal "my_signal_name" -Action "AckAutoMode"
2
my_signal_name is the name of the configured digital input signal that should be
used as the system input.
Save the file and reload it to the controller.
3
Restart the system to activate the signal.
4
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9 Engineering tools
9.4 Auto Acknowledge Input
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9.3.5 RAPID components
About the RAPID components
This is an overview of all instructions, functions, and data types in Robot Reference
Interface .
For more information, see Technical reference manual - RAPID Instructions,
Functions and Data types .
Instructions
Description
Instructions
Sensor Interface Connect
SiConnect
Sensor Interface Close
SiClose
Sensor Interface Get Cyclic
SiGetCyclic
Sensor Interface Set Cyclic
SiSetCyclic
Functions
Robot Reference Interface includes no functions.
Data types
Description
Data types
External device descriptor
sensor
Communication state of the device
sensorstate
376
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© Copyright 2014-2025 ABB. All rights reserved.
9 Engineering tools
9.3.5 RAPID components
9.4 Auto Acknowledge Input
Description
The RobotWare base functionality Auto Acknowledge Input is an option that enables
a system input which will acknowledge the dialog presented on the FlexPendant
when switching the operator mode from manual to auto with the key switch on the
robot controller.
WARNING
Note that using such an input will be contrary to the regulations in the safety
standard ISO 10218-1 chapter 5.3.5 Single point of control with following text:
" The robot control system shall be designed and constructed so that when the
robot is placed under local pendant control or other teaching device control,
initiation of robot motion or change of local control selection from any other
source shall be prevented. "
Thus it is absolutely necessary to use other means of safety to maintain the
requirements of the standard and the machinery directive and also to make a
risk assessment of the completed cell. Such additional arrangements and risk
assessment is the responsibility of the system integrator and the system must
not be put into service until these actions have been completed.
Remote control of operating mode
For information about using the safety module and a PLC for remote control of
operating mode, see Application manual - Functional safety and SafeMove2 .
Limitations
The system parameter cannot be defined using the FlexPendant or RobotStudio,
only with a text string in the I/O configuration file.
Activate Auto Acknowledge Input
The robot system must be installed with the option Auto Acknowledge Input using
the Modify Installation function.
Use the following procedure to activate the system input for Auto Acknowledge
Input .
Action
Save a copy of the I/O configuration file, eio.cfg , using the FlexPendant or RobotStudio.
1
Edit the I/O configuration file, eio.cfg , using a text editor. Add the following line in the
group SYSSIG_IN :
-Signal "my_signal_name" -Action "AckAutoMode"
2
my_signal_name is the name of the configured digital input signal that should be
used as the system input.
Save the file and reload it to the controller.
3
Restart the system to activate the signal.
4
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9 Engineering tools
9.4 Auto Acknowledge Input
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9.4 Auto Acknowledge Input
Description
The RobotWare base functionality Auto Acknowledge Input is an option that enables
a system input which will acknowledge the dialog presented on the FlexPendant
when switching the operator mode from manual to auto with the key switch on the
robot controller.
WARNING
Note that using such an input will be contrary to the regulations in the safety
standard ISO 10218-1 chapter 5.3.5 Single point of control with following text:
" The robot control system shall be designed and constructed so that when the
robot is placed under local pendant control or other teaching device control,
initiation of robot motion or change of local control selection from any other
source shall be prevented. "
Thus it is absolutely necessary to use other means of safety to maintain the
requirements of the standard and the machinery directive and also to make a
risk assessment of the completed cell. Such additional arrangements and risk
assessment is the responsibility of the system integrator and the system must
not be put into service until these actions have been completed.
Remote control of operating mode
For information about using the safety module and a PLC for remote control of
operating mode, see Application manual - Functional safety and SafeMove2 .
Limitations
The system parameter cannot be defined using the FlexPendant or RobotStudio,
only with a text string in the I/O configuration file.
Activate Auto Acknowledge Input
The robot system must be installed with the option Auto Acknowledge Input using
the Modify Installation function.
Use the following procedure to activate the system input for Auto Acknowledge
Input .
Action
Save a copy of the I/O configuration file, eio.cfg , using the FlexPendant or RobotStudio.
1
Edit the I/O configuration file, eio.cfg , using a text editor. Add the following line in the
group SYSSIG_IN :
-Signal "my_signal_name" -Action "AckAutoMode"
2
my_signal_name is the name of the configured digital input signal that should be
used as the system input.
Save the file and reload it to the controller.
3
Restart the system to activate the signal.
4
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9 Engineering tools
9.4 Auto Acknowledge Input
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10 Tool control options
10.1 Servo Tool Change [630-1]
10.1.1 Overview
Purpose
The purpose of Servo Tool Change is to be able to change tools online.
With the option Servo Tool Change it is possible to disconnect the cables to the
motor of an additional axis and connect them to the motor of another additional
axis. This can be done on the run, in production.
This option is designed with servo tools in mind, but can be used for any type of
additional axes.
Examples of advantages are:
•
One robot can handle several tools.
•
Less equipment is needed since one drive-measurement system is shared
by several tools.
What is included
The RobotWare option Servo Tool Change enables:
•
changing tool online
•
up to 8 different servo tools to change between.
Note that the option Servo Tool Change only provides the software functionality.
Hardware, such as a tool changer is not included.
Basic approach
This is the general approach for using Servo Tool Change. For a more detailed
description of how this is done, see Tool change procedure on page 385 .
1
Deactivate the first tool.
2
Disconnect the first tool from the cables.
3
Connect the second tool to the cables.
4
Activate the second tool.
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10 Tool control options
10.1.1 Overview
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10 Tool control options
10.1 Servo Tool Change [630-1]
10.1.1 Overview
Purpose
The purpose of Servo Tool Change is to be able to change tools online.
With the option Servo Tool Change it is possible to disconnect the cables to the
motor of an additional axis and connect them to the motor of another additional
axis. This can be done on the run, in production.
This option is designed with servo tools in mind, but can be used for any type of
additional axes.
Examples of advantages are:
•
One robot can handle several tools.
•
Less equipment is needed since one drive-measurement system is shared
by several tools.
What is included
The RobotWare option Servo Tool Change enables:
•
changing tool online
•
up to 8 different servo tools to change between.
Note that the option Servo Tool Change only provides the software functionality.
Hardware, such as a tool changer is not included.
Basic approach
This is the general approach for using Servo Tool Change. For a more detailed
description of how this is done, see Tool change procedure on page 385 .
1
Deactivate the first tool.
2
Disconnect the first tool from the cables.
3
Connect the second tool to the cables.
4
Activate the second tool.
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10 Tool control options
10.1.1 Overview
10.1.2 Requirements and limitations
Additional axes
To use Servo Motor Control, you must have the option Additional Axes. All additional
axes used by servo motor control must be configured according to the instructions
in Application manual - Additional axes and standalone controller .
Tool changer
To be able to change tools in production with a plug-in mechanism, a mechanical
tool changer interface is required.
![Image]
en0300000549
All cables are connected to the tool changer. The tool changer interface includes
connections for signals, power, air, water, or whatever needs to be transmitted to
and from the tool.
Up to 8 tools
Up to 8 additional axes (servo tools or other axes) can be installed simultaneously
in one robot controller. Some of them (or all) may be servo tools sharing a tool
changer.
Moving deactivated tool
The controller remembers the position of a deactivated tool. When the tool is
reconnected and activated this position is used.
If the servo tool axis is moved during deactivation, the position of the axis might
be wrong after activation, and this will not be detected by the controller.
Continues on next page
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10 Tool control options
10.1 Servo Tool Change [630-1]
10.1.1 Overview
Purpose
The purpose of Servo Tool Change is to be able to change tools online.
With the option Servo Tool Change it is possible to disconnect the cables to the
motor of an additional axis and connect them to the motor of another additional
axis. This can be done on the run, in production.
This option is designed with servo tools in mind, but can be used for any type of
additional axes.
Examples of advantages are:
•
One robot can handle several tools.
•
Less equipment is needed since one drive-measurement system is shared
by several tools.
What is included
The RobotWare option Servo Tool Change enables:
•
changing tool online
•
up to 8 different servo tools to change between.
Note that the option Servo Tool Change only provides the software functionality.
Hardware, such as a tool changer is not included.
Basic approach
This is the general approach for using Servo Tool Change. For a more detailed
description of how this is done, see Tool change procedure on page 385 .
1
Deactivate the first tool.
2
Disconnect the first tool from the cables.
3
Connect the second tool to the cables.
4
Activate the second tool.
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10 Tool control options
10.1.1 Overview
10.1.2 Requirements and limitations
Additional axes
To use Servo Motor Control, you must have the option Additional Axes. All additional
axes used by servo motor control must be configured according to the instructions
in Application manual - Additional axes and standalone controller .
Tool changer
To be able to change tools in production with a plug-in mechanism, a mechanical
tool changer interface is required.
![Image]
en0300000549
All cables are connected to the tool changer. The tool changer interface includes
connections for signals, power, air, water, or whatever needs to be transmitted to
and from the tool.
Up to 8 tools
Up to 8 additional axes (servo tools or other axes) can be installed simultaneously
in one robot controller. Some of them (or all) may be servo tools sharing a tool
changer.
Moving deactivated tool
The controller remembers the position of a deactivated tool. When the tool is
reconnected and activated this position is used.
If the servo tool axis is moved during deactivation, the position of the axis might
be wrong after activation, and this will not be detected by the controller.
Continues on next page
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10 Tool control options
10.1.2 Requirements and limitations
The position after activation will be correct if the axis has not been moved, or if
the movement is less than 0.5 motor revolutions.
Tip
If you have the Spot Servo option you can use tool change calibration.
After a tool is activated, use the instruction STCalib to calibrate the tool. This
will adjust any positional error caused by tool movements during deactivation.
Activating wrong tool
It is important to only activate a mechanical unit that is connected.
An activation of the wrong mechanical unit may cause unexpected movements or
errors. The same errors occur if a tool is activated when no tool at all is connected.
Tip
A connection relay can be configured so that activation of a mechanical unit is
only allowed when it is connected. See Connection relay on page 383 .
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10 Tool control options
10.1.2 Requirements and limitations
Continued
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10.1.2 Requirements and limitations
Additional axes
To use Servo Motor Control, you must have the option Additional Axes. All additional
axes used by servo motor control must be configured according to the instructions
in Application manual - Additional axes and standalone controller .
Tool changer
To be able to change tools in production with a plug-in mechanism, a mechanical
tool changer interface is required.
![Image]
en0300000549
All cables are connected to the tool changer. The tool changer interface includes
connections for signals, power, air, water, or whatever needs to be transmitted to
and from the tool.
Up to 8 tools
Up to 8 additional axes (servo tools or other axes) can be installed simultaneously
in one robot controller. Some of them (or all) may be servo tools sharing a tool
changer.
Moving deactivated tool
The controller remembers the position of a deactivated tool. When the tool is
reconnected and activated this position is used.
If the servo tool axis is moved during deactivation, the position of the axis might
be wrong after activation, and this will not be detected by the controller.
Continues on next page
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10 Tool control options
10.1.2 Requirements and limitations
The position after activation will be correct if the axis has not been moved, or if
the movement is less than 0.5 motor revolutions.
Tip
If you have the Spot Servo option you can use tool change calibration.
After a tool is activated, use the instruction STCalib to calibrate the tool. This
will adjust any positional error caused by tool movements during deactivation.
Activating wrong tool
It is important to only activate a mechanical unit that is connected.
An activation of the wrong mechanical unit may cause unexpected movements or
errors. The same errors occur if a tool is activated when no tool at all is connected.
Tip
A connection relay can be configured so that activation of a mechanical unit is
only allowed when it is connected. See Connection relay on page 383 .
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10 Tool control options
10.1.2 Requirements and limitations
Continued
10.1.3 Configuration
Configuration overview
The option Servo Tool Change allows configuration of several tools for the same
additional axis.
One individual set of parameters is installed for each gun tool.
How to configure each tool
Each tool is configured the same way as if it was the only tool. For information on
how to do this, see Application manual - Additional axes and standalone controller .
The parameter Deactivate PTC superv. at disconnect , in the type Mechanical Unit ,
must be set to Yes.
The parameter Disconnect at Deactivate , in the type Measurement Channel , must
be set to Yes.
The parameter Logical Axis , in the type Joint , can be set to the same number for
several tools. Since the tools are never used at the same time, the tools are allowed
to use the same logical axis.
The parameter allow_activation_from_any_motion_task, in the type Mechanical
Unit , must be set for the specific servo gun. The servo gun .cfg files are created
by the servo gun manufacturer.
For a detailed description of the respective parameter, see Technical reference
manual - System parameters .
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10 Tool control options
10.1.3 Configuration
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The position after activation will be correct if the axis has not been moved, or if
the movement is less than 0.5 motor revolutions.
Tip
If you have the Spot Servo option you can use tool change calibration.
After a tool is activated, use the instruction STCalib to calibrate the tool. This
will adjust any positional error caused by tool movements during deactivation.
Activating wrong tool
It is important to only activate a mechanical unit that is connected.
An activation of the wrong mechanical unit may cause unexpected movements or
errors. The same errors occur if a tool is activated when no tool at all is connected.
Tip
A connection relay can be configured so that activation of a mechanical unit is
only allowed when it is connected. See Connection relay on page 383 .
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10 Tool control options
10.1.2 Requirements and limitations
Continued
10.1.3 Configuration
Configuration overview
The option Servo Tool Change allows configuration of several tools for the same
additional axis.
One individual set of parameters is installed for each gun tool.
How to configure each tool
Each tool is configured the same way as if it was the only tool. For information on
how to do this, see Application manual - Additional axes and standalone controller .
The parameter Deactivate PTC superv. at disconnect , in the type Mechanical Unit ,
must be set to Yes.
The parameter Disconnect at Deactivate , in the type Measurement Channel , must
be set to Yes.
The parameter Logical Axis , in the type Joint , can be set to the same number for
several tools. Since the tools are never used at the same time, the tools are allowed
to use the same logical axis.
The parameter allow_activation_from_any_motion_task, in the type Mechanical
Unit , must be set for the specific servo gun. The servo gun .cfg files are created
by the servo gun manufacturer.
For a detailed description of the respective parameter, see Technical reference
manual - System parameters .
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10 Tool control options
10.1.3 Configuration
10.1.4 Connection relay
Overview
To make sure a disconnected mechanical unit is not activated, a connection relay
can be used. A connection relay can prevent a mechanical unit from being activated
unless a specified digital signal is set.
Some tool changers support I/O signals that specify which gun is currently
connected. Then a digital input signal from the tool changer is used by the
connection relay.
If the tool changer does not support I/O signals, a similar behavior can be created
with RAPID instructions. Set a digital output signal to 1 with the instruction SetDO
each time the tool is connected, and set the signal to 0 when the tool is
disconnected.
System parameters
This is a brief description of each parameter used to configure a connection relay.
For more information, see Technical reference manual - System parameters .
The following parameters have to be set for the type Mechanical Unit in the topic
Motion :
Description
Parameter
The name of the relay to use.
Use Connection
Relay
Corresponds to the name specified in the parameter Name in the type
Relay .
The following parameters must be set for the type Relay in the topic Motion :
Description
Parameter
Name of the relay.
Name
Used by the parameter Use Connection Relay in the type Mechanical Unit .
The name of the digital signal used to indicate if it should be possible to
activate the mechanical unit.
Input Signal
Example of connection relay configuration
This is an example of how to configure connection relays for two gun tools. gun1
can only be activated when signal di1 is 1, and gun2 can only be activated when
di2 is 1.
If the tool changer sets di1 to 1 only when gun1 is connected, and di2 to 1 only
when gun2 is connected, there is no risk of activating the wrong gun.
The following parameter values are set for gun1 and gun2 in the type Mechanical
Unit :
Use Connection Relay
Name
gun1_relay
gun1
gun2_relay
gun2
Continues on next page
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10 Tool control options
10.1.4 Connection relay
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10.1.3 Configuration
Configuration overview
The option Servo Tool Change allows configuration of several tools for the same
additional axis.
One individual set of parameters is installed for each gun tool.
How to configure each tool
Each tool is configured the same way as if it was the only tool. For information on
how to do this, see Application manual - Additional axes and standalone controller .
The parameter Deactivate PTC superv. at disconnect , in the type Mechanical Unit ,
must be set to Yes.
The parameter Disconnect at Deactivate , in the type Measurement Channel , must
be set to Yes.
The parameter Logical Axis , in the type Joint , can be set to the same number for
several tools. Since the tools are never used at the same time, the tools are allowed
to use the same logical axis.
The parameter allow_activation_from_any_motion_task, in the type Mechanical
Unit , must be set for the specific servo gun. The servo gun .cfg files are created
by the servo gun manufacturer.
For a detailed description of the respective parameter, see Technical reference
manual - System parameters .
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10 Tool control options
10.1.3 Configuration
10.1.4 Connection relay
Overview
To make sure a disconnected mechanical unit is not activated, a connection relay
can be used. A connection relay can prevent a mechanical unit from being activated
unless a specified digital signal is set.
Some tool changers support I/O signals that specify which gun is currently
connected. Then a digital input signal from the tool changer is used by the
connection relay.
If the tool changer does not support I/O signals, a similar behavior can be created
with RAPID instructions. Set a digital output signal to 1 with the instruction SetDO
each time the tool is connected, and set the signal to 0 when the tool is
disconnected.
System parameters
This is a brief description of each parameter used to configure a connection relay.
For more information, see Technical reference manual - System parameters .
The following parameters have to be set for the type Mechanical Unit in the topic
Motion :
Description
Parameter
The name of the relay to use.
Use Connection
Relay
Corresponds to the name specified in the parameter Name in the type
Relay .
The following parameters must be set for the type Relay in the topic Motion :
Description
Parameter
Name of the relay.
Name
Used by the parameter Use Connection Relay in the type Mechanical Unit .
The name of the digital signal used to indicate if it should be possible to
activate the mechanical unit.
Input Signal
Example of connection relay configuration
This is an example of how to configure connection relays for two gun tools. gun1
can only be activated when signal di1 is 1, and gun2 can only be activated when
di2 is 1.
If the tool changer sets di1 to 1 only when gun1 is connected, and di2 to 1 only
when gun2 is connected, there is no risk of activating the wrong gun.
The following parameter values are set for gun1 and gun2 in the type Mechanical
Unit :
Use Connection Relay
Name
gun1_relay
gun1
gun2_relay
gun2
Continues on next page
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10 Tool control options
10.1.4 Connection relay
The following parameter values are set for gun1 and gun2 in the type Relay :
Input Signal
Name
di1
gun1_relay
di2
gun2_relay
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10.1.4 Connection relay
Continued
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10.1.4 Connection relay
Overview
To make sure a disconnected mechanical unit is not activated, a connection relay
can be used. A connection relay can prevent a mechanical unit from being activated
unless a specified digital signal is set.
Some tool changers support I/O signals that specify which gun is currently
connected. Then a digital input signal from the tool changer is used by the
connection relay.
If the tool changer does not support I/O signals, a similar behavior can be created
with RAPID instructions. Set a digital output signal to 1 with the instruction SetDO
each time the tool is connected, and set the signal to 0 when the tool is
disconnected.
System parameters
This is a brief description of each parameter used to configure a connection relay.
For more information, see Technical reference manual - System parameters .
The following parameters have to be set for the type Mechanical Unit in the topic
Motion :
Description
Parameter
The name of the relay to use.
Use Connection
Relay
Corresponds to the name specified in the parameter Name in the type
Relay .
The following parameters must be set for the type Relay in the topic Motion :
Description
Parameter
Name of the relay.
Name
Used by the parameter Use Connection Relay in the type Mechanical Unit .
The name of the digital signal used to indicate if it should be possible to
activate the mechanical unit.
Input Signal
Example of connection relay configuration
This is an example of how to configure connection relays for two gun tools. gun1
can only be activated when signal di1 is 1, and gun2 can only be activated when
di2 is 1.
If the tool changer sets di1 to 1 only when gun1 is connected, and di2 to 1 only
when gun2 is connected, there is no risk of activating the wrong gun.
The following parameter values are set for gun1 and gun2 in the type Mechanical
Unit :
Use Connection Relay
Name
gun1_relay
gun1
gun2_relay
gun2
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10.1.4 Connection relay
The following parameter values are set for gun1 and gun2 in the type Relay :
Input Signal
Name
di1
gun1_relay
di2
gun2_relay
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10.1.4 Connection relay
Continued
10.1.5 Tool change procedure
How to change tool
This is a description of how to change from gun1 to gun2.
Action
Step
Deactivate gun1 with the instruction:
1
DeactUnit gun1;
Disconnect gun1 from the tool changer.
2
Connect gun2 to the tool changer.
3
Activate gun2 with the instruction:
4
ActUnit gun2;
Optional but recommended:
5
Calibrate gun2 with the instruction:
STCalib gun1 \ToolChg;
Note that this calibration requires option Servo Tool Control or Spot Servo.
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The following parameter values are set for gun1 and gun2 in the type Relay :
Input Signal
Name
di1
gun1_relay
di2
gun2_relay
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10.1.4 Connection relay
Continued
10.1.5 Tool change procedure
How to change tool
This is a description of how to change from gun1 to gun2.
Action
Step
Deactivate gun1 with the instruction:
1
DeactUnit gun1;
Disconnect gun1 from the tool changer.
2
Connect gun2 to the tool changer.
3
Activate gun2 with the instruction:
4
ActUnit gun2;
Optional but recommended:
5
Calibrate gun2 with the instruction:
STCalib gun1 \ToolChg;
Note that this calibration requires option Servo Tool Control or Spot Servo.
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10.1.5 Tool change procedure
10.1.6 Jogging servo tools with activation disabled
Overview
Only one of the servo tools used by the tool changer may be activated at a time,
the others are set to activation disabled. This is to make sure that the user is jogging
the servo tool presently connected with right configuration.
What to do when Activation disabled appears
Follow these steps when you need to jog a servo tool but cannot activate the unit
because activation is disabled.
Action
Step
Make sure that the right servo tool is mounted on the tool changer. If the wrong
tool is mounted, see Tool change procedure on page 385 .
1.
If no tool is activated, open the RAPID execution and activate the right tool.
2.
If the right tool is mounted on the tool changer, deactivate the wrong tool and ac-
tivate the right tool from RAPID execution.
3.
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10.1.5 Tool change procedure
How to change tool
This is a description of how to change from gun1 to gun2.
Action
Step
Deactivate gun1 with the instruction:
1
DeactUnit gun1;
Disconnect gun1 from the tool changer.
2
Connect gun2 to the tool changer.
3
Activate gun2 with the instruction:
4
ActUnit gun2;
Optional but recommended:
5
Calibrate gun2 with the instruction:
STCalib gun1 \ToolChg;
Note that this calibration requires option Servo Tool Control or Spot Servo.
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10.1.5 Tool change procedure
10.1.6 Jogging servo tools with activation disabled
Overview
Only one of the servo tools used by the tool changer may be activated at a time,
the others are set to activation disabled. This is to make sure that the user is jogging
the servo tool presently connected with right configuration.
What to do when Activation disabled appears
Follow these steps when you need to jog a servo tool but cannot activate the unit
because activation is disabled.
Action
Step
Make sure that the right servo tool is mounted on the tool changer. If the wrong
tool is mounted, see Tool change procedure on page 385 .
1.
If no tool is activated, open the RAPID execution and activate the right tool.
2.
If the right tool is mounted on the tool changer, deactivate the wrong tool and ac-
tivate the right tool from RAPID execution.
3.
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10.1.6 Jogging servo tools with activation disabled
10.2 Tool Control [1180-1]
10.2.1 Overview
Purpose
Tool Control can be used to control a servo tool, for example in a spot weld or
Servo Gripper Application. Tool Control makes it possible to close the tool to a
specific plate thickness and force, and maintain the force during the process until
the tool is requested to be opened.
What is included
Tool Control gives you access to:
•
RAPID instructions to open, close and calibrate servo tools
•
RAPID instructions for tuning system parameter values
•
RAPID functions for checking status of servo tools
•
system parameters to configure servo tools
Basic approach
This is the general approach for using Tool Control .
1
Configure and calibrate the servo tool.
2
Perform a force calibration.
3
Create the RAPID program.
Prerequisites
A servo tool is an additional axis. Required hardware, such as drive module and
measurement board, is specified in Application manual - Additional axes and
standalone controller .
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10.1.6 Jogging servo tools with activation disabled
Overview
Only one of the servo tools used by the tool changer may be activated at a time,
the others are set to activation disabled. This is to make sure that the user is jogging
the servo tool presently connected with right configuration.
What to do when Activation disabled appears
Follow these steps when you need to jog a servo tool but cannot activate the unit
because activation is disabled.
Action
Step
Make sure that the right servo tool is mounted on the tool changer. If the wrong
tool is mounted, see Tool change procedure on page 385 .
1.
If no tool is activated, open the RAPID execution and activate the right tool.
2.
If the right tool is mounted on the tool changer, deactivate the wrong tool and ac-
tivate the right tool from RAPID execution.
3.
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10 Tool control options
10.1.6 Jogging servo tools with activation disabled
10.2 Tool Control [1180-1]
10.2.1 Overview
Purpose
Tool Control can be used to control a servo tool, for example in a spot weld or
Servo Gripper Application. Tool Control makes it possible to close the tool to a
specific plate thickness and force, and maintain the force during the process until
the tool is requested to be opened.
What is included
Tool Control gives you access to:
•
RAPID instructions to open, close and calibrate servo tools
•
RAPID instructions for tuning system parameter values
•
RAPID functions for checking status of servo tools
•
system parameters to configure servo tools
Basic approach
This is the general approach for using Tool Control .
1
Configure and calibrate the servo tool.
2
Perform a force calibration.
3
Create the RAPID program.
Prerequisites
A servo tool is an additional axis. Required hardware, such as drive module and
measurement board, is specified in Application manual - Additional axes and
standalone controller .
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10 Tool control options
10.2.1 Overview
10.2.2 Servo tool movements
Closing and opening of a servo tool
The servo tool can be closed to a predefined thickness and tool force. When the
tool reaches the programmed contact position, the movement is stopped and there
is an immediate switch from position control mode to force control mode. In the
force control mode a motor torque will be applied to achieve the desired tool force.
The force remains constant until an opening is ordered. Opening of the tool will
reduce the tool force to zero and move the tool arm back to the pre-close position.
Synchronous and asynchronous movements
Normally a servo tool axis is moved synchronous with the robot movements in
such a way that both movements will be completed exactly at the same time.
However the servo tool may be closed asynchronously (independent of current
robot movement). The closing will immediately start to run the tool arm to the
expected contact position (thickness). The closing movement will interrupt an
on-going synchronous movement of the tool arm.
The tool opening may also take place while the robot is moving. But it is not possible
if the robot movement includes a synchronized movement of the servo tool axis.
A motion error, "tool opening could not synchronize with robot movement", will
occur.
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10.2 Tool Control [1180-1]
10.2.1 Overview
Purpose
Tool Control can be used to control a servo tool, for example in a spot weld or
Servo Gripper Application. Tool Control makes it possible to close the tool to a
specific plate thickness and force, and maintain the force during the process until
the tool is requested to be opened.
What is included
Tool Control gives you access to:
•
RAPID instructions to open, close and calibrate servo tools
•
RAPID instructions for tuning system parameter values
•
RAPID functions for checking status of servo tools
•
system parameters to configure servo tools
Basic approach
This is the general approach for using Tool Control .
1
Configure and calibrate the servo tool.
2
Perform a force calibration.
3
Create the RAPID program.
Prerequisites
A servo tool is an additional axis. Required hardware, such as drive module and
measurement board, is specified in Application manual - Additional axes and
standalone controller .
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10 Tool control options
10.2.1 Overview
10.2.2 Servo tool movements
Closing and opening of a servo tool
The servo tool can be closed to a predefined thickness and tool force. When the
tool reaches the programmed contact position, the movement is stopped and there
is an immediate switch from position control mode to force control mode. In the
force control mode a motor torque will be applied to achieve the desired tool force.
The force remains constant until an opening is ordered. Opening of the tool will
reduce the tool force to zero and move the tool arm back to the pre-close position.
Synchronous and asynchronous movements
Normally a servo tool axis is moved synchronous with the robot movements in
such a way that both movements will be completed exactly at the same time.
However the servo tool may be closed asynchronously (independent of current
robot movement). The closing will immediately start to run the tool arm to the
expected contact position (thickness). The closing movement will interrupt an
on-going synchronous movement of the tool arm.
The tool opening may also take place while the robot is moving. But it is not possible
if the robot movement includes a synchronized movement of the servo tool axis.
A motion error, "tool opening could not synchronize with robot movement", will
occur.
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10 Tool control options
10.2.2 Servo tool movements
10.2.3 Tip management
About tip management
Note
This is not needed when controlling a gripper.
The tip management functionality will find and calibrate the contact position of the
tool tips automatically. It will also update and monitor the total tip wear of the tool
tips.
The tips can be calibrated using the RAPID instruction STCalib (see Instructions
on page 392 ). Typically, two tool closings will be performed during a calibration.
Three different types of calibrations are supported: tip wear, tip change and tool
change. All three will calibrate the contact position of the tips. The total tip wear
will, however, be updated differently by these methods.
Tip wear calibration
As the tips are worn down, for example when spot welding, they need to be dressed.
After the tip dressing, a tip wear calibration is required. The tool contact position
is calibrated and the total tip wear of the tool is updated. The calibration movements
are fast and the switch to force control mode will take place at the zero position.
This method must only be used to make small position adjustments (< 3 mm)
caused by tip wear/tip dressing.
Tip
A variable in your RAPID program can keep track of the tip wear and inform you
when the tips needs to be replaced.
Tip change calibration
The tip change calibration is to be used after mounting a new pair of tips, for
example when spot welding. The tool contact position is calibrated and the total
tip wear of the tool is reset. The first calibration movement is slow in order to find
the unknown contact position and switch to force control. The second calibration
movement is fast. This calibration method will handle big position adjustments of
the servo tool.
This calibration may be followed by a tool closing in order to squeeze the tips in
place. A new tip change calibration is then done to update possible position
differences after the tip squeeze.
Tool change calibration
The tool change calibration is to be used after reconnecting and activating a servo
tool. The tool contact position is calibrated and the total tip wear of the tool remains
unchanged. The first calibration movement is slow in order to find the unknown
tip collision position and switch to force control. The second calibration movement
is fast. This calibration method will handle big position adjustments of the tool.
Continues on next page
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10.2.2 Servo tool movements
Closing and opening of a servo tool
The servo tool can be closed to a predefined thickness and tool force. When the
tool reaches the programmed contact position, the movement is stopped and there
is an immediate switch from position control mode to force control mode. In the
force control mode a motor torque will be applied to achieve the desired tool force.
The force remains constant until an opening is ordered. Opening of the tool will
reduce the tool force to zero and move the tool arm back to the pre-close position.
Synchronous and asynchronous movements
Normally a servo tool axis is moved synchronous with the robot movements in
such a way that both movements will be completed exactly at the same time.
However the servo tool may be closed asynchronously (independent of current
robot movement). The closing will immediately start to run the tool arm to the
expected contact position (thickness). The closing movement will interrupt an
on-going synchronous movement of the tool arm.
The tool opening may also take place while the robot is moving. But it is not possible
if the robot movement includes a synchronized movement of the servo tool axis.
A motion error, "tool opening could not synchronize with robot movement", will
occur.
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10 Tool control options
10.2.2 Servo tool movements
10.2.3 Tip management
About tip management
Note
This is not needed when controlling a gripper.
The tip management functionality will find and calibrate the contact position of the
tool tips automatically. It will also update and monitor the total tip wear of the tool
tips.
The tips can be calibrated using the RAPID instruction STCalib (see Instructions
on page 392 ). Typically, two tool closings will be performed during a calibration.
Three different types of calibrations are supported: tip wear, tip change and tool
change. All three will calibrate the contact position of the tips. The total tip wear
will, however, be updated differently by these methods.
Tip wear calibration
As the tips are worn down, for example when spot welding, they need to be dressed.
After the tip dressing, a tip wear calibration is required. The tool contact position
is calibrated and the total tip wear of the tool is updated. The calibration movements
are fast and the switch to force control mode will take place at the zero position.
This method must only be used to make small position adjustments (< 3 mm)
caused by tip wear/tip dressing.
Tip
A variable in your RAPID program can keep track of the tip wear and inform you
when the tips needs to be replaced.
Tip change calibration
The tip change calibration is to be used after mounting a new pair of tips, for
example when spot welding. The tool contact position is calibrated and the total
tip wear of the tool is reset. The first calibration movement is slow in order to find
the unknown contact position and switch to force control. The second calibration
movement is fast. This calibration method will handle big position adjustments of
the servo tool.
This calibration may be followed by a tool closing in order to squeeze the tips in
place. A new tip change calibration is then done to update possible position
differences after the tip squeeze.
Tool change calibration
The tool change calibration is to be used after reconnecting and activating a servo
tool. The tool contact position is calibrated and the total tip wear of the tool remains
unchanged. The first calibration movement is slow in order to find the unknown
tip collision position and switch to force control. The second calibration movement
is fast. This calibration method will handle big position adjustments of the tool.
