Operating Manual - RobotWare Machine Tending

Operating Manual - RobotWare Machine Tending
ABB Robotics
Operating Manual
RobotWare Machine Tending
Trace back information:
Workspace Main version a29
Checked in 2013-04-15
Skribenta version 4.0.006
Operating Manual
RobotWare Machine Tending
Document ID: 3HAC044397-001
Revision: A
© Copyright 2013 ABB. All rights reserved.
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, damages 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.
Additional copies of this manual may be obtained from ABB.
The original language for this publication is English. Any other languages that are
supplied have been translated from English.
© Copyright 2013 ABB. All rights reserved.
ABB AB
Robotics Products
SE-721 68 Västerås
Table of contents
Table of contents
Overview of this manual ................................................................................................................... 7
Product documentation, M2004 .......................................................................................................
8
Safety ................................................................................................................................................ 10
1
Introduction
11
2
The graphical user interface
13
2.1
2.2
2.3
2.4
13
14
15
17
17
19
22
23
25
27
27
28
29
30
31
33
2.5
2.6
2.7
2.8
2.9
3
Managing projects
35
3.1
3.2
35
36
36
38
39
40
41
42
43
46
47
48
3.3
3.4
3.5
3.6
3.7
3.8
3.9
4
Starting the graphical user interface .....................................................................
Main view ........................................................................................................
Project view .....................................................................................................
Production view ................................................................................................
2.4.1 Introduction to Production view ..................................................................
2.4.2 Status information of the robot task ............................................................
2.4.3 Station status .........................................................................................
Signal view ......................................................................................................
Setup view .......................................................................................................
Dialog settings ..................................................................................................
2.7.1 Introduction to dialog settings ....................................................................
2.7.2 Query dialog for Starting production ..........................................................
2.7.3 Query dialog for HomeRun request ............................................................
2.7.4 Query dialog for Manually controlling the gripper ........................................
Application errors ..............................................................................................
Messages from the robot program ........................................................................
General ...........................................................................................................
Project data and files .........................................................................................
3.2.1 Folder structure of a project ......................................................................
3.2.2 PackAndGo folder structure and content .....................................................
3.2.3 RWMT project file structure .......................................................................
Unknown projects .............................................................................................
Loading a project ..............................................................................................
Saving a project ................................................................................................
Saving a project with new name or modified project data ..........................................
Unloading a project ...........................................................................................
Importing a project ............................................................................................
Exporting a project ............................................................................................
Running production
49
4.1
4.2
4.3
4.4
49
50
51
52
52
53
54
55
56
57
58
58
59
60
61
62
4.5
Introduction to running production ........................................................................
The Start menu ................................................................................................
Cell operation mode ..........................................................................................
Program cycles .................................................................................................
4.4.1 Introduction to program cycles ..................................................................
4.4.2 Supported cycle types ..............................................................................
4.4.3 Executing a start cycle (Start menu) ...........................................................
4.4.4 Executing action cycles (Action menu) ........................................................
4.4.5 Pausing or ending a cycle (Action menu) .....................................................
4.4.6 Continuing a cycle (Continue menu) ...........................................................
Cycle settings ...................................................................................................
4.5.1 Introduction to cycle settings .....................................................................
4.5.2 Setting the start cycles .............................................................................
4.5.3 Setting the action cycles ...........................................................................
4.5.4 Displaying and editing cycles ....................................................................
4.5.5 Preselecting a cycle for execution .............................................................
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Table of contents
5
Station and robot data view
63
5.1
5.2
5.3
5.4
5.5
63
64
66
69
70
70
72
73
5.6
6
7
8
9
Introduction to station and robot data view .............................................................
Station status ...................................................................................................
Robot station data .............................................................................................
Indication of test mode or logging activity ..............................................................
Station variables ...............................................................................................
5.5.1 Description of the variable view .................................................................
5.5.2 Changing a numerical variable ...................................................................
Station signals ..................................................................................................
Manual gripper operations
75
6.1
6.2
6.3
6.4
6.5
6.6
75
76
78
79
80
82
Introduction to manual gripper options ..................................................................
Gripper window ................................................................................................
Controlling an actuator .......................................................................................
Displaying the part control sensors .......................................................................
Gripper sequences ............................................................................................
Executing a gripper sequence .............................................................................
Part data window
83
7.1
7.2
7.3
83
84
86
Introduction to part data window ..........................................................................
Description of the part data window ......................................................................
Manual selection of a part ...................................................................................
Advanced HotEdit
87
8.1
8.2
8.3
87
88
90
Introduction to advanced HotEdit .........................................................................
Description of the HotEdit window ........................................................................
Changing a robot position ...................................................................................
Service menu
9.1
9.2
9.3
9.4
9.5
93
Overview .........................................................................................................
Service menu ...................................................................................................
Executing a setup routine or service routine ...........................................................
Cancel the service routine ..................................................................................
Set program pointer to main ................................................................................
93
94
97
99
100
10 User administration
101
Index
103
6
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© Copyright 2013 ABB. All rights reserved.
Overview of this manual
Overview of this manual
About this manual
This manual explains how to work with the RobotWare Machine Tending using
IRC5 with FlexPendant.
Usage
This manual is used while referring to the user interface of the RobotWare Machine
Tending option.
Who should read this manual?
This manual is intended for:
•
operators
•
set-up and configuration personnel
•
robot programmers
Prerequisites
The reader should be familiar with
•
Industrial robots and their basic terminology
References
References
Document ID
Technical reference manual - RAPID overview
3HAC16580-1
Technical reference manual - RAPID Instructions, Functions and 3HAC16581-1
Data types
Operating manual - IRC5 with FlexPendant
3HAC16590-1
Technical reference manual - System parameters
3HAC17076-1
Operating manual - RobotStudio
3HAC032104-001
Application manual - RobotWare Machine Tending
3HAC044398-001
Operating manual - Machine Tending PowerPac
3HAC044396-001
Application manual - Motion functions and events
3HAC036958-001
Revisions
Revision
Description
-
First edition, RobotWare 5.15
A
Released with RobotWare 5.15.01
Restructured the manual.
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© Copyright 2013 ABB. All rights reserved.
Product documentation, M2004
Product documentation, M2004
Categories for manipulator documentation
The manipulator documentation 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.
