Document Name stringclasses 11
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ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 365 | 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 sett... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 366 | 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
Th... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 367 | 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 th... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 368 | 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 f... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 369 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 370 | 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 da... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 371 | 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.
370
Application manual - Controller software IRC5
3HAC050798-001 Re... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 372 | 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 .
... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 373 | <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"... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 374 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 375 | 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 ro... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 376 | 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="... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 377 | 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
SiCon... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 378 | 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 usi... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 379 | This page is intentionally left blank
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 th... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 380 | 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. Thi... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 381 | 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 chang... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 382 | 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 ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 383 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 384 | 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
connec... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 385 | The following parameter values are set for gun1 and gun2 in the type Relay :
Input Signal
Name
di1
gun1_relay
di2
gun2_relay
384
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
10 Tool control options
10.1.4 Connection relay
Continued
10.1.5 Too... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 386 | 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 reco... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 387 | 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 d... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 388 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 389 | 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 mo... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 390 | 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 ins... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 391 | 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
to... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 392 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 393 | 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 forc... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 394 | 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 an... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 395 | 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 ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 396 | 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 w... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 397 | 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 absolut... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 398 | 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 reg... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 399 | 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 configura... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 400 | After service / repair the revolution counter must be updated since the position
has been lost, see Update revolution counter on page 400 .
Application manual - Controller software IRC5
399
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
10 Tool control options
10.2.7 Commissioning and servi... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 401 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 402 | 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 routin... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 403 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 404 | 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.
Application manual - Controller software IRC5
403
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 405 | 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 i... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 406 | 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.
Poss... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 407 | 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 ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 408 | 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 pos... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 409 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 410 | 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 RobotS... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 411 | 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 v... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 412 | 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 Externa... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 413 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 414 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 415 | This page is intentionally left blank
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, 3... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 416 | 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
acknow... |
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 setting... |
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
Indepe... |
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, 39... |
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
Regulato... |
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, 2... |
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
WriteA... |
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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 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 N... |
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 | 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 no... |
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 subjec... |
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 respo... |
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 war... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 6 | Table of contents
7
Overview of this manual ...................................................................................................................
9
Product documentation ....................................................................................................................
11
1
Safety
11
1.1
... |
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 ... |
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
c... |
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 RobotWa... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 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 my... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 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 2004-202... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 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 acceptabl... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 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... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 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.... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 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 ro... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 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 s... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 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
a... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 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 t... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 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... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 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 f... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 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_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 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... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 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 ... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 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... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 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 con... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 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 installat... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 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 cor... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 28 | 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... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 29 | 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 swi... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 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, ther... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 31 | 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 gl... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 32 | 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... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 33 | 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 sec... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 34 | 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 w... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 35 | 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... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 36 | 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 met... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 37 | 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
36
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyrig... |
ABB_Application_Manual_Bullseye | https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf | 38 | 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.
tdMigDefau... |
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... |
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 .... |
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