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10 Tool control options
10.2.3 Tip management
The method should always be used after reconnecting a tool since the activation
will restore the latest known position of the tool, and that position may be different
from the actual tool position; the tool arm may have been moved when
disconnected. This calibration method will handle big position adjustments of the
tool.
Tip
Tool change calibration is most commonly used together with the RobotWare
option Servo Tool Change.
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10.2.3 Tip management
Continued
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10.2.3 Tip management
About tip management
Note
This is not needed when controlling a gripper.
The tip management functionality will find and calibrate the contact position of the
tool tips automatically. It will also update and monitor the total tip wear of the tool
tips.
The tips can be calibrated using the RAPID instruction STCalib (see Instructions
on page 392 ). Typically, two tool closings will be performed during a calibration.
Three different types of calibrations are supported: tip wear, tip change and tool
change. All three will calibrate the contact position of the tips. The total tip wear
will, however, be updated differently by these methods.
Tip wear calibration
As the tips are worn down, for example when spot welding, they need to be dressed.
After the tip dressing, a tip wear calibration is required. The tool contact position
is calibrated and the total tip wear of the tool is updated. The calibration movements
are fast and the switch to force control mode will take place at the zero position.
This method must only be used to make small position adjustments (< 3 mm)
caused by tip wear/tip dressing.
Tip
A variable in your RAPID program can keep track of the tip wear and inform you
when the tips needs to be replaced.
Tip change calibration
The tip change calibration is to be used after mounting a new pair of tips, for
example when spot welding. The tool contact position is calibrated and the total
tip wear of the tool is reset. The first calibration movement is slow in order to find
the unknown contact position and switch to force control. The second calibration
movement is fast. This calibration method will handle big position adjustments of
the servo tool.
This calibration may be followed by a tool closing in order to squeeze the tips in
place. A new tip change calibration is then done to update possible position
differences after the tip squeeze.
Tool change calibration
The tool change calibration is to be used after reconnecting and activating a servo
tool. The tool contact position is calibrated and the total tip wear of the tool remains
unchanged. The first calibration movement is slow in order to find the unknown
tip collision position and switch to force control. The second calibration movement
is fast. This calibration method will handle big position adjustments of the tool.
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10 Tool control options
10.2.3 Tip management
The method should always be used after reconnecting a tool since the activation
will restore the latest known position of the tool, and that position may be different
from the actual tool position; the tool arm may have been moved when
disconnected. This calibration method will handle big position adjustments of the
tool.
Tip
Tool change calibration is most commonly used together with the RobotWare
option Servo Tool Change.
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10.2.3 Tip management
Continued
10.2.4 Supervision
Max and min stroke
An out of range supervision will stop the movement if the tool is reaching max
stroke or if it is closed to contact with the tips (reaching min stroke). See Upper
Joint Bound and Lower Joint Bound in Arm on page 395 .
Motion supervision
During the position control phase of the closing/opening, motion supervision is
active for the servo tool to detect if the arm collides or gets stuck. A collision will
cause a motion error and the motion will be stopped.
During the force control phase, the motion supervision will supervise the tool arm
position not to exceed a certain distance from the expected contact position. See
parameter Max Force Control Position Error in Supervision Type on page 396 .
Maximum torque
There is a maximum motor torque for the servo tool that never will be exceeded
in order to protect the tool from damage. If the force is programmed out of range
according to the tools force-torque table, the output force will be limited to this
maximum allowed motor torque and a motion warning will be logged. See parameter
Max Force Control Motor Torque in SG Process on page 393 .
Speed limit
During the force control phase there is a speed limitation. The speed limitation will
give a controlled behavior of the tool even if the force control starts before the tool
is completely closed. See Speed limit 1- 6 in Force Master Control on page 394 .
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The method should always be used after reconnecting a tool since the activation
will restore the latest known position of the tool, and that position may be different
from the actual tool position; the tool arm may have been moved when
disconnected. This calibration method will handle big position adjustments of the
tool.
Tip
Tool change calibration is most commonly used together with the RobotWare
option Servo Tool Change.
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10.2.3 Tip management
Continued
10.2.4 Supervision
Max and min stroke
An out of range supervision will stop the movement if the tool is reaching max
stroke or if it is closed to contact with the tips (reaching min stroke). See Upper
Joint Bound and Lower Joint Bound in Arm on page 395 .
Motion supervision
During the position control phase of the closing/opening, motion supervision is
active for the servo tool to detect if the arm collides or gets stuck. A collision will
cause a motion error and the motion will be stopped.
During the force control phase, the motion supervision will supervise the tool arm
position not to exceed a certain distance from the expected contact position. See
parameter Max Force Control Position Error in Supervision Type on page 396 .
Maximum torque
There is a maximum motor torque for the servo tool that never will be exceeded
in order to protect the tool from damage. If the force is programmed out of range
according to the tools force-torque table, the output force will be limited to this
maximum allowed motor torque and a motion warning will be logged. See parameter
Max Force Control Motor Torque in SG Process on page 393 .
Speed limit
During the force control phase there is a speed limitation. The speed limitation will
give a controlled behavior of the tool even if the force control starts before the tool
is completely closed. See Speed limit 1- 6 in Force Master Control on page 394 .
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10.2.4 Supervision
10.2.5 RAPID components
About the RAPID components
This is an overview of all instructions, functions, and data types in Tool Control .
For more information, see Technical reference manual - RAPID Instructions,
Functions and Data types .
Instructions
Description
Instruction
Close the servo tool with a predefined force and thickness.
STClose
Open the servo tool.
STOpen
Calibrate the servo tool.
Note
This is normally not needed when controlling a gripper.
STCalib
An argument determines which type of calibration will be performed:
•
\ToolChg for tool change calibration
•
\TipChg for tip change calibration
•
\TipWear for tip wear calibration
Tune motion parameters for the servo tool. A temporary value can be
set for a parameter specified in the instruction.
STTune
Reset tuned motion parameters for the servo tool. Cancel the effect of
all STTune instructions.
STTuneReset
Functions
Description
Function
Test if the servo tool is closed.
STIsClosed
Test if the servo tool is open.
STIsOpen
Tests if a servo tool is calibrated.
STIsCalib
Calculate the motor torque for a servo tool.
STCalcTorque
Calculate the force for a servo tool.
STCalcForce
Tests if a mechanical unit is a servo tool.
STIsServoTool
Tests if servo tool is in independent mode.
STIsIndGun
Data types
Tool Control includes no RAPID data types.
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10.2.4 Supervision
Max and min stroke
An out of range supervision will stop the movement if the tool is reaching max
stroke or if it is closed to contact with the tips (reaching min stroke). See Upper
Joint Bound and Lower Joint Bound in Arm on page 395 .
Motion supervision
During the position control phase of the closing/opening, motion supervision is
active for the servo tool to detect if the arm collides or gets stuck. A collision will
cause a motion error and the motion will be stopped.
During the force control phase, the motion supervision will supervise the tool arm
position not to exceed a certain distance from the expected contact position. See
parameter Max Force Control Position Error in Supervision Type on page 396 .
Maximum torque
There is a maximum motor torque for the servo tool that never will be exceeded
in order to protect the tool from damage. If the force is programmed out of range
according to the tools force-torque table, the output force will be limited to this
maximum allowed motor torque and a motion warning will be logged. See parameter
Max Force Control Motor Torque in SG Process on page 393 .
Speed limit
During the force control phase there is a speed limitation. The speed limitation will
give a controlled behavior of the tool even if the force control starts before the tool
is completely closed. See Speed limit 1- 6 in Force Master Control on page 394 .
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10 Tool control options
10.2.4 Supervision
10.2.5 RAPID components
About the RAPID components
This is an overview of all instructions, functions, and data types in Tool Control .
For more information, see Technical reference manual - RAPID Instructions,
Functions and Data types .
Instructions
Description
Instruction
Close the servo tool with a predefined force and thickness.
STClose
Open the servo tool.
STOpen
Calibrate the servo tool.
Note
This is normally not needed when controlling a gripper.
STCalib
An argument determines which type of calibration will be performed:
•
\ToolChg for tool change calibration
•
\TipChg for tip change calibration
•
\TipWear for tip wear calibration
Tune motion parameters for the servo tool. A temporary value can be
set for a parameter specified in the instruction.
STTune
Reset tuned motion parameters for the servo tool. Cancel the effect of
all STTune instructions.
STTuneReset
Functions
Description
Function
Test if the servo tool is closed.
STIsClosed
Test if the servo tool is open.
STIsOpen
Tests if a servo tool is calibrated.
STIsCalib
Calculate the motor torque for a servo tool.
STCalcTorque
Calculate the force for a servo tool.
STCalcForce
Tests if a mechanical unit is a servo tool.
STIsServoTool
Tests if servo tool is in independent mode.
STIsIndGun
Data types
Tool Control includes no RAPID data types.
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10 Tool control options
10.2.5 RAPID components
10.2.6 System parameters
About the system parameters
When using a servo tool, a motion parameter file for the tool is normally installed
on the controller. A servo tool is a specific variant of an additional axis and the
description of how to configure the servo tool is found in Application
manual - Additional axes and standalone controller .
In this section, the parameters used in combination with Tool Control is briefly
described. For more information, see the respective parameter in Technical
reference manual - System parameters .
SG Process
These parameters belong to the type SG Process in the topic Motion .
SG Process is used to configure the behavior of a servo gun (or other servo tool,
such as a gripper).
For gripper control, most of these parameters can be set to default values from
the template files.
Description
Parameter
Adjustment of the ordered minimum close time of the gun.
Close Time Adjust
Adjustment of the ordered position (plate thickness) where force
control should start, when closing the gun.
Close Position Adjust
Delays the close ready event after achieving the ordered force.
Force Ready Delay
Max allowed motor torque for force control. Commanded force will
be reduced, if the required motor torque is higher than this value.
Max Force Control
Motor Torque
Anticipation of the open ready event. This can be used to synchron-
ize the gun opening with the next robot movement.
Post-synchronization
Time
Defines the number of times the servo gun closes during a tip wear
calibration.
Calibration Mode
The minimum tip force used during a tip wear calibration.
Calibration Force Low
The maximum tip force used during a tip wear calibration.
Calibration Force High
The time that the servo gun waits in closed position during calibra-
tion.
Calibration Time
Defines the number of points in the force-torque relation specified
in Tip Force 1 - 10 and Motor Torque 1 - 10 .
Number of Stored
Forces
Tip Force 1 defines the tip force that corresponds to the motor torque
in Motor Torque 1 .
Tip Force 1 - 10
Tip Force 2 corresponds to Motor Torque 2 , etc.
Motor Torque 1 defines the motor torque that corresponds to the
tip force in Tip Force 1 .
Motor Torque 1- 10
Motor Torque 2 corresponds to Tip Force 2 , etc.
Defines the joint position at each force level in the force calibration
table.
Squeeze Position 1 -
10
Defines how long the force will be maintained if a soft stop occurs
during constant force.
Soft Stop Timeout
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10.2.5 RAPID components
About the RAPID components
This is an overview of all instructions, functions, and data types in Tool Control .
For more information, see Technical reference manual - RAPID Instructions,
Functions and Data types .
Instructions
Description
Instruction
Close the servo tool with a predefined force and thickness.
STClose
Open the servo tool.
STOpen
Calibrate the servo tool.
Note
This is normally not needed when controlling a gripper.
STCalib
An argument determines which type of calibration will be performed:
•
\ToolChg for tool change calibration
•
\TipChg for tip change calibration
•
\TipWear for tip wear calibration
Tune motion parameters for the servo tool. A temporary value can be
set for a parameter specified in the instruction.
STTune
Reset tuned motion parameters for the servo tool. Cancel the effect of
all STTune instructions.
STTuneReset
Functions
Description
Function
Test if the servo tool is closed.
STIsClosed
Test if the servo tool is open.
STIsOpen
Tests if a servo tool is calibrated.
STIsCalib
Calculate the motor torque for a servo tool.
STCalcTorque
Calculate the force for a servo tool.
STCalcForce
Tests if a mechanical unit is a servo tool.
STIsServoTool
Tests if servo tool is in independent mode.
STIsIndGun
Data types
Tool Control includes no RAPID data types.
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10 Tool control options
10.2.5 RAPID components
10.2.6 System parameters
About the system parameters
When using a servo tool, a motion parameter file for the tool is normally installed
on the controller. A servo tool is a specific variant of an additional axis and the
description of how to configure the servo tool is found in Application
manual - Additional axes and standalone controller .
In this section, the parameters used in combination with Tool Control is briefly
described. For more information, see the respective parameter in Technical
reference manual - System parameters .
SG Process
These parameters belong to the type SG Process in the topic Motion .
SG Process is used to configure the behavior of a servo gun (or other servo tool,
such as a gripper).
For gripper control, most of these parameters can be set to default values from
the template files.
Description
Parameter
Adjustment of the ordered minimum close time of the gun.
Close Time Adjust
Adjustment of the ordered position (plate thickness) where force
control should start, when closing the gun.
Close Position Adjust
Delays the close ready event after achieving the ordered force.
Force Ready Delay
Max allowed motor torque for force control. Commanded force will
be reduced, if the required motor torque is higher than this value.
Max Force Control
Motor Torque
Anticipation of the open ready event. This can be used to synchron-
ize the gun opening with the next robot movement.
Post-synchronization
Time
Defines the number of times the servo gun closes during a tip wear
calibration.
Calibration Mode
The minimum tip force used during a tip wear calibration.
Calibration Force Low
The maximum tip force used during a tip wear calibration.
Calibration Force High
The time that the servo gun waits in closed position during calibra-
tion.
Calibration Time
Defines the number of points in the force-torque relation specified
in Tip Force 1 - 10 and Motor Torque 1 - 10 .
Number of Stored
Forces
Tip Force 1 defines the tip force that corresponds to the motor torque
in Motor Torque 1 .
Tip Force 1 - 10
Tip Force 2 corresponds to Motor Torque 2 , etc.
Motor Torque 1 defines the motor torque that corresponds to the
tip force in Tip Force 1 .
Motor Torque 1- 10
Motor Torque 2 corresponds to Tip Force 2 , etc.
Defines the joint position at each force level in the force calibration
table.
Squeeze Position 1 -
10
Defines how long the force will be maintained if a soft stop occurs
during constant force.
Soft Stop Timeout
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10.2.6 System parameters
Description
Parameter
This parameter should only be used for gripper control.
Automatic Open Dis-
abled
Keeps the gripper closed even during and after a stop. The gripper
can only be opened by the STOpen instruction.
This parameter should normally only be used for gripper control.
Sync Check Off
Makes it possible to run the gripper without the STCalib instructions
that otherwise are needed.
Force Master
These parameters belong to the type Force Master in the topic Motion .
Force Master is used to define how a servo tool, typically a servo gun, behaves
during force control. The parameters only affect the servo tool when it is in force
control mode.
Description
Parameter
The frequency limit for the low pass filter for reference values.
References Bandwidth
Determines if the ramping of the tip force should use a constant
time or a constant gradient.
Use ramp time
Determines how fast force is built up while closing the tool when
Use ramp time is set to No.
Ramp when Increase
Force
Determines how fast force is built up while closing the tool when
Use ramp time is set to Yes.
Ramp time
Frequency limit for the low pass filter used for tip wear calibration.
Collision LP Bandwidth
Determines how hard the tool tips will be pressed together during
the first gun closing of new tips calibrations and tool change cal-
ibrations.
Collision Alarm Torque
Determines the servo gun speed during the first gun closing of
new tips calibrations and tool change calibrations.
Collision Speed
Defines the distance the servo tool has gone beyond the contact
position when the motor torque has reached the value specified
in Collision Alarm Torque .
Collision Delta Position
Determines how close to the ordered plate thickness the tool tips
must be before the force control starts.
Max pos err. closing
Delays the starting of torque ramp when force control is started.
Delay ramp
Determines if the feedback position should be used instead of
reference position when deciding the contact position.
Ramp to real contact
Force Master Control
These parameters belong to the type Force Master Control in the topic Motion .
Force Master Control is used to set the speed limit and speed loop gain as functions
of the torque.
Description
Parameter
The number of points used to define speed limit and speed loop gain
as functions of the torque. Up to 6 points can be defined.
No. of speed limits
The torque levels, corresponding to the ordered tip force, for which
the speed limit and speed loop gain values are defined.
torque 1 - torque 6
Speed Limit 1 to Speed Limit 6 are used to define the maximum speed
depending on the ordered tip force.
Speed Limit 1 - 6
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10.2.6 System parameters
About the system parameters
When using a servo tool, a motion parameter file for the tool is normally installed
on the controller. A servo tool is a specific variant of an additional axis and the
description of how to configure the servo tool is found in Application
manual - Additional axes and standalone controller .
In this section, the parameters used in combination with Tool Control is briefly
described. For more information, see the respective parameter in Technical
reference manual - System parameters .
SG Process
These parameters belong to the type SG Process in the topic Motion .
SG Process is used to configure the behavior of a servo gun (or other servo tool,
such as a gripper).
For gripper control, most of these parameters can be set to default values from
the template files.
Description
Parameter
Adjustment of the ordered minimum close time of the gun.
Close Time Adjust
Adjustment of the ordered position (plate thickness) where force
control should start, when closing the gun.
Close Position Adjust
Delays the close ready event after achieving the ordered force.
Force Ready Delay
Max allowed motor torque for force control. Commanded force will
be reduced, if the required motor torque is higher than this value.
Max Force Control
Motor Torque
Anticipation of the open ready event. This can be used to synchron-
ize the gun opening with the next robot movement.
Post-synchronization
Time
Defines the number of times the servo gun closes during a tip wear
calibration.
Calibration Mode
The minimum tip force used during a tip wear calibration.
Calibration Force Low
The maximum tip force used during a tip wear calibration.
Calibration Force High
The time that the servo gun waits in closed position during calibra-
tion.
Calibration Time
Defines the number of points in the force-torque relation specified
in Tip Force 1 - 10 and Motor Torque 1 - 10 .
Number of Stored
Forces
Tip Force 1 defines the tip force that corresponds to the motor torque
in Motor Torque 1 .
Tip Force 1 - 10
Tip Force 2 corresponds to Motor Torque 2 , etc.
Motor Torque 1 defines the motor torque that corresponds to the
tip force in Tip Force 1 .
Motor Torque 1- 10
Motor Torque 2 corresponds to Tip Force 2 , etc.
Defines the joint position at each force level in the force calibration
table.
Squeeze Position 1 -
10
Defines how long the force will be maintained if a soft stop occurs
during constant force.
Soft Stop Timeout
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10 Tool control options
10.2.6 System parameters
Description
Parameter
This parameter should only be used for gripper control.
Automatic Open Dis-
abled
Keeps the gripper closed even during and after a stop. The gripper
can only be opened by the STOpen instruction.
This parameter should normally only be used for gripper control.
Sync Check Off
Makes it possible to run the gripper without the STCalib instructions
that otherwise are needed.
Force Master
These parameters belong to the type Force Master in the topic Motion .
Force Master is used to define how a servo tool, typically a servo gun, behaves
during force control. The parameters only affect the servo tool when it is in force
control mode.
Description
Parameter
The frequency limit for the low pass filter for reference values.
References Bandwidth
Determines if the ramping of the tip force should use a constant
time or a constant gradient.
Use ramp time
Determines how fast force is built up while closing the tool when
Use ramp time is set to No.
Ramp when Increase
Force
Determines how fast force is built up while closing the tool when
Use ramp time is set to Yes.
Ramp time
Frequency limit for the low pass filter used for tip wear calibration.
Collision LP Bandwidth
Determines how hard the tool tips will be pressed together during
the first gun closing of new tips calibrations and tool change cal-
ibrations.
Collision Alarm Torque
Determines the servo gun speed during the first gun closing of
new tips calibrations and tool change calibrations.
Collision Speed
Defines the distance the servo tool has gone beyond the contact
position when the motor torque has reached the value specified
in Collision Alarm Torque .
Collision Delta Position
Determines how close to the ordered plate thickness the tool tips
must be before the force control starts.
Max pos err. closing
Delays the starting of torque ramp when force control is started.
Delay ramp
Determines if the feedback position should be used instead of
reference position when deciding the contact position.
Ramp to real contact
Force Master Control
These parameters belong to the type Force Master Control in the topic Motion .
Force Master Control is used to set the speed limit and speed loop gain as functions
of the torque.
Description
Parameter
The number of points used to define speed limit and speed loop gain
as functions of the torque. Up to 6 points can be defined.
No. of speed limits
The torque levels, corresponding to the ordered tip force, for which
the speed limit and speed loop gain values are defined.
torque 1 - torque 6
Speed Limit 1 to Speed Limit 6 are used to define the maximum speed
depending on the ordered tip force.
Speed Limit 1 - 6
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Continued
Description
Parameter
Kv 1 to Kv 6 are used to define the speed loop gain for reducing the
speed when the speed limit is exceeded.
Kv 1 - 6
Arm
These parameters belong to the type Arm in the topic Motion .
The type Arm defines the characteristics of an arm.
Description
Parameter
Defines the upper limit of the working area for the joint.
Upper Joint Bound
Defines the lower limit of the working area for the joint.
Lower Joint Bound
Acceleration Data
These parameters belong to the type Acceleration Data in the topic Motion .
Acceleration Data is used to specify some acceleration characteristics for axes
without any dynamic model.
Description
Parameter
Worst case motor acceleration.
Nominal Acceleration
Worst case motor deceleration.
Nominal Deceleration
Indicates how fast the acceleration can be increased.
Acceleration Derivate Ratio
Indicates how fast the deceleration can be increased.
Deceleration Derivate Ratio
Motor Type
These parameters belong to the type Motor Type in the topic Motion .
Motor Type is used to describe characteristics for a motor.
Description
Parameter
Defines the number of pole pairs for the motor.
Pole Pairs
The inertia of the motor, including the resolver but excluding the
brake.
Inertia
The continuous stall torque, i.e. the torque the motor can produce at
no speed and during an infinite time.
Stall Torque
Nominal voltage constant. The induced voltage (phase to phase) that
corresponds to the speed 1 rad/s.
ke Phase to Phase
Max current without irreversible magnetization.
Max Current
Nominal winding resistance per phase at 20 degrees Celsius.
Phase Resistance
Nominal winding inductance per phase at zero current.
Phase Inductance
Motor Calibration
These parameters belong to the type Motor Calibration in the topic Motion .
Motor Calibration is used to calibrate a motor.
Description
Parameter
Defines the position of the motor (resolver) when the rotor is in the
electrical zero position relative to the stator.
Commutator Offset
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Description
Parameter
This parameter should only be used for gripper control.
Automatic Open Dis-
abled
Keeps the gripper closed even during and after a stop. The gripper
can only be opened by the STOpen instruction.
This parameter should normally only be used for gripper control.
Sync Check Off
Makes it possible to run the gripper without the STCalib instructions
that otherwise are needed.
Force Master
These parameters belong to the type Force Master in the topic Motion .
Force Master is used to define how a servo tool, typically a servo gun, behaves
during force control. The parameters only affect the servo tool when it is in force
control mode.
Description
Parameter
The frequency limit for the low pass filter for reference values.
References Bandwidth
Determines if the ramping of the tip force should use a constant
time or a constant gradient.
Use ramp time
Determines how fast force is built up while closing the tool when
Use ramp time is set to No.
Ramp when Increase
Force
Determines how fast force is built up while closing the tool when
Use ramp time is set to Yes.
Ramp time
Frequency limit for the low pass filter used for tip wear calibration.
Collision LP Bandwidth
Determines how hard the tool tips will be pressed together during
the first gun closing of new tips calibrations and tool change cal-
ibrations.
Collision Alarm Torque
Determines the servo gun speed during the first gun closing of
new tips calibrations and tool change calibrations.
Collision Speed
Defines the distance the servo tool has gone beyond the contact
position when the motor torque has reached the value specified
in Collision Alarm Torque .
Collision Delta Position
Determines how close to the ordered plate thickness the tool tips
must be before the force control starts.
Max pos err. closing
Delays the starting of torque ramp when force control is started.
Delay ramp
Determines if the feedback position should be used instead of
reference position when deciding the contact position.
Ramp to real contact
Force Master Control
These parameters belong to the type Force Master Control in the topic Motion .
Force Master Control is used to set the speed limit and speed loop gain as functions
of the torque.
Description
Parameter
The number of points used to define speed limit and speed loop gain
as functions of the torque. Up to 6 points can be defined.
No. of speed limits
The torque levels, corresponding to the ordered tip force, for which
the speed limit and speed loop gain values are defined.
torque 1 - torque 6
Speed Limit 1 to Speed Limit 6 are used to define the maximum speed
depending on the ordered tip force.
Speed Limit 1 - 6
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10.2.6 System parameters
Continued
Description
Parameter
Kv 1 to Kv 6 are used to define the speed loop gain for reducing the
speed when the speed limit is exceeded.
Kv 1 - 6
Arm
These parameters belong to the type Arm in the topic Motion .
The type Arm defines the characteristics of an arm.
Description
Parameter
Defines the upper limit of the working area for the joint.
Upper Joint Bound
Defines the lower limit of the working area for the joint.
Lower Joint Bound
Acceleration Data
These parameters belong to the type Acceleration Data in the topic Motion .
Acceleration Data is used to specify some acceleration characteristics for axes
without any dynamic model.
Description
Parameter
Worst case motor acceleration.
Nominal Acceleration
Worst case motor deceleration.
Nominal Deceleration
Indicates how fast the acceleration can be increased.
Acceleration Derivate Ratio
Indicates how fast the deceleration can be increased.
Deceleration Derivate Ratio
Motor Type
These parameters belong to the type Motor Type in the topic Motion .
Motor Type is used to describe characteristics for a motor.
Description
Parameter
Defines the number of pole pairs for the motor.
Pole Pairs
The inertia of the motor, including the resolver but excluding the
brake.
Inertia
The continuous stall torque, i.e. the torque the motor can produce at
no speed and during an infinite time.
Stall Torque
Nominal voltage constant. The induced voltage (phase to phase) that
corresponds to the speed 1 rad/s.
ke Phase to Phase
Max current without irreversible magnetization.
Max Current
Nominal winding resistance per phase at 20 degrees Celsius.
Phase Resistance
Nominal winding inductance per phase at zero current.
Phase Inductance
Motor Calibration
These parameters belong to the type Motor Calibration in the topic Motion .
Motor Calibration is used to calibrate a motor.
Description
Parameter
Defines the position of the motor (resolver) when the rotor is in the
electrical zero position relative to the stator.
Commutator Offset
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Continued
Description
Parameter
Defines the position of the motor (resolver) when it is in the calibration
position.
Calibration Offset
Stress Duty Cycle
These parameters belong to the type Stress Duty Cycle in the topic Motion .
Stress Duty Cycle is used for protecting axes, gearboxes, etc.
Description
Parameter
The absolute highest motor speed to be used.
Speed Absolute Max
The absolute highest motor torque to be used.
Torque Absolute Max
Supervision Type
These parameters belong to the type Supervision Type in the topic Motion .
Supervision Type is used for continuos supervision of position, speed and torque.
Description
Parameter
When a servo gun is in force control mode it is not allowed to move
more than the distance specified in Max Force Control Position Error .
This supervision will protect the tool if, for instance, one tip is lost.
Max Force Control
Position Error
Speed error factor during force control.
Max Force Control
Speed Limit
If the speed limits, defined in the type Force Master Control , multiplied
with Max Force Control Speed Limit is exceeded, all movement is
stopped.
Transmission
These parameters belong to the type Transmission in the topic Motion .
Transmission is used to define the transmission gear ratio between a motor and
its axis.
Description
Parameter
Defines if the axis is rotating or linear.
Rotating Move
Defines the transmission gear ratio between motor and joint.
Transmission Gear Ratio
Lag Control Master 0
These parameters belong to the type Lag Control Master 0 in the topic Motion .
Lag Control Master 0 is used for regulation of axes without any dynamic model.
Description
Parameter
Defines if the position regulation should use feed forward of speed
and torque values.
FFW Mode
Proportional gain in the position regulation loop.
Kp, Gain Position Loop
Proportional gain in the speed regulation loop.
Kv, Gain Speed Loop
Integration time in the speed regulation loop.
Ti Integration Time
Speed Loop
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Description
Parameter
Kv 1 to Kv 6 are used to define the speed loop gain for reducing the
speed when the speed limit is exceeded.
Kv 1 - 6
Arm
These parameters belong to the type Arm in the topic Motion .
The type Arm defines the characteristics of an arm.
Description
Parameter
Defines the upper limit of the working area for the joint.
Upper Joint Bound
Defines the lower limit of the working area for the joint.
Lower Joint Bound
Acceleration Data
These parameters belong to the type Acceleration Data in the topic Motion .
Acceleration Data is used to specify some acceleration characteristics for axes
without any dynamic model.
Description
Parameter
Worst case motor acceleration.
Nominal Acceleration
Worst case motor deceleration.
Nominal Deceleration
Indicates how fast the acceleration can be increased.
Acceleration Derivate Ratio
Indicates how fast the deceleration can be increased.
Deceleration Derivate Ratio
Motor Type
These parameters belong to the type Motor Type in the topic Motion .
Motor Type is used to describe characteristics for a motor.
Description
Parameter
Defines the number of pole pairs for the motor.
Pole Pairs
The inertia of the motor, including the resolver but excluding the
brake.
Inertia
The continuous stall torque, i.e. the torque the motor can produce at
no speed and during an infinite time.
Stall Torque
Nominal voltage constant. The induced voltage (phase to phase) that
corresponds to the speed 1 rad/s.
ke Phase to Phase
Max current without irreversible magnetization.
Max Current
Nominal winding resistance per phase at 20 degrees Celsius.
Phase Resistance
Nominal winding inductance per phase at zero current.
Phase Inductance
Motor Calibration
These parameters belong to the type Motor Calibration in the topic Motion .
Motor Calibration is used to calibrate a motor.
Description
Parameter
Defines the position of the motor (resolver) when the rotor is in the
electrical zero position relative to the stator.
Commutator Offset
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Continued
Description
Parameter
Defines the position of the motor (resolver) when it is in the calibration
position.
Calibration Offset
Stress Duty Cycle
These parameters belong to the type Stress Duty Cycle in the topic Motion .
Stress Duty Cycle is used for protecting axes, gearboxes, etc.
Description
Parameter
The absolute highest motor speed to be used.
Speed Absolute Max
The absolute highest motor torque to be used.
Torque Absolute Max
Supervision Type
These parameters belong to the type Supervision Type in the topic Motion .
Supervision Type is used for continuos supervision of position, speed and torque.
Description
Parameter
When a servo gun is in force control mode it is not allowed to move
more than the distance specified in Max Force Control Position Error .
This supervision will protect the tool if, for instance, one tip is lost.
Max Force Control
Position Error
Speed error factor during force control.
Max Force Control
Speed Limit
If the speed limits, defined in the type Force Master Control , multiplied
with Max Force Control Speed Limit is exceeded, all movement is
stopped.
Transmission
These parameters belong to the type Transmission in the topic Motion .
Transmission is used to define the transmission gear ratio between a motor and
its axis.
Description
Parameter
Defines if the axis is rotating or linear.
Rotating Move
Defines the transmission gear ratio between motor and joint.
Transmission Gear Ratio
Lag Control Master 0
These parameters belong to the type Lag Control Master 0 in the topic Motion .
Lag Control Master 0 is used for regulation of axes without any dynamic model.
Description
Parameter
Defines if the position regulation should use feed forward of speed
and torque values.
FFW Mode
Proportional gain in the position regulation loop.
Kp, Gain Position Loop
Proportional gain in the speed regulation loop.
Kv, Gain Speed Loop
Integration time in the speed regulation loop.
Ti Integration Time
Speed Loop
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10.2.6 System parameters
Continued
Uncalibrated Control Master 0
These parameters belong to the type Uncalibrated Control Master 0 in the topic
Motion .
Uncalibrated Control Master 0 is used to regulate uncalibrated axes.
Description
Parameter
Proportional gain in the position regulation loop.
Kp, Gain Position Loop
Proportional gain in the speed regulation loop.
Kv, Gain Speed Loop
Integration time in the speed regulation loop.
Ti Integration Time Speed Loop
The maximum allowed speed for an uncalibrated axis.
Speed Max Uncalibrated
The maximum allowed acceleration for an uncalibrated
axis.
Acceleration Max Uncalibrated
The maximum allowed deceleration for an uncalibrated
axis.
Deceleration Max Uncalibrated
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10.2.6 System parameters
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Description
Parameter
Defines the position of the motor (resolver) when it is in the calibration
position.
Calibration Offset
Stress Duty Cycle
These parameters belong to the type Stress Duty Cycle in the topic Motion .
Stress Duty Cycle is used for protecting axes, gearboxes, etc.
Description
Parameter
The absolute highest motor speed to be used.
Speed Absolute Max
The absolute highest motor torque to be used.
Torque Absolute Max
Supervision Type
These parameters belong to the type Supervision Type in the topic Motion .
Supervision Type is used for continuos supervision of position, speed and torque.
Description
Parameter
When a servo gun is in force control mode it is not allowed to move
more than the distance specified in Max Force Control Position Error .
This supervision will protect the tool if, for instance, one tip is lost.
Max Force Control
Position Error
Speed error factor during force control.
Max Force Control
Speed Limit
If the speed limits, defined in the type Force Master Control , multiplied
with Max Force Control Speed Limit is exceeded, all movement is
stopped.
Transmission
These parameters belong to the type Transmission in the topic Motion .