All documents listed can be ordered from ABB on a DVD. The documents listed
are valid for M2004 manipulator systems.
Product manuals
Manipulators, controllers, DressPack/SpotPack, and most other hardware will be
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 exploded views (or references to separate spare parts
lists).
•
Circuit diagrams (or references to circuit diagrams).
Technical reference manuals
The technical reference manuals describe reference information for robotics
products.
•
Technical reference manual - Lubrication in gearboxes: Description of types
and volumes of lubrication for the manipulator gearboxes.
•
Technical reference manual - RAPID overview: An overview of the RAPID
programming language.
•
Technical reference manual - RAPID Instructions, Functions and Data types:
Description and syntax for all RAPID instructions, functions, and data types.
•
Technical reference manual - RAPID kernel: A formal description of the
RAPID programming language.
•
Technical reference manual - System parameters: Description of system
parameters and configuration workflows.
Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals. An application manual can describe one or several
applications.
Continues on next page
8
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Product documentation, M2004
Continued
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, DVD with PC software).
•
How to install included or required hardware.
•
How to use the application.
•
Examples of how to use the application.
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 trouble shooters.
The group of manuals includes (among others):
•
Operating manual - Emergency safety information
•
Operating manual - General safety information
•
Operating manual - Getting started, IRC5 and RobotStudio
•
Operating manual - Introduction to RAPID
•
Operating manual - IRC5 with FlexPendant
•
Operating manual - RobotStudio
•
Operating manual - Trouble shooting IRC5, for the controller and manipulator.
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Safety
Safety
Safety of personnel
A robot is heavy and extremely powerful regardless of its speed. A pause or long
stop in movement can be followed by a fast hazardous movement. Even if a pattern
of movement is predicted, a change in operation can be triggered by an external
signal resulting in an unexpected movement.
Therefore, it is important that all safety regulations are followed when entering
safeguarded space.
Safety regulations
Before beginning work with the robot, make sure you are familiar with the safety
regulations described in the manual Operating manual - General safety information.
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1 Introduction
1 Introduction
RobotWare Machine Tending (RWMT) is a software option for accessing the robot
and the system peripherals in handling applications, both for the System Operator
and for the Integrator.
For the Integrator, a set of RAPID data types, instructions, and functions have been
provided to integrate RWMT with the application program.
RWMT can be modified with respect to the graphic views as well as with the existing
signal interfaces using a process configuration.
For easy operations, the graphical user interface (GUI) provides the following
functionalities:
•
Manage projects
•
Visualize the operating states and production processes
•
General and station wise view and control of signals
•
Gripper actuation and gripper monitoring
•
Station wise view and control of RAPID variables
•
Select part types for the production
•
Use of production cycles
•
Execute setup and service routines
•
Advanced HotEdit (correction of positions during production )
•
Safe return to start position (HomeRun)
•
Launch of external or embedded application
•
Messaging tasks
To represent these functions, the program should know:
•
which stations (that is, machines, conveyor belts, and so on) are present in
the cell
•
which signal interfaces are available
•
which service routines are available, and so on.
This information is made available through RAPID data declarations, instructions
and functions, and process parameters.
Note
The Integrator need to have knowledge of RAPID programming and the handling
of system parameters of the IRC5 robot controller.
This concept also makes it possible to integrate the RWMT in existing robot cells
also, because, the only thing it requires is the inclusion of additional data,
commands, and functions in the robot program.
The scope of the integration here is not limited. Sub-aspects of the user interface
can be used; other aspects can be left out or included at a later stage. This often
meets the requirements of narrowly measured setup and testing times in production
cells.
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2 The graphical user interface
2.1 Starting the graphical user interface
2 The graphical user interface
2.1 Starting the graphical user interface
Use the following procedure to start the RobotWare Machine Tending user
interface:
Description
1
Description
Tap the ABB logo on the top left
corner of the Welcome to ABB
page.
The ABB menu is opened.
en1200001121
2
Tap Log off Default User to quit
from the current system.
The User Autorization System page
is displayed.
en1200001122
3
Log in as RobotWare Machine
Tending user.
4
Tap the ABB logo.
5
Tap RW Machine Tending.
The RobotWare Machine Tending
user interface is displayed.
For more details about user groups, see User
administration on page 101.
en1200001123
en1200001124
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2 The graphical user interface
2.2 Main view
2.2 Main view
The following image and table provide details of the main view of the RobotWare
Machine Tending user interface.
en1200000906
Button / Menu Description
Reference
Project
Displays the Project Manager window.
See Project view on page 15
The Project Manager window allows you and Managing projects on
to load, save, import, and export projects page 35.
from Machine Tending PowerPac.
Production
Displays the Production window.
See Production view on
page 17 and Running production on page 49.
Signals
Displays the Signal window that shows
predefined signals
See Signal view on page 23.
Setup
Displays the Setup menu which allows you See Setup view on page 25 and
to execute setup routines.
Service menu on page 93.
Dialog settings Displays the menu to enable or disable See Dialog settings on
safety dialogs at starting production,
page 27.
starting the HomeRun, or controlling the
gripper.
Application er- Displays the error log view that shows the See Application errors on
rors
application errors of RW Machine Tending. page 31.
For more information on programming devices, see Operating Manual - IRC5 with
FlexPendant listed in the section References on page 7.
14
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2 The graphical user interface
2.3 Project view
2.3 Project view
If user is allowed to manage the projects (User authorization grant
RWMT_PROJECT_MANAGER is required), the Project button is enabled.
en1200000909
The following image and table provide details of the Project manager page of the
RobotWare Machine Tending user interface.
en1300000227
Domain
Description
A
Title bar
Displays the name of the loaded project.
B
Available projects list Displays the projects which are stored in the project folder
of the Home directory.
The
icon denotes the current loaded project.
C
Project data
Displays the project data (details, version, and date) of
the selected project.
D
Load a project
Loads the program and system modules of the selected
project into the robot memory.
Note
The previously loaded project is removed.
E
Save project as...
Displays a dialog which allows renaming the project title,
the project data, adding or removing of RAPID modules
and system parameters before the project is saved.
F
Save project
Saves the changes to the current loaded project (RAPID
modules and system parameters).
G
Unload project
Removes the loaded project from the robot memory.