Transmission is used to define the transmission gear ratio between a motor and
its axis.
Description
Parameter
Defines if the axis is rotating or linear.
Rotating Move
Defines the transmission gear ratio between motor and joint.
Transmission Gear Ratio
Lag Control Master 0
These parameters belong to the type Lag Control Master 0 in the topic Motion .
Lag Control Master 0 is used for regulation of axes without any dynamic model.
Description
Parameter
Defines if the position regulation should use feed forward of speed
and torque values.
FFW Mode
Proportional gain in the position regulation loop.
Kp, Gain Position Loop
Proportional gain in the speed regulation loop.
Kv, Gain Speed Loop
Integration time in the speed regulation loop.
Ti Integration Time
Speed Loop
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10.2.6 System parameters
Continued
Uncalibrated Control Master 0
These parameters belong to the type Uncalibrated Control Master 0 in the topic
Motion .
Uncalibrated Control Master 0 is used to regulate uncalibrated axes.
Description
Parameter
Proportional gain in the position regulation loop.
Kp, Gain Position Loop
Proportional gain in the speed regulation loop.
Kv, Gain Speed Loop
Integration time in the speed regulation loop.
Ti Integration Time Speed Loop
The maximum allowed speed for an uncalibrated axis.
Speed Max Uncalibrated
The maximum allowed acceleration for an uncalibrated
axis.
Acceleration Max Uncalibrated
The maximum allowed deceleration for an uncalibrated
axis.
Deceleration Max Uncalibrated
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10 Tool control options
10.2.6 System parameters
Continued
10.2.7 Commissioning and service
Commissioning the servo tool
For a new servo tool, follow these steps for installing and commissioning:
Action
Step
Install the servo tool according to the description in Application manual - Additional
axes and standalone controller .
1
Load a .cfg file with the servo tool configuration. For detailed description on how
to do this, see Operating manual - RobotStudio .
2
If you do not have any .cfg file for the servo tool, you can load a template file and
configure the system parameters with the values of your servo tool. Template files
are found in the RobotWare distribution, see Template file locations on page 398 .
Use the RAPID instruction STTune and iterate to find the optimal parameter values.
Once found, these optimal values should be written to the system parameters to
be permanent.
3
Fine calibrate the servo tool, see Fine calibration on page 400 .
4
Unless force calibration was included in a loaded .cfg file, perform a force calibra-
tion.
5
Template file locations
The template files can be obtained from the PC or the IRC5 controller.
•
In the RobotWare installation folder in RobotStudio : ...\RobotPackages\
RobotWare_RPK_<version>\utility\AdditionalAxis\
•
On the IRC5 Controller :
<SystemName>\PRODUCTS\<RobotWare_xx.xx.xxxx>\utility\AdditionalAxis\
Note
Navigate to the RobotWare installation folder from the RobotStudio Add-Ins tab,
by right-clicking on the installed RobotWare version in the Add-Ins browser and
selecting Open Package Folder .
Disconnect/reconnect a servo tool
If the servo tool is deactivated, using the DeactUnit instruction, it may be
disconnected and removed. The tool position at deactivation will be restored when
the tool is connected and reactivated. Make a tool change calibration to make sure
the tip position is OK.
The whole process of changing a tool can be performed by a RAPID program if
you use the RobotWare option Servo Tool Change and the instruction STCalib .
Recover from accidental disconnection
If the motor cables are disconnected by accident when the servo tool is active, the
system will go into system failure state. After restart of the system the servo tool
must be deactivated in order to jog the robot to a service position.
Deactivation may be performed from the Jogging window. Tap on Activate... , select
the servo tool and tap on Deactivate .
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Uncalibrated Control Master 0
These parameters belong to the type Uncalibrated Control Master 0 in the topic
Motion .
Uncalibrated Control Master 0 is used to regulate uncalibrated axes.
Description
Parameter
Proportional gain in the position regulation loop.
Kp, Gain Position Loop
Proportional gain in the speed regulation loop.
Kv, Gain Speed Loop
Integration time in the speed regulation loop.
Ti Integration Time Speed Loop
The maximum allowed speed for an uncalibrated axis.
Speed Max Uncalibrated
The maximum allowed acceleration for an uncalibrated
axis.
Acceleration Max Uncalibrated
The maximum allowed deceleration for an uncalibrated
axis.
Deceleration Max Uncalibrated
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10 Tool control options
10.2.6 System parameters
Continued
10.2.7 Commissioning and service
Commissioning the servo tool
For a new servo tool, follow these steps for installing and commissioning:
Action
Step
Install the servo tool according to the description in Application manual - Additional
axes and standalone controller .
1
Load a .cfg file with the servo tool configuration. For detailed description on how
to do this, see Operating manual - RobotStudio .
2
If you do not have any .cfg file for the servo tool, you can load a template file and
configure the system parameters with the values of your servo tool. Template files
are found in the RobotWare distribution, see Template file locations on page 398 .
Use the RAPID instruction STTune and iterate to find the optimal parameter values.
Once found, these optimal values should be written to the system parameters to
be permanent.
3
Fine calibrate the servo tool, see Fine calibration on page 400 .
4
Unless force calibration was included in a loaded .cfg file, perform a force calibra-
tion.
5
Template file locations
The template files can be obtained from the PC or the IRC5 controller.
•
In the RobotWare installation folder in RobotStudio : ...\RobotPackages\
RobotWare_RPK_<version>\utility\AdditionalAxis\
•
On the IRC5 Controller :
<SystemName>\PRODUCTS\<RobotWare_xx.xx.xxxx>\utility\AdditionalAxis\
Note
Navigate to the RobotWare installation folder from the RobotStudio Add-Ins tab,
by right-clicking on the installed RobotWare version in the Add-Ins browser and
selecting Open Package Folder .
Disconnect/reconnect a servo tool
If the servo tool is deactivated, using the DeactUnit instruction, it may be
disconnected and removed. The tool position at deactivation will be restored when
the tool is connected and reactivated. Make a tool change calibration to make sure
the tip position is OK.
The whole process of changing a tool can be performed by a RAPID program if
you use the RobotWare option Servo Tool Change and the instruction STCalib .
Recover from accidental disconnection
If the motor cables are disconnected by accident when the servo tool is active, the
system will go into system failure state. After restart of the system the servo tool
must be deactivated in order to jog the robot to a service position.
Deactivation may be performed from the Jogging window. Tap on Activate... , select
the servo tool and tap on Deactivate .
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10 Tool control options
10.2.7 Commissioning and service
After service / repair the revolution counter must be updated since the position
has been lost, see Update revolution counter on page 400 .
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10.2.7 Commissioning and service
Continued
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10.2.7 Commissioning and service
Commissioning the servo tool
For a new servo tool, follow these steps for installing and commissioning:
Action
Step
Install the servo tool according to the description in Application manual - Additional
axes and standalone controller .
1
Load a .cfg file with the servo tool configuration. For detailed description on how
to do this, see Operating manual - RobotStudio .
2
If you do not have any .cfg file for the servo tool, you can load a template file and
configure the system parameters with the values of your servo tool. Template files
are found in the RobotWare distribution, see Template file locations on page 398 .
Use the RAPID instruction STTune and iterate to find the optimal parameter values.
Once found, these optimal values should be written to the system parameters to
be permanent.
3
Fine calibrate the servo tool, see Fine calibration on page 400 .
4
Unless force calibration was included in a loaded .cfg file, perform a force calibra-
tion.
5
Template file locations
The template files can be obtained from the PC or the IRC5 controller.
•
In the RobotWare installation folder in RobotStudio : ...\RobotPackages\
RobotWare_RPK_<version>\utility\AdditionalAxis\
•
On the IRC5 Controller :
<SystemName>\PRODUCTS\<RobotWare_xx.xx.xxxx>\utility\AdditionalAxis\
Note
Navigate to the RobotWare installation folder from the RobotStudio Add-Ins tab,
by right-clicking on the installed RobotWare version in the Add-Ins browser and
selecting Open Package Folder .
Disconnect/reconnect a servo tool
If the servo tool is deactivated, using the DeactUnit instruction, it may be
disconnected and removed. The tool position at deactivation will be restored when
the tool is connected and reactivated. Make a tool change calibration to make sure
the tip position is OK.
The whole process of changing a tool can be performed by a RAPID program if
you use the RobotWare option Servo Tool Change and the instruction STCalib .
Recover from accidental disconnection
If the motor cables are disconnected by accident when the servo tool is active, the
system will go into system failure state. After restart of the system the servo tool
must be deactivated in order to jog the robot to a service position.
Deactivation may be performed from the Jogging window. Tap on Activate... , select
the servo tool and tap on Deactivate .
Continues on next page
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10 Tool control options
10.2.7 Commissioning and service
After service / repair the revolution counter must be updated since the position
has been lost, see Update revolution counter on page 400 .
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10 Tool control options
10.2.7 Commissioning and service
Continued
10.2.8 Mechanical unit calibrations
Fine calibration
Fine calibration must be performed when installing a new servo tool, or if the servo
tool axis is in state ‘Not Calibrated’.
For a gripper, it is sufficient with a normal calibration at a position where the fingers
are touching, but are not squeezed together. In this case, STCalib instructions
are not needed.
For this, it is recommended to create a service routine using the following
instructions:
STCalib "ToolName" \TipChg;
STCalib "ToolName" \TipWear;
Update revolution counter
An update of the revolution counter must be performed if the position of the axis
is lost. If this happens, this is indicated by the calibration state ‘Rev. Counter not
updated’.
For this, it is recommended to use the same service routine as for the fine
calibration.
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After service / repair the revolution counter must be updated since the position
has been lost, see Update revolution counter on page 400 .
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10 Tool control options
10.2.7 Commissioning and service
Continued
10.2.8 Mechanical unit calibrations
Fine calibration
Fine calibration must be performed when installing a new servo tool, or if the servo
tool axis is in state ‘Not Calibrated’.
For a gripper, it is sufficient with a normal calibration at a position where the fingers
are touching, but are not squeezed together. In this case, STCalib instructions
are not needed.
For this, it is recommended to create a service routine using the following
instructions:
STCalib "ToolName" \TipChg;
STCalib "ToolName" \TipWear;
Update revolution counter
An update of the revolution counter must be performed if the position of the axis
is lost. If this happens, this is indicated by the calibration state ‘Rev. Counter not
updated’.
For this, it is recommended to use the same service routine as for the fine
calibration.
400
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10 Tool control options
10.2.8 Mechanical unit calibrations
10.2.9 RAPID code example
How to use the code package
The normal programming technique for Tool Control is to customize shell routines
based on the example code below. These shell routines are then called from your
program.
Using shell routines
This example shows a main routine in combination with a customized routine
( rMoveSpot ) that uses the standard servo tool instructions. The external process
(for example a weld timer) is indicated with the routine rWeld .
PROC main()
MoveJ p1, v500, z50, weldtool;
MoveL p2, v1000, z50, weldtool;
! Perform weld process
rMoveSpot weldpos1, v2000, curr_gun_name, 1000, 2, 1,
weldtool\WObj:=weldwobj;
rMoveSpot weldpos2, v2000, curr_gun_name, 1000, 2, 1,
weldtool\WObj:=weldwobj;
rMoveSpot weldpos3, v2000, curr_gun_name, 1500, 3, 1,
weldtool\WObj:=weldwobj;
MoveL p3, v1000, z50, weldtool;
ENDPROC
PROC rMoveSpot (robtarget ToPoint,
speeddata Speed,
gunname Gun,
num Force,
num Thickness,
PERS tooldata Tool
\PERS wobjdata WObj)
! Move the gun to weld position.
! Always use FINE point to prevent too early closing.
MoveL ToPoint, Speed, FINE, weldtool \WOIbj=WObj;
STClose Gun, Thickness;
rWeld;
STOpen Gun;
ENDPROC
PROC rWeld()
! Request weld start from weld timer
SetDO doWeldstart,1;
! Wait until weld is performed
WaitDI diWeldready,1;
SetDO doWeldstart,0;
ENDPROC
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10.2.8 Mechanical unit calibrations
Fine calibration
Fine calibration must be performed when installing a new servo tool, or if the servo
tool axis is in state ‘Not Calibrated’.
For a gripper, it is sufficient with a normal calibration at a position where the fingers
are touching, but are not squeezed together. In this case, STCalib instructions
are not needed.
For this, it is recommended to create a service routine using the following
instructions:
STCalib "ToolName" \TipChg;
STCalib "ToolName" \TipWear;
Update revolution counter
An update of the revolution counter must be performed if the position of the axis
is lost. If this happens, this is indicated by the calibration state ‘Rev. Counter not
updated’.
For this, it is recommended to use the same service routine as for the fine
calibration.
400
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10 Tool control options
10.2.8 Mechanical unit calibrations
10.2.9 RAPID code example
How to use the code package
The normal programming technique for Tool Control is to customize shell routines
based on the example code below. These shell routines are then called from your
program.
Using shell routines
This example shows a main routine in combination with a customized routine
( rMoveSpot ) that uses the standard servo tool instructions. The external process
(for example a weld timer) is indicated with the routine rWeld .
PROC main()
MoveJ p1, v500, z50, weldtool;
MoveL p2, v1000, z50, weldtool;
! Perform weld process
rMoveSpot weldpos1, v2000, curr_gun_name, 1000, 2, 1,
weldtool\WObj:=weldwobj;
rMoveSpot weldpos2, v2000, curr_gun_name, 1000, 2, 1,
weldtool\WObj:=weldwobj;
rMoveSpot weldpos3, v2000, curr_gun_name, 1500, 3, 1,
weldtool\WObj:=weldwobj;
MoveL p3, v1000, z50, weldtool;
ENDPROC
PROC rMoveSpot (robtarget ToPoint,
speeddata Speed,
gunname Gun,
num Force,
num Thickness,
PERS tooldata Tool
\PERS wobjdata WObj)
! Move the gun to weld position.
! Always use FINE point to prevent too early closing.
MoveL ToPoint, Speed, FINE, weldtool \WOIbj=WObj;
STClose Gun, Thickness;
rWeld;
STOpen Gun;
ENDPROC
PROC rWeld()
! Request weld start from weld timer
SetDO doWeldstart,1;
! Wait until weld is performed
WaitDI diWeldready,1;
SetDO doWeldstart,0;
ENDPROC
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10 Tool control options
10.2.9 RAPID code example
10.2.10 Using tool control for gripper applications
Templates
There are no specific template files for grippers, but the Servo Gun files can be
used as a foundation.
Parameters
When using the tool for gripper application, there are two key parameters that must
be set. These parameters belong to the type SG Process in the topic Motion :
•
Automatic Open Disabled keeps the gripper closed even during and after a
stop. The gripper can only be opened by the STOpen instruction.
•
Sync Check Off makes it possible to run the gripper without the STCalib
instructions that otherwise are needed.
Instructions and positions
When using the tool control for gripper applications, the definition of zero position
is when the fingers are closed.
A
B
C
D
xx2000000214
Zero position
A
Example: STIndGun grip1,30
B
Example: STClose grip1,1000,5
C
Example: STClose grip1,-1000,20
D
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10.2.9 RAPID code example
How to use the code package
The normal programming technique for Tool Control is to customize shell routines
based on the example code below. These shell routines are then called from your
program.
Using shell routines
This example shows a main routine in combination with a customized routine
( rMoveSpot ) that uses the standard servo tool instructions. The external process
(for example a weld timer) is indicated with the routine rWeld .
PROC main()
MoveJ p1, v500, z50, weldtool;
MoveL p2, v1000, z50, weldtool;
! Perform weld process
rMoveSpot weldpos1, v2000, curr_gun_name, 1000, 2, 1,
weldtool\WObj:=weldwobj;
rMoveSpot weldpos2, v2000, curr_gun_name, 1000, 2, 1,
weldtool\WObj:=weldwobj;
rMoveSpot weldpos3, v2000, curr_gun_name, 1500, 3, 1,
weldtool\WObj:=weldwobj;
MoveL p3, v1000, z50, weldtool;
ENDPROC
PROC rMoveSpot (robtarget ToPoint,
speeddata Speed,
gunname Gun,
num Force,
num Thickness,
PERS tooldata Tool
\PERS wobjdata WObj)
! Move the gun to weld position.
! Always use FINE point to prevent too early closing.
MoveL ToPoint, Speed, FINE, weldtool \WOIbj=WObj;
STClose Gun, Thickness;
rWeld;
STOpen Gun;
ENDPROC
PROC rWeld()
! Request weld start from weld timer
SetDO doWeldstart,1;
! Wait until weld is performed
WaitDI diWeldready,1;
SetDO doWeldstart,0;
ENDPROC
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10 Tool control options
10.2.9 RAPID code example
10.2.10 Using tool control for gripper applications
Templates
There are no specific template files for grippers, but the Servo Gun files can be
used as a foundation.
Parameters
When using the tool for gripper application, there are two key parameters that must
be set. These parameters belong to the type SG Process in the topic Motion :
•
Automatic Open Disabled keeps the gripper closed even during and after a
stop. The gripper can only be opened by the STOpen instruction.
•
Sync Check Off makes it possible to run the gripper without the STCalib
instructions that otherwise are needed.
Instructions and positions
When using the tool control for gripper applications, the definition of zero position
is when the fingers are closed.
A
B
C
D
xx2000000214
Zero position
A
Example: STIndGun grip1,30
B
Example: STClose grip1,1000,5
C
Example: STClose grip1,-1000,20
D
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10 Tool control options
10.2.10 Using tool control for gripper applications
STIndGun instructions can be used to move the gripper independent of the normal
movement instructions.
xx0500002342
If the gripper should squeeze in the opposite direction, the sign of the force should
be negative.
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10 Tool control options
10.2.10 Using tool control for gripper applications
Continued
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10.2.10 Using tool control for gripper applications
Templates
There are no specific template files for grippers, but the Servo Gun files can be
used as a foundation.
Parameters
When using the tool for gripper application, there are two key parameters that must
be set. These parameters belong to the type SG Process in the topic Motion :
•
Automatic Open Disabled keeps the gripper closed even during and after a
stop. The gripper can only be opened by the STOpen instruction.
•
Sync Check Off makes it possible to run the gripper without the STCalib
instructions that otherwise are needed.
Instructions and positions
When using the tool control for gripper applications, the definition of zero position
is when the fingers are closed.
A
B
C
D
xx2000000214
Zero position
A
Example: STIndGun grip1,30
B
Example: STClose grip1,1000,5
C
Example: STClose grip1,-1000,20
D
Continues on next page
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10 Tool control options
10.2.10 Using tool control for gripper applications
STIndGun instructions can be used to move the gripper independent of the normal
movement instructions.
xx0500002342
If the gripper should squeeze in the opposite direction, the sign of the force should
be negative.
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10 Tool control options
10.2.10 Using tool control for gripper applications
Continued
10.3 I/O Controlled Axes [included in 1180-1]
10.3.1 Overview
Purpose
The purpose of I/O Controlled Axes is to control an axis from the robot controller
by using an I/O interface instead of having the axis integrated into the IRC5 drive
system.
For operation and programming, an I/O controlled axis acts just like an integrated
process axis. The difference is that the drive unit of the I/O controlled axis is not
directly connected to the drive system of the robot controller. The motion
configuration provides an I/O interface, which connects the robot controller to an
external servo regulator.
The robot controller can take and release control of the additional axis during
program execution. The additional axis can be moved synchronously to the robot
(while controlled by the robot controller) or independently of the robot (while
controlled by an external PLC).
Some examples of applications are:
•
Servo guns
•
Grippers
What is included
The RobotWare option I/O Controlled Axes gives you access to system parameters
for configuring I/O controlled axes.
Basic approach
This is the general approach for setting up I/O Controlled Axes .
1
Configure the system parameters for the axis to be controlled via I/O. See
Configuration on page 409 .
2
Operate the axis (jog, program etc.) just like any additional axis. See RAPID
programming on page 413 .
For additional axis in general, also see Operating manual - IRC5 with
FlexPendant and Application manual - Additional axes and standalone
controller .
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STIndGun instructions can be used to move the gripper independent of the normal
movement instructions.
xx0500002342
If the gripper should squeeze in the opposite direction, the sign of the force should
be negative.
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10 Tool control options
10.2.10 Using tool control for gripper applications
Continued
10.3 I/O Controlled Axes [included in 1180-1]
10.3.1 Overview
Purpose
The purpose of I/O Controlled Axes is to control an axis from the robot controller
by using an I/O interface instead of having the axis integrated into the IRC5 drive
system.
For operation and programming, an I/O controlled axis acts just like an integrated
process axis. The difference is that the drive unit of the I/O controlled axis is not
directly connected to the drive system of the robot controller. The motion
configuration provides an I/O interface, which connects the robot controller to an
external servo regulator.
The robot controller can take and release control of the additional axis during
program execution. The additional axis can be moved synchronously to the robot
(while controlled by the robot controller) or independently of the robot (while
controlled by an external PLC).
Some examples of applications are:
•
Servo guns
•
Grippers
What is included
The RobotWare option I/O Controlled Axes gives you access to system parameters
for configuring I/O controlled axes.
Basic approach
This is the general approach for setting up I/O Controlled Axes .
1
Configure the system parameters for the axis to be controlled via I/O. See
Configuration on page 409 .
2
Operate the axis (jog, program etc.) just like any additional axis. See RAPID
programming on page 413 .
For additional axis in general, also see Operating manual - IRC5 with
FlexPendant and Application manual - Additional axes and standalone
controller .
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10 Tool control options
10.3.1 Overview
10.3.2 Contouring error
What is a contouring error
A contouring error is generated if an I/O controlled axis on the programmed robot
path of the robtarget is not reached based on the bus delay and acceleration. If
this event occurs, the robot’s movement stops on the path. An error entry is made
in the error log.
Possible causes for the occurrence of a contouring error:
•
Robot collisions
•
An external axis that is difficult to move or faulty
•
Incorrect value of system parameter Bus delay time in ms
Error handling
1
Error – acknowledgement at the external process unit.
For that, each application needs to provide a reset button. The process unit
needs to be ready before the program can be started.
2
Motors On / Program start
If automatic movement back to path is allowed, the robot will move back
automatically to path before the program continues with the instruction that
was canceled. In case automatic movement is not allowed, a error message
occurs. A selection menu provides possibilities to accept the movement or
to cancel the start event.
In case the start event is canceled, the operator needs to change the operation
mode to manual.
Now the operator can specify a further procedure before the robot program
can be restarted. For example:
•
move the robot manual out of collision area
•
move to a previous move instruction
For more information, see topic Controller , type Path Return Region in Technical
reference manual - System parameters .
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10.3 I/O Controlled Axes [included in 1180-1]
10.3.1 Overview
Purpose
The purpose of I/O Controlled Axes is to control an axis from the robot controller
by using an I/O interface instead of having the axis integrated into the IRC5 drive
system.
For operation and programming, an I/O controlled axis acts just like an integrated
process axis. The difference is that the drive unit of the I/O controlled axis is not
directly connected to the drive system of the robot controller. The motion
configuration provides an I/O interface, which connects the robot controller to an
external servo regulator.
The robot controller can take and release control of the additional axis during
program execution. The additional axis can be moved synchronously to the robot
(while controlled by the robot controller) or independently of the robot (while
controlled by an external PLC).
Some examples of applications are:
•
Servo guns
•
Grippers
What is included
The RobotWare option I/O Controlled Axes gives you access to system parameters
for configuring I/O controlled axes.
Basic approach
This is the general approach for setting up I/O Controlled Axes .
1
Configure the system parameters for the axis to be controlled via I/O. See
Configuration on page 409 .
2
Operate the axis (jog, program etc.) just like any additional axis. See RAPID
programming on page 413 .
For additional axis in general, also see Operating manual - IRC5 with
FlexPendant and Application manual - Additional axes and standalone
controller .
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10 Tool control options
10.3.1 Overview
10.3.2 Contouring error
What is a contouring error
A contouring error is generated if an I/O controlled axis on the programmed robot
path of the robtarget is not reached based on the bus delay and acceleration. If
this event occurs, the robot’s movement stops on the path. An error entry is made
in the error log.
Possible causes for the occurrence of a contouring error:
•
Robot collisions
•
An external axis that is difficult to move or faulty
•
Incorrect value of system parameter Bus delay time in ms
Error handling
1
Error – acknowledgement at the external process unit.
For that, each application needs to provide a reset button. The process unit
needs to be ready before the program can be started.
2
Motors On / Program start
If automatic movement back to path is allowed, the robot will move back
automatically to path before the program continues with the instruction that
was canceled. In case automatic movement is not allowed, a error message
occurs. A selection menu provides possibilities to accept the movement or
to cancel the start event.
In case the start event is canceled, the operator needs to change the operation
mode to manual.
Now the operator can specify a further procedure before the robot program
can be restarted. For example:
•
move the robot manual out of collision area
•
move to a previous move instruction
For more information, see topic Controller , type Path Return Region in Technical
reference manual - System parameters .
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10 Tool control options
10.3.2 Contouring error
10.3.3 Correcting the position
Correcting the position
Correcting (teaching) a robot position ( robtarget ) is done using the button Modify
Position in the program editor (as for the robot axes).
For the following states, the modified position of the I/O controlled axis will not be
the current position, but the last valid feedback position:
•
Axis is not referenced
•
Servo regulator is not operative
•
Actual position of the I/O interface invalid
•
Position is outside the operating range
The position correction is adopted for activated axes only. If an available axis is
not activated, this axis is ignored. This means the robtarget substitute symbol
for the axis in question remains unchanged. This state does not lead to an error.
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10.3.2 Contouring error
What is a contouring error
A contouring error is generated if an I/O controlled axis on the programmed robot
path of the robtarget is not reached based on the bus delay and acceleration. If
this event occurs, the robot’s movement stops on the path. An error entry is made
in the error log.
Possible causes for the occurrence of a contouring error:
•
Robot collisions
•
An external axis that is difficult to move or faulty
•
Incorrect value of system parameter Bus delay time in ms
Error handling
1
Error – acknowledgement at the external process unit.
For that, each application needs to provide a reset button. The process unit
needs to be ready before the program can be started.
2
Motors On / Program start
If automatic movement back to path is allowed, the robot will move back
automatically to path before the program continues with the instruction that
was canceled. In case automatic movement is not allowed, a error message
occurs. A selection menu provides possibilities to accept the movement or
to cancel the start event.
In case the start event is canceled, the operator needs to change the operation
mode to manual.
Now the operator can specify a further procedure before the robot program
can be restarted. For example:
•
move the robot manual out of collision area
•
move to a previous move instruction
For more information, see topic Controller , type Path Return Region in Technical
reference manual - System parameters .
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10 Tool control options
10.3.2 Contouring error
10.3.3 Correcting the position
Correcting the position
Correcting (teaching) a robot position ( robtarget ) is done using the button Modify
Position in the program editor (as for the robot axes).
For the following states, the modified position of the I/O controlled axis will not be
the current position, but the last valid feedback position:
•
Axis is not referenced
•
Servo regulator is not operative
•
Actual position of the I/O interface invalid
•
Position is outside the operating range
The position correction is adopted for activated axes only. If an available axis is
not activated, this axis is ignored. This means the robtarget substitute symbol
for the axis in question remains unchanged. This state does not lead to an error.
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10 Tool control options
10.3.3 Correcting the position
10.3.4 Tool changing
Tool changing
If a tool is deactivated with the instruction DeactUnit , it is necessary to set the
signal unit disable. When the tool is disabled (can be verified with signal
unit_disabled ), it is possible to disconnect the power supply to the tool, for example
undock a spotwelding gun.
It is possible to configure the same logical axis number for different tools, but this
requires the RobotWare option Servo Tool Change .
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10.3.3 Correcting the position
Correcting the position
Correcting (teaching) a robot position ( robtarget ) is done using the button Modify
Position in the program editor (as for the robot axes).
For the following states, the modified position of the I/O controlled axis will not be
the current position, but the last valid feedback position:
•
Axis is not referenced
•
Servo regulator is not operative
•
Actual position of the I/O interface invalid
•
Position is outside the operating range
The position correction is adopted for activated axes only. If an available axis is
not activated, this axis is ignored. This means the robtarget substitute symbol
for the axis in question remains unchanged. This state does not lead to an error.
406
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10 Tool control options
10.3.3 Correcting the position
10.3.4 Tool changing
Tool changing
If a tool is deactivated with the instruction DeactUnit , it is necessary to set the
signal unit disable. When the tool is disabled (can be verified with signal
unit_disabled ), it is possible to disconnect the power supply to the tool, for example
undock a spotwelding gun.
It is possible to configure the same logical axis number for different tools, but this
requires the RobotWare option Servo Tool Change .
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10 Tool control options
10.3.4 Tool changing
10.3.5 Installation
Installation
After installation of the robot system, the I/O controlled axes needs to be loaded
in the system parameters.
Each required axis needs to be loaded separately. The specific motion file includes
default motion parameters. Parameterization and adjustments of the loaded axis
is described in more detail in Configuration on page 409 .
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10.3.4 Tool changing
Tool changing
If a tool is deactivated with the instruction DeactUnit , it is necessary to set the
signal unit disable. When the tool is disabled (can be verified with signal
unit_disabled ), it is possible to disconnect the power supply to the tool, for example
undock a spotwelding gun.
It is possible to configure the same logical axis number for different tools, but this
requires the RobotWare option Servo Tool Change .
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10 Tool control options
10.3.4 Tool changing
10.3.5 Installation
Installation
After installation of the robot system, the I/O controlled axes needs to be loaded
in the system parameters.
Each required axis needs to be loaded separately. The specific motion file includes
default motion parameters. Parameterization and adjustments of the loaded axis
is described in more detail in Configuration on page 409 .
408
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10 Tool control options
10.3.5 Installation
10.3.6 Configuration
Template configuration files
Template configuration files are available for setting up the I/O controlled axes.
The files can be loaded to the controller, using RobotStudio or the FlexPendant,
to facilitate and speed up the configuration.
The template configuration files can be obtained from RobotStudio or the IRC5
controller.
•
In the RobotWare installation folder in RobotStudio : ...\RobotPackages\
RobotWare_RPK_<version>\utility\ioctrlaxis\
•
On the IRC5 Controller : <SystemName>\PRODUCTS\
<RobotWare_xx.xx.xxxx>\utility\ioctrlaxis\
Note
Navigate to the RobotWare installation folder from the RobotStudio Add-Ins tab,
by right-clicking on the installed RobotWare version in the Add-Ins browser and
selecting Open Package Folder .
Adding the I/O controlled axis
Loading the template configuration files for I/O controlled axis will install a
mechanical unit called EXTCTL1 with default signal names defined in the type
External Control Process Data , topic Motion .
1
Load one of the template motion configuration files for axis 1, select between
logical axis number 7, 8, or 9.
(ioctrl1_mn7_l7_moc.cfg, ioctrl1_mn7_l8_moc.cfg, ioctrl1_mn7_l9_moc.cfg)
2
Load one of the template I/O configuration files depending on the industrial
network.
(ioctrl1_eio.cfg, ioctrl1_pnet_eio.cfg)
3
Edit the I/O configuration and change from virtual signals to real signals
according to the current setup.
Mandatory settings for the I/O controlled axis
The following configuration must be done with data for the mechanical unit that
should be used as an I/O controlled axis.
1
In type Transmission , set Transmission Gear Ratio . See Type Transmission
on page 412 .
2
In type Acceleration Data , set Nominal Acceleration , Nominal Deceleration ,
Acceleration Derivate Ratio and Deceleration Derivate Ratio . See Type
Acceleration Data on page 411 .
3
In type Arm , set Upper Joint Bound and Lower Joint Bound . See Type Arm
on page 412 .
4
In type Stress Duty Cycle , set Speed Absolute Max . See Type Stress Duty
Cycle on page 412 .
Continues on next page
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10.3.6 Configuration
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10.3.5 Installation
Installation
After installation of the robot system, the I/O controlled axes needs to be loaded
in the system parameters.
Each required axis needs to be loaded separately. The specific motion file includes
default motion parameters. Parameterization and adjustments of the loaded axis
is described in more detail in Configuration on page 409 .
408
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10 Tool control options
10.3.5 Installation
10.3.6 Configuration
Template configuration files
Template configuration files are available for setting up the I/O controlled axes.
The files can be loaded to the controller, using RobotStudio or the FlexPendant,
to facilitate and speed up the configuration.
The template configuration files can be obtained from RobotStudio or the IRC5
controller.
•
In the RobotWare installation folder in RobotStudio : ...\RobotPackages\
RobotWare_RPK_<version>\utility\ioctrlaxis\
•
On the IRC5 Controller : <SystemName>\PRODUCTS\
<RobotWare_xx.xx.xxxx>\utility\ioctrlaxis\
Note
Navigate to the RobotWare installation folder from the RobotStudio Add-Ins tab,
by right-clicking on the installed RobotWare version in the Add-Ins browser and
selecting Open Package Folder .
Adding the I/O controlled axis
Loading the template configuration files for I/O controlled axis will install a
mechanical unit called EXTCTL1 with default signal names defined in the type
External Control Process Data , topic Motion .
1
Load one of the template motion configuration files for axis 1, select between
logical axis number 7, 8, or 9.
(ioctrl1_mn7_l7_moc.cfg, ioctrl1_mn7_l8_moc.cfg, ioctrl1_mn7_l9_moc.cfg)
2
Load one of the template I/O configuration files depending on the industrial
network.