Continues on next page
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2 The graphical user interface
2.3 Project view
Continued
Domain
Description
H
Export a project
Copies the selected project to an external device (for
example, USB stick).
J
Import a project
Copies a project from an external device (for example,
USB stick) into the project folder.
K
Back
Closes the window.
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2 The graphical user interface
2.4.1 Introduction to Production view
2.4 Production view
2.4.1 Introduction to Production view
The Production button is used to control and visualize the production cycle.
en1200000907
The following image and table provide details of the Production page of the
RobotWare Machine Tending user interface.
en1200000908
A
Domain
Description
Status bar
The following information is displayed:
• Mode of operation
• System information
• Motor status
• Robot status
Note
Tap this bar to view the event log
B
Title bar
Displays the name of the application or the current
message from the robot program.
Continues on next page
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2 The graphical user interface
2.4.1 Introduction to Production view
Continued
C
Domain
Description
Status information
The following status information is displayed through
the individual icons:
•
Position of the robot
•
Program status
•
Part selection
•
Part-less production (Ghost) mode active
D
Cycle information
Displays the name of the part, its program number and
type number, the current cycle, and the follow-up cycle.
E
Production data
Displays the cycle time and other production data.
F
Overview of stations
Displays the robot and all the stations in the cell.
G
Start menu
Controls the production mode of the robot. For example, starting production, request HomeRun, halt
after cycle, and so on.
H
Controller menu
The program pointer can be set to main or the motors
can be switched on.
J
Operation menu
The following sub-menus are available for selection:
• Signal view
• Part selection
• Gripper control
• HotEdit
• Service menu
K
External Application
menu
This menu appears if one or more external applications, (for example, ScreenMaker application) are
configured to be launched from the user interface.
L
Back to the main page
Closes the production window.
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2 The graphical user interface
2.4.2 Status information of the robot task
2.4.2 Status information of the robot task
Introduction
The Status Information bar on the left side of the production window represents
the state of the robot cells through the status icons as follows:
xx1200001143
Position information of the robot
The following table provides details of the robot position status icons and its
description:
Icon
Description
Robot is in undefined position
Robot is in home position
Robot is in safe position
Robot is in service position 1
Robot is in service position 2
Robot is in service position 3
Continues on next page
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2 The graphical user interface
2.4.2 Status information of the robot task
Continued
Program status information
The following table provides details of the robot program status icons and its
description:
Icon
Description
Undefined state
System error or no program pointer
Emergency stop active
Safety circuit open
Motors are switched off
Program or task has been stopped
No job pending execution
Robot is executing a production cycle
Robot is executing a service run
(For example, to the service position 1, 2, or 3, or a service routine
is being executed)
Halt after cycle selected (flashing)
HomeRun active (flashing)
Part selection
You can select the program manually or through an external signal interface. For
more information, see Manual selection of a part on page 86.
The following table provides details of the part selection status icons and its
description:
Icon
Description
There are no part declarations in the robot program
Only manual part selection is possible.
No part has been selected.
Part is selected manually.
Continues on next page
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2 The graphical user interface
2.4.2 Status information of the robot task
Continued
Icon
Description
Remote part selection is available.
No part has been selected.
Part is selected through remote interface.
Note
The external part selection is considered only if no manual part selection is
present. If a part is selected manually, then, it is active until it is deselected.
Tip
If only one part is defined in the robot program, it is activated automatically
without further intervention.
Part-less mode
The part-less mode (ghost mode) is meant for testing the program execution without
parts and can be requested externally or through the robot station page.
As soon as the robot starts a new cycle, the part-less mode is activated and this
mode is deactivated only after the cycle ends, if the request is not made again.
The following table provides details of the part-less mode status icons and its
description:
Icon
Description
Part-less (Ghost) mode deactivated
Part-less (Ghost) mode requested (icon is flashing)
Part-less (Ghost) mode active
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2 The graphical user interface
2.4.3 Station status
2.4.3 Station status
If a program is running, the robot moves in accordance with the program cycle
from one station to the next.
Note
A station here means the individual peripheral systems in the robot cell (for
example, lathe machine, conveyor belts, slides, and so on).
In the Production page, the cycle run and the status of the various stations can
be monitored.
The following table provides details of the station status icons and its description:
Display
Status
Description
Ready
A green frame indicates that the station has the status Ready.
This means that the robot can serve this station.
Busy
An yellow frame indicates that the station has the status Busy.
This means that the station is executing an action (for example, if a container is full and has to be replaced, or a cycle
is in progress).
Error
A red frame indicates that the station has the status Error.
This means that the robot cannot work in this station.
Undefined
A gray frame indicates that the status of the station is Undefined.
This means that the signals for the status messages Ready,
Busy, or Error, are not active (high).
Active Station
A green filled frame indicates that the station is active, that
is, the robot is serving this station.
Station deselec- A red crossed frame indicates that the station has been
ted
deselected and can not be approached by the robot.
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2 The graphical user interface
2.5 Signal view
2.5 Signal view
The Signal view is used to display and actuate general signals on upto eight
tab pages.
en1200000910
The following image and table provide details of the Signal page of the RobotWare
Machine Tending user interface.
xx1200001172
Domain
Description
A
Title bar
Displays the name of the page and the name of task
of the selected robot.
B
Signal page
Tap a signal tab to open the required signal page.
C
D
Inputs
Outputs
The states of the digital input and output signals are
represented by the following icons:
- Signal is not active (low)
- Signal is active (high)
- Signal name is not known in the system
Note
For analog or group signals, the latest value is displayed next to the name of the signal.
E
Description of the signal
The description of the signal is displayed only if a
corresponding entry exists within the signal configuration (refer to Technical reference manual: system
parameters) listed in the section References on
page 7).
Continues on next page
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2 The graphical user interface
2.5 Signal view
Continued
Domain
Description
F
Set button or
123… button
The buttons for setting and resetting the output signals
are always active in the manual mode. In the automatic
mode, these are visible only if the access level of the
output signal has been allowed in the signal configuration (refer to Technical reference manual: system
parameters listed in the section References on
page 7).
Digital outputs are set directly to 1 by activating the
button.
In the case of analog or group outputs, an input field
is shown, in which the desired value has to be entered.
G
Reset button
The selected output signal is set to the value 0.
H
Refresh button
Reloads the signal declarations from the robot program.
In this way, changes to the declarations are displayed
immediately.