(ioctrl1_eio.cfg, ioctrl1_pnet_eio.cfg)
3
Edit the I/O configuration and change from virtual signals to real signals
according to the current setup.
Mandatory settings for the I/O controlled axis
The following configuration must be done with data for the mechanical unit that
should be used as an I/O controlled axis.
1
In type Transmission , set Transmission Gear Ratio . See Type Transmission
on page 412 .
2
In type Acceleration Data , set Nominal Acceleration , Nominal Deceleration ,
Acceleration Derivate Ratio and Deceleration Derivate Ratio . See Type
Acceleration Data on page 411 .
3
In type Arm , set Upper Joint Bound and Lower Joint Bound . See Type Arm
on page 412 .
4
In type Stress Duty Cycle , set Speed Absolute Max . See Type Stress Duty
Cycle on page 412 .
Continues on next page
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10 Tool control options
10.3.6 Configuration
5
In type Supervision Type , set static_position_limit and dynamic_position_limit .
See Type Supervision Type on page 412 .
6
In type External Control Process Data , set Bus delay time in ms . See Type
External Control Process Data on page 411 .
Optional customization settings
If other values than the default values are preferred, any of the following settings
can be changed.
•
To change the logical axis number, change the value for Logical Axis . See
Type Joint on page 412 .
•
To change the names of the signals used to communicate with the I/O
controlled axis, change the settings in the type External Control Process
Data , see Type External Control Process Data on page 411 .
•
To use an activation relay, set the parameter Use Activation Relay . See Type
Mechanical Unit on page 412 .
Adding another axis
For a second or third I/O controlled axis, EXTCTL2 and EXTCTL3, the corresponding
configuration files must be loaded from the template folder.
1
Load one of the template configuration files for axis 2 or 3.
2
Make the same configurations as for the first I/O controlled axis.
Note
Several mechanical units may use the same logical axis number, but this requires
the RobotWare option Servo Tool Change .
Settings for PROFINET
If a PROFINET bus is used, the parameter Reduction ratio should be set to 4 ms
or 2 ms for the I/O controlled unit. See Application manual - PROFINET
Controller/Device .
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10.3.6 Configuration
Continued
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10.3.6 Configuration
Template configuration files
Template configuration files are available for setting up the I/O controlled axes.
The files can be loaded to the controller, using RobotStudio or the FlexPendant,
to facilitate and speed up the configuration.
The template configuration files can be obtained from RobotStudio or the IRC5
controller.
•
In the RobotWare installation folder in RobotStudio : ...\RobotPackages\
RobotWare_RPK_<version>\utility\ioctrlaxis\
•
On the IRC5 Controller : <SystemName>\PRODUCTS\
<RobotWare_xx.xx.xxxx>\utility\ioctrlaxis\
Note
Navigate to the RobotWare installation folder from the RobotStudio Add-Ins tab,
by right-clicking on the installed RobotWare version in the Add-Ins browser and
selecting Open Package Folder .
Adding the I/O controlled axis
Loading the template configuration files for I/O controlled axis will install a
mechanical unit called EXTCTL1 with default signal names defined in the type
External Control Process Data , topic Motion .
1
Load one of the template motion configuration files for axis 1, select between
logical axis number 7, 8, or 9.
(ioctrl1_mn7_l7_moc.cfg, ioctrl1_mn7_l8_moc.cfg, ioctrl1_mn7_l9_moc.cfg)
2
Load one of the template I/O configuration files depending on the industrial
network.
(ioctrl1_eio.cfg, ioctrl1_pnet_eio.cfg)
3
Edit the I/O configuration and change from virtual signals to real signals
according to the current setup.
Mandatory settings for the I/O controlled axis
The following configuration must be done with data for the mechanical unit that
should be used as an I/O controlled axis.
1
In type Transmission , set Transmission Gear Ratio . See Type Transmission
on page 412 .
2
In type Acceleration Data , set Nominal Acceleration , Nominal Deceleration ,
Acceleration Derivate Ratio and Deceleration Derivate Ratio . See Type
Acceleration Data on page 411 .
3
In type Arm , set Upper Joint Bound and Lower Joint Bound . See Type Arm
on page 412 .
4
In type Stress Duty Cycle , set Speed Absolute Max . See Type Stress Duty
Cycle on page 412 .
Continues on next page
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10 Tool control options
10.3.6 Configuration
5
In type Supervision Type , set static_position_limit and dynamic_position_limit .
See Type Supervision Type on page 412 .
6
In type External Control Process Data , set Bus delay time in ms . See Type
External Control Process Data on page 411 .
Optional customization settings
If other values than the default values are preferred, any of the following settings
can be changed.
•
To change the logical axis number, change the value for Logical Axis . See
Type Joint on page 412 .
•
To change the names of the signals used to communicate with the I/O
controlled axis, change the settings in the type External Control Process
Data , see Type External Control Process Data on page 411 .
•
To use an activation relay, set the parameter Use Activation Relay . See Type
Mechanical Unit on page 412 .
Adding another axis
For a second or third I/O controlled axis, EXTCTL2 and EXTCTL3, the corresponding
configuration files must be loaded from the template folder.
1
Load one of the template configuration files for axis 2 or 3.
2
Make the same configurations as for the first I/O controlled axis.
Note
Several mechanical units may use the same logical axis number, but this requires
the RobotWare option Servo Tool Change .
Settings for PROFINET
If a PROFINET bus is used, the parameter Reduction ratio should be set to 4 ms
or 2 ms for the I/O controlled unit. See Application manual - PROFINET
Controller/Device .
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10.3.6 Configuration
Continued
10.3.7 System parameters
About the system parameters
This is a brief description of each parameter in the option I/O Controlled Axes . For
more information, see the respective parameter in Technical reference
manual - System parameters .
Type External Control Process Data
These parameters belongs to the type External Control Process Data in the topic
Motion .
Description
Parameter
Parameter for bus delay time.
Bus delay time in ms
Output signal for activation of the I/O controlled unit.
Regulator activation signal
Output signal for allowing external control of the unit.
Ext Controller output signal
Output signal with positioning reference for the I/O con-
trolled axis.
Pos_ref output signal
Output signal with sign (+ or -) of the positioning reference
for the I/O controlled axis.
Pos_ref sign signal
Output signal that signals that the positioning reference is
a valid signal and the axis needs to follow the reference
signal.
Pos_ref valid signal
Input signal that indicates if the I/O controlled unit is en-
abled and ready.
Regulator is activated signal
Input signal that signals if the required positioning refer-
ence is out of range.
Req pos is out of range input
signal
Input signal with position feedback from the I/O controlled
axis.
Pos_fdb input signal
Input signal with with sign (+ or -) of the position feedback
from the I/O controlled axis.
Pos_fdb sign signal
Input signal that indicates that the position feedback signal
is valid.
Pos_fdb_valid signal
Input signal from I/O controlled unit indicating that it is
ready.
Unit_ready input signal
Input signal indicating that the external unit is in control
of the movement. The robot controller is not allowed to
move the external unit.
Ext Controller input signal
The program pointer does not need to be moved after the
an error.
No program pointer move after
error
Type Acceleration Data
These parameters belongs to the type Acceleration Data in the topic Motion .
Description
Parameter
Worst case motor acceleration.
Nominal Acceleration
Worst case motor deceleration.
Nominal Deceleration
Defines how fast the acceleration can build up, i.e. an in-
dication of the derivative of the acceleration.
Acceleration Derivate Ratio
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5
In type Supervision Type , set static_position_limit and dynamic_position_limit .
See Type Supervision Type on page 412 .
6
In type External Control Process Data , set Bus delay time in ms . See Type
External Control Process Data on page 411 .
Optional customization settings
If other values than the default values are preferred, any of the following settings
can be changed.
•
To change the logical axis number, change the value for Logical Axis . See
Type Joint on page 412 .
•
To change the names of the signals used to communicate with the I/O
controlled axis, change the settings in the type External Control Process
Data , see Type External Control Process Data on page 411 .
•
To use an activation relay, set the parameter Use Activation Relay . See Type
Mechanical Unit on page 412 .
Adding another axis
For a second or third I/O controlled axis, EXTCTL2 and EXTCTL3, the corresponding
configuration files must be loaded from the template folder.
1
Load one of the template configuration files for axis 2 or 3.
2
Make the same configurations as for the first I/O controlled axis.
Note
Several mechanical units may use the same logical axis number, but this requires
the RobotWare option Servo Tool Change .
Settings for PROFINET
If a PROFINET bus is used, the parameter Reduction ratio should be set to 4 ms
or 2 ms for the I/O controlled unit. See Application manual - PROFINET
Controller/Device .
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10 Tool control options
10.3.6 Configuration
Continued
10.3.7 System parameters
About the system parameters
This is a brief description of each parameter in the option I/O Controlled Axes . For
more information, see the respective parameter in Technical reference
manual - System parameters .
Type External Control Process Data
These parameters belongs to the type External Control Process Data in the topic
Motion .
Description
Parameter
Parameter for bus delay time.
Bus delay time in ms
Output signal for activation of the I/O controlled unit.
Regulator activation signal
Output signal for allowing external control of the unit.
Ext Controller output signal
Output signal with positioning reference for the I/O con-
trolled axis.
Pos_ref output signal
Output signal with sign (+ or -) of the positioning reference
for the I/O controlled axis.
Pos_ref sign signal
Output signal that signals that the positioning reference is
a valid signal and the axis needs to follow the reference
signal.
Pos_ref valid signal
Input signal that indicates if the I/O controlled unit is en-
abled and ready.
Regulator is activated signal
Input signal that signals if the required positioning refer-
ence is out of range.
Req pos is out of range input
signal
Input signal with position feedback from the I/O controlled
axis.
Pos_fdb input signal
Input signal with with sign (+ or -) of the position feedback
from the I/O controlled axis.
Pos_fdb sign signal
Input signal that indicates that the position feedback signal
is valid.
Pos_fdb_valid signal
Input signal from I/O controlled unit indicating that it is
ready.
Unit_ready input signal
Input signal indicating that the external unit is in control
of the movement. The robot controller is not allowed to
move the external unit.
Ext Controller input signal
The program pointer does not need to be moved after the
an error.
No program pointer move after
error
Type Acceleration Data
These parameters belongs to the type Acceleration Data in the topic Motion .
Description
Parameter
Worst case motor acceleration.
Nominal Acceleration
Worst case motor deceleration.
Nominal Deceleration
Defines how fast the acceleration can build up, i.e. an in-
dication of the derivative of the acceleration.
Acceleration Derivate Ratio
Continues on next page
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10 Tool control options
10.3.7 System parameters
Description
Parameter
Defines how fast the deceleration can build up, i.e. an in-
dication of the derivative of the deceleration.
Deceleration Derivate Ratio
Type Arm
These parameters belongs to the type Arm in the topic Motion .
Description
Parameter
Defines the upper limit of the working area for this joint.
Upper Joint Bound
Defines the lower limit of the working area for this joint.
Lower Joint Bound
Type Joint
These parameters belongs to the type Joint in the topic Motion .
Description
Parameter
Defines the axis number as seen by a RAPID program.
Logical Axis
Two mechanical units can have the same value set for
Logical Axis , but then they cannot be activated at the same.
Type Mechanical Unit
These parameters belongs to the type Mechanical Unit in the topic Motion .
Description
Parameter
Points out a relay that will be activated or deactivated when
the mechanical unit is activated or deactivated.
Use Activation Relay
Type Stress Duty Cycle
These parameters belongs to the type Stress Duty Cycle in the topic Motion .
Description
Parameter
The absolute highest motor speed to be used in
meters/second.
Speed Absolute Max
Type Supervision Type
These parameters belongs to the type Supervision Type in the topic Motion .
Description
Parameter
Position error limit at zero speed, in meters on motor side.
static_position_limit
Position error limit (max lag) at max speed, in meters on
motor side.
dynamic_position_limit
Type Transmission
These parameters belongs to the type Transmission in the topic Motion .
Description
Parameter
Defines the transmission gear ratio between motor and
joint. For most axis this parameter is set to 1.
Transmission Gear Ratio
412
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10 Tool control options
10.3.7 System parameters
Continued
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10.3.7 System parameters
About the system parameters
This is a brief description of each parameter in the option I/O Controlled Axes . For
more information, see the respective parameter in Technical reference
manual - System parameters .
Type External Control Process Data
These parameters belongs to the type External Control Process Data in the topic
Motion .
Description
Parameter
Parameter for bus delay time.
Bus delay time in ms
Output signal for activation of the I/O controlled unit.
Regulator activation signal
Output signal for allowing external control of the unit.
Ext Controller output signal
Output signal with positioning reference for the I/O con-
trolled axis.
Pos_ref output signal
Output signal with sign (+ or -) of the positioning reference
for the I/O controlled axis.
Pos_ref sign signal
Output signal that signals that the positioning reference is
a valid signal and the axis needs to follow the reference
signal.
Pos_ref valid signal
Input signal that indicates if the I/O controlled unit is en-
abled and ready.
Regulator is activated signal
Input signal that signals if the required positioning refer-
ence is out of range.
Req pos is out of range input
signal
Input signal with position feedback from the I/O controlled
axis.
Pos_fdb input signal
Input signal with with sign (+ or -) of the position feedback
from the I/O controlled axis.
Pos_fdb sign signal
Input signal that indicates that the position feedback signal
is valid.
Pos_fdb_valid signal
Input signal from I/O controlled unit indicating that it is
ready.
Unit_ready input signal
Input signal indicating that the external unit is in control
of the movement. The robot controller is not allowed to
move the external unit.
Ext Controller input signal
The program pointer does not need to be moved after the
an error.
No program pointer move after
error
Type Acceleration Data
These parameters belongs to the type Acceleration Data in the topic Motion .
Description
Parameter
Worst case motor acceleration.
Nominal Acceleration
Worst case motor deceleration.
Nominal Deceleration
Defines how fast the acceleration can build up, i.e. an in-
dication of the derivative of the acceleration.
Acceleration Derivate Ratio
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10 Tool control options
10.3.7 System parameters
Description
Parameter
Defines how fast the deceleration can build up, i.e. an in-
dication of the derivative of the deceleration.
Deceleration Derivate Ratio
Type Arm
These parameters belongs to the type Arm in the topic Motion .
Description
Parameter
Defines the upper limit of the working area for this joint.
Upper Joint Bound
Defines the lower limit of the working area for this joint.
Lower Joint Bound
Type Joint
These parameters belongs to the type Joint in the topic Motion .
Description
Parameter
Defines the axis number as seen by a RAPID program.
Logical Axis
Two mechanical units can have the same value set for
Logical Axis , but then they cannot be activated at the same.
Type Mechanical Unit
These parameters belongs to the type Mechanical Unit in the topic Motion .
Description
Parameter
Points out a relay that will be activated or deactivated when
the mechanical unit is activated or deactivated.
Use Activation Relay
Type Stress Duty Cycle
These parameters belongs to the type Stress Duty Cycle in the topic Motion .
Description
Parameter
The absolute highest motor speed to be used in
meters/second.
Speed Absolute Max
Type Supervision Type
These parameters belongs to the type Supervision Type in the topic Motion .
Description
Parameter
Position error limit at zero speed, in meters on motor side.
static_position_limit
Position error limit (max lag) at max speed, in meters on
motor side.
dynamic_position_limit
Type Transmission
These parameters belongs to the type Transmission in the topic Motion .
Description
Parameter
Defines the transmission gear ratio between motor and
joint. For most axis this parameter is set to 1.
Transmission Gear Ratio
412
Application manual - Controller software IRC5
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© Copyright 2014-2025 ABB. All rights reserved.
10 Tool control options
10.3.7 System parameters
Continued
10.3.8 RAPID programming
Data types
This is a brief description of specific considerations regarding RAPID data types
when using I/O Controlled Axes.
General descriptions of the data types are found in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Data type
The position of the I/O controlled axis is set as an additional axis in
a robtarget .
robtarget
Example, where the I/O controlled axis is logical axis 7 and should
be moved to position 100:
p1 := [[20,50,-80], [1,0,0,0], [1,1,0,0],
[ 100 ,9E+09,9E+09,9E+09,9E+09,9E+09]];
Instructions
This is a brief description of specific considerations regarding RAPID instructions
when using I/O Controlled Axes.
General descriptions of the instructions are found in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
Regular move instructions are used to move an I/O controlled axis.
The position value of the I/O controlled value is included in the
robtarget , see Data types on page 413 .
MoveL
MoveC
MoveJ
The I/O controlled axis can be moved simultaneously with the robot.
RAPID example
PROC Sequence123()
...
MoveJ pHome, v1500, fine, tGun1;
ActUnit EXTCTL1;
MoveJ p100, v1000, z10, tGun1 \Wobj:=wobj1;
MoveL p101, v1000, fine, tGun1 \Wobj:=wobj1;
...
! Application-specific commands
...
MoveL p102, v1000, z10, tGun1 \Wobj:=wobj1;
MoveJ p100, v1000, fine, tGun1 \Wobj:=wobj1;
DeactUnit EXTCTL1;
MoveJ pHome, v1500, fine, tGun1;
ENDPROC
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Description
Parameter
Defines how fast the deceleration can build up, i.e. an in-
dication of the derivative of the deceleration.
Deceleration Derivate Ratio
Type Arm
These parameters belongs to the type Arm in the topic Motion .
Description
Parameter
Defines the upper limit of the working area for this joint.
Upper Joint Bound
Defines the lower limit of the working area for this joint.
Lower Joint Bound
Type Joint
These parameters belongs to the type Joint in the topic Motion .
Description
Parameter
Defines the axis number as seen by a RAPID program.
Logical Axis
Two mechanical units can have the same value set for
Logical Axis , but then they cannot be activated at the same.
Type Mechanical Unit
These parameters belongs to the type Mechanical Unit in the topic Motion .
Description
Parameter
Points out a relay that will be activated or deactivated when
the mechanical unit is activated or deactivated.
Use Activation Relay
Type Stress Duty Cycle
These parameters belongs to the type Stress Duty Cycle in the topic Motion .
Description
Parameter
The absolute highest motor speed to be used in
meters/second.
Speed Absolute Max
Type Supervision Type
These parameters belongs to the type Supervision Type in the topic Motion .
Description
Parameter
Position error limit at zero speed, in meters on motor side.
static_position_limit
Position error limit (max lag) at max speed, in meters on
motor side.
dynamic_position_limit
Type Transmission
These parameters belongs to the type Transmission in the topic Motion .
Description
Parameter
Defines the transmission gear ratio between motor and
joint. For most axis this parameter is set to 1.
Transmission Gear Ratio
412
Application manual - Controller software IRC5
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© Copyright 2014-2025 ABB. All rights reserved.
10 Tool control options
10.3.7 System parameters
Continued
10.3.8 RAPID programming
Data types
This is a brief description of specific considerations regarding RAPID data types
when using I/O Controlled Axes.
General descriptions of the data types are found in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Data type
The position of the I/O controlled axis is set as an additional axis in
a robtarget .
robtarget
Example, where the I/O controlled axis is logical axis 7 and should
be moved to position 100:
p1 := [[20,50,-80], [1,0,0,0], [1,1,0,0],
[ 100 ,9E+09,9E+09,9E+09,9E+09,9E+09]];
Instructions
This is a brief description of specific considerations regarding RAPID instructions
when using I/O Controlled Axes.
General descriptions of the instructions are found in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
Regular move instructions are used to move an I/O controlled axis.
The position value of the I/O controlled value is included in the
robtarget , see Data types on page 413 .
MoveL
MoveC
MoveJ
The I/O controlled axis can be moved simultaneously with the robot.
RAPID example
PROC Sequence123()
...
MoveJ pHome, v1500, fine, tGun1;
ActUnit EXTCTL1;
MoveJ p100, v1000, z10, tGun1 \Wobj:=wobj1;
MoveL p101, v1000, fine, tGun1 \Wobj:=wobj1;
...
! Application-specific commands
...
MoveL p102, v1000, z10, tGun1 \Wobj:=wobj1;
MoveJ p100, v1000, fine, tGun1 \Wobj:=wobj1;
DeactUnit EXTCTL1;
MoveJ pHome, v1500, fine, tGun1;
ENDPROC
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|
10.3.8 RAPID programming
Data types
This is a brief description of specific considerations regarding RAPID data types
when using I/O Controlled Axes.
General descriptions of the data types are found in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Data type
The position of the I/O controlled axis is set as an additional axis in
a robtarget .
robtarget
Example, where the I/O controlled axis is logical axis 7 and should
be moved to position 100:
p1 := [[20,50,-80], [1,0,0,0], [1,1,0,0],
[ 100 ,9E+09,9E+09,9E+09,9E+09,9E+09]];
Instructions
This is a brief description of specific considerations regarding RAPID instructions
when using I/O Controlled Axes.
General descriptions of the instructions are found in Technical reference
manual - RAPID Instructions, Functions and Data types .
Description
Instruction
Regular move instructions are used to move an I/O controlled axis.
The position value of the I/O controlled value is included in the
robtarget , see Data types on page 413 .
MoveL
MoveC
MoveJ
The I/O controlled axis can be moved simultaneously with the robot.
RAPID example
PROC Sequence123()
...
MoveJ pHome, v1500, fine, tGun1;
ActUnit EXTCTL1;
MoveJ p100, v1000, z10, tGun1 \Wobj:=wobj1;
MoveL p101, v1000, fine, tGun1 \Wobj:=wobj1;
...
! Application-specific commands
...
MoveL p102, v1000, z10, tGun1 \Wobj:=wobj1;
MoveJ p100, v1000, fine, tGun1 \Wobj:=wobj1;
DeactUnit EXTCTL1;
MoveJ pHome, v1500, fine, tGun1;
ENDPROC
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10.3.8 RAPID programming
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Index
3
3rd party software, 15
A
Absolute Accuracy, 135
MultiMove, 136
Absolute Accuracy calibration, 146
Absolute Accuracy compensation, 144
Absolute Accuracy verification, 147
Acceleration Data, 395, 409, 411
Acceleration Derivate Ratio, 395, 411
Acceleration Max Uncalibrated, 397
accidental disconnection, 398
acknowledge messages, 307
activate Absolute Accuracy, 138
Activate at start up, 233
activate supervision, 281
activation disabled, 386
actor signals, 105–106
additional axes, 387
additional axis, 65
Add or replace parameters, 196
Adjustment Speed, 231
Advanced RAPID, 23
Advanced Shape Tuning, 156
AliasIO, 30–31
alignment, 150
analog signal, 54
Analog Signal Interrupt, 54
Analog Synchronization, 181
AND, 106
Application protocol, 291, 295, 299
ArgName, 52
argument name, 52
Arm, 395, 409, 412
arm replacement, 140
asynchronous movements, 388
Auto acknowledge input, 11, 377
automatic friction tuning, 157
Automatic Open Disabled , 394
Auto mode, 334
axis, 243
axis reset, 243
B
binary communication, 89
binary data, 307
birth certificate, Absolute Accuracy, 148
BitAnd, 25
BitCheck, 25
BitClear, 25
bit functionality, 24
BitLSh, 25
BitNeg, 25
BitOr, 25
BitRSh, 25
BitSet, 25
BitXOr, 25
BookErrNo, 47
bool, 361
Bus delay time in ms, 411
byte, 25
ByteToStr, 25
C
calibrate follower axis, 72
calibrate tool, 154
calibration data, 138
Calibration Force High, 393
Calibration Force Low, 393
Calibration Mode, 393
Calibration Offset, 396
calibration process, 146
Calibration Time, 393
calibration tools, 137
CalibWare, 137
cell alignment, 150
certificate, Absolute Accuary, 148
change calibration data, 138
change of tool, Machine Synchronization, 208
channel, 365
character based communication, 89
Check unresolved references, Task type, 325
CirPathMode, 176
class, 365
ClearIOBuff, 90
ClearRawBytes, 94
Close, 90
CloseDir, 98
Close position adjust, 393
Close time adjust, 393
code example, 401
collision, 272
Collision Alarm Torque, 394
Collision Avoidance, 283
Collision Delta Position, 394
collision detection
MultiMove, 270
YuMi robots, 270
Collision Detection Memory, 275
Collision Error Handler, 276
Collision LP Bandwidth, 394
Collision Speed, 394
commissioning, 398
common data, 336
communication, 88
communication channel, 356
communication client, 363
Commutator Offset, 395
compensation, 144
compensation parameters, 135, 149
compliance errors, 143
comunication cable
connecting, 357
configuration
Absolute Accuracy, 138
configuration.xml, 367
configuration example, 371
configuration files, 362
configuration functionality, 33
configure Collision Detection, 279
configuring
sensors, 348
tasks, 328
Connected signal, 232
connection relay, 383
constants
Sensor Interface, 352
convention, 364
coordinate systems, 150
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Index
3
3rd party software, 15
A
Absolute Accuracy, 135
MultiMove, 136
Absolute Accuracy calibration, 146
Absolute Accuracy compensation, 144
Absolute Accuracy verification, 147
Acceleration Data, 395, 409, 411
Acceleration Derivate Ratio, 395, 411
Acceleration Max Uncalibrated, 397
accidental disconnection, 398
acknowledge messages, 307
activate Absolute Accuracy, 138
Activate at start up, 233
activate supervision, 281
activation disabled, 386
actor signals, 105–106
additional axes, 387
additional axis, 65
Add or replace parameters, 196
Adjustment Speed, 231
Advanced RAPID, 23
Advanced Shape Tuning, 156
AliasIO, 30–31
alignment, 150
analog signal, 54
Analog Signal Interrupt, 54
Analog Synchronization, 181
AND, 106
Application protocol, 291, 295, 299
ArgName, 52
argument name, 52
Arm, 395, 409, 412
arm replacement, 140
asynchronous movements, 388
Auto acknowledge input, 11, 377
automatic friction tuning, 157
Automatic Open Disabled , 394
Auto mode, 334
axis, 243
axis reset, 243
B
binary communication, 89
binary data, 307
birth certificate, Absolute Accuracy, 148
BitAnd, 25
BitCheck, 25
BitClear, 25
bit functionality, 24
BitLSh, 25
BitNeg, 25
BitOr, 25
BitRSh, 25
BitSet, 25
BitXOr, 25
BookErrNo, 47
bool, 361
Bus delay time in ms, 411
byte, 25
ByteToStr, 25
C
calibrate follower axis, 72
calibrate tool, 154
calibration data, 138
Calibration Force High, 393
Calibration Force Low, 393
Calibration Mode, 393
Calibration Offset, 396
calibration process, 146
Calibration Time, 393
calibration tools, 137
CalibWare, 137
cell alignment, 150
certificate, Absolute Accuary, 148
change calibration data, 138
change of tool, Machine Synchronization, 208
channel, 365
character based communication, 89
Check unresolved references, Task type, 325
CirPathMode, 176
class, 365
ClearIOBuff, 90
ClearRawBytes, 94
Close, 90
CloseDir, 98
Close position adjust, 393
Close time adjust, 393
code example, 401
collision, 272
Collision Alarm Torque, 394
Collision Avoidance, 283
Collision Delta Position, 394
collision detection
MultiMove, 270
YuMi robots, 270
Collision Detection Memory, 275
Collision Error Handler, 276
Collision LP Bandwidth, 394
Collision Speed, 394
commissioning, 398
common data, 336
communication, 88
communication channel, 356
communication client, 363
Commutator Offset, 395
compensation, 144
compensation parameters, 135, 149
compliance errors, 143
comunication cable
connecting, 357
configuration
Absolute Accuracy, 138
configuration.xml, 367
configuration example, 371
configuration files, 362
configuration functionality, 33
configure Collision Detection, 279
configuring
sensors, 348
tasks, 328
Connected signal, 232
connection relay, 383
constants
Sensor Interface, 352
convention, 364
coordinate systems, 150
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Index
CopyFile, 98
CopyRawBytes, 94
Corr argument, 267
CorrClear, 266
CorrCon, 266
corrdescr, 266
CorrDiscon, 266
correction generator, 264
CorrRead, 266
CorrWrite, 266
Counts Per Meter, 231
CPU_load_equalization, 232
creating tasks, 328
cross connections, 105
cut plane, 174
cut shape, 179
Cyclic bool, 57
Cyclic bool settings, 63
Cyclic bool system parameters, 63
D
data, 313
data exchange, 356
datapos, 28
Data ready signal, 232
data search functionality, 27
data types
Multitasking, 327
supported, 361
data variable example
Electronically Linked Motors, 80
data variables
Electronically Linked Motors, 78
Deactivate PTC superv. at disconnect, 382
deactivate supervision, 281
deactivate tasks, 333
debugging
strategies, 328
Deceleration Derivate Ratio, 395, 412
Deceleration Max Uncalibrated, 397
declarations, 336
deflection, 144
Delay ramp, 394
description.xml, 364
digital I/O signals, 105
dir, 98
directory management, 97
discarded message, 315
Disconnect at Deactivate, 382
disconnection, 398
dispatcher, 341
displacement, 79
Do not allow deact, 233
dynamic_position_limit , 412
E
Electronically Linked Motors, 65
elements
channel, 365
class, 365
convention, 364
enum, 367
field, 368
member, 368
network, 365
property, 369
record, 368
settings, 366
type, 365
enums element, 367
errdomain, 44
error interrupts, 43
error sources in accuracy, 143
ErrRaise, 44
errtype, 44
Ethernet, 289, 293, 297
Ethernet link, 358
event messages, 46
event number, 46
Event Preset Time, 85
Event recorder, 304
Ext Controller input signal, 411
Ext Controller output signal, 411
external axes, 271
external axis, 243
External Control Process Data, 410–411
F
fake target, 144
false triggering, 282
FeedbackJoints, 359
FeedbackPose, 359
FeedbackTime, 359
FFW Mode, 396
Fieldbus Command, 231
Fieldbus Command Interface, 101
field element, 368
FIFO, 314
file communication, 88
file management, 97
FileSize, 98
file structures, 97
fine calibration, 400
finepoints, Machine Synchronization, 207
FingerPrint, 295
fixed position events, 82
fixture alignment, 151
FlexPendant, 343
follower, 65
Follower to Joint, 67
Force Master, 394
Force Master Control, 394
Force Ready Delay, 393
frame, 361
frame relationships, 153
frames, 150
FricIdEvaluate, 163
FricIdInit, 163
FricIdSetFricLevels, 163
friction compensation, 156
Friction FFW Level, 161
Friction FFW On, 161
Friction FFW Ramp, 161
friction level tuning, 157
FSSize, 98
functions
Advanced RAPID, 52
Multitasking, 327
Sensor Interface, 351
G
General RAPID, 276
GetDataVal, 28
GetMaxNumberOfCyclicBool, 64
416
Application manual - Controller software IRC5
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© Copyright 2014-2025 ABB. All rights reserved.