J
Task button
Loads the available robot tasks for selection in the
MultiMove systems.
As soon as a task is selected, its signal pages are
displayed.
K
Back button
Closes the signal page.
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2 The graphical user interface
2.6 Setup view
2.6 Setup view
The Setup routines page is used for setting up or configuring the
robot at the time it is commissioned. The Setup view offers only
those setup routines for selection, for which the logged user has the
required permissions.
xx1200001176
Note
Setup routines can be executed only in the manual mode of the robot controller.
The following image and table provide details of the Setup routines page of the
RobotWare Machine Tending user interface.
xx1200001177
Domain
Description
A
Robot task
Displays the setup menus for all robots (MultiMove)
through the tab panes. Tap the corresponding tab pane
to switch between the robots.
B
Processing status
Displays the processing status of the setup routine
separately for each robot through the following icons.
Routine is executable.
Routine is currently executing.
Routine has been stopped.
Routine is blocked.
Continues on next page
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2 The graphical user interface
2.6 Setup view
Continued
Domain
C
Description
Category filter
xx1200001182
Allows you to filter and display setup routines belonging to a selected category.
To display all the setup routines select the blank entry.
D
Menu list
Displays all the available setup routines with the image
and text.
E
Execute button
Executes the selected routine.
If the routine cannot be actuated due to an external
condition, then a dialog with the corresponding message appears.
F
PP->main button
Sets the program pointer to the main routine.
J
Refresh button
Reloads the menu declarations from the robot program.
In this way, changes to the declarations are displayed
immediately.
K
Back button
Closes the setup page or the service menu page.
For more information on using the setup routines see, Service menu on page 93.
For more information on configuring the setup routines, see Application and
reference manual – RobotWare Machine Tending listed in the section References
on page 7.
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2 The graphical user interface
2.7.1 Introduction to dialog settings
2.7 Dialog settings
2.7.1 Introduction to dialog settings
When starting a production cycle, aborting the program, or actuating the gripper,
safety queries are used to prevent faulty operation.
To enable the usage of the safety queries tap the menu button
view and then on the desired sub menu.
in the Main
xx1200001191
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2 The graphical user interface
2.7.2 Query dialog for Starting production
2.7.2 Query dialog for Starting production
If a program cycle or HomeRun is selected from the user interface while robot
program is stopped, the following safety dialog appears. Press the Start button on
the FlexPendant to start the robot program.
xx1200001192
To start the robot program immediately tap the
menu so that the check mark of this menu item is removed.
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2 The graphical user interface
2.7.3 Query dialog for HomeRun request
2.7.3 Query dialog for HomeRun request
Tap the HomeRun button in the production window to abort a robot cycle. If the
robot program is stopped the dialog to start the program appears. In case of
program is running the following safety query appears.
xx1200001194
If this dialog is not required, tap the
check mark of this menu item is removed.
menu so that the
Note
If the query dialog is disabled and the HomeRun button is tapped the robots
start its HomeRun immediately.
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2 The graphical user interface
2.7.4 Query dialog for Manually controlling the gripper
2.7.4 Query dialog for Manually controlling the gripper
If a gripper actuator in the gripper window is controlled manually, the following
query dialog appears each time you tap a menu button.
xx1200001196
If this dialog is not required tap the
mark of this menu item is removed.
menu so that the check
Note
If the query dialog is disabled the outputs of the actuator is set immediately.
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2 The graphical user interface
2.8 Application errors
2.8 Application errors
Application errors that arise due to the errors in the parameterization or processing
errors in the user interface are saved in an error file and can be displayed in the
application error window. The error file RWMT_ERRORS.XML is copied to the home
directory of the robot when the error window is opened or when the user interface
is closed.
If an error has occurred:
•
•
the menu button
the icon
appears in the Main window.
appears in the title row of the Production window.
Tap the menu button
in the Main view to open the Application error page. If
errors occur while starting the user interface the error window is displayed.
The following image and table provide details of the Application error page of the
RobotWare Machine Tending user interface.
xx1200001200
Domain
Description
A
Message list
Displays a list of error messages.
B
Details
Tap an error message in the message list to display
the details of the message.
C
Go to top of list button
Tap
D
E
to display the first error message.
Go to end of list button
Tap
to display the last error message.
Tap
to delete the list of error messages.
Delete list Button
Continues on next page
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2.8 Application errors
Continued
Domain
F
Description
Refresh list button
Tap
to reload the list of error messages.
Note
The menu button
is displayed only if an error
occurs while this window is open.
G
Back button
Closes the window.
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2 The graphical user interface
2.9 Messages from the robot program
2.9 Messages from the robot program
Introduction
The robot program displays output messages (information, warnings, or errors)
through the title bar of the user interface. For this, the error icon, the error number,
and the error text are displayed and highlighted in a color depending on the type
of the error.
Color schema of the messages
The following colors are used for the different error types:
xx1200001211
Show additional information
If a message contains additional information, then its complete content can be
activated or deactivated by tapping the message in the title bar.
If additional information is available but is faded out, the icon
right margin of the message in the title bar.
is shown on the
xx1200001213
If the output of additional information is active, then this is displayed through the
icon
.
xx1200001215
If a message contains additional information it is shown directly below the title bar.
This information can be faded out by double tapping the message box.
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3 Managing projects
3.1 General
3 Managing projects
3.1 General
The Machine Tending PowerPac (MTPP) is used to create a RobotStudio simulation,
the system parameters, and the RAPID program which are executed in the robot
controller.
These data are stored in a RWMT project folder which contains the following items:
•
Project file (*.mtp), which contains the project data (Data and file names)
•
all RAPID program modules (*.mod) and system modules (*.sys)
•
all system parameters (*.cfg)
•
all project related station images (*.jpg; *.png; *.gif)
•
all project related part images (*.jpg; *.png; *.gif)
•
RobotStudio Pack&Go file (*.rspag)
A project can be loaded from the Machine Tending PowerPac (MTPP) or from the
Project view of the RWMT user interface.
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3 Managing projects
3.2.1 Folder structure of a project
3.2 Project data and files
3.2.1 Folder structure of a project
Each project is located in the RWMT main project folder in the Home directory of
the robot controller (HOME:RWMT/PROJECTS).