Index
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|
Index
3
3rd party software, 15
A
Absolute Accuracy, 135
MultiMove, 136
Absolute Accuracy calibration, 146
Absolute Accuracy compensation, 144
Absolute Accuracy verification, 147
Acceleration Data, 395, 409, 411
Acceleration Derivate Ratio, 395, 411
Acceleration Max Uncalibrated, 397
accidental disconnection, 398
acknowledge messages, 307
activate Absolute Accuracy, 138
Activate at start up, 233
activate supervision, 281
activation disabled, 386
actor signals, 105–106
additional axes, 387
additional axis, 65
Add or replace parameters, 196
Adjustment Speed, 231
Advanced RAPID, 23
Advanced Shape Tuning, 156
AliasIO, 30–31
alignment, 150
analog signal, 54
Analog Signal Interrupt, 54
Analog Synchronization, 181
AND, 106
Application protocol, 291, 295, 299
ArgName, 52
argument name, 52
Arm, 395, 409, 412
arm replacement, 140
asynchronous movements, 388
Auto acknowledge input, 11, 377
automatic friction tuning, 157
Automatic Open Disabled , 394
Auto mode, 334
axis, 243
axis reset, 243
B
binary communication, 89
binary data, 307
birth certificate, Absolute Accuracy, 148
BitAnd, 25
BitCheck, 25
BitClear, 25
bit functionality, 24
BitLSh, 25
BitNeg, 25
BitOr, 25
BitRSh, 25
BitSet, 25
BitXOr, 25
BookErrNo, 47
bool, 361
Bus delay time in ms, 411
byte, 25
ByteToStr, 25
C
calibrate follower axis, 72
calibrate tool, 154
calibration data, 138
Calibration Force High, 393
Calibration Force Low, 393
Calibration Mode, 393
Calibration Offset, 396
calibration process, 146
Calibration Time, 393
calibration tools, 137
CalibWare, 137
cell alignment, 150
certificate, Absolute Accuary, 148
change calibration data, 138
change of tool, Machine Synchronization, 208
channel, 365
character based communication, 89
Check unresolved references, Task type, 325
CirPathMode, 176
class, 365
ClearIOBuff, 90
ClearRawBytes, 94
Close, 90
CloseDir, 98
Close position adjust, 393
Close time adjust, 393
code example, 401
collision, 272
Collision Alarm Torque, 394
Collision Avoidance, 283
Collision Delta Position, 394
collision detection
MultiMove, 270
YuMi robots, 270
Collision Detection Memory, 275
Collision Error Handler, 276
Collision LP Bandwidth, 394
Collision Speed, 394
commissioning, 398
common data, 336
communication, 88
communication channel, 356
communication client, 363
Commutator Offset, 395
compensation, 144
compensation parameters, 135, 149
compliance errors, 143
comunication cable
connecting, 357
configuration
Absolute Accuracy, 138
configuration.xml, 367
configuration example, 371
configuration files, 362
configuration functionality, 33
configure Collision Detection, 279
configuring
sensors, 348
tasks, 328
Connected signal, 232
connection relay, 383
constants
Sensor Interface, 352
convention, 364
coordinate systems, 150
Application manual - Controller software IRC5
415
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Index
CopyFile, 98
CopyRawBytes, 94
Corr argument, 267
CorrClear, 266
CorrCon, 266
corrdescr, 266
CorrDiscon, 266
correction generator, 264
CorrRead, 266
CorrWrite, 266
Counts Per Meter, 231
CPU_load_equalization, 232
creating tasks, 328
cross connections, 105
cut plane, 174
cut shape, 179
Cyclic bool, 57
Cyclic bool settings, 63
Cyclic bool system parameters, 63
D
data, 313
data exchange, 356
datapos, 28
Data ready signal, 232
data search functionality, 27
data types
Multitasking, 327
supported, 361
data variable example
Electronically Linked Motors, 80
data variables
Electronically Linked Motors, 78
Deactivate PTC superv. at disconnect, 382
deactivate supervision, 281
deactivate tasks, 333
debugging
strategies, 328
Deceleration Derivate Ratio, 395, 412
Deceleration Max Uncalibrated, 397
declarations, 336
deflection, 144
Delay ramp, 394
description.xml, 364
digital I/O signals, 105
dir, 98
directory management, 97
discarded message, 315
Disconnect at Deactivate, 382
disconnection, 398
dispatcher, 341
displacement, 79
Do not allow deact, 233
dynamic_position_limit , 412
E
Electronically Linked Motors, 65
elements
channel, 365
class, 365
convention, 364
enum, 367
field, 368
member, 368
network, 365
property, 369
record, 368
settings, 366
type, 365
enums element, 367
errdomain, 44
error interrupts, 43
error sources in accuracy, 143
ErrRaise, 44
errtype, 44
Ethernet, 289, 293, 297
Ethernet link, 358
event messages, 46
event number, 46
Event Preset Time, 85
Event recorder, 304
Ext Controller input signal, 411
Ext Controller output signal, 411
external axes, 271
external axis, 243
External Control Process Data, 410–411
F
fake target, 144
false triggering, 282
FeedbackJoints, 359
FeedbackPose, 359
FeedbackTime, 359
FFW Mode, 396
Fieldbus Command, 231
Fieldbus Command Interface, 101
field element, 368
FIFO, 314
file communication, 88
file management, 97
FileSize, 98
file structures, 97
fine calibration, 400
finepoints, Machine Synchronization, 207
FingerPrint, 295
fixed position events, 82
fixture alignment, 151
FlexPendant, 343
follower, 65
Follower to Joint, 67
Force Master, 394
Force Master Control, 394
Force Ready Delay, 393
frame, 361
frame relationships, 153
frames, 150
FricIdEvaluate, 163
FricIdInit, 163
FricIdSetFricLevels, 163
friction compensation, 156
Friction FFW Level, 161
Friction FFW On, 161
Friction FFW Ramp, 161
friction level tuning, 157
FSSize, 98
functions
Advanced RAPID, 52
Multitasking, 327
Sensor Interface, 351
G
General RAPID, 276
GetDataVal, 28
GetMaxNumberOfCyclicBool, 64
416
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Index
GetNextCyclicBool, 64
GetNextSym, 28
GetNumberOfCyclicBool, 64
GetTrapData, 44
group I/O signals, 105
Group ID, 299
H
hydraulic press, 222
I
I/O Controlled Axes, 404
IError, 44
IIRFFP, 231
IndAMove, 246
IndCMove, 246
Ind collision stop without brake, 276
IndDMove, 246
Independent Axes, 243
independent joint, 271
Independent Joint, 245
Independent Lower Joint Bound, 245
independent movement, 243
Independent Upper Joint Bound, 245
IndInpos, 246
IndReset, 246
IndRMove, 246
IndSpeed, 246
Inertia, 395
Input Signal, 383
installation, 398
instructions
Advanced RAPID, 52
Multitasking, 327
Sensor Interface, 351
interrupt, 54, 314, 337, 351, 354
interrupt functionality, 43
iodev, 90
IPers, 44
IP protocols, 358
IRMQMessage, 318
IsCyclicBool, 64
IsFile, 98
ISignalAI, 55
ISignalAO, 55
IsStopStateEvent, 52
IVarValue, 351
J
Jog Collision Detection, 275, 279
Jog Collision Detection Level, 275
Jog Collision Detection Level, 279
joint, 361
Joint, 67, 410, 412
joint zones, 237
K
ke Phase to Phase, 395
kinematic errors, 143
Kp, Gain Position Loop, 396–397
Kv 1 - 6, 395
Kv, Gain Speed Loop, 396
Kv, Gain Speed Loop, 397
L
l_f_axis_name, 78
l_f_axis_no, 78
l_f_mecunt_n, 78
l_m_axis_no, 78
l_m_mecunt_n, 78
Lag Control Master 0, 396
licenses, 15
Linked M Process, 67
load calibration data, 138
Load Identification, 137
Local path, 291, 295, 299
Lock Joint in Ipol, 67
logical AND, 107
Logical Axis, 382, 412–413
Logical Cross Connections, 105
logical operations, 105
logical OR, 107
loss of accuracy, 142
lost message, 315
lost queue, 315
Lower Joint Bound, 395, 412
LTAPP, 350
M
Main entry, Task type, 325
maintenance, 140
MakeDir, 98
manipulator replacement, 141
Manipulator Supervision, 275
Manipulator Supervision Level, 275
manual friction tuning, 159
manual mode, Machine Synchronization, 207, 209
master, 65
Master Follower kp, 68
Max Advance Distence, 232–233
Max Current, 395
Max Delay Distance, 233
Max Follower Offset, 67
Max Force Control Motor Torque, 393
Max Force Control Position Error, 396
Max Force Control Speed Limit, 396
Max Offset Speed, 67
Max pos err. closing, 394
Max Synchronization Speed, 233
measurement system, 246
mechanical unit, 344
Mechanical Unit, 410, 412
Mechanics, 233
member element, 368
merge of messages, 307
messages
outgoing, 359
received, 374
sent, 374
Min Synchronization Speed, 233
modes of operation, Machine Synchronization, 209
modules
Sensor Interface, 351
molding machine, 226
motion commands, Machine Synchronization, 207
Motion Planner, 275
Motion Process Mode, 164
MotionSup, 277, 281
Motion Supervision, 275
Motion Supervision Max Level, 275
Motion System, 276
MotionTask, Task type, 326
Motor Calibration, 395
motor replacement, 140
Application manual - Controller software IRC5
417
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Index
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 417
|
CopyFile, 98
CopyRawBytes, 94
Corr argument, 267
CorrClear, 266
CorrCon, 266
corrdescr, 266
CorrDiscon, 266
correction generator, 264
CorrRead, 266
CorrWrite, 266
Counts Per Meter, 231
CPU_load_equalization, 232
creating tasks, 328
cross connections, 105
cut plane, 174
cut shape, 179
Cyclic bool, 57
Cyclic bool settings, 63
Cyclic bool system parameters, 63
D
data, 313
data exchange, 356
datapos, 28
Data ready signal, 232
data search functionality, 27
data types
Multitasking, 327
supported, 361
data variable example
Electronically Linked Motors, 80
data variables
Electronically Linked Motors, 78
Deactivate PTC superv. at disconnect, 382
deactivate supervision, 281
deactivate tasks, 333
debugging
strategies, 328
Deceleration Derivate Ratio, 395, 412
Deceleration Max Uncalibrated, 397
declarations, 336
deflection, 144
Delay ramp, 394
description.xml, 364
digital I/O signals, 105
dir, 98
directory management, 97
discarded message, 315
Disconnect at Deactivate, 382
disconnection, 398
dispatcher, 341
displacement, 79
Do not allow deact, 233
dynamic_position_limit , 412
E
Electronically Linked Motors, 65
elements
channel, 365
class, 365
convention, 364
enum, 367
field, 368
member, 368
network, 365
property, 369
record, 368
settings, 366
type, 365
enums element, 367
errdomain, 44
error interrupts, 43
error sources in accuracy, 143
ErrRaise, 44
errtype, 44
Ethernet, 289, 293, 297
Ethernet link, 358
event messages, 46
event number, 46
Event Preset Time, 85
Event recorder, 304
Ext Controller input signal, 411
Ext Controller output signal, 411
external axes, 271
external axis, 243
External Control Process Data, 410–411
F
fake target, 144
false triggering, 282
FeedbackJoints, 359
FeedbackPose, 359
FeedbackTime, 359
FFW Mode, 396
Fieldbus Command, 231
Fieldbus Command Interface, 101
field element, 368
FIFO, 314
file communication, 88
file management, 97
FileSize, 98
file structures, 97
fine calibration, 400
finepoints, Machine Synchronization, 207
FingerPrint, 295
fixed position events, 82
fixture alignment, 151
FlexPendant, 343
follower, 65
Follower to Joint, 67
Force Master, 394
Force Master Control, 394
Force Ready Delay, 393
frame, 361
frame relationships, 153
frames, 150
FricIdEvaluate, 163
FricIdInit, 163
FricIdSetFricLevels, 163
friction compensation, 156
Friction FFW Level, 161
Friction FFW On, 161
Friction FFW Ramp, 161
friction level tuning, 157
FSSize, 98
functions
Advanced RAPID, 52
Multitasking, 327
Sensor Interface, 351
G
General RAPID, 276
GetDataVal, 28
GetMaxNumberOfCyclicBool, 64
416
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Index
GetNextCyclicBool, 64
GetNextSym, 28
GetNumberOfCyclicBool, 64
GetTrapData, 44
group I/O signals, 105
Group ID, 299
H
hydraulic press, 222
I
I/O Controlled Axes, 404
IError, 44
IIRFFP, 231
IndAMove, 246
IndCMove, 246
Ind collision stop without brake, 276
IndDMove, 246
Independent Axes, 243
independent joint, 271
Independent Joint, 245
Independent Lower Joint Bound, 245
independent movement, 243
Independent Upper Joint Bound, 245
IndInpos, 246
IndReset, 246
IndRMove, 246
IndSpeed, 246
Inertia, 395
Input Signal, 383
installation, 398
instructions
Advanced RAPID, 52
Multitasking, 327
Sensor Interface, 351
interrupt, 54, 314, 337, 351, 354
interrupt functionality, 43
iodev, 90
IPers, 44
IP protocols, 358
IRMQMessage, 318
IsCyclicBool, 64
IsFile, 98
ISignalAI, 55
ISignalAO, 55
IsStopStateEvent, 52
IVarValue, 351
J
Jog Collision Detection, 275, 279
Jog Collision Detection Level, 275
Jog Collision Detection Level, 279
joint, 361
Joint, 67, 410, 412
joint zones, 237
K
ke Phase to Phase, 395
kinematic errors, 143
Kp, Gain Position Loop, 396–397
Kv 1 - 6, 395
Kv, Gain Speed Loop, 396
Kv, Gain Speed Loop, 397
L
l_f_axis_name, 78
l_f_axis_no, 78
l_f_mecunt_n, 78
l_m_axis_no, 78
l_m_mecunt_n, 78
Lag Control Master 0, 396
licenses, 15
Linked M Process, 67
load calibration data, 138
Load Identification, 137
Local path, 291, 295, 299
Lock Joint in Ipol, 67
logical AND, 107
Logical Axis, 382, 412–413
Logical Cross Connections, 105
logical operations, 105
logical OR, 107
loss of accuracy, 142
lost message, 315
lost queue, 315
Lower Joint Bound, 395, 412
LTAPP, 350
M
Main entry, Task type, 325
maintenance, 140
MakeDir, 98
manipulator replacement, 141
Manipulator Supervision, 275
Manipulator Supervision Level, 275
manual friction tuning, 159
manual mode, Machine Synchronization, 207, 209
master, 65
Master Follower kp, 68
Max Advance Distence, 232–233
Max Current, 395
Max Delay Distance, 233
Max Follower Offset, 67
Max Force Control Motor Torque, 393
Max Force Control Position Error, 396
Max Force Control Speed Limit, 396
Max Offset Speed, 67
Max pos err. closing, 394
Max Synchronization Speed, 233
measurement system, 246
mechanical unit, 344
Mechanical Unit, 410, 412
Mechanics, 233
member element, 368
merge of messages, 307
messages
outgoing, 359
received, 374
sent, 374
Min Synchronization Speed, 233
modes of operation, Machine Synchronization, 209
modules
Sensor Interface, 351
molding machine, 226
motion commands, Machine Synchronization, 207
Motion Planner, 275
Motion Process Mode, 164
MotionSup, 277, 281
Motion Supervision, 275
Motion Supervision Max Level, 275
Motion System, 276
MotionTask, Task type, 326
Motor Calibration, 395
motor replacement, 140
Application manual - Controller software IRC5
417
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Index
Motor Torque 1- 10, 393
Motor Type, 395
MotSupOn, 278
MotSupTrigg, 278
MoveC, 413
MoveCSync, 83
MoveJ, 413
MoveJSync, 83
MoveL, 413
MoveLSync, 83
MultiMove
collision detection, 270
Multitasking, 323
N
Name, 233, 291, 295, 299
Name, Transmission Protocol type, 349–350
network, 365
NFS Client, 297
No. of speed limits, 394
Nominal Acceleration, 395, 411
Nominal Deceleration, 395, 411
Nominal Speed, 231
non printable characters, 307
No program pointer move after error, 411
NORMAL, 325
NoSafety, 325
NOT, 107
Not Calibrated, 400
Null speed signal, 232
num, 361
Number of Stored Forces, 393
O
object queue, 186
offset_ratio, 78
Offset Adjust Delay Time, 67
Offset Speed Ratio, 67
Open, 90
OpenDir, 98
open source software, OSS, 15
OperationMode, 359
OR, 106
outgoing message, 359
P
PackDNHeader, 102
PackRawBytes, 94
parameters
accuracy compensation, 149
Password, 291, 295
path, 37
Path Collision Detection, 275, 279
Path Collision Detection Level, 275, 279
path correction, 264
path offset, 264
pathrecid, 250
PathRecMoveBwd, 250
PathRecMoveFwd, 250
path recorder, 257
Path Recovery, 249
PathRecStart, 250
PathRecStop, 250
PathRecValidBwd, 250
PathRecValidFwd, 250
Path resolution, 232
PC Interface, 301
PC SDK client, 313
performance limits, Machine Synchronization, 207
persistent variables, 335
PFRestart, 37
Phase Inductance, 395
Phase Resistance, 395
pitch, 143
PlannedJoints, 360
PlannedPose, 360
Pole Pairs, 395
polling, 337
Pos_fdb_valid signal, 411
Pos_fdb input signal, 411
Pos_fdb sign signal, 411
Pos_ref output signal, 411
Pos_ref sign signal, 411
Pos_ref valid signal, 411
pose, 361
position accuracy reduction, 75
position event, 82
Position signal, 232
position warnings, Machine Synchronization, 207
Post-synchronization Time, 393
power failure functionality, 37
PredictedTime, 360
prerequisites, 358
priorities, 330
Process, 67
process support functionality, 39
Process update time, 232
programmed speed, Machine Synchronization, 207
program pointer, 52
programs
editing, 328
property element, 369
proportional signal, 40
protocols
Ethernet, 350
serial channels, 349
Q
queue handling, 314
queue name, 314
R
r1_calib, 138
Ramp time, 394
Ramp Time, 68
Ramp to real contact, 394
Ramp when Increase Force, 394
RAPID, 19
RAPID components
Advanced RAPID, 52
Multitasking, 327
Sensor Interface, 351
RAPID editor, 304
RAPID limitations, Machine Synchronization, 208
RAPID Message Queue, 312
RAPID support functionality, 51
RAPID variables, 356
rawbytes, 94
RawBytesLen, 94
raw data, 93
ReadAnyBin, 90
ReadBin, 90
ReadBlock, 351
ReadCfgData, 34
418
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Index
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 418
|
GetNextCyclicBool, 64
GetNextSym, 28
GetNumberOfCyclicBool, 64
GetTrapData, 44
group I/O signals, 105
Group ID, 299
H
hydraulic press, 222
I
I/O Controlled Axes, 404
IError, 44
IIRFFP, 231
IndAMove, 246
IndCMove, 246
Ind collision stop without brake, 276
IndDMove, 246
Independent Axes, 243
independent joint, 271
Independent Joint, 245
Independent Lower Joint Bound, 245
independent movement, 243
Independent Upper Joint Bound, 245
IndInpos, 246
IndReset, 246
IndRMove, 246
IndSpeed, 246
Inertia, 395
Input Signal, 383
installation, 398
instructions
Advanced RAPID, 52
Multitasking, 327
Sensor Interface, 351
interrupt, 54, 314, 337, 351, 354
interrupt functionality, 43
iodev, 90
IPers, 44
IP protocols, 358
IRMQMessage, 318
IsCyclicBool, 64
IsFile, 98
ISignalAI, 55
ISignalAO, 55
IsStopStateEvent, 52
IVarValue, 351
J
Jog Collision Detection, 275, 279
Jog Collision Detection Level, 275
Jog Collision Detection Level, 279
joint, 361
Joint, 67, 410, 412
joint zones, 237
K
ke Phase to Phase, 395
kinematic errors, 143
Kp, Gain Position Loop, 396–397
Kv 1 - 6, 395
Kv, Gain Speed Loop, 396
Kv, Gain Speed Loop, 397
L
l_f_axis_name, 78
l_f_axis_no, 78
l_f_mecunt_n, 78
l_m_axis_no, 78
l_m_mecunt_n, 78
Lag Control Master 0, 396
licenses, 15
Linked M Process, 67
load calibration data, 138
Load Identification, 137
Local path, 291, 295, 299
Lock Joint in Ipol, 67
logical AND, 107
Logical Axis, 382, 412–413
Logical Cross Connections, 105
logical operations, 105
logical OR, 107
loss of accuracy, 142
lost message, 315
lost queue, 315
Lower Joint Bound, 395, 412
LTAPP, 350
M
Main entry, Task type, 325
maintenance, 140
MakeDir, 98
manipulator replacement, 141
Manipulator Supervision, 275
Manipulator Supervision Level, 275
manual friction tuning, 159
manual mode, Machine Synchronization, 207, 209
master, 65
Master Follower kp, 68
Max Advance Distence, 232–233
Max Current, 395
Max Delay Distance, 233
Max Follower Offset, 67
Max Force Control Motor Torque, 393
Max Force Control Position Error, 396
Max Force Control Speed Limit, 396
Max Offset Speed, 67
Max pos err. closing, 394
Max Synchronization Speed, 233
measurement system, 246
mechanical unit, 344
Mechanical Unit, 410, 412
Mechanics, 233
member element, 368
merge of messages, 307
messages
outgoing, 359
received, 374
sent, 374
Min Synchronization Speed, 233
modes of operation, Machine Synchronization, 209
modules
Sensor Interface, 351
molding machine, 226
motion commands, Machine Synchronization, 207
Motion Planner, 275
Motion Process Mode, 164
MotionSup, 277, 281
Motion Supervision, 275
Motion Supervision Max Level, 275
Motion System, 276
MotionTask, Task type, 326
Motor Calibration, 395
motor replacement, 140
Application manual - Controller software IRC5
417
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Index
Motor Torque 1- 10, 393
Motor Type, 395
MotSupOn, 278
MotSupTrigg, 278
MoveC, 413
MoveCSync, 83
MoveJ, 413
MoveJSync, 83
MoveL, 413
MoveLSync, 83
MultiMove
collision detection, 270
Multitasking, 323
N
Name, 233, 291, 295, 299
Name, Transmission Protocol type, 349–350
network, 365
NFS Client, 297
No. of speed limits, 394
Nominal Acceleration, 395, 411
Nominal Deceleration, 395, 411
Nominal Speed, 231
non printable characters, 307
No program pointer move after error, 411
NORMAL, 325
NoSafety, 325
NOT, 107
Not Calibrated, 400
Null speed signal, 232
num, 361
Number of Stored Forces, 393
O
object queue, 186
offset_ratio, 78
Offset Adjust Delay Time, 67
Offset Speed Ratio, 67
Open, 90
OpenDir, 98
open source software, OSS, 15
OperationMode, 359
OR, 106
outgoing message, 359
P
PackDNHeader, 102
PackRawBytes, 94
parameters
accuracy compensation, 149
Password, 291, 295
path, 37
Path Collision Detection, 275, 279
Path Collision Detection Level, 275, 279
path correction, 264
path offset, 264
pathrecid, 250
PathRecMoveBwd, 250
PathRecMoveFwd, 250
path recorder, 257
Path Recovery, 249
PathRecStart, 250
PathRecStop, 250
PathRecValidBwd, 250
PathRecValidFwd, 250
Path resolution, 232
PC Interface, 301
PC SDK client, 313
performance limits, Machine Synchronization, 207
persistent variables, 335
PFRestart, 37
Phase Inductance, 395
Phase Resistance, 395
pitch, 143
PlannedJoints, 360
PlannedPose, 360
Pole Pairs, 395
polling, 337
Pos_fdb_valid signal, 411
Pos_fdb input signal, 411
Pos_fdb sign signal, 411
Pos_ref output signal, 411
Pos_ref sign signal, 411
Pos_ref valid signal, 411
pose, 361
position accuracy reduction, 75
position event, 82
Position signal, 232
position warnings, Machine Synchronization, 207
Post-synchronization Time, 393
power failure functionality, 37
PredictedTime, 360
prerequisites, 358
priorities, 330
Process, 67
process support functionality, 39
Process update time, 232
programmed speed, Machine Synchronization, 207
program pointer, 52
programs
editing, 328
property element, 369
proportional signal, 40
protocols
Ethernet, 350
serial channels, 349
Q
queue handling, 314
queue name, 314
R
r1_calib, 138
Ramp time, 394
Ramp Time, 68
Ramp to real contact, 394
Ramp when Increase Force, 394
RAPID, 19
RAPID components
Advanced RAPID, 52
Multitasking, 327
Sensor Interface, 351
RAPID editor, 304
RAPID limitations, Machine Synchronization, 208
RAPID Message Queue, 312
RAPID support functionality, 51
RAPID variables, 356
rawbytes, 94
RawBytesLen, 94
raw data, 93
ReadAnyBin, 90
ReadBin, 90
ReadBlock, 351
ReadCfgData, 34
418
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Index
ReadDir, 98
ReadErrData, 44
ReadNum, 90
ReadRawBytes, 94
ReadStr, 90
ReadStrBin, 90
ReadVar, 351
real, 361
received message, 374
reconnect a servo tool, 398
record, 313
recorded path, 257
recorded profile, 222, 226
record element, 368
recover path, 249
References Bandwidth, 394
Regulator activation signal, 411
Regulator is activated signal, 411
relay, 383
Remote Address, 350
Remote Port, 350
RemoveAllCyclicBool, 64
RemoveCyclicBool, 64
RemoveDir, 98
RemoveFile, 98
RenameFile, 98
replacements, 140
Req pos is out of range input signal, 411
reset, 246
reset axis, 243
reset follower axis, 74
resolver offset calibration, 146
restartdata, 40
RestoPath, 250
resultant signal, 105–106
resume signals, 41
Rev. Counter not updated, 400
reversed movement, 272
Rewind, 90
RMQEmptyQueue, 318
RMQFindSlot, 318
RMQGetMessage, 318
RMQGetMsgData, 318
RMQGetMsgHeader, 318
RMQGetSlotName, 318
rmqheader, 318
RMQ Max Message Size, 317
RMQ Max No Of Messages, 317
rmqmessage, 318
RMQ Mode, 317
RMQReadWait, 318
RMQSendMessage, 318
RMQSendWait, 318
rmqslot, 318
RMQ Type, 317
robjoint, 361
RoboCom Light, 350
robot alignment, 152
RobotStudio, 304
robtarget, 413
roll, 143
Rotating move, 233
Rotating Move, 396
routine call, 341
RTP1 protocol, 349
S
SafeMove Assistant, 286
SCWrite, 302
select tasks, 333
SEMISTATIC, 325
SenDevice, 351
send message, 374
sensor, 264, 347
sensor_speed, 207
Sensor Interface, 347
sensor object, 186
sensors
configuring, 348
Sensor Synchronization, 181
Sensor systems, 231
Serial Port, Transmission Protocol type, 349–350
Server address, 291, 295, 299
Server path, 291, 299
Server type, 291, 299
service, 398
service connection, 357
service routines
Electronically Linked Motors, 70
Servo Tool Change, 379
SetAllDataVal, 28
SetDataSearch, 28
SetDataVal, 28
SetSysData, 52
settings.xml, 363
settings element, 366
setting up tasks, 328
set up Collision Detection, 279
SetupCyclicBool, 64
SG Process, 393
shapedata, 239
shared resources, 343
Show Device, 291, 295, 299
signal, 337, 341
SiTool, 370
SiWobj, 370
SocketAccept, 308
SocketBind, 308
SocketClose, 308
SocketConnect, 308
SocketCreate, 308
socketdev, 308
SocketGetStatus, 309
SocketListen, 308
Socket Messaging, 305
SocketReceive, 308
SocketSend, 308
socketstatus, 308
soft servo, 271
Soft Stop Timeout, 393
software licenses, 15
speed, 273
speed_ratio, 78
Speed Absolute Max, 396, 412
Speed Limit 1 - 6, 394
Speed Max Uncalibrated, 397
speed reduction % button, Machine
Synchronization, 207
speed warnings, Machine Synchronization, 207
Squeeze Position 1 -10, 393
Stall Torque, 395
STATIC, 325
Application manual - Controller software IRC5
419
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Index
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 419
|
Motor Torque 1- 10, 393
Motor Type, 395
MotSupOn, 278
MotSupTrigg, 278
MoveC, 413
MoveCSync, 83
MoveJ, 413
MoveJSync, 83
MoveL, 413
MoveLSync, 83
MultiMove
collision detection, 270
Multitasking, 323
N
Name, 233, 291, 295, 299
Name, Transmission Protocol type, 349–350
network, 365
NFS Client, 297
No. of speed limits, 394
Nominal Acceleration, 395, 411
Nominal Deceleration, 395, 411
Nominal Speed, 231
non printable characters, 307
No program pointer move after error, 411
NORMAL, 325
NoSafety, 325
NOT, 107
Not Calibrated, 400
Null speed signal, 232
num, 361
Number of Stored Forces, 393
O
object queue, 186
offset_ratio, 78
Offset Adjust Delay Time, 67
Offset Speed Ratio, 67
Open, 90
OpenDir, 98
open source software, OSS, 15
OperationMode, 359
OR, 106
outgoing message, 359
P
PackDNHeader, 102
PackRawBytes, 94
parameters
accuracy compensation, 149
Password, 291, 295
path, 37
Path Collision Detection, 275, 279
Path Collision Detection Level, 275, 279
path correction, 264
path offset, 264
pathrecid, 250
PathRecMoveBwd, 250
PathRecMoveFwd, 250
path recorder, 257
Path Recovery, 249
PathRecStart, 250
PathRecStop, 250
PathRecValidBwd, 250
PathRecValidFwd, 250
Path resolution, 232
PC Interface, 301
PC SDK client, 313
performance limits, Machine Synchronization, 207
persistent variables, 335
PFRestart, 37
Phase Inductance, 395
Phase Resistance, 395
pitch, 143
PlannedJoints, 360
PlannedPose, 360
Pole Pairs, 395
polling, 337
Pos_fdb_valid signal, 411
Pos_fdb input signal, 411
Pos_fdb sign signal, 411
Pos_ref output signal, 411
Pos_ref sign signal, 411
Pos_ref valid signal, 411
pose, 361
position accuracy reduction, 75
position event, 82
Position signal, 232
position warnings, Machine Synchronization, 207
Post-synchronization Time, 393
power failure functionality, 37
PredictedTime, 360
prerequisites, 358
priorities, 330
Process, 67
process support functionality, 39
Process update time, 232
programmed speed, Machine Synchronization, 207
program pointer, 52
programs
editing, 328
property element, 369
proportional signal, 40
protocols
Ethernet, 350
serial channels, 349
Q
queue handling, 314
queue name, 314
R
r1_calib, 138
Ramp time, 394
Ramp Time, 68
Ramp to real contact, 394
Ramp when Increase Force, 394
RAPID, 19
RAPID components
Advanced RAPID, 52
Multitasking, 327
Sensor Interface, 351
RAPID editor, 304
RAPID limitations, Machine Synchronization, 208
RAPID Message Queue, 312
RAPID support functionality, 51
RAPID variables, 356
rawbytes, 94
RawBytesLen, 94
raw data, 93
ReadAnyBin, 90
ReadBin, 90
ReadBlock, 351
ReadCfgData, 34
418
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Index
ReadDir, 98
ReadErrData, 44
ReadNum, 90
ReadRawBytes, 94
ReadStr, 90
ReadStrBin, 90
ReadVar, 351
real, 361
received message, 374
reconnect a servo tool, 398
record, 313
recorded path, 257
recorded profile, 222, 226
record element, 368
recover path, 249
References Bandwidth, 394
Regulator activation signal, 411
Regulator is activated signal, 411
relay, 383
Remote Address, 350
Remote Port, 350
RemoveAllCyclicBool, 64
RemoveCyclicBool, 64
RemoveDir, 98
RemoveFile, 98
RenameFile, 98
replacements, 140
Req pos is out of range input signal, 411
reset, 246
reset axis, 243
reset follower axis, 74
resolver offset calibration, 146
restartdata, 40
RestoPath, 250
resultant signal, 105–106
resume signals, 41
Rev. Counter not updated, 400
reversed movement, 272
Rewind, 90
RMQEmptyQueue, 318
RMQFindSlot, 318
RMQGetMessage, 318
RMQGetMsgData, 318
RMQGetMsgHeader, 318
RMQGetSlotName, 318
rmqheader, 318
RMQ Max Message Size, 317
RMQ Max No Of Messages, 317
rmqmessage, 318
RMQ Mode, 317
RMQReadWait, 318
RMQSendMessage, 318
RMQSendWait, 318
rmqslot, 318
RMQ Type, 317
robjoint, 361
RoboCom Light, 350
robot alignment, 152
RobotStudio, 304
robtarget, 413
roll, 143
Rotating move, 233
Rotating Move, 396
routine call, 341
RTP1 protocol, 349
S
SafeMove Assistant, 286
SCWrite, 302
select tasks, 333
SEMISTATIC, 325
SenDevice, 351
send message, 374
sensor, 264, 347
sensor_speed, 207
Sensor Interface, 347
sensor object, 186
sensors
configuring, 348
Sensor Synchronization, 181
Sensor systems, 231
Serial Port, Transmission Protocol type, 349–350
Server address, 291, 295, 299
Server path, 291, 299
Server type, 291, 299
service, 398
service connection, 357
service routines
Electronically Linked Motors, 70
Servo Tool Change, 379
SetAllDataVal, 28
SetDataSearch, 28
SetDataVal, 28
SetSysData, 52
settings.xml, 363
settings element, 366
setting up tasks, 328
set up Collision Detection, 279
SetupCyclicBool, 64
SG Process, 393
shapedata, 239
shared resources, 343
Show Device, 291, 295, 299
signal, 337, 341
SiTool, 370
SiWobj, 370
SocketAccept, 308
SocketBind, 308
SocketClose, 308
SocketConnect, 308
SocketCreate, 308
socketdev, 308
SocketGetStatus, 309
SocketListen, 308
Socket Messaging, 305
SocketReceive, 308
SocketSend, 308
socketstatus, 308
soft servo, 271
Soft Stop Timeout, 393
software licenses, 15
speed, 273
speed_ratio, 78
Speed Absolute Max, 396, 412
Speed Limit 1 - 6, 394
Speed Max Uncalibrated, 397
speed reduction % button, Machine
Synchronization, 207
speed warnings, Machine Synchronization, 207
Squeeze Position 1 -10, 393
Stall Torque, 395
STATIC, 325
Application manual - Controller software IRC5
419
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Index
static_position_limit , 412
stationary world zone, 239
STCalcForce, 392
STCalcTorque, 392
STCalib, 392
STClose, 392
StepBwdPath, 40
STIsCalib, 392
STIsClosed, 392
STIsIndGun, 392
STIsOpen, 392
STIsServoTool, 392
STOpen, 392
StorePath, 250
Stress Duty Cycle, 396, 409, 412
string, 361
string termination, 307
StrToByte, 25
STTune, 392
STTuneReset, 392
supervision level, 275, 277, 281
Supervision Type, 396, 410, 412
Sync Check Off, 394
synchronizing tasks, 339
synchronous movements, 388
syncident, 339
syncident, data type, 327
SyncMoveResume, 250
SyncMoveSuspend, 250
SysFail, 325
SysHalt, 325
SysStop, 325
system parameters
configuration functionality, 33
Controller topic, 359
Motion topic, 359
Multitasking, 325
Sensor Interface, 349–350
system resources, 343
T
Task, Task type, 325
Task, type, 325
taskid, 327, 345
taskid, data type, 327
Task in foreground, 330
Task in foreground, Task type, 325
Task Panel Settings, 332
task priorities, 330
TaskRunMec, 344
TaskRunMec, function, 327
TaskRunRob, 344
TaskRunRob, function, 327
tasks, 323, 333, 339
adding, 328
data type, 327
editing programs, 328
setting up, 328
tasks, data type, 327
template configuration files, 409
temporary world zone, 239
TestAndSet, 343
TestAndSet, function, 327
TextGet, 47
TextTabFreeToUse, 47
TextTabGet, 47
TextTabInstall, 47
text table file, 46
Ti Integration Time Speed Loop, 396–397
time, 361
tip change calibration, 389
Tip Force 1 - 10, 393
tip wear calibration, 389
tool calibration, 154
tool change calibration, 389
tools, 137
torque, 273
torque 1 - torque 6, 394
Torque Absolute Max, 396
torque distribution, 75
torque follower, 75
track motion, 271
Transmission, 396, 409, 412
Transmission Gear High, 245
Transmission Gear Low, 245
Transmission Gear Ratio, 396, 412
Transmission protocol, 291, 295, 299
Transmission protocol, 291, 295, 299
Transmission Protocol, type, 349–350
trapdata, 44
trap routine, 314
TriggC, 84
TriggCheckIO, 84
triggdata, 83
TriggEquip, 83
triggering, 282
TriggInt, 84
TriggIO, 83
triggios, 83
triggiosdnum, 83
TriggJ, 84
TriggL, 84
TriggLIOs, 84
TriggRampAO, 84
TriggSpeed, 40
TriggStopProc, 40
triggstrgo, 83
Trusted, 291, 295, 299
TrustLevel, Task type, 325
TUNE_FRIC_LEV, 159
TUNE_FRIC_RAMP, 159
TuneServo, 159
tuning, 281
tuning, automatic, 157
tuning, manual, 159
type, 365
Type, 291, 295, 299
Type, Task type, 325
Type, Transmission Protocol type, 349–350
U
uncalib, 138
Uncalibrated Control Master 0, 397
Unicode, 19
Unit_ready input signal, 411
UnpackRawBytes, 94
unsynchronize, 72
Update revolution counter, 400
Upper Joint Bound, 395, 412
Use Activation Relay, 412
Use Connection Relay, 383
Use Linked Motor Process, 67
Use Process, 67
Use ramp time, 394
420
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Index
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 420
|
ReadDir, 98
ReadErrData, 44
ReadNum, 90
ReadRawBytes, 94
ReadStr, 90
ReadStrBin, 90
ReadVar, 351
real, 361
received message, 374
reconnect a servo tool, 398
record, 313
recorded path, 257
recorded profile, 222, 226
record element, 368
recover path, 249
References Bandwidth, 394
Regulator activation signal, 411
Regulator is activated signal, 411
relay, 383
Remote Address, 350
Remote Port, 350
RemoveAllCyclicBool, 64
RemoveCyclicBool, 64
RemoveDir, 98
RemoveFile, 98
RenameFile, 98
replacements, 140
Req pos is out of range input signal, 411
reset, 246
reset axis, 243
reset follower axis, 74
resolver offset calibration, 146
restartdata, 40
RestoPath, 250
resultant signal, 105–106
resume signals, 41
Rev. Counter not updated, 400
reversed movement, 272
Rewind, 90
RMQEmptyQueue, 318
RMQFindSlot, 318
RMQGetMessage, 318
RMQGetMsgData, 318
RMQGetMsgHeader, 318
RMQGetSlotName, 318
rmqheader, 318
RMQ Max Message Size, 317
RMQ Max No Of Messages, 317
rmqmessage, 318
RMQ Mode, 317
RMQReadWait, 318
RMQSendMessage, 318
RMQSendWait, 318
rmqslot, 318
RMQ Type, 317
robjoint, 361
RoboCom Light, 350
robot alignment, 152
RobotStudio, 304
robtarget, 413
roll, 143
Rotating move, 233
Rotating Move, 396
routine call, 341
RTP1 protocol, 349
S
SafeMove Assistant, 286
SCWrite, 302
select tasks, 333
SEMISTATIC, 325
SenDevice, 351
send message, 374
sensor, 264, 347
sensor_speed, 207
Sensor Interface, 347
sensor object, 186
sensors
configuring, 348
Sensor Synchronization, 181
Sensor systems, 231
Serial Port, Transmission Protocol type, 349–350
Server address, 291, 295, 299
Server path, 291, 299
Server type, 291, 299
service, 398
service connection, 357
service routines
Electronically Linked Motors, 70
Servo Tool Change, 379
SetAllDataVal, 28
SetDataSearch, 28
SetDataVal, 28
SetSysData, 52
settings.xml, 363
settings element, 366
setting up tasks, 328
set up Collision Detection, 279
SetupCyclicBool, 64
SG Process, 393
shapedata, 239
shared resources, 343
Show Device, 291, 295, 299
signal, 337, 341
SiTool, 370
SiWobj, 370
SocketAccept, 308
SocketBind, 308
SocketClose, 308
SocketConnect, 308
SocketCreate, 308
socketdev, 308
SocketGetStatus, 309
SocketListen, 308
Socket Messaging, 305
SocketReceive, 308
SocketSend, 308
socketstatus, 308
soft servo, 271
Soft Stop Timeout, 393
software licenses, 15
speed, 273
speed_ratio, 78
Speed Absolute Max, 396, 412
Speed Limit 1 - 6, 394
Speed Max Uncalibrated, 397
speed reduction % button, Machine
Synchronization, 207
speed warnings, Machine Synchronization, 207