The following image and table provide details of the RWMT folder structure and
its description:
xx1200001216
Folder/File
Description
<ProjectName>
This folder contains all the required files and folders of a RWMT
project.
The folder name and the project name are same.
<ProjectName>.mtp This XML-based project file specifies all RAPID modules (*.mod
and *.sys), system parameters, images, and PackAndGo file, belonging to this specific project.
The name of the project file and the project folder must be equal.
RAPID
This folder contains the RAPID modules (*.mod and *.sys) of the
project for upto 4 motion tasks.
T_ROB1 – T_ROB4
This folder contains the RAPID modules (*.mod and *.sys) for a
specific motion task.
Syspar
This folder contains all the system parameters of the project.
Continues on next page
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3.2.1 Folder structure of a project
Continued
Folder/File
Description
Images
This folder contains all the icons and pictures that are relevant for
a specific project.
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3 Managing projects
3.2.2 PackAndGo folder structure and content
3.2.2 PackAndGo folder structure and content
All the PackAndGo files are copied into the directory /hd0a:/MTPP/PackAndGo
of the robot controller.
The PackAndGo files are too big to be placed into the project folder, because the
Home directory is saved with each backup, and backups take time and needs
space.
The following image and table provide details of the PackAndGo folder structure
and its description:
xx1200001217
Folder
Description
MTPP
This is the MTPP main folder (which is located differently from the projects
folder).
PackAndGo This folder contains the RobotStudio PackAndGo files for all projects.
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3 Managing projects
3.2.3 RWMT project file structure
3.2.3 RWMT project file structure
Structure of the file <ProjectName>.mtp, filled with some example modules,
parameters, images, and a PackAndGo file:
<?xml version="1.0" encoding="utf-16"?>
<!--RWMT project file V1.0-->
<Project>
<Description Version="1.0" Date="2012-04-29">
<Title>Bumper</Title>
<Details>Producing bumpers</Details>
</Description>
<Rapid>
<Task Name="T_ROB1" Program="Bumper">
<Module>MT_MAIN.mod</Module>
<Module>IMM.mod</Module>
<Module>FLAMING.mod</Module>
<Module>CNV.MOD</Module>
<Module>Movement_T1.mod</Module>
</Task>
</Rapid>
<Syspar>
<Param>EIO.CFG</Param>
<Param>PROC.CFG</Param>
</Syspar>
<Images>
<Image>Picture1.png</Image>
<Image>Picture2.png</Image>
</Images>
<PackandGo>Bumper station.rspag</PackandGo>
</Project>
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3 Managing projects
3.3 Unknown projects
3.3 Unknown projects
If the project folder does not contain a project file with the same name as the loaded
project an Unknown project is shown in the project list.
Note
This happens if the title of the project info declaration in the task T_ROB1 has
been manually changed.
xx1200001218
The menu Save project as... can be used to create a new project folder for the
unknown project. In this case all the loaded program modules and all the system
parameters are preselected and can be modified in the Save project as... dialog.
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3 Managing projects
3.4 Loading a project
3.4 Loading a project
Use the following procedure to load an RWMT project:
Action
1
Start the RobotWare Machine Tending user
interface.
2
Tap Project.
The Project manager page is displayed.
3
Select a project from the Available projects
list.
Description
xx1200001220
4
Tap the Open folder button
.
A dialog appears which asks if the changes
in the current active project should be saved.
5
Tap the Yes button to save the changes in
the current active project or tap the No button
to discard the changes in the current active
project.
6
A dialog appears which asks if the selected
project should be loaded. Tap the Yes button
to load the selected project or tap the No
button to abort the loading process.
Note
While loading an RWMT project only the RAPID program and system modules
are loaded into the robot controller, the system parameters remain unchanged.
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3 Managing projects
3.5 Saving a project
3.5 Saving a project
Use the following procedure to save an RWMT project:
Action
Description
1
Start the RobotWare Machine
Tending user interface.
2
Tap Project.
The Project manager page is displayed.
xx1200001220
The menu for saving a project is available
only if a project is loaded.
3
Tap the Save button
4
Tap the Save project button
.
.
A dialog appears which asks if the
changes in the current active project
should be saved.
5
Tap the Yes button to save the
changes in the current active project
or tap the No button to discard the
saving procedure.
The program and system modules
which are specified in the project
file are saved and the project file is
updated.
If some program modules are not saved a
dialog box displays the not saved modules.
To save all the program modules the module
list of the project file must be modified.
Use the Save project as... button to modify
the module list.
Note
While saving a RWMT project the program and system modules and also the
system parameter files which are specified in the project file are saved. The
project file is updated regarding the data of the project information declaration
in the RAPID program and the current date is set.
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3 Managing projects
3.6 Saving a project with new name or modified project data
3.6 Saving a project with new name or modified project data
The menu Save Project as ... is used if a project should be saved in a new project
folder or if some project data is changed.
Use the following procedure to save a project with a new name or modified project
data:
Action
Description
1
Start the RobotWare Machine
Tending user interface.
2
Tap Project.
The Project manager page is displayed.
xx1200001220
3
Tap the Save button
.
Note
The menu for saving a project is available
only if a project is loaded.
4
Tap the Save project as… menu.
The Save Project as… page is
opened and the Project data tab is
displayed.
xx1200001223
5
Tap on the text which needs to be
changed and enter the new text with
help of the alphanumeric keypad.
Continues on next page
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3 Managing projects
3.6 Saving a project with new name or modified project data
Continued
Action
6
Description
Tap the Modules list tab of the required task (for example, Modules
T_ROB1)
The Modules list tab is displayed.
xx1200001225
In the Loaded modules list all the program
and system modules in the robot task are
displayed. In the Projected modules list all
the specified modules in the project file are
displayed.
Note
If a project module is not available in the robot task, it is marked with the icon
7
8
.
Use
or
to add or remove the
modules between the Loaded
modules list and the Project modules list.
Tap the System parameter tab.
The System parameter page is didplayed.
xx1200001228
The System parameter list displays all the
available system parameters of the controller.
The Project parameter list displays the system parameters which are saved into the
project folder.
9
10
Use
or
to add or remove the
system parameters between the
System parameter list and the Project parameter list.
Tap
to save the project with new
project data in a new or the same
project directory or tap
to cancel.