Squeeze Position 1 -10, 393
Stall Torque, 395
STATIC, 325
Application manual - Controller software IRC5
419
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Index
static_position_limit , 412
stationary world zone, 239
STCalcForce, 392
STCalcTorque, 392
STCalib, 392
STClose, 392
StepBwdPath, 40
STIsCalib, 392
STIsClosed, 392
STIsIndGun, 392
STIsOpen, 392
STIsServoTool, 392
STOpen, 392
StorePath, 250
Stress Duty Cycle, 396, 409, 412
string, 361
string termination, 307
StrToByte, 25
STTune, 392
STTuneReset, 392
supervision level, 275, 277, 281
Supervision Type, 396, 410, 412
Sync Check Off, 394
synchronizing tasks, 339
synchronous movements, 388
syncident, 339
syncident, data type, 327
SyncMoveResume, 250
SyncMoveSuspend, 250
SysFail, 325
SysHalt, 325
SysStop, 325
system parameters
configuration functionality, 33
Controller topic, 359
Motion topic, 359
Multitasking, 325
Sensor Interface, 349–350
system resources, 343
T
Task, Task type, 325
Task, type, 325
taskid, 327, 345
taskid, data type, 327
Task in foreground, 330
Task in foreground, Task type, 325
Task Panel Settings, 332
task priorities, 330
TaskRunMec, 344
TaskRunMec, function, 327
TaskRunRob, 344
TaskRunRob, function, 327
tasks, 323, 333, 339
adding, 328
data type, 327
editing programs, 328
setting up, 328
tasks, data type, 327
template configuration files, 409
temporary world zone, 239
TestAndSet, 343
TestAndSet, function, 327
TextGet, 47
TextTabFreeToUse, 47
TextTabGet, 47
TextTabInstall, 47
text table file, 46
Ti Integration Time Speed Loop, 396–397
time, 361
tip change calibration, 389
Tip Force 1 - 10, 393
tip wear calibration, 389
tool calibration, 154
tool change calibration, 389
tools, 137
torque, 273
torque 1 - torque 6, 394
Torque Absolute Max, 396
torque distribution, 75
torque follower, 75
track motion, 271
Transmission, 396, 409, 412
Transmission Gear High, 245
Transmission Gear Low, 245
Transmission Gear Ratio, 396, 412
Transmission protocol, 291, 295, 299
Transmission protocol, 291, 295, 299
Transmission Protocol, type, 349–350
trapdata, 44
trap routine, 314
TriggC, 84
TriggCheckIO, 84
triggdata, 83
TriggEquip, 83
triggering, 282
TriggInt, 84
TriggIO, 83
triggios, 83
triggiosdnum, 83
TriggJ, 84
TriggL, 84
TriggLIOs, 84
TriggRampAO, 84
TriggSpeed, 40
TriggStopProc, 40
triggstrgo, 83
Trusted, 291, 295, 299
TrustLevel, Task type, 325
TUNE_FRIC_LEV, 159
TUNE_FRIC_RAMP, 159
TuneServo, 159
tuning, 281
tuning, automatic, 157
tuning, manual, 159
type, 365
Type, 291, 295, 299
Type, Task type, 325
Type, Transmission Protocol type, 349–350
U
uncalib, 138
Uncalibrated Control Master 0, 397
Unicode, 19
Unit_ready input signal, 411
UnpackRawBytes, 94
unsynchronize, 72
Update revolution counter, 400
Upper Joint Bound, 395, 412
Use Activation Relay, 412
Use Connection Relay, 383
Use Linked Motor Process, 67
Use Process, 67
Use ramp time, 394
420
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Index
User ID, 299
user message functionality, 46
Username, 291, 295
Use Robot Calibration, 138
V
Velocity signal, 232
verification, 147
W
waiting for tasks, 339
WaitSyncTask, 339
WaitSyncTask, instruction, 327
WaitUntil, 337
WAN port, 357
WarmStart, 34
world zones, 237
Wrist Move, 172
wrist replacement, 140
Write, 90
WriteAnyBin, 90
WriteBin, 90
WriteBlock, 351
WriteCfgData, 34
WriteRawBytes, 94
WriteStrBin, 90
WriteVar, 351
WZBoxDef, 239
WZCylDef, 239
WZDisable, 240
WZDOSet, 240
WZEnable, 240
WZFree, 240
WZHomeJointDef, 240
WZLimJointDef, 240
WZLimSup, 240
WZSphDef, 239
wzstationary, 239
wztemporary, 239
Y
yaw, 143
Z
zones, 237
Application manual - Controller software IRC5
421
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Index
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 421
|
static_position_limit , 412
stationary world zone, 239
STCalcForce, 392
STCalcTorque, 392
STCalib, 392
STClose, 392
StepBwdPath, 40
STIsCalib, 392
STIsClosed, 392
STIsIndGun, 392
STIsOpen, 392
STIsServoTool, 392
STOpen, 392
StorePath, 250
Stress Duty Cycle, 396, 409, 412
string, 361
string termination, 307
StrToByte, 25
STTune, 392
STTuneReset, 392
supervision level, 275, 277, 281
Supervision Type, 396, 410, 412
Sync Check Off, 394
synchronizing tasks, 339
synchronous movements, 388
syncident, 339
syncident, data type, 327
SyncMoveResume, 250
SyncMoveSuspend, 250
SysFail, 325
SysHalt, 325
SysStop, 325
system parameters
configuration functionality, 33
Controller topic, 359
Motion topic, 359
Multitasking, 325
Sensor Interface, 349–350
system resources, 343
T
Task, Task type, 325
Task, type, 325
taskid, 327, 345
taskid, data type, 327
Task in foreground, 330
Task in foreground, Task type, 325
Task Panel Settings, 332
task priorities, 330
TaskRunMec, 344
TaskRunMec, function, 327
TaskRunRob, 344
TaskRunRob, function, 327
tasks, 323, 333, 339
adding, 328
data type, 327
editing programs, 328
setting up, 328
tasks, data type, 327
template configuration files, 409
temporary world zone, 239
TestAndSet, 343
TestAndSet, function, 327
TextGet, 47
TextTabFreeToUse, 47
TextTabGet, 47
TextTabInstall, 47
text table file, 46
Ti Integration Time Speed Loop, 396–397
time, 361
tip change calibration, 389
Tip Force 1 - 10, 393
tip wear calibration, 389
tool calibration, 154
tool change calibration, 389
tools, 137
torque, 273
torque 1 - torque 6, 394
Torque Absolute Max, 396
torque distribution, 75
torque follower, 75
track motion, 271
Transmission, 396, 409, 412
Transmission Gear High, 245
Transmission Gear Low, 245
Transmission Gear Ratio, 396, 412
Transmission protocol, 291, 295, 299
Transmission protocol, 291, 295, 299
Transmission Protocol, type, 349–350
trapdata, 44
trap routine, 314
TriggC, 84
TriggCheckIO, 84
triggdata, 83
TriggEquip, 83
triggering, 282
TriggInt, 84
TriggIO, 83
triggios, 83
triggiosdnum, 83
TriggJ, 84
TriggL, 84
TriggLIOs, 84
TriggRampAO, 84
TriggSpeed, 40
TriggStopProc, 40
triggstrgo, 83
Trusted, 291, 295, 299
TrustLevel, Task type, 325
TUNE_FRIC_LEV, 159
TUNE_FRIC_RAMP, 159
TuneServo, 159
tuning, 281
tuning, automatic, 157
tuning, manual, 159
type, 365
Type, 291, 295, 299
Type, Task type, 325
Type, Transmission Protocol type, 349–350
U
uncalib, 138
Uncalibrated Control Master 0, 397
Unicode, 19
Unit_ready input signal, 411
UnpackRawBytes, 94
unsynchronize, 72
Update revolution counter, 400
Upper Joint Bound, 395, 412
Use Activation Relay, 412
Use Connection Relay, 383
Use Linked Motor Process, 67
Use Process, 67
Use ramp time, 394
420
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Index
User ID, 299
user message functionality, 46
Username, 291, 295
Use Robot Calibration, 138
V
Velocity signal, 232
verification, 147
W
waiting for tasks, 339
WaitSyncTask, 339
WaitSyncTask, instruction, 327
WaitUntil, 337
WAN port, 357
WarmStart, 34
world zones, 237
Wrist Move, 172
wrist replacement, 140
Write, 90
WriteAnyBin, 90
WriteBin, 90
WriteBlock, 351
WriteCfgData, 34
WriteRawBytes, 94
WriteStrBin, 90
WriteVar, 351
WZBoxDef, 239
WZCylDef, 239
WZDisable, 240
WZDOSet, 240
WZEnable, 240
WZFree, 240
WZHomeJointDef, 240
WZLimJointDef, 240
WZLimSup, 240
WZSphDef, 239
wzstationary, 239
wztemporary, 239
Y
yaw, 143
Z
zones, 237
Application manual - Controller software IRC5
421
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Index
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 422
|
User ID, 299
user message functionality, 46
Username, 291, 295
Use Robot Calibration, 138
V
Velocity signal, 232
verification, 147
W
waiting for tasks, 339
WaitSyncTask, 339
WaitSyncTask, instruction, 327
WaitUntil, 337
WAN port, 357
WarmStart, 34
world zones, 237
Wrist Move, 172
wrist replacement, 140
Write, 90
WriteAnyBin, 90
WriteBin, 90
WriteBlock, 351
WriteCfgData, 34
WriteRawBytes, 94
WriteStrBin, 90
WriteVar, 351
WZBoxDef, 239
WZCylDef, 239
WZDisable, 240
WZDOSet, 240
WZEnable, 240
WZFree, 240
WZHomeJointDef, 240
WZLimJointDef, 240
WZLimSup, 240
WZSphDef, 239
wzstationary, 239
wztemporary, 239
Y
yaw, 143
Z
zones, 237
Application manual - Controller software IRC5
421
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
Index
|
ABB_Application_Manual_Controller_Software_IRC5
|
https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf
| 423
|
ABB AB
Robotics & Discrete Automation
S-721 68 VÄSTERÅS, Sweden
Telephone +46 10-732 50 00
ABB AS
Robotics & Discrete Automation
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.
Robotics & Discrete Automation
No. 4528 Kangxin Highway
PuDong New District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics & Discrete Automation
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics
3HAC050798-001, Rev V, en
© Copyright 2014-2025 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_Application_Manual_Controller_Software_IRC5
|
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| 424
|
ABB AB
Robotics & Discrete Automation
S-721 68 VÄSTERÅS, Sweden
Telephone +46 10-732 50 00
ABB AS
Robotics & Discrete Automation
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.
Robotics & Discrete Automation
No. 4528 Kangxin Highway
PuDong New District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics & Discrete Automation
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics
3HAC050798-001, Rev V, en
© Copyright 2014-2025 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_Application_Manual_Bullseye
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 1
|
ROBOTICS
Application manual
BullsEye
![Image]
Trace back information:
Workspace 21D version a10
Checked in 2021-12-06
Skribenta version 5.4.005
|
ABB_Application_Manual_Bullseye
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 2
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ROBOTICS
Application manual
BullsEye
![Image]
Trace back information:
Workspace 21D version a10
Checked in 2021-12-06
Skribenta version 5.4.005
Application manual
BullsEye
RobotWare 6.13
Document ID: 3HAC050989-001
Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_Application_Manual_Bullseye
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 3
|
Trace back information:
Workspace 21D version a10
Checked in 2021-12-06
Skribenta version 5.4.005
Application manual
BullsEye
RobotWare 6.13
Document ID: 3HAC050989-001
Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Specifications subject to change without notice.
The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damage to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2004-2021 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_Application_Manual_Bullseye
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 4
|
Application manual
BullsEye
RobotWare 6.13
Document ID: 3HAC050989-001
Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Specifications subject to change without notice.
The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damage to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2004-2021 ABB. All rights reserved.
Specifications subject to change without notice.
Table of contents
7
Overview of this manual ...................................................................................................................
9
Product documentation ....................................................................................................................
11
1
Safety
11
1.1
Safety signals in the manual ................................................................................
13
1.2
Make sure that the main power has been switched off ..............................................
14
1.3
Risks associated with live electric parts .................................................................
15
2
Introduction to BullsEye®
15
2.1
Product overview ..............................................................................................
17
2.2
Theory of operation ...........................................................................................
19
2.3
Limitations .......................................................................................................
22
2.4
Safety information .............................................................................................
23
3
Installation
27
4
Maintenance
29
5
User guide
30
5.1
Overview .........................................................................................................
31
5.2
Data storage .....................................................................................................
32
5.3
Using BullsEye .................................................................................................
33
5.3.1
The global methods of BullsEye .................................................................
34
5.3.2
Defining a tool ........................................................................................
37
5.3.3
Default BullsEye data ...............................................................................
38
5.3.4
Selecting different BullsEye data ................................................................
41
5.3.5
Creating new BullsEye data instances .........................................................
45
5.3.6
BullsEye data parameters .........................................................................
46
5.3.7
QuickCheck ...........................................................................................
47
5.4
BullsEye status codes ........................................................................................
51
5.5
Frequently asked questions ................................................................................
55
6
RAPID reference
55
6.1
Data types .......................................................................................................
55
6.1.1
be_device - Device data ...........................................................................
58
6.1.2
be_scan - Scan data ................................................................................
61
6.1.3
be_tooldesign - Tool design ......................................................................
65
6.1.4
be_mask - Mask data ...............................................................................
67
6.2
Instructions ......................................................................................................
67
6.2.1
BECheckTcp - BullsEye check TCP ............................................................
70
6.2.2
BEDebugState - Debug state control ...........................................................
71
6.2.3
BERefPointer - BullsEye reference pointer ...................................................
74
6.2.4
BESetupToolJ - BullsEye setup tool joint move .............................................
79
6.2.5
BETcpExtend - BullsEye extend TCP ..........................................................
81
6.2.6
BEUpdateTcp - BullsEye update TCP ..........................................................
84
6.3
Functions ........................................................................................................
84
6.3.1
OffsToolXYZ - Offsets tool cartesian ...........................................................
85
6.3.2
OffsToolPolar - Offsets tool cartesian ..........................................................
87
7
Spare parts
89
Index
Application manual - BullsEye
5
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Table of contents
|
ABB_Application_Manual_Bullseye
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 5
|
The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damage to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2004-2021 ABB. All rights reserved.
Specifications subject to change without notice.
Table of contents
7
Overview of this manual ...................................................................................................................
9
Product documentation ....................................................................................................................
11
1
Safety
11
1.1
Safety signals in the manual ................................................................................
13
1.2
Make sure that the main power has been switched off ..............................................
14
1.3
Risks associated with live electric parts .................................................................
15
2
Introduction to BullsEye®
15
2.1
Product overview ..............................................................................................
17
2.2
Theory of operation ...........................................................................................
19
2.3
Limitations .......................................................................................................
22
2.4
Safety information .............................................................................................
23
3
Installation
27
4
Maintenance
29
5
User guide
30
5.1
Overview .........................................................................................................
31
5.2
Data storage .....................................................................................................
32
5.3
Using BullsEye .................................................................................................
33
5.3.1
The global methods of BullsEye .................................................................
34
5.3.2
Defining a tool ........................................................................................
37
5.3.3
Default BullsEye data ...............................................................................
38
5.3.4
Selecting different BullsEye data ................................................................
41
5.3.5
Creating new BullsEye data instances .........................................................
45
5.3.6
BullsEye data parameters .........................................................................
46
5.3.7
QuickCheck ...........................................................................................
47
5.4
BullsEye status codes ........................................................................................
51
5.5
Frequently asked questions ................................................................................
55
6
RAPID reference
55
6.1
Data types .......................................................................................................
55
6.1.1
be_device - Device data ...........................................................................
58
6.1.2
be_scan - Scan data ................................................................................
61
6.1.3
be_tooldesign - Tool design ......................................................................
65
6.1.4
be_mask - Mask data ...............................................................................
67
6.2
Instructions ......................................................................................................
67
6.2.1
BECheckTcp - BullsEye check TCP ............................................................
70
6.2.2
BEDebugState - Debug state control ...........................................................
71
6.2.3
BERefPointer - BullsEye reference pointer ...................................................
74
6.2.4
BESetupToolJ - BullsEye setup tool joint move .............................................
79
6.2.5
BETcpExtend - BullsEye extend TCP ..........................................................
81
6.2.6
BEUpdateTcp - BullsEye update TCP ..........................................................
84
6.3
Functions ........................................................................................................
84
6.3.1
OffsToolXYZ - Offsets tool cartesian ...........................................................
85
6.3.2
OffsToolPolar - Offsets tool cartesian ..........................................................
87
7
Spare parts
89
Index
Application manual - BullsEye
5
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Table of contents
This page is intentionally left blank
|
ABB_Application_Manual_Bullseye
|
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| 6
|
Table of contents
7
Overview of this manual ...................................................................................................................
9
Product documentation ....................................................................................................................
11
1
Safety
11
1.1
Safety signals in the manual ................................................................................
13
1.2
Make sure that the main power has been switched off ..............................................
14
1.3
Risks associated with live electric parts .................................................................
15
2
Introduction to BullsEye®
15
2.1
Product overview ..............................................................................................
17
2.2
Theory of operation ...........................................................................................
19
2.3
Limitations .......................................................................................................
22
2.4
Safety information .............................................................................................
23
3
Installation
27
4
Maintenance
29
5
User guide
30
5.1
Overview .........................................................................................................
31
5.2
Data storage .....................................................................................................
32
5.3
Using BullsEye .................................................................................................
33
5.3.1
The global methods of BullsEye .................................................................
34
5.3.2
Defining a tool ........................................................................................
37
5.3.3
Default BullsEye data ...............................................................................
38
5.3.4
Selecting different BullsEye data ................................................................
41
5.3.5
Creating new BullsEye data instances .........................................................
45
5.3.6
BullsEye data parameters .........................................................................
46
5.3.7
QuickCheck ...........................................................................................
47
5.4
BullsEye status codes ........................................................................................
51
5.5
Frequently asked questions ................................................................................
55
6
RAPID reference
55
6.1
Data types .......................................................................................................
55
6.1.1
be_device - Device data ...........................................................................
58
6.1.2
be_scan - Scan data ................................................................................
61
6.1.3
be_tooldesign - Tool design ......................................................................
65
6.1.4
be_mask - Mask data ...............................................................................
67
6.2
Instructions ......................................................................................................
67
6.2.1
BECheckTcp - BullsEye check TCP ............................................................
70
6.2.2
BEDebugState - Debug state control ...........................................................
71
6.2.3
BERefPointer - BullsEye reference pointer ...................................................
74
6.2.4
BESetupToolJ - BullsEye setup tool joint move .............................................
79
6.2.5
BETcpExtend - BullsEye extend TCP ..........................................................
81
6.2.6
BEUpdateTcp - BullsEye update TCP ..........................................................
84
6.3
Functions ........................................................................................................
84
6.3.1
OffsToolXYZ - Offsets tool cartesian ...........................................................
85
6.3.2
OffsToolPolar - Offsets tool cartesian ..........................................................
87
7
Spare parts
89
Index
Application manual - BullsEye
5
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Table of contents
This page is intentionally left blank
Overview of this manual
About this manual
This manual explains the basics of when and how to use the option BullsEye®.
•
Product overview
•
Operation overview
•
Requirements overview
•
Software set-up
•
Software reference, RAPID
Usage
This manual can be used either as a reference to find out if an option is the right
choice for solving a problem, or as a description of how to use an option. Detailed
information regarding syntax for RAPID routines, and similar, is not described here,
but can be found in the respective reference manual.
Who should read this manual?
This manual is intended for:
•
installation personnel
•
maintenance personnel
•
repair personnel.
•
robot programmers
Prerequisites
Maintenance/repair/installation personnel working with an ABB Robot must:
•
be trained by ABB and have the required knowledge of mechanical and
electrical installation/repair/maintenance work.
•
be familiar with industrial robots and their terminology
•
be familiar with the RAPID programming language
•
be familiar with system parameters and how to configure them.
Reference documents
Document ID
References
3HAC031045-001
Safety manual for robot - Manipulator and IRC5 or OmniCore
controller i
3HAC050917-001
Technical reference manual - RAPID Instructions, Functions
and Data types
3HAC050947-001
Technical reference manual - RAPID Overview
3HAC050941-001
Operating manual - IRC5 with FlexPendant
3HAC050948-001
Technical reference manual - System parameters
3HAC032104-001
Operating manual - RobotStudio
Continues on next page
Application manual - BullsEye
7
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Overview of this manual
|
ABB_Application_Manual_Bullseye
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 7
|
This page is intentionally left blank
Overview of this manual
About this manual
This manual explains the basics of when and how to use the option BullsEye®.
•
Product overview
•
Operation overview
•
Requirements overview
•
Software set-up
•
Software reference, RAPID
Usage
This manual can be used either as a reference to find out if an option is the right
choice for solving a problem, or as a description of how to use an option. Detailed
information regarding syntax for RAPID routines, and similar, is not described here,
but can be found in the respective reference manual.
Who should read this manual?
This manual is intended for:
•
installation personnel
•
maintenance personnel
•
repair personnel.
•
robot programmers
Prerequisites
Maintenance/repair/installation personnel working with an ABB Robot must:
•
be trained by ABB and have the required knowledge of mechanical and
electrical installation/repair/maintenance work.
•
be familiar with industrial robots and their terminology
•
be familiar with the RAPID programming language
•
be familiar with system parameters and how to configure them.
Reference documents
Document ID
References
3HAC031045-001
Safety manual for robot - Manipulator and IRC5 or OmniCore
controller i
3HAC050917-001
Technical reference manual - RAPID Instructions, Functions
and Data types
3HAC050947-001
Technical reference manual - RAPID Overview
3HAC050941-001
Operating manual - IRC5 with FlexPendant
3HAC050948-001
Technical reference manual - System parameters
3HAC032104-001
Operating manual - RobotStudio
Continues on next page
Application manual - BullsEye
7
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Overview of this manual
Document ID
References
3HAC052855-001
Application manual - Production Manager
i
This manual contains all safety instructions from the product manuals for the manipulators and the
controllers.
Revisions
Description
Revision
Released with RobotWare 6.0.
-
Released with RobotWare 6.04.
•
BullsEye is now a separate RobotWare option.
A
Released with RobotWare 6.07.
•
Added information about EIO configuration in section Installation on
page 23 .
B
Released with RobotWare 6.08.
•
Updated the example for argument [\UserInterface] for the RAPID
instructions BECheckTcp , BERefPointer and BEUpdateTcp .
C
Released with RobotWare 6.09.
•
Added information about Ethernet configuration for DSQC1030.
•
Added information about be_mask .
D
Released with RobotWare 6.11.
•
Minor corrections.
E
Released with RobotWare 6.13.
•
The folder for log files when using BEDebugState is changed to
HOME/BullsEye , see BEDebugState - Debug state control on page70 .
F
8
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Overview of this manual
Continued
|
ABB_Application_Manual_Bullseye
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 8
|
Overview of this manual
About this manual
This manual explains the basics of when and how to use the option BullsEye®.
•
Product overview
•
Operation overview
•
Requirements overview
•
Software set-up
•
Software reference, RAPID
Usage
This manual can be used either as a reference to find out if an option is the right
choice for solving a problem, or as a description of how to use an option. Detailed
information regarding syntax for RAPID routines, and similar, is not described here,
but can be found in the respective reference manual.
Who should read this manual?
This manual is intended for:
•
installation personnel
•
maintenance personnel
•
repair personnel.
•
robot programmers
Prerequisites
Maintenance/repair/installation personnel working with an ABB Robot must:
•
be trained by ABB and have the required knowledge of mechanical and
electrical installation/repair/maintenance work.
•
be familiar with industrial robots and their terminology
•
be familiar with the RAPID programming language
•
be familiar with system parameters and how to configure them.
Reference documents
Document ID
References
3HAC031045-001
Safety manual for robot - Manipulator and IRC5 or OmniCore
controller i
3HAC050917-001
Technical reference manual - RAPID Instructions, Functions
and Data types
3HAC050947-001
Technical reference manual - RAPID Overview
3HAC050941-001
Operating manual - IRC5 with FlexPendant
3HAC050948-001
Technical reference manual - System parameters
3HAC032104-001
Operating manual - RobotStudio
Continues on next page
Application manual - BullsEye
7
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Overview of this manual
Document ID
References
3HAC052855-001
Application manual - Production Manager
i
This manual contains all safety instructions from the product manuals for the manipulators and the
controllers.
Revisions
Description
Revision
Released with RobotWare 6.0.
-
Released with RobotWare 6.04.
•
BullsEye is now a separate RobotWare option.
A
Released with RobotWare 6.07.
•
Added information about EIO configuration in section Installation on
page 23 .
B
Released with RobotWare 6.08.
•
Updated the example for argument [\UserInterface] for the RAPID
instructions BECheckTcp , BERefPointer and BEUpdateTcp .
C
Released with RobotWare 6.09.
•
Added information about Ethernet configuration for DSQC1030.
•
Added information about be_mask .
D
Released with RobotWare 6.11.
•
Minor corrections.
E
Released with RobotWare 6.13.
•
The folder for log files when using BEDebugState is changed to
HOME/BullsEye , see BEDebugState - Debug state control on page70 .
F
8
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Overview of this manual
Continued
Product documentation
Categories for user documentation from ABB Robotics
The user documentation from ABB Robotics is divided into a number of categories.
This listing is based on the type of information in the documents, regardless of
whether the products are standard or optional.
Tip
All documents can be found via myABB Business Portal, www.abb.com/myABB .
Product manuals
Manipulators, controllers, DressPack/SpotPack, and most other hardware is
delivered with a Product manual that generally contains:
•
Safety information.
•
Installation and commissioning (descriptions of mechanical installation or
electrical connections).
•
Maintenance (descriptions of all required preventive maintenance procedures
including intervals and expected life time of parts).
•
Repair (descriptions of all recommended repair procedures including spare
parts).
•
Calibration.
•
Decommissioning.
•
Reference information (safety standards, unit conversions, screw joints, lists
of tools).
•
Spare parts list with corresponding figures (or references to separate spare
parts lists).
•
References to circuit diagrams.
Technical reference manuals
The technical reference manuals describe reference information for robotics
products, for example lubrication, the RAPID language, and system parameters.
Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals . An application manual can describe one or several
applications.
An application manual generally contains information about:
•
The purpose of the application (what it does and when it is useful).
•
What is included (for example cables, I/O boards, RAPID instructions, system
parameters, software).
•
How to install included or required hardware.
•
How to use the application.
•
Examples of how to use the application.
Continues on next page
Application manual - BullsEye
9
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Product documentation
|
ABB_Application_Manual_Bullseye
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 9
|
Document ID
References
3HAC052855-001
Application manual - Production Manager
i
This manual contains all safety instructions from the product manuals for the manipulators and the
controllers.
Revisions
Description
Revision
Released with RobotWare 6.0.
-
Released with RobotWare 6.04.
•
BullsEye is now a separate RobotWare option.
A
Released with RobotWare 6.07.
•
Added information about EIO configuration in section Installation on
page 23 .
B
Released with RobotWare 6.08.
•
Updated the example for argument [\UserInterface] for the RAPID
instructions BECheckTcp , BERefPointer and BEUpdateTcp .
C
Released with RobotWare 6.09.
•
Added information about Ethernet configuration for DSQC1030.
•
Added information about be_mask .
D
Released with RobotWare 6.11.
•
Minor corrections.
E
Released with RobotWare 6.13.
•
The folder for log files when using BEDebugState is changed to
HOME/BullsEye , see BEDebugState - Debug state control on page70 .
F
8
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Overview of this manual
Continued
Product documentation
Categories for user documentation from ABB Robotics
The user documentation from ABB Robotics is divided into a number of categories.
This listing is based on the type of information in the documents, regardless of
whether the products are standard or optional.
Tip
All documents can be found via myABB Business Portal, www.abb.com/myABB .
Product manuals
Manipulators, controllers, DressPack/SpotPack, and most other hardware is
delivered with a Product manual that generally contains:
•
Safety information.
•
Installation and commissioning (descriptions of mechanical installation or
electrical connections).
•
Maintenance (descriptions of all required preventive maintenance procedures
including intervals and expected life time of parts).
•
Repair (descriptions of all recommended repair procedures including spare
parts).
•
Calibration.
•
Decommissioning.
•
Reference information (safety standards, unit conversions, screw joints, lists
of tools).
•
Spare parts list with corresponding figures (or references to separate spare
parts lists).
•
References to circuit diagrams.
Technical reference manuals
The technical reference manuals describe reference information for robotics
products, for example lubrication, the RAPID language, and system parameters.
Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals . An application manual can describe one or several
applications.
An application manual generally contains information about:
•
The purpose of the application (what it does and when it is useful).
•
What is included (for example cables, I/O boards, RAPID instructions, system
parameters, software).
•
How to install included or required hardware.
•
How to use the application.
•
Examples of how to use the application.
Continues on next page
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9
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Product documentation
Operating manuals
The operating manuals describe hands-on handling of the products. The manuals
are aimed at those having first-hand operational contact with the product, that is
production cell operators, programmers, and troubleshooters.
10
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Product documentation
Continued
|
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| 10
|
Product documentation
Categories for user documentation from ABB Robotics
The user documentation from ABB Robotics is divided into a number of categories.
This listing is based on the type of information in the documents, regardless of
whether the products are standard or optional.
Tip
All documents can be found via myABB Business Portal, www.abb.com/myABB .
Product manuals
Manipulators, controllers, DressPack/SpotPack, and most other hardware is
delivered with a Product manual that generally contains:
•
Safety information.
•
Installation and commissioning (descriptions of mechanical installation or
electrical connections).
•
Maintenance (descriptions of all required preventive maintenance procedures
including intervals and expected life time of parts).
•
Repair (descriptions of all recommended repair procedures including spare
parts).
•
Calibration.
•
Decommissioning.
•
Reference information (safety standards, unit conversions, screw joints, lists
of tools).
•
Spare parts list with corresponding figures (or references to separate spare
parts lists).
•
References to circuit diagrams.
Technical reference manuals
The technical reference manuals describe reference information for robotics
products, for example lubrication, the RAPID language, and system parameters.
Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals . An application manual can describe one or several
applications.
An application manual generally contains information about:
•
The purpose of the application (what it does and when it is useful).
•
What is included (for example cables, I/O boards, RAPID instructions, system
parameters, software).
•
How to install included or required hardware.
•
How to use the application.
•
Examples of how to use the application.
Continues on next page
Application manual - BullsEye
9
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Product documentation
Operating manuals
The operating manuals describe hands-on handling of the products. The manuals
are aimed at those having first-hand operational contact with the product, that is
production cell operators, programmers, and troubleshooters.
10
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Product documentation
Continued
1 Safety
1.1 Safety signals in the manual
Introduction to safety signals
This section specifies all safety signals used in the user manuals. Each signal
consists of:
•
A caption specifying the hazard level (DANGER, WARNING, or CAUTION)
and the type of hazard.
•
Instruction about how to reduce the hazard to an acceptable level.
•
A brief description of remaining hazards, if not adequately reduced.
Hazard levels
The table below defines the captions specifying the hazard levels used throughout
this manual.
Significance
Designation
Symbol
Signal word used to indicate an imminently hazard-
ous situation which, if not avoided, will result in ser-
ious injury.
DANGER
Signal word used to indicate a potentially hazardous
situation which, if not avoided, could result in serious
injury.
WARNING
Signal word used to indicate a potentially hazardous
situation related to electrical hazards which, if not
avoided, could result in serious injury.
ELECTRICAL
SHOCK
Signal word used to indicate a potentially hazardous
situation which, if not avoided, could result in slight
injury.
CAUTION
Signal word used to indicate a potentially hazardous
situation which, if not avoided, could result in severe
damage to the product.
ELECTROSTATIC
DISCHARGE (ESD)
Signal word used to indicate important facts and
conditions.
NOTE
Continues on next page
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11
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
1 Safety
1.1 Safety signals in the manual
|
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| 11
|
Operating manuals
The operating manuals describe hands-on handling of the products. The manuals
are aimed at those having first-hand operational contact with the product, that is
production cell operators, programmers, and troubleshooters.
10
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Product documentation
Continued
1 Safety
1.1 Safety signals in the manual
Introduction to safety signals
This section specifies all safety signals used in the user manuals. Each signal
consists of:
•
A caption specifying the hazard level (DANGER, WARNING, or CAUTION)
and the type of hazard.
•
Instruction about how to reduce the hazard to an acceptable level.
•
A brief description of remaining hazards, if not adequately reduced.
Hazard levels
The table below defines the captions specifying the hazard levels used throughout
this manual.
Significance
Designation
Symbol
Signal word used to indicate an imminently hazard-
ous situation which, if not avoided, will result in ser-
ious injury.
DANGER
Signal word used to indicate a potentially hazardous
situation which, if not avoided, could result in serious
injury.
WARNING
Signal word used to indicate a potentially hazardous
situation related to electrical hazards which, if not
avoided, could result in serious injury.
ELECTRICAL
SHOCK
Signal word used to indicate a potentially hazardous
situation which, if not avoided, could result in slight
injury.
CAUTION
Signal word used to indicate a potentially hazardous
situation which, if not avoided, could result in severe
damage to the product.
ELECTROSTATIC
DISCHARGE (ESD)
Signal word used to indicate important facts and
conditions.
NOTE
Continues on next page
Application manual - BullsEye
11
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
1 Safety
1.1 Safety signals in the manual
Significance
Designation
Symbol
Signal word used to indicate where to find additional
information or how to do an operation in an easier
way.
TIP
12
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
1 Safety
1.1 Safety signals in the manual
Continued
|
ABB_Application_Manual_Bullseye
|
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| 12
|
1 Safety
1.1 Safety signals in the manual
Introduction to safety signals
This section specifies all safety signals used in the user manuals. Each signal
consists of:
•
A caption specifying the hazard level (DANGER, WARNING, or CAUTION)
and the type of hazard.
•
Instruction about how to reduce the hazard to an acceptable level.
•
A brief description of remaining hazards, if not adequately reduced.
Hazard levels
The table below defines the captions specifying the hazard levels used throughout
this manual.
Significance
Designation
Symbol
Signal word used to indicate an imminently hazard-
ous situation which, if not avoided, will result in ser-
ious injury.
DANGER
Signal word used to indicate a potentially hazardous
situation which, if not avoided, could result in serious
injury.
WARNING
Signal word used to indicate a potentially hazardous
situation related to electrical hazards which, if not
avoided, could result in serious injury.
ELECTRICAL
SHOCK
Signal word used to indicate a potentially hazardous
situation which, if not avoided, could result in slight
injury.
CAUTION
Signal word used to indicate a potentially hazardous
situation which, if not avoided, could result in severe
damage to the product.
ELECTROSTATIC
DISCHARGE (ESD)
Signal word used to indicate important facts and
conditions.
NOTE
Continues on next page
Application manual - BullsEye
11
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
1 Safety
1.1 Safety signals in the manual
Significance
Designation
Symbol
Signal word used to indicate where to find additional
information or how to do an operation in an easier
way.
TIP
12
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
1 Safety
1.1 Safety signals in the manual
Continued
1.2 Make sure that the main power has been switched off
Description
Working with high voltage is potentially lethal. Persons subjected to high voltage
may suffer cardiac arrest, burn injuries, or other severe injuries. To avoid these
personal injuries, switch off the main power on the controller before proceeding
work.
Application manual - BullsEye
13
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
1 Safety
1.2 Make sure that the main power has been switched off
|
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| 13
|
Significance
Designation
Symbol
Signal word used to indicate where to find additional
information or how to do an operation in an easier
way.
TIP
12
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
1 Safety
1.1 Safety signals in the manual
Continued
1.2 Make sure that the main power has been switched off
Description
Working with high voltage is potentially lethal. Persons subjected to high voltage
may suffer cardiac arrest, burn injuries, or other severe injuries. To avoid these
personal injuries, switch off the main power on the controller before proceeding
work.
Application manual - BullsEye
13
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
1 Safety
1.2 Make sure that the main power has been switched off
1.3 Risks associated with live electric parts
Voltage related risks, general
Work on the electrical equipment of the robot must be performed by a qualified
electrician in accordance with electrical regulations.
Although troubleshooting may, on occasion, need to be carried out while the power
supply is turned on, the robot must be turned off (by setting the main switch to
OFF) when repairing faults, disconnecting electric leads, and disconnecting or
connecting units.
The main supply to the robot must be connected in such a way that it can be turned
off from outside the working space of the robot.
Make sure that no one else can turn on the power to the controller and robot while
you are working with the system. A good method is to always lock the main switch
on the controller cabinet with a safety lock.
The necessary protection for the electrical equipment and robot during installation,
commissioning, and maintenance is guaranteed if the valid regulations are followed.
Voltage related risks, manipulator
A danger of voltage is associated with the manipulator in:
•
The user connections for tools or other parts of the installation (max. 230
VAC).
Voltage related risks, tools, material handling devices, etc.
Tools, material handling devices, etc., may be live even if the robot system is in
the OFF position. Power supply cables which are in motion during the working
process may be damaged.
14
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
1 Safety
1.3 Risks associated with live electric parts
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| 14
|
1.2 Make sure that the main power has been switched off
Description
Working with high voltage is potentially lethal. Persons subjected to high voltage
may suffer cardiac arrest, burn injuries, or other severe injuries. To avoid these
personal injuries, switch off the main power on the controller before proceeding
work.
Application manual - BullsEye
13
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
1 Safety
1.2 Make sure that the main power has been switched off
1.3 Risks associated with live electric parts
Voltage related risks, general
Work on the electrical equipment of the robot must be performed by a qualified
electrician in accordance with electrical regulations.
Although troubleshooting may, on occasion, need to be carried out while the power
supply is turned on, the robot must be turned off (by setting the main switch to
OFF) when repairing faults, disconnecting electric leads, and disconnecting or
connecting units.
The main supply to the robot must be connected in such a way that it can be turned
off from outside the working space of the robot.
Make sure that no one else can turn on the power to the controller and robot while
you are working with the system. A good method is to always lock the main switch
on the controller cabinet with a safety lock.
The necessary protection for the electrical equipment and robot during installation,
commissioning, and maintenance is guaranteed if the valid regulations are followed.
Voltage related risks, manipulator
A danger of voltage is associated with the manipulator in:
•
The user connections for tools or other parts of the installation (max. 230
VAC).
Voltage related risks, tools, material handling devices, etc.
Tools, material handling devices, etc., may be live even if the robot system is in
the OFF position. Power supply cables which are in motion during the working
process may be damaged.
14
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
1 Safety
1.3 Risks associated with live electric parts
2 Introduction to BullsEye®
2.1 Product overview
Introduction to BullsEye
BullsEye® 10 provides completely automated Tool Center Point (TCP) definition
for the IRC5 robot controller and introduces support of new tools in addition to
MIG welding torch configurations. Concentric cutting tools may also be used where
the stick-out is defined as the distance from the cutting tip to the part surface.
TCP
TCP is defined as an invisible reference point in direct alignment and relationship
to all axes of the robot arm and located at the precise point where the welding wire
tip would touch the work piece using a pre-determined wire stick-out distance from
the bottom of the gas nozzle.
Illustration: Welding torch revolving around a defined TCP
![Image]
xx1400001210
BullsEye features
•
Scanning behavior that can be configured for:
-
Scan lengths
-
Scan speeds
-
Tool dimensions
•
Historical log file.
•
Fully compatible with MultiMove systems.
•
Accommodates RobotStudio.
•
Simultaneous support for up to five unique tools per robot task.
•
Integrated error handling.
Continues on next page
Application manual - BullsEye
15
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.1 Product overview
|
ABB_Application_Manual_Bullseye
|
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| 15
|
1.3 Risks associated with live electric parts
Voltage related risks, general
Work on the electrical equipment of the robot must be performed by a qualified
electrician in accordance with electrical regulations.
Although troubleshooting may, on occasion, need to be carried out while the power
supply is turned on, the robot must be turned off (by setting the main switch to
OFF) when repairing faults, disconnecting electric leads, and disconnecting or
connecting units.
The main supply to the robot must be connected in such a way that it can be turned
off from outside the working space of the robot.
Make sure that no one else can turn on the power to the controller and robot while
you are working with the system. A good method is to always lock the main switch
on the controller cabinet with a safety lock.
The necessary protection for the electrical equipment and robot during installation,
commissioning, and maintenance is guaranteed if the valid regulations are followed.
Voltage related risks, manipulator
A danger of voltage is associated with the manipulator in:
•
The user connections for tools or other parts of the installation (max. 230
VAC).
Voltage related risks, tools, material handling devices, etc.
Tools, material handling devices, etc., may be live even if the robot system is in
the OFF position. Power supply cables which are in motion during the working
process may be damaged.
14
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
1 Safety
1.3 Risks associated with live electric parts
2 Introduction to BullsEye®
2.1 Product overview
Introduction to BullsEye
BullsEye® 10 provides completely automated Tool Center Point (TCP) definition
for the IRC5 robot controller and introduces support of new tools in addition to
MIG welding torch configurations. Concentric cutting tools may also be used where
the stick-out is defined as the distance from the cutting tip to the part surface.
TCP
TCP is defined as an invisible reference point in direct alignment and relationship
to all axes of the robot arm and located at the precise point where the welding wire
tip would touch the work piece using a pre-determined wire stick-out distance from
the bottom of the gas nozzle.
Illustration: Welding torch revolving around a defined TCP
![Image]
xx1400001210
BullsEye features
•
Scanning behavior that can be configured for:
-
Scan lengths
-
Scan speeds
-
Tool dimensions
•
Historical log file.
•
Fully compatible with MultiMove systems.
•
Accommodates RobotStudio.
•
Simultaneous support for up to five unique tools per robot task.
•
Integrated error handling.
Continues on next page
Application manual - BullsEye
15
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.1 Product overview
•
Optimized update times.
16
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.1 Product overview
Continued
|
ABB_Application_Manual_Bullseye
|
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| 16
|
2 Introduction to BullsEye®
2.1 Product overview
Introduction to BullsEye
BullsEye® 10 provides completely automated Tool Center Point (TCP) definition
for the IRC5 robot controller and introduces support of new tools in addition to
MIG welding torch configurations. Concentric cutting tools may also be used where
the stick-out is defined as the distance from the cutting tip to the part surface.
TCP
TCP is defined as an invisible reference point in direct alignment and relationship
to all axes of the robot arm and located at the precise point where the welding wire
tip would touch the work piece using a pre-determined wire stick-out distance from
the bottom of the gas nozzle.
Illustration: Welding torch revolving around a defined TCP
![Image]
xx1400001210
BullsEye features
•
Scanning behavior that can be configured for:
-
Scan lengths
-
Scan speeds
-
Tool dimensions
•
Historical log file.
•
Fully compatible with MultiMove systems.
•
Accommodates RobotStudio.
•
Simultaneous support for up to five unique tools per robot task.
•
Integrated error handling.
Continues on next page
Application manual - BullsEye
15
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.1 Product overview
•
Optimized update times.
16
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.1 Product overview
Continued
2.2 Theory of operation
Example of operation
When the robot is programmed to revolve around the TCP all robot axes will move
accordingly to keep the TCP stationary (see the following figures). If the torch is
damaged and the program is run again, the robot repeats the same movements,
but the TCP will no longer follow the same path due to the misalignment. You now
have two choices:
1
Physically move the torch back into alignment (a task that could be difficult
if not impossible) or
2
Adjust for the misalignment automatically by redefining the TCP to the new
torch position using the BullsEye. After the BullsEye system updates the
current TCP definition, the torch will rotate around the TCP as before because
the robot arm has adjusted its path to compensate for the torch misalignment.
Once a point has been programmed, the robot remembers the tool center point
location, not what the angles of the robot joints are. When the robot replays the
programmed path, it calculates what the joint angles should be to get the TCP back
to where it was when the path was programmed initially. As long as the robot
controller is kept informed about where the tool center point is, it will always keep
the paths properly adjusted.
Robot arm and torch movement with correct TCP
![Image]
xx1400001211
Continues on next page
Application manual - BullsEye
17
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.2 Theory of operation
|
ABB_Application_Manual_Bullseye
|
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| 17
|
•
Optimized update times.
16
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.1 Product overview
Continued
2.2 Theory of operation
Example of operation
When the robot is programmed to revolve around the TCP all robot axes will move
accordingly to keep the TCP stationary (see the following figures). If the torch is
damaged and the program is run again, the robot repeats the same movements,
but the TCP will no longer follow the same path due to the misalignment. You now
have two choices:
1
Physically move the torch back into alignment (a task that could be difficult
if not impossible) or
2
Adjust for the misalignment automatically by redefining the TCP to the new
torch position using the BullsEye. After the BullsEye system updates the
current TCP definition, the torch will rotate around the TCP as before because
the robot arm has adjusted its path to compensate for the torch misalignment.
Once a point has been programmed, the robot remembers the tool center point
location, not what the angles of the robot joints are. When the robot replays the
programmed path, it calculates what the joint angles should be to get the TCP back
to where it was when the path was programmed initially. As long as the robot
controller is kept informed about where the tool center point is, it will always keep
the paths properly adjusted.
Robot arm and torch movement with correct TCP
![Image]
xx1400001211
Continues on next page
Application manual - BullsEye
17
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.2 Theory of operation
Robot arm follows same path but torch path has changed
![Image]
xx1400001212
18
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.2 Theory of operation
Continued
|
ABB_Application_Manual_Bullseye
|
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| 18
|
2.2 Theory of operation
Example of operation
When the robot is programmed to revolve around the TCP all robot axes will move
accordingly to keep the TCP stationary (see the following figures). If the torch is
damaged and the program is run again, the robot repeats the same movements,
but the TCP will no longer follow the same path due to the misalignment. You now
have two choices:
1
Physically move the torch back into alignment (a task that could be difficult
if not impossible) or
2
Adjust for the misalignment automatically by redefining the TCP to the new
torch position using the BullsEye. After the BullsEye system updates the
current TCP definition, the torch will rotate around the TCP as before because
the robot arm has adjusted its path to compensate for the torch misalignment.
Once a point has been programmed, the robot remembers the tool center point
location, not what the angles of the robot joints are. When the robot replays the
programmed path, it calculates what the joint angles should be to get the TCP back
to where it was when the path was programmed initially. As long as the robot
controller is kept informed about where the tool center point is, it will always keep
the paths properly adjusted.
Robot arm and torch movement with correct TCP
![Image]
xx1400001211
Continues on next page
Application manual - BullsEye
17
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.2 Theory of operation
Robot arm follows same path but torch path has changed
![Image]
xx1400001212
18
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.2 Theory of operation
Continued
2.3 Limitations
System complexity
At the time of this printing, BullsEye version 10.0, build 2, is the released build. It
has not been tested in implementations that incorporate complex multi-axis robot
carriers. For this reason, version 10 will not be supported on these applications
until further notice.
Limitations for calibration
BullsEye 10 can be used to calibrate tools of a variety of shapes. While earlier
versions of BullsEye were restricted to welding MIG tool designs, BullsEye 10 is
also suited to cutting tools that do not have a consumable wire electrode like a
MIG tool.
Here is a list of limitations:
1
The tool must be concentric along its centerline. Cylindrical and conical tools
meet this criterion.
2
There may not be any obstructions on the scanned portion of the tool.
Typically, the BullsEye is set up to make scans along the last several inches
of the tool body. There can be no fittings, clamps, set screws, wires, hoses,
or other features extending from the tool body in this section.
3
If the tool does not have a consumable wire electrode, or a wire-like extension,
it must be assumed that the TCP will be inline with the centerline of the tool
body.
4
The tool must have adequate clearance to allow the program to complete all
moves without colliding with the BullsEye scanning device.
EtherNetIP DSQC1030 for BullsEye
From RobotWare 6.06 there is support for EtherNet/IP DSQC1030 for BullsEye.
The DI signal must be configured as Change Of State (COS). See EIO Configuration
on page 25 .
Continues on next page
Application manual - BullsEye
19
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.3 Limitations
|
ABB_Application_Manual_Bullseye
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| 19
|
Robot arm follows same path but torch path has changed
![Image]
xx1400001212
18
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.2 Theory of operation
Continued
2.3 Limitations
System complexity
At the time of this printing, BullsEye version 10.0, build 2, is the released build. It
has not been tested in implementations that incorporate complex multi-axis robot
carriers. For this reason, version 10 will not be supported on these applications
until further notice.
Limitations for calibration
BullsEye 10 can be used to calibrate tools of a variety of shapes. While earlier
versions of BullsEye were restricted to welding MIG tool designs, BullsEye 10 is
also suited to cutting tools that do not have a consumable wire electrode like a
MIG tool.
Here is a list of limitations:
1
The tool must be concentric along its centerline. Cylindrical and conical tools
meet this criterion.
2
There may not be any obstructions on the scanned portion of the tool.
Typically, the BullsEye is set up to make scans along the last several inches
of the tool body. There can be no fittings, clamps, set screws, wires, hoses,
or other features extending from the tool body in this section.
3
If the tool does not have a consumable wire electrode, or a wire-like extension,
it must be assumed that the TCP will be inline with the centerline of the tool
body.
4
The tool must have adequate clearance to allow the program to complete all
moves without colliding with the BullsEye scanning device.
EtherNetIP DSQC1030 for BullsEye
From RobotWare 6.06 there is support for EtherNet/IP DSQC1030 for BullsEye.
The DI signal must be configured as Change Of State (COS). See EIO Configuration
on page 25 .
Continues on next page
Application manual - BullsEye
19
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.3 Limitations
Typical tool designs
Here are some typical tool designs suited to BullsEye®:
Welding MIG tool
![Image]
xx1400001214
Hypothetical laser cutting tool
![Image]
xx1400001215
Water-jet cutting tool
![Image]
xx1400001216
Continues on next page
20
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.3 Limitations
Continued
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| 20
|
2.3 Limitations
System complexity
At the time of this printing, BullsEye version 10.0, build 2, is the released build. It
has not been tested in implementations that incorporate complex multi-axis robot
carriers. For this reason, version 10 will not be supported on these applications
until further notice.
Limitations for calibration
BullsEye 10 can be used to calibrate tools of a variety of shapes. While earlier
versions of BullsEye were restricted to welding MIG tool designs, BullsEye 10 is
also suited to cutting tools that do not have a consumable wire electrode like a
MIG tool.
Here is a list of limitations:
1
The tool must be concentric along its centerline. Cylindrical and conical tools
meet this criterion.
2
There may not be any obstructions on the scanned portion of the tool.
Typically, the BullsEye is set up to make scans along the last several inches
of the tool body. There can be no fittings, clamps, set screws, wires, hoses,
or other features extending from the tool body in this section.
3
If the tool does not have a consumable wire electrode, or a wire-like extension,
it must be assumed that the TCP will be inline with the centerline of the tool
body.
4
The tool must have adequate clearance to allow the program to complete all
moves without colliding with the BullsEye scanning device.
EtherNetIP DSQC1030 for BullsEye
From RobotWare 6.06 there is support for EtherNet/IP DSQC1030 for BullsEye.
The DI signal must be configured as Change Of State (COS). See EIO Configuration
on page 25 .
Continues on next page
Application manual - BullsEye
19
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.3 Limitations
Typical tool designs
Here are some typical tool designs suited to BullsEye®:
Welding MIG tool
![Image]
xx1400001214
Hypothetical laser cutting tool
![Image]
xx1400001215
Water-jet cutting tool
![Image]
xx1400001216
Continues on next page
20
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.3 Limitations
Continued
TCP z-axis inline with mounting surface z-axis not supported
BullsEye is incapable of defining a tool that has the TCP centered along the z-axis
of the robot 6th axis mounting surface, and the z-axis of the tool perpendicular to
the mounting surface. Said another way, you cannot have the tool pointing straight
out from the center of the mounting plate.
BE_Data.sys is a reserved module name
BullsEye uses a temporary system module called BE_Data to store and recover
setup information. For this reason, it is not permitted to have another module loaded
in the robot motion task called BE_Data , or BullsEye will be unable to save and
retrieve data.
Application manual - BullsEye
21
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.3 Limitations
Continued
|
ABB_Application_Manual_Bullseye
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| 21
|
Typical tool designs
Here are some typical tool designs suited to BullsEye®:
Welding MIG tool
![Image]
xx1400001214
Hypothetical laser cutting tool
![Image]
xx1400001215
Water-jet cutting tool
![Image]
xx1400001216
Continues on next page
20
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.3 Limitations
Continued
TCP z-axis inline with mounting surface z-axis not supported
BullsEye is incapable of defining a tool that has the TCP centered along the z-axis
of the robot 6th axis mounting surface, and the z-axis of the tool perpendicular to
the mounting surface. Said another way, you cannot have the tool pointing straight
out from the center of the mounting plate.
BE_Data.sys is a reserved module name
BullsEye uses a temporary system module called BE_Data to store and recover
setup information. For this reason, it is not permitted to have another module loaded
in the robot motion task called BE_Data , or BullsEye will be unable to save and
retrieve data.
Application manual - BullsEye
21
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.3 Limitations
Continued
2.4 Safety information
WARNING
The power supply must always be switched off whenever work is carried out in
the control cabinet.
WARNING
Even though the power is switched off at the robot controller, there may be
energized cables connected to external equipment that are consequently not
affected by the mains switch on the controller.
ELECTROSTATIC DISCHARGE (ESD)
ESD (electrostatic discharge) is the transfer of electrical static charge between
two bodies at different potentials, either through direct contact or through an
induced electrical field. When handling parts or their containers, personnel not
grounded may potentially transfer high static charges. This discharge may destroy
sensitive electronics.
Note
Action
Wrist straps must be tested frequently to ensure
that they are not damaged and are operating
correctly.
Use a wrist strap
1
The mat must be grounded through a current-
limiting resistor.
Use an ESD protective floor mat.
2
The mat should provide a controlled discharge
of static voltages and must be grounded.
Use a dissipative table mat.
3
WARNING
Before beginning work with the robot, make sure you are familiar with the safety
regulations described in the manual Safety manual for robot - Manipulator and
IRC5 or OmniCore controller .
22
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.4 Safety information
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| 22
|
TCP z-axis inline with mounting surface z-axis not supported
BullsEye is incapable of defining a tool that has the TCP centered along the z-axis
of the robot 6th axis mounting surface, and the z-axis of the tool perpendicular to
the mounting surface. Said another way, you cannot have the tool pointing straight
out from the center of the mounting plate.
BE_Data.sys is a reserved module name
BullsEye uses a temporary system module called BE_Data to store and recover
setup information. For this reason, it is not permitted to have another module loaded
in the robot motion task called BE_Data , or BullsEye will be unable to save and
retrieve data.
Application manual - BullsEye
21
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.3 Limitations
Continued
2.4 Safety information
WARNING
The power supply must always be switched off whenever work is carried out in
the control cabinet.
WARNING
Even though the power is switched off at the robot controller, there may be
energized cables connected to external equipment that are consequently not
affected by the mains switch on the controller.
ELECTROSTATIC DISCHARGE (ESD)
ESD (electrostatic discharge) is the transfer of electrical static charge between
two bodies at different potentials, either through direct contact or through an
induced electrical field. When handling parts or their containers, personnel not
grounded may potentially transfer high static charges. This discharge may destroy
sensitive electronics.
Note
Action
Wrist straps must be tested frequently to ensure
that they are not damaged and are operating
correctly.
Use a wrist strap
1
The mat must be grounded through a current-
limiting resistor.
Use an ESD protective floor mat.
2
The mat should provide a controlled discharge
of static voltages and must be grounded.
Use a dissipative table mat.
3
WARNING
Before beginning work with the robot, make sure you are familiar with the safety
regulations described in the manual Safety manual for robot - Manipulator and
IRC5 or OmniCore controller .
22
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.4 Safety information
3 Installation
Component list
BullsEye consists of the following components:
•
BullsEye application manual (this manual). The manual is distributed in
electronic format.
•
BullsEye scanning device. Typically this will be the standard BullsEye yoke
described below.
•
BullsEye robot software. Software can be delivered as a separate product,
or as part of cell management software like GAP and EasyArc.
BullsEye yoke specification
40 ma, 24 VDC
Electrical
One digital input, 24 VDC, and 0 VDC
Robot connections
± 0.006" (0.163 mm)
Repeatability
Dimensions
Variant 0503060880:
![Image]
xx1400002302
Continues on next page
Application manual - BullsEye
23
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
3 Installation
|
ABB_Application_Manual_Bullseye
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| 23
|
2.4 Safety information
WARNING
The power supply must always be switched off whenever work is carried out in
the control cabinet.
WARNING
Even though the power is switched off at the robot controller, there may be
energized cables connected to external equipment that are consequently not
affected by the mains switch on the controller.
ELECTROSTATIC DISCHARGE (ESD)
ESD (electrostatic discharge) is the transfer of electrical static charge between
two bodies at different potentials, either through direct contact or through an
induced electrical field. When handling parts or their containers, personnel not
grounded may potentially transfer high static charges. This discharge may destroy
sensitive electronics.
Note
Action
Wrist straps must be tested frequently to ensure
that they are not damaged and are operating
correctly.
Use a wrist strap
1
The mat must be grounded through a current-
limiting resistor.
Use an ESD protective floor mat.
2
The mat should provide a controlled discharge
of static voltages and must be grounded.
Use a dissipative table mat.
3
WARNING
Before beginning work with the robot, make sure you are familiar with the safety
regulations described in the manual Safety manual for robot - Manipulator and
IRC5 or OmniCore controller .
22
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
2 Introduction to BullsEye®
2.4 Safety information
3 Installation
Component list
BullsEye consists of the following components:
•
BullsEye application manual (this manual). The manual is distributed in
electronic format.
•
BullsEye scanning device. Typically this will be the standard BullsEye yoke
described below.
•
BullsEye robot software. Software can be delivered as a separate product,
or as part of cell management software like GAP and EasyArc.
BullsEye yoke specification
40 ma, 24 VDC
Electrical
One digital input, 24 VDC, and 0 VDC
Robot connections
± 0.006" (0.163 mm)
Repeatability
Dimensions
Variant 0503060880:
![Image]
xx1400002302
Continues on next page
Application manual - BullsEye
23
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
3 Installation
Requirements for placing the scanning device
The BullsEye scanning device must be placed in a location that allows the robot
to move freely about the TCP without reaching its joint limits and without causing
undesirable cable tension.
![Image]
xx1400002303
Orientation of the scanning device
Although BullsEye can be configured to handle any scan device orientation, it is
easiest to setup BullsEye when the beam of the scanning device is in a plane
parallel to the plane of the robot base.
Requirements for placing the BullsEye
The BullsEye should be bolted securely in a position where the robot can reach it
and where it is not in the way of personnel working around the robot.
Continues on next page
24
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
3 Installation
Continued
|
ABB_Application_Manual_Bullseye
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| 24
|
3 Installation
Component list
BullsEye consists of the following components:
•
BullsEye application manual (this manual). The manual is distributed in
electronic format.
•
BullsEye scanning device. Typically this will be the standard BullsEye yoke
described below.
•
BullsEye robot software. Software can be delivered as a separate product,
or as part of cell management software like GAP and EasyArc.
BullsEye yoke specification
40 ma, 24 VDC
Electrical
One digital input, 24 VDC, and 0 VDC
Robot connections
± 0.006" (0.163 mm)
Repeatability
Dimensions
Variant 0503060880:
![Image]
xx1400002302
Continues on next page
Application manual - BullsEye
23
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
3 Installation
Requirements for placing the scanning device
The BullsEye scanning device must be placed in a location that allows the robot
to move freely about the TCP without reaching its joint limits and without causing
undesirable cable tension.
![Image]
xx1400002303
Orientation of the scanning device
Although BullsEye can be configured to handle any scan device orientation, it is
easiest to setup BullsEye when the beam of the scanning device is in a plane
parallel to the plane of the robot base.
Requirements for placing the BullsEye
The BullsEye should be bolted securely in a position where the robot can reach it
and where it is not in the way of personnel working around the robot.
Continues on next page
24
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
3 Installation
Continued
Illustration: Alignment angle
An alignment angle of 45° works best.
![Image]
xx1400002304
Installing the BullsEye
1
Place the BullsEye in a desired position without securing it permanently.
2
Load the software, see Loading BullsEye software on page 25 .
3
Complete the electrical installation, see Electrical installation on page 25 .
4
Do the start-up test, see Start-up test on page 26 .
5
Tighten the bolts holding the the BullsEye in position.
Loading BullsEye software
BullsEye software is loaded by selecting the BullsEye option in Installation Manager.
The BullsEye option is available for the robot controller only if the BullsEye option
is purchased.
If BullsEye is installed in a system with the Arc option, it will only be installed on
the robots that installs Arc . If installed in a system without the Arc option it will be
installed in all robots.
EIO Configuration
For DeviceNet or EtherNet/IP Local IO, the configuration of system parameters for
the I/O is set up automatically when loading the software. If a manual configuration
is done, make sure the parameter Connection Type is set to Change-Of-State
(COS) connection to get the most accurate measurement.
Electrical installation
The BullsEye is pre-wired at the factory for easy assembly. Connect the cable
provided from the robot controller to the connector on the BullsEye unit.