Continues on next page
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3.6 Saving a project with new name or modified project data
Continued
Note
A new project folder is created only if the project title is changed. Otherwise the
project is saved in the same folder.
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3 Managing projects
3.7 Unloading a project
3.7 Unloading a project
Sometimes it is necessary to clean up the robot tasks by removing the project
modules from the memory. To do this, the menu Unload project could be used.
Use the following procedure to unload a project:
Action
Description
1
Start the RobotWare Machine
Tending user interface.
2
Tap Project.
The Project manager page is displayed.
xx1200001220
The menu for unloading a project is available
only if a project is loaded.
3
Tap the Unload button
4
.
Tap the Yes button if project should
be saved before unloading.
Tap the No button to unload the
project immediately.
Tap the Cancel button to abort unloading.
xx1200001256
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3 Managing projects
3.8 Importing a project
3.8 Importing a project
To use a RobotWare Machine Tending project it must be located in the RWMT
projects folder of the robot. The Import project menu of the project manager copies
the project folder from a USB device to the RWMT project directory in the Home
directory of the robot system. If a RobotStudio PackAndGo file is part of the project
it is copied into a separate folder outside the robot home directory.
Use the following procedure to import a project:
Action
1
Start the RobotWare Machine
Tending user interface.
2
Tap Project.
The Project manager page is displayed.
3
Tap the Import/Export button
Description
.
xx1200001258
4
Tap Import a project.
xx1200001259
5
Browse to the project folder which
should be imported on the external
device and select the project file
(“*.mtp”).
xx1200001260
6
Tap the OK button to start the im- Tap the Cancel button to abort importing.
port of the project.
Wait until project is imported.
The project is imported if it does not
exist in the project folder of the robot.
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3 Managing projects
3.9 Exporting a project
3.9 Exporting a project
The menu Export project is used to copy a project folder including the RobotStudio
PackAndGo file to an external USB device. If the RobotStudio PackAndGo file is
not required, a backup can be created, because all project files are part of the
Home directory in the backup.
Use the following procedure to export a project:
Action
Description
1
Start the RobotWare Machine
Tending user interface.
2
Tap Project.
The Project manager window is
displayed.
3
Select the project which should be
exported in the project list.
xx1200001258
4
5
Tap the Import/Export button
.
Tap Export a project.
If the selected project is the loaded
project, a dialog appears which asks
if project should be saved before
the exporting is started.
6
Tap the Yes button to save the project or tap the No button to start the
export immediately.
7
Browse to the folder on the external
device where the project folder
should be created.
xx1200001261
Tap on
to create a new sub
folder or on
to change to parent
folder.
xx1200001264
8
Tap the OK button to start the export of the project.
Tap the Cancel button to abort exporting the
project.
Wait until project is exported.
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4 Running production
4.1 Introduction to running production
4 Running production
4.1 Introduction to running production
This section explains how the production is started, that is, how a robot program
is executed.
xx1200001265
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4.2 The Start menu
4.2 The Start menu
The Start menu is used to control the operation of the robot program and is
displayed by tapping the Start button in the lower left corner of the Production
window.
The following table describes the elements of the Startmenu:
Description
A
Button for triggering a cycle.
B
Name of the cycle.
C
Button for defining the cycle properties.
D
Button for triggering the run into the
home postion.
E
Button for switching the cell operation mode to Service or Production.
Figure
xx1200001266
The content of the Start menu changes according to the processing state of the
robot.
Menu
Description
Start
The Start menu is available if the robot is in the home position or safe
position and no cycle is being executed. Through the Start menu, all the
start cycles can be triggered.
Action
The Action menu is available if the robot is in use and is executing a
cycle. Through the Action menu all the action cycles of the robot could
be triggered or the cycle can be stopped (that is, Stop after cycle and
immediate stop).
Continue
If the robot is paused during the processing of a program cycle, but it is
not in the home position or safe position, the Continue menu is displayed.
Stop
The Stop menu is available if the robot is in use and is not executing a
cycle (for example, while executing a service routine or while moving to
the home position).
The program can be stopped or the robot can be moved to the home
position through the Stop menu.
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4.3 Cell operation mode
4.3 Cell operation mode
The following three modes of operation can be set for a robot cell. These are
represented with the following robot icons in the Station Overview of the Production
window:
Mode of operation
Description
The robot stands still in the Without robot mode and does not
execute production cycles or service routines.
(Can be selected only through external I/O interface)
In the Service mode of operation, the robot does not execute
any production cycles.
(Only service routines can be started through remote or through
the user interface.)
In this mode of operation, the robot executes production cycles
but no service routines.
In the Without robot or Service modes of operation, the robot does not execute
any processing cycles, so that the machine and all the other stations can carry out
the production without the robot.
Tip
If multitasking and instruction sets are used, the robot sets the required signals
when the cell operation mode is changed, for instance, to release the machines
for the manual operation.
Note
If the cell operation mode is not required to differentiate the processing of the
robot cell, it is possible to deactivate it within the process configuration. In this
case the program cycles and the service routines can be started without any
pre-selection.
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4.4.1 Introduction to program cycles
4.4 Program cycles
4.4.1 Introduction to program cycles
A program cycle describes the production process from the point of view of the
robot, starting from the home position or the safe position with the first handling
action at a station upto its return to the home position or the safe position after the
completion of the last handling action.
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4.4.2 Supported cycle types
4.4.2 Supported cycle types
Depending on the requirement and the function of the robot cell, the following
cycles can be used in the RobotWare Machine Tending user interface:
Cycle type
Description
No cycles used
It is not required to define any cycles if only one cycle is used in the
robot cell.
Continuous cycle
(Start cycle)
Continuous cycles are executed till they are ended through the Stop
after cycle request by the operator.
Example:
Production with recurring process.
Count cycle
(Start cycle)
Count cycles are executed till the pre-defined number of cycles is
reached.
If a followup cycle has been defined, it is started as soon as the
count cycle is complete. If no followup cycle is present, then the
robot is moved to the home position and the processing ends.
Example:
Batch finishing of 100 parts.
Action cycle
Action cycles are requested during the processing of one of the
above mentioned start cycles by the operator and is executed as
soon as the current cycle ends.
Example:
Specific request for ejecting parts for manual quality control.
Periodic cycle
Periodic cycles are started automatically if a certain number of production cycles (interval) has been executed.