The installation of the BullsEye is described in Circuit diagram - Process Options
Torch Equipment , 3HEA802382-001 .
When the BullsEye is correctly wired, the LED on the I/O board corresponding to
the input should be illuminated only when the beam is broken.
Continues on next page
Application manual - BullsEye
25
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
3 Installation
Continued
|
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| 25
|
Requirements for placing the scanning device
The BullsEye scanning device must be placed in a location that allows the robot
to move freely about the TCP without reaching its joint limits and without causing
undesirable cable tension.
![Image]
xx1400002303
Orientation of the scanning device
Although BullsEye can be configured to handle any scan device orientation, it is
easiest to setup BullsEye when the beam of the scanning device is in a plane
parallel to the plane of the robot base.
Requirements for placing the BullsEye
The BullsEye should be bolted securely in a position where the robot can reach it
and where it is not in the way of personnel working around the robot.
Continues on next page
24
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
3 Installation
Continued
Illustration: Alignment angle
An alignment angle of 45° works best.
![Image]
xx1400002304
Installing the BullsEye
1
Place the BullsEye in a desired position without securing it permanently.
2
Load the software, see Loading BullsEye software on page 25 .
3
Complete the electrical installation, see Electrical installation on page 25 .
4
Do the start-up test, see Start-up test on page 26 .
5
Tighten the bolts holding the the BullsEye in position.
Loading BullsEye software
BullsEye software is loaded by selecting the BullsEye option in Installation Manager.
The BullsEye option is available for the robot controller only if the BullsEye option
is purchased.
If BullsEye is installed in a system with the Arc option, it will only be installed on
the robots that installs Arc . If installed in a system without the Arc option it will be
installed in all robots.
EIO Configuration
For DeviceNet or EtherNet/IP Local IO, the configuration of system parameters for
the I/O is set up automatically when loading the software. If a manual configuration
is done, make sure the parameter Connection Type is set to Change-Of-State
(COS) connection to get the most accurate measurement.
Electrical installation
The BullsEye is pre-wired at the factory for easy assembly. Connect the cable
provided from the robot controller to the connector on the BullsEye unit.
The installation of the BullsEye is described in Circuit diagram - Process Options
Torch Equipment , 3HEA802382-001 .
When the BullsEye is correctly wired, the LED on the I/O board corresponding to
the input should be illuminated only when the beam is broken.
Continues on next page
Application manual - BullsEye
25
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
3 Installation
Continued
Start-up test
Do a start-up test before running BullsEye.
Action
Make sure that the digital input connected to the scanning device is responding
correctly, by verifying that the signal is defined as an input on an I/O board.
1
Pass your hand through the BullsEye yoke beam to break the beam. The LED on
the I/O board corresponding to the input should turn on when the beam is broken.
If it does not, verify that the I/O board is configured properly and that the wiring is
correct.
2
26
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
3 Installation
Continued
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| 26
|
Illustration: Alignment angle
An alignment angle of 45° works best.
![Image]
xx1400002304
Installing the BullsEye
1
Place the BullsEye in a desired position without securing it permanently.
2
Load the software, see Loading BullsEye software on page 25 .
3
Complete the electrical installation, see Electrical installation on page 25 .
4
Do the start-up test, see Start-up test on page 26 .
5
Tighten the bolts holding the the BullsEye in position.
Loading BullsEye software
BullsEye software is loaded by selecting the BullsEye option in Installation Manager.
The BullsEye option is available for the robot controller only if the BullsEye option
is purchased.
If BullsEye is installed in a system with the Arc option, it will only be installed on
the robots that installs Arc . If installed in a system without the Arc option it will be
installed in all robots.
EIO Configuration
For DeviceNet or EtherNet/IP Local IO, the configuration of system parameters for
the I/O is set up automatically when loading the software. If a manual configuration
is done, make sure the parameter Connection Type is set to Change-Of-State
(COS) connection to get the most accurate measurement.
Electrical installation
The BullsEye is pre-wired at the factory for easy assembly. Connect the cable
provided from the robot controller to the connector on the BullsEye unit.
The installation of the BullsEye is described in Circuit diagram - Process Options
Torch Equipment , 3HEA802382-001 .
When the BullsEye is correctly wired, the LED on the I/O board corresponding to
the input should be illuminated only when the beam is broken.
Continues on next page
Application manual - BullsEye
25
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
3 Installation
Continued
Start-up test
Do a start-up test before running BullsEye.
Action
Make sure that the digital input connected to the scanning device is responding
correctly, by verifying that the signal is defined as an input on an I/O board.
1
Pass your hand through the BullsEye yoke beam to break the beam. The LED on
the I/O board corresponding to the input should turn on when the beam is broken.
If it does not, verify that the I/O board is configured properly and that the wiring is
correct.
2
26
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
3 Installation
Continued
4 Maintenance
Overview
The BullsEye is shipped complete and requires very little maintenance aside from
keeping the unit clean. For wiring information, see Electrical installation on page25 .
Application manual - BullsEye
27
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
4 Maintenance
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| 27
|
Start-up test
Do a start-up test before running BullsEye.
Action
Make sure that the digital input connected to the scanning device is responding
correctly, by verifying that the signal is defined as an input on an I/O board.
1
Pass your hand through the BullsEye yoke beam to break the beam. The LED on
the I/O board corresponding to the input should turn on when the beam is broken.
If it does not, verify that the I/O board is configured properly and that the wiring is
correct.
2
26
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
3 Installation
Continued
4 Maintenance
Overview
The BullsEye is shipped complete and requires very little maintenance aside from
keeping the unit clean. For wiring information, see Electrical installation on page25 .
Application manual - BullsEye
27
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
4 Maintenance
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| 28
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4 Maintenance
Overview
The BullsEye is shipped complete and requires very little maintenance aside from
keeping the unit clean. For wiring information, see Electrical installation on page25 .
Application manual - BullsEye
27
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
4 Maintenance
This page is intentionally left blank
5 User guide
WARNING
Failure to follow safety guidelines presented throughout this manual can result
in property damage or serious injury.
WARNING
The power supply must always be switched off whenever work is carried out in
the control cabinet.
WARNING
Even though the power is switched off at the robot controller, there may be
energized cables connected to external equipment and are consequently not
affected by the mains switch on the controller.
Continues on next page
Application manual - BullsEye
29
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© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
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| 29
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This page is intentionally left blank
5 User guide
WARNING
Failure to follow safety guidelines presented throughout this manual can result
in property damage or serious injury.
WARNING
The power supply must always be switched off whenever work is carried out in
the control cabinet.
WARNING
Even though the power is switched off at the robot controller, there may be
energized cables connected to external equipment and are consequently not
affected by the mains switch on the controller.
Continues on next page
Application manual - BullsEye
29
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.1 Overview
Initialization and define a tool
The first step in using BullsEye® is to define a tool. This is done using the
BESetupToolJ instruction. This instruction adds a tooldata instance to the
BullsEye collection of tools, defines the starting position, and lets BullsEye know
how it should behave when other global methods are called. This information is
passed to the instruction through several required and optional arguments.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scanBullsMig,
devYokeUp, v100, fine, tWeldGun;
QuickCheck
To evaluate the TCP, use the QuickCheck functionality:
BECheckTcp tTestTemp\XYZOnly;
If the QuickCheck fails, a more involved search pattern will automatically be made.
If successful, the tool may be updated. The optional argument XYZOnly indicates
that the orientation of the tool should not be checked or updated. Using this will
greatly decrease the time it takes to update the tool.
Update TCP (optional)
The instruction BEUpdateTcp will run a full scan sequence and update the tool
regardless of how far off it is. This routine is generally used for evaluation purposes
only.
30
Application manual - BullsEye
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5 User guide
5.1 Overview
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| 30
|
5 User guide
WARNING
Failure to follow safety guidelines presented throughout this manual can result
in property damage or serious injury.
WARNING
The power supply must always be switched off whenever work is carried out in
the control cabinet.
WARNING
Even though the power is switched off at the robot controller, there may be
energized cables connected to external equipment and are consequently not
affected by the mains switch on the controller.
Continues on next page
Application manual - BullsEye
29
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5 User guide
5.1 Overview
Initialization and define a tool
The first step in using BullsEye® is to define a tool. This is done using the
BESetupToolJ instruction. This instruction adds a tooldata instance to the
BullsEye collection of tools, defines the starting position, and lets BullsEye know
how it should behave when other global methods are called. This information is
passed to the instruction through several required and optional arguments.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scanBullsMig,
devYokeUp, v100, fine, tWeldGun;
QuickCheck
To evaluate the TCP, use the QuickCheck functionality:
BECheckTcp tTestTemp\XYZOnly;
If the QuickCheck fails, a more involved search pattern will automatically be made.
If successful, the tool may be updated. The optional argument XYZOnly indicates
that the orientation of the tool should not be checked or updated. Using this will
greatly decrease the time it takes to update the tool.
Update TCP (optional)
The instruction BEUpdateTcp will run a full scan sequence and update the tool
regardless of how far off it is. This routine is generally used for evaluation purposes
only.
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5 User guide
5.1 Overview
5.2 Data storage
Storage
The data is stored in a text file on the robot controller. The format of the file
represents a RAPID module allowing BullsEye to read the data into the controller
when it needs to access the saved data.
The file is stored in the following directory, with a name like, $HOME\BullsEye®
\BE_Data_T_ROB1.sys , where T_ROB1 is the name of the task. Each robot task
that is using BullsEye will have its own data file. The directory path may not be
changed.
Automatic save
The data file is automatically saved after each BullsEye update action. It is
automatically read before each BullsEye check action. If the file is missing, BullsEye
assumes that no saved data is available and will force the user to execute a
BullsEye setup routine.
Backup
The data file will be included in the backup when a system backup is ordered. A
system restored from a backup will retain the stored data.
WARNING
BullsEye uses a temporary system module called BE_Data to store and recover
setup information. For this reason, it is not permitted to have another module
loaded in the robot motion task called BE_Data , or BullsEye will be unable to
save and retrieve data.
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5.1 Overview
Initialization and define a tool
The first step in using BullsEye® is to define a tool. This is done using the
BESetupToolJ instruction. This instruction adds a tooldata instance to the
BullsEye collection of tools, defines the starting position, and lets BullsEye know
how it should behave when other global methods are called. This information is
passed to the instruction through several required and optional arguments.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scanBullsMig,
devYokeUp, v100, fine, tWeldGun;
QuickCheck
To evaluate the TCP, use the QuickCheck functionality:
BECheckTcp tTestTemp\XYZOnly;
If the QuickCheck fails, a more involved search pattern will automatically be made.
If successful, the tool may be updated. The optional argument XYZOnly indicates
that the orientation of the tool should not be checked or updated. Using this will
greatly decrease the time it takes to update the tool.
Update TCP (optional)
The instruction BEUpdateTcp will run a full scan sequence and update the tool
regardless of how far off it is. This routine is generally used for evaluation purposes
only.
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5 User guide
5.1 Overview
5.2 Data storage
Storage
The data is stored in a text file on the robot controller. The format of the file
represents a RAPID module allowing BullsEye to read the data into the controller
when it needs to access the saved data.
The file is stored in the following directory, with a name like, $HOME\BullsEye®
\BE_Data_T_ROB1.sys , where T_ROB1 is the name of the task. Each robot task
that is using BullsEye will have its own data file. The directory path may not be
changed.
Automatic save
The data file is automatically saved after each BullsEye update action. It is
automatically read before each BullsEye check action. If the file is missing, BullsEye
assumes that no saved data is available and will force the user to execute a
BullsEye setup routine.
Backup
The data file will be included in the backup when a system backup is ordered. A
system restored from a backup will retain the stored data.
WARNING
BullsEye uses a temporary system module called BE_Data to store and recover
setup information. For this reason, it is not permitted to have another module
loaded in the robot motion task called BE_Data , or BullsEye will be unable to
save and retrieve data.
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5 User guide
5.2 Data storage
5.3 Using BullsEye
Introduction
The user module in your system may look different than the basic example used
in this procedure, however, all user modules will make calls to BullsEye methods
like BECheckTcp and BESetupToolJ . This section focuses solely on the flexibility
of these global methods themselves.
This section will focus on a discussion of BESetupToolJ , followed by an overview
of BECheckTcp . More detailed, technical descriptions of any of these global
methods may be found in section Instructions on page 67 .
After reading this section you will know how to:
1
Reference appropriate scan data, device data, and tool design data when
calling the setup routine, BESetupToolJ .
2
Create copies of default scan data, device data, and tool design data, make
changes to those copies, and ultimately reference these new instances.
3
Use the optional arguments in all the global methods to tailor the behavior
to your needs.
Continues on next page
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5.2 Data storage
Storage
The data is stored in a text file on the robot controller. The format of the file
represents a RAPID module allowing BullsEye to read the data into the controller
when it needs to access the saved data.
The file is stored in the following directory, with a name like, $HOME\BullsEye®
\BE_Data_T_ROB1.sys , where T_ROB1 is the name of the task. Each robot task
that is using BullsEye will have its own data file. The directory path may not be
changed.
Automatic save
The data file is automatically saved after each BullsEye update action. It is
automatically read before each BullsEye check action. If the file is missing, BullsEye
assumes that no saved data is available and will force the user to execute a
BullsEye setup routine.
Backup
The data file will be included in the backup when a system backup is ordered. A
system restored from a backup will retain the stored data.
WARNING
BullsEye uses a temporary system module called BE_Data to store and recover
setup information. For this reason, it is not permitted to have another module
loaded in the robot motion task called BE_Data , or BullsEye will be unable to
save and retrieve data.
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5 User guide
5.2 Data storage
5.3 Using BullsEye
Introduction
The user module in your system may look different than the basic example used
in this procedure, however, all user modules will make calls to BullsEye methods
like BECheckTcp and BESetupToolJ . This section focuses solely on the flexibility
of these global methods themselves.
This section will focus on a discussion of BESetupToolJ , followed by an overview
of BECheckTcp . More detailed, technical descriptions of any of these global
methods may be found in section Instructions on page 67 .
After reading this section you will know how to:
1
Reference appropriate scan data, device data, and tool design data when
calling the setup routine, BESetupToolJ .
2
Create copies of default scan data, device data, and tool design data, make
changes to those copies, and ultimately reference these new instances.
3
Use the optional arguments in all the global methods to tailor the behavior
to your needs.
Continues on next page
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5 User guide
5.3 Using BullsEye
5.3.1 The global methods of BullsEye
The term global method
BullsEye has several global methods used to access BullsEye features. The term,
global methods , refers to RAPID instructions that are visible from your RAPID
program. That is to say that the instructions may be called from your RAPID program
in the same way you might make a call to the MoveJ instruction.
BullsEye global metohods
The BullsEye global methods are:
Check the TCP.
BECheckTcp
Turn on/off debug logging.
BEDebugState
Move to the reference pointer.
BERefPointer
Setup the tool by making an initial measure-
ment.
BESetupToolJ
Change the TCP extension without re-meas-
uring the tool.
BETcpExtend
Measure the tool and update regardless of
the measured error.
BEUpdateTcp
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5.3 Using BullsEye
Introduction
The user module in your system may look different than the basic example used
in this procedure, however, all user modules will make calls to BullsEye methods
like BECheckTcp and BESetupToolJ . This section focuses solely on the flexibility
of these global methods themselves.
This section will focus on a discussion of BESetupToolJ , followed by an overview
of BECheckTcp . More detailed, technical descriptions of any of these global
methods may be found in section Instructions on page 67 .
After reading this section you will know how to:
1
Reference appropriate scan data, device data, and tool design data when
calling the setup routine, BESetupToolJ .
2
Create copies of default scan data, device data, and tool design data, make
changes to those copies, and ultimately reference these new instances.
3
Use the optional arguments in all the global methods to tailor the behavior
to your needs.
Continues on next page
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5 User guide
5.3 Using BullsEye
5.3.1 The global methods of BullsEye
The term global method
BullsEye has several global methods used to access BullsEye features. The term,
global methods , refers to RAPID instructions that are visible from your RAPID
program. That is to say that the instructions may be called from your RAPID program
in the same way you might make a call to the MoveJ instruction.
BullsEye global metohods
The BullsEye global methods are:
Check the TCP.
BECheckTcp
Turn on/off debug logging.
BEDebugState
Move to the reference pointer.
BERefPointer
Setup the tool by making an initial measure-
ment.
BESetupToolJ
Change the TCP extension without re-meas-
uring the tool.
BETcpExtend
Measure the tool and update regardless of
the measured error.
BEUpdateTcp
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5 User guide
5.3.1 The global methods of BullsEye
5.3.2 Defining a tool
Defining a tool
Action
Use the BESetupToolJ instruction to define a tool. This instruction adds a tooldata
instance to the BullsEye collection of tools, defines the starting position, and lets
BullsEye know how it should behave when other global methods are called. This
information is passed to the instruction through several required and optional argu-
ments.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp, v100, fine, tWeldGun;
1
The following figure shows ModPos of the instruction BESetupToolJ .
![Image]
xx1400001217
The instruction contains two jointtarget arguments, and one tooldata argument.
As a result, the jointtarget may be modified using ModPos .
Continues on next page
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5.3.2 Defining a tool
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5.3.1 The global methods of BullsEye
The term global method
BullsEye has several global methods used to access BullsEye features. The term,
global methods , refers to RAPID instructions that are visible from your RAPID
program. That is to say that the instructions may be called from your RAPID program
in the same way you might make a call to the MoveJ instruction.
BullsEye global metohods
The BullsEye global methods are:
Check the TCP.
BECheckTcp
Turn on/off debug logging.
BEDebugState
Move to the reference pointer.
BERefPointer
Setup the tool by making an initial measure-
ment.
BESetupToolJ
Change the TCP extension without re-meas-
uring the tool.
BETcpExtend
Measure the tool and update regardless of
the measured error.
BEUpdateTcp
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5 User guide
5.3.1 The global methods of BullsEye
5.3.2 Defining a tool
Defining a tool
Action
Use the BESetupToolJ instruction to define a tool. This instruction adds a tooldata
instance to the BullsEye collection of tools, defines the starting position, and lets
BullsEye know how it should behave when other global methods are called. This
information is passed to the instruction through several required and optional argu-
ments.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp, v100, fine, tWeldGun;
1
The following figure shows ModPos of the instruction BESetupToolJ .
![Image]
xx1400001217
The instruction contains two jointtarget arguments, and one tooldata argument.
As a result, the jointtarget may be modified using ModPos .
Continues on next page
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5 User guide
5.3.2 Defining a tool
Action
The approach position, in this example, jtApprPos , is an intermediate point that
should be defined near the BullsEye sensor to allow unobstructed access to the
sensor.
2
The start position, in this example, jtStartPos , defines the starting point for the
measurement scans. The movements made by the global method BESetupToolJ
are dictated by this starting position. This position must be chosen so that the robot
will not reach its joint limits or pass too close to singularity. This takes practice and
patience. Try to choose a position that does not put the robot near its joint limits to
start. The start position should have the actual TCP near the center of the beam.
The following figure shows a start position.
![Image]
xx1400001218
After the start position comes the TCP extension. This is the length of the TCP ex-
tension in millimeters. On a MIG welding torch this corresponds to wire stick-out as
measured from the end of the gas cup.
BESetupToolJ jtApprPos, jtStartPos, 15 , tdMigDefault, scan-
BullsMig, devYokeUp, v100, fine, tWeldGun;
3
After the TCP extension comes three BullsEye specific data types called Tool
Design Data , Scan Data , and Device Data .
4
These three data types provide configurable parameters used to influence the beha-
vior of BullsEye for the newly added tool. The names of the data type are
be_tooldesign , be_scan , and be_device , respectively. This section will cover
some of the basic parameters. For more detailed information refer to the section
Data types on page 55 .
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp , v100, fine, tWeldGun;
The next argument in the BESetupToolJ instruction is the speeddata argument.
The robot will move to the approach position with this TCP speed.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp, v100 , fine, tWeldGun;
5
The BESetupToolJ instruction contains a zonedata argument. This zone will affect
the behavior of the path as the robot moves past the approach position.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp, v100, fine , tWeldGun;
6
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5.3.2 Defining a tool
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5.3.2 Defining a tool
Defining a tool
Action
Use the BESetupToolJ instruction to define a tool. This instruction adds a tooldata
instance to the BullsEye collection of tools, defines the starting position, and lets
BullsEye know how it should behave when other global methods are called. This
information is passed to the instruction through several required and optional argu-
ments.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp, v100, fine, tWeldGun;
1
The following figure shows ModPos of the instruction BESetupToolJ .
![Image]
xx1400001217
The instruction contains two jointtarget arguments, and one tooldata argument.
As a result, the jointtarget may be modified using ModPos .
Continues on next page
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5 User guide
5.3.2 Defining a tool
Action
The approach position, in this example, jtApprPos , is an intermediate point that
should be defined near the BullsEye sensor to allow unobstructed access to the
sensor.
2
The start position, in this example, jtStartPos , defines the starting point for the
measurement scans. The movements made by the global method BESetupToolJ
are dictated by this starting position. This position must be chosen so that the robot
will not reach its joint limits or pass too close to singularity. This takes practice and
patience. Try to choose a position that does not put the robot near its joint limits to
start. The start position should have the actual TCP near the center of the beam.
The following figure shows a start position.
![Image]
xx1400001218
After the start position comes the TCP extension. This is the length of the TCP ex-
tension in millimeters. On a MIG welding torch this corresponds to wire stick-out as
measured from the end of the gas cup.
BESetupToolJ jtApprPos, jtStartPos, 15 , tdMigDefault, scan-
BullsMig, devYokeUp, v100, fine, tWeldGun;
3
After the TCP extension comes three BullsEye specific data types called Tool
Design Data , Scan Data , and Device Data .
4
These three data types provide configurable parameters used to influence the beha-
vior of BullsEye for the newly added tool. The names of the data type are
be_tooldesign , be_scan , and be_device , respectively. This section will cover
some of the basic parameters. For more detailed information refer to the section
Data types on page 55 .
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp , v100, fine, tWeldGun;
The next argument in the BESetupToolJ instruction is the speeddata argument.
The robot will move to the approach position with this TCP speed.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp, v100 , fine, tWeldGun;
5
The BESetupToolJ instruction contains a zonedata argument. This zone will affect
the behavior of the path as the robot moves past the approach position.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp, v100, fine , tWeldGun;
6
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5.3.2 Defining a tool
Continued
Action
The next argument is the tool. All information passed to BullsEye with the
BESetupToolJ instruction will be associated by the tool name.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp, v100, fine, tWeldGun;
7
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5.3.2 Defining a tool
Continued
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Action
The approach position, in this example, jtApprPos , is an intermediate point that
should be defined near the BullsEye sensor to allow unobstructed access to the
sensor.
2
The start position, in this example, jtStartPos , defines the starting point for the
measurement scans. The movements made by the global method BESetupToolJ
are dictated by this starting position. This position must be chosen so that the robot
will not reach its joint limits or pass too close to singularity. This takes practice and
patience. Try to choose a position that does not put the robot near its joint limits to
start. The start position should have the actual TCP near the center of the beam.
The following figure shows a start position.
![Image]
xx1400001218
After the start position comes the TCP extension. This is the length of the TCP ex-
tension in millimeters. On a MIG welding torch this corresponds to wire stick-out as
measured from the end of the gas cup.
BESetupToolJ jtApprPos, jtStartPos, 15 , tdMigDefault, scan-
BullsMig, devYokeUp, v100, fine, tWeldGun;
3
After the TCP extension comes three BullsEye specific data types called Tool
Design Data , Scan Data , and Device Data .
4
These three data types provide configurable parameters used to influence the beha-
vior of BullsEye for the newly added tool. The names of the data type are
be_tooldesign , be_scan , and be_device , respectively. This section will cover
some of the basic parameters. For more detailed information refer to the section
Data types on page 55 .
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp , v100, fine, tWeldGun;
The next argument in the BESetupToolJ instruction is the speeddata argument.
The robot will move to the approach position with this TCP speed.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp, v100 , fine, tWeldGun;
5
The BESetupToolJ instruction contains a zonedata argument. This zone will affect
the behavior of the path as the robot moves past the approach position.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp, v100, fine , tWeldGun;
6
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5.3.2 Defining a tool
Continued
Action
The next argument is the tool. All information passed to BullsEye with the
BESetupToolJ instruction will be associated by the tool name.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp, v100, fine, tWeldGun;
7
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5.3.2 Defining a tool
Continued
5.3.3 Default BullsEye data
Introduction
The BullsEye installation includes default data instances be_tooldesign ,
be_scan , and be_device that may be used directly, or copied for use in, the
BESetupToolJ instruction.
These defaults include:
Default tool design parameters for a typical MIG welding torch.
tdMigDefault
Default tool design parameters for a typical plasma or laser cutting
head used with the standard BullsEye yoke scanning device.
tdCutTool
Some tools are best defined by adding a hardware extension probe
to the end of the tool. This example contains data for a typical probe.
tdArtificialExt
Calibration tooling balls are sometimes used for calibrating the robot
cell. When a small tooling ball is mounted on the robot as a tool,
this data instance will provide data that allows BullsEye to find the
center of the ball.
tdCalibBall
Default device data for a standard BullsEye yoke scanning device
positioned with the yoke facing up relative to the robot base.
devYokeUp
Default device data for a standard BullsEye yoke scanning device
positioned with the yoke facing down relative to the robot base.
devYokeDown
Default scan data for a standard MIG torch with wire extension.
scanBullsMig
Default scan data for a typical cutting head used with the standard
BullsEye yoke scanning device.
scanCutTool
Usage
Any of these default data instances may be used in the BESetupToolJ instruction.
In the example used in this section, the defaults tdMigDefault , scanBullsMig ,
and devYokeUp , are used. These are good parameters for a standard MIG torch
like the one shown in Defining a tool on page 34 , used with the standard BullsEye
yoke-style scanning device.
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5.3.3 Default BullsEye data
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Action
The next argument is the tool. All information passed to BullsEye with the
BESetupToolJ instruction will be associated by the tool name.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp, v100, fine, tWeldGun;
7
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5.3.2 Defining a tool
Continued
5.3.3 Default BullsEye data
Introduction
The BullsEye installation includes default data instances be_tooldesign ,
be_scan , and be_device that may be used directly, or copied for use in, the
BESetupToolJ instruction.
These defaults include:
Default tool design parameters for a typical MIG welding torch.
tdMigDefault
Default tool design parameters for a typical plasma or laser cutting
head used with the standard BullsEye yoke scanning device.
tdCutTool
Some tools are best defined by adding a hardware extension probe
to the end of the tool. This example contains data for a typical probe.
tdArtificialExt
Calibration tooling balls are sometimes used for calibrating the robot
cell. When a small tooling ball is mounted on the robot as a tool,
this data instance will provide data that allows BullsEye to find the
center of the ball.
tdCalibBall
Default device data for a standard BullsEye yoke scanning device
positioned with the yoke facing up relative to the robot base.
devYokeUp
Default device data for a standard BullsEye yoke scanning device
positioned with the yoke facing down relative to the robot base.
devYokeDown
Default scan data for a standard MIG torch with wire extension.
scanBullsMig
Default scan data for a typical cutting head used with the standard
BullsEye yoke scanning device.
scanCutTool
Usage
Any of these default data instances may be used in the BESetupToolJ instruction.
In the example used in this section, the defaults tdMigDefault , scanBullsMig ,
and devYokeUp , are used. These are good parameters for a standard MIG torch
like the one shown in Defining a tool on page 34 , used with the standard BullsEye
yoke-style scanning device.
Application manual - BullsEye
37
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© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.3 Default BullsEye data
5.3.4 Selecting different BullsEye data
Introduction
Sometimes it is necessary to choose a different data instance. Consider a system
where the BullsEye yoke is mounted upside down.
Illustration: scan device orientations
![Image]
xx1400001220
![Image]
xx1400001219
The image on the left shows the yoke mounted right side up.The figure on the right
shows the yoke mounted upside down. If the yoke is mounted upside down, we
can not use the default device data, devYokeUp , because its parameters will be
incorrect.
Continues on next page
38
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5 User guide
5.3.4 Selecting different BullsEye data
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| 38
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5.3.3 Default BullsEye data
Introduction
The BullsEye installation includes default data instances be_tooldesign ,
be_scan , and be_device that may be used directly, or copied for use in, the
BESetupToolJ instruction.
These defaults include:
Default tool design parameters for a typical MIG welding torch.
tdMigDefault
Default tool design parameters for a typical plasma or laser cutting
head used with the standard BullsEye yoke scanning device.
tdCutTool
Some tools are best defined by adding a hardware extension probe
to the end of the tool. This example contains data for a typical probe.
tdArtificialExt
Calibration tooling balls are sometimes used for calibrating the robot
cell. When a small tooling ball is mounted on the robot as a tool,
this data instance will provide data that allows BullsEye to find the
center of the ball.
tdCalibBall
Default device data for a standard BullsEye yoke scanning device
positioned with the yoke facing up relative to the robot base.
devYokeUp
Default device data for a standard BullsEye yoke scanning device
positioned with the yoke facing down relative to the robot base.
devYokeDown
Default scan data for a standard MIG torch with wire extension.
scanBullsMig
Default scan data for a typical cutting head used with the standard
BullsEye yoke scanning device.
scanCutTool
Usage
Any of these default data instances may be used in the BESetupToolJ instruction.
In the example used in this section, the defaults tdMigDefault , scanBullsMig ,
and devYokeUp , are used. These are good parameters for a standard MIG torch
like the one shown in Defining a tool on page 34 , used with the standard BullsEye
yoke-style scanning device.
Application manual - BullsEye
37
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.3 Default BullsEye data
5.3.4 Selecting different BullsEye data
Introduction
Sometimes it is necessary to choose a different data instance. Consider a system
where the BullsEye yoke is mounted upside down.
Illustration: scan device orientations
![Image]
xx1400001220
![Image]
xx1400001219
The image on the left shows the yoke mounted right side up.The figure on the right
shows the yoke mounted upside down. If the yoke is mounted upside down, we
can not use the default device data, devYokeUp , because its parameters will be
incorrect.
Continues on next page
38
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.4 Selecting different BullsEye data
Selecting different BullsEye data
Action
To select a different data instance:
1
Select the device data argument in the BESetupToolJ instruction. Then tap Change
Selected in the Edit menu.
![Image]
xx1400001221
A list of all available device data will be presented.
2
Select the devYokeDown instance and tap OK .
![Image]
xx1400001222
The new device data is now added to the BESetupToolJ instruction. When the in-
struction is run, the parameters included in devYokeDown will be associated with
tWeldGun .
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeDown , v100, fine, tWeldGun;
3
Continues on next page
Application manual - BullsEye
39
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© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.4 Selecting different BullsEye data
Continued
|
ABB_Application_Manual_Bullseye
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 39
|
5.3.4 Selecting different BullsEye data
Introduction
Sometimes it is necessary to choose a different data instance. Consider a system
where the BullsEye yoke is mounted upside down.
Illustration: scan device orientations
![Image]
xx1400001220
![Image]
xx1400001219
The image on the left shows the yoke mounted right side up.The figure on the right
shows the yoke mounted upside down. If the yoke is mounted upside down, we
can not use the default device data, devYokeUp , because its parameters will be
incorrect.
Continues on next page
38
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.4 Selecting different BullsEye data
Selecting different BullsEye data
Action
To select a different data instance:
1
Select the device data argument in the BESetupToolJ instruction. Then tap Change
Selected in the Edit menu.
![Image]
xx1400001221
A list of all available device data will be presented.
2
Select the devYokeDown instance and tap OK .
![Image]
xx1400001222
The new device data is now added to the BESetupToolJ instruction. When the in-
struction is run, the parameters included in devYokeDown will be associated with
tWeldGun .
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeDown , v100, fine, tWeldGun;
3
Continues on next page
Application manual - BullsEye
39
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.4 Selecting different BullsEye data
Continued
Note
This general procedure is used for choosing new be_scan and be_tooldesign
data, also.
40
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.4 Selecting different BullsEye data
Continued
|
ABB_Application_Manual_Bullseye
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 40
|
Selecting different BullsEye data
Action
To select a different data instance:
1
Select the device data argument in the BESetupToolJ instruction. Then tap Change
Selected in the Edit menu.
![Image]
xx1400001221
A list of all available device data will be presented.
2
Select the devYokeDown instance and tap OK .
![Image]
xx1400001222
The new device data is now added to the BESetupToolJ instruction. When the in-
struction is run, the parameters included in devYokeDown will be associated with
tWeldGun .
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeDown , v100, fine, tWeldGun;
3
Continues on next page
Application manual - BullsEye
39
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.4 Selecting different BullsEye data
Continued
Note
This general procedure is used for choosing new be_scan and be_tooldesign
data, also.
40
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.4 Selecting different BullsEye data
Continued
5.3.5 Creating new BullsEye data instances
Introduction
The default be_device , be_tooldesign , and be_scan data instances provided
with BullsEye cannot be changed because the module is declared as a read-only
resource. Suppose the default parameters provided do not support the BullsEye
setup in your system. A common parameter that sometimes requires a change is
the Signal Name . The BullsEye scanning device is wired to a digital input in the
controller. The signal name used in BullsEye must match the signal name defined
in system parameters. Creating a new be_device data instance allows us to make
that change.
Continues on next page
Application manual - BullsEye
41
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.5 Creating new BullsEye data instances
|
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