Example:
Regular sort out of parts for quality control.
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4 Running production
4.4.3 Executing a start cycle (Start menu)
4.4.3 Executing a start cycle (Start menu)
Once all the cycle settings have been done, a start cycle can be executed. For
details regarding the requirements of cycle settings, refer to chapter Cycle settings
on page 58.
Use the following procedure to execute a start cycle:
Action
Description
1
Start the RobotWare Machine
Tending user interface.
2
Tap Production.
Make sure that all the stations in the cell are
The Production page is displayed. ready for operation.
3
Tap Start to expand the start menu.
Note
The cycle selection is available in the start
menu only if the robot is in the home position
or safe position, the robot program has a
program pointer, and the cell operation mode
Production has been set.
4
Tap HomeRun, if the robot is not in The part that is to be produced must be set
the home position.
either manually or set through external selection. The required coding in the system
(gripper code, form code, and so on) must
be appropriate for the selected part.
(Refer to Application- and reference manual
– RobotWare Machine Tending listed in the
section References on page 7.)
5
Select a cycle that is to be executed.
xx1200001270
6
Tap the Start button.
If all the conditions are fine, the robot starts the selected cycle.
Note
If the robot is in use, the menu changes as
described above.
Note
Always test a new program in the manual mode first, before executing it in the
automatic mode. While testing the program, ensure that the robot can move to
the home position from every station without errors.
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4.4.4 Executing action cycles (Action menu)
4.4.4 Executing action cycles (Action menu)
If the robot executes a processing cycle, the Action menu is displayed. Through
the Action menu, an action cycle can be started once the current cycle ends.
Use the following procedure to execute an action cycle:
Action
1
Tap the desired action cycle (for
example, Inspection).
The robot ends the current cycle
and then starts the selected action
cycle.
Description
xx1200001271
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4.4.5 Pausing or ending a cycle (Action menu)
4.4.5 Pausing or ending a cycle (Action menu)
Use the following procedure to pause or stop a cycle:
Action
Description
Figure
Stop after cycle
Tap Stop after cycle to end the current cycle.
The robot ends the current cycle and return to
the home position.
Stop after cycle
If a machine (for example, injection molding
(for machines that are machine) is started by the robot, then, the followstarted by the robot) ing two states can arise, if Stop after cycle is
requested:
xx1200001272
xx1200001272
Request before discharging
If Stop after cycle is requested before unloading
the machine, then the machine is not restarted
and the robot moves to the home position as
soon as the cycle ends.
Request after discharging
If Stop after cycle is requested after the machine unloads and the machine produces a new
part, then the robot completes the current cycle
and performs another cycle to unload the remaining part out of the machine.
Pause Program
Execute HomeRun
Tap Stop program to pause the current cycle.
After this, the cycle can be continued by starting
the program.
The processing of the current cycle ends immediately upon confirmation and the robot returns
to the home position.
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xx1200001273
xx1200001274
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4.4.6 Continuing a cycle (Continue menu)
4.4.6 Continuing a cycle (Continue menu)
If external events occur, such as if the Stop button is pressed on the FlexPendant,
a safety door is opened, or an Emergency Stop button is pressed, the robot stops
immediately, and the Production window displays the Continue menu.
Action
Description
Continue program
Rectify the problem and then tap Program start
to continue the cycle at the position where the
robot stopped.
Execute HomeRun
If the error cannot be rectified, then tap HomeRun.
The robot moves to the home position and the
production can be restarted through the Start
menu.
Change the cell oper- If it is necessary to release the machine (for exation mode
ample, injection moulding machine) for manual
operation, then tap the Enable "Service" button
and the corresponding signals are set on the
machine.
Figure
xx1200001275
xx1200001274
xx1200001286
Note
After this, it is not possible to continue with the
production.
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4.5.1 Introduction to cycle settings
4.5 Cycle settings
4.5.1 Introduction to cycle settings
In the RobotWare Machine Tending user interface it is possible to use the automatic
cycle control, which supports the continuous cycles, counting cycles, action cycles,
and periodic cycles.
If this is the case, then the cycle selection is displayed in the Start and Action
menu. Besides the cycle selection, there is a button which shows the current cycle
parameterization and is meant for calling the cycle setting window.
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4.5.2 Setting the start cycles
4.5.2 Setting the start cycles
Tap the Cycle settings button of the desired cycle to open the Cycle settings
page.
Setting
Description
Cycle type
Select Continuous, if the robot should execute the cycle continuously.
xx1200001287
Select Count cycle and enter the number of cycles, to define how often
the robot should execute the cycle.
xx1200001288
After finish
Select Go home. The robot executes a home run.
Note
If Continuous is selected in the Cycle type section, the After finish option
cannot be defined.
Once a cycle is selected, it starts as soon as the robot has completed
all the cycles (number of cycles).
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4.5.3 Setting the action cycles
4.5.3 Setting the action cycles
If an Action cycle is selected, then the robot ends the current cycle and then
execute the selected Action cycle. On ending the Action cycle, the original cycle
is continued again.
To customize the cycle parameter:
Settings
Figure
Tap Cycle settings of the desired
cycle to open the Cycle settings
window.
xx1200001289
Select an action cycle (for example,
Count Cycle) from the Action
cycles section.
Type a number in the Number of
cycles text box to define how often
the robot should execute the selected action cycle.
xx1200001290
Tap the OK button to accept the
changes or tap the Cancel button
to reject the changes.
Note
To keep the modified Cycle Settings permanently, save the program or create
a backup.
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4.5.4 Displaying and editing cycles
4.5.4 Displaying and editing cycles
Editing the Cycle Settings in the Start menu is possible only if the cycle menus
are visible.
All cycles are shown in a table inside the Robot Station page. This table contains
the cycle name, the cycle type, the maximum number of cycles to be executed,
and the current cycle counter.
xx1200001291
To modify the settings of a cycle, double-tap the desired cycle in the table. This
dispalys the Cycle Editor.
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4 Running production
4.5.5 Preselecting a cycle for execution
4.5.5 Preselecting a cycle for execution
Preselecting a cycle for execution
The cycle preselection is used for simplification purpose, if:
•
the production flow of a robot cell provides alternative cycles and there is
no cycle selection through a remote group input and
•
the execution of the robot program shall be started immediately without any
further manual cycle selection.
Use the following procedure to preselect a cycle:
Action
1
Description
Open the Production window and
tap the robot symbol in the Station
overview section.
The Robot data page is displayed.
xx1200001293
The Preselected cycle drop-down list box
displays all the continuous and count cycles
that can be preselected for execution.
2
Select a cycle for execution from
the Preselected cycle drop-down
list box.
The name of the selected cycle appears in the list box and the cycle
selection in the Start menu is hidden.
xx1200001294
xx1200001295
Note
When tapping the empty entry inside the
Preselected cycle drop-down list box, the
preselection is disabled. As a result, the cycle
selection in the start menu becomes visible
again.
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5 Station and robot data view
5.1 Introduction to station and robot data view
5 Station and robot data view
5.1 Introduction to station and robot data view
This chapter explains about how the information regarding the robot and the station
are displayed or changed in the RobotWare Machine Tending user interface.
The station data view is displayed by tapping on the desired station icon (for
example,
) and the robot data view is displayed by tapping the robot icon
in the Production page.
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5 Station and robot data view
5.2 Station status
5.2 Station status
The Status tab of the station displays the current state of the station and permits
the selection and de-selection of the station.
The following image and table provide details of the Status tab.
xx1200001299
Domain
Description
A
Status tab
Tap the Status tab to open the Status page of the
station.
B
Status icon
The station icon combines the visualization of all the
status displays (please refer to the chapter Station
status on page 22).
C
Description
Station name and description
D
Station active
Depending on the station setting, the station can be
selected or deselected.
If the station could not be activated or deactivated
through the user interface an LED is shown:
- Station is not active.
- Station is active.
E
Robot inside station
Displays whether the robot is processing this station
currently.
The LED can assume the following states:
- Robot is processing another station.
- Robot is processing this station.
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5 Station and robot data view
5.2 Station status
Continued
F
Domain
Description
Status messages
• Station ready
• Station busy
• Station fault
The three status messages of the station are represented through LEDs, which can assume the following
states:
- Status mode is not active.
- Status is active.
G
Application button
The Application button appears if one or more station
applications, (for example, ScreenMaker applications)
are configured to be launched from the user interface.
H
Back button
Closes the window.
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5 Station and robot data view
5.3 Robot station data
5.3 Robot station data
Introduction to robot station data
The status view of the robot station is used for activating or deactivating the test
functions for the robot program and for selecting and changing the cycle settings.
The following image and table provide details of the Robot data page.
xx1200001300
Domain
Description
A
Status page
Tap the Status tab to open the Status page of the robot
station.
B
Cycle setting
All the available production cycles are displayed in
this section.
The following data are available:
• Name: Cycle name
• Cur cycl: Number of executed cycles
• Max cycl: Maximum number of cycles to be
executed
• Type:Cycle type
To modify cycle settings, double tap a cycle row.
C
Preselected cycle
Select a continuous or count cycle to specify which
cycle should be exclusively executed without any user
intervention.
The cycle selection in the Start menu is disabled if a
cycle is preselected.
Note
If cycles are selected through the signal interface, the
cycle pre-selection is not available.
For further inforrmation, see the chapter Preselecting
a cycle for execution on page 62.
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5 Station and robot data view
5.3 Robot station data
Continued
D
Domain
Description
Test mode activated
Tap the check box to activate or deactivate the test
mode.
Note
Stations which are enabled or disabled through a digital signal can be enabled only through the check box
in the station view if the test mode is active. Similarly,
the cycles that are selected through the digital signal
interface, are shown only in the menu or action menu,
if the test mode is active.
E
Logging RWMT-Engine
xx1300000232
If there are problems while processing the RWMT
RAPID engine, the internal program flow can be logged
into a file. This log file can be send to the system integrator for error analysis. For every robot manipulator,
a daily log file is created in the directory
HOME:/LOG/MT_LOG_YY_MM.
The Logging RWMT-Engine list sets the program area
that is to be logged. Please ask ABB, which setting is
required or even select the entry Log everything, if
you are not sure. Select the entry Off and delete the
log files from the named directory, when error analysis
is finished.
F
Ghost mode request
Select the check box to activate the ghost mode
(partless mode). The activation or deactivation is done
before or after executing the next program cycle.
In the ghost mode the program flow can be tested
without actuating the gripper or execute other part related actions.
Note
The robot application program should support this
functionality. Therefore, RWMT provides appropriate
RAPID instructions and functions.
G
Ghost mode active
The LED indicates whether the ghost mode is active
or not. For this, the ghost mode should be activated
either externally (digital signal) or through selection.
The LED can assume the following states:
•
- Ghost mode is not active.
•
- Ghost mode is active.
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5 Station and robot data view
5.3 Robot station data
Continued
Domain
Description
H
Task button
Tap this button to offer all the available robot tasks for
selection in MultiMove systems.
As soon as a task is selected, its robot station is displayed.
J
Back button
Tap this button to close the status view of the robot
station.
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5 Station and robot data view
5.4 Indication of test mode or logging activity
5.4 Indication of test mode or logging activity
Introduction
The background of the station overview in the production window is colored in
cyan if test mode or logging of the RWMT engine is active for the following reasons:
•
If the robot is running unintentionally in test mode, the production settings
for station activation or cycle selection might be overwritten. This can cause
an inaccurate behavior when starting production.
•
If the logging has been unintentionally activated for a long time, this results
in very big logging files.
The cyan-colored background reminds the operator to deactivate the test mode,
respectively the logging activity, before continuing the normal production.
xx1200001315
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5 Station and robot data view
5.5.1 Description of the variable view
5.5 Station variables
5.5.1 Description of the variable view
For every station (or for the robot), program data which contains information about
the selected station (or can influence the station specific behavior of the robot)
can be displayed and also can be modified if necessary. For every station upto
two variable pages can be displayed.
The following image and table provide details of the Variables tab.
en1300000226
Domain
Description
A
Variables tab
tap the Variables tab to display the Variables page.
B
Description
Displays the text explaining the function of the variable.
C
Value
If a Boolean variable could be edited a check box is used to
change the state:
•
Function is selected (TRUE)
•
Function is deselected (FALSE)
For all the other data, the corresponding values are displayed
as text.
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5 Station and robot data view
5.5.1 Description of the variable view
Continued
D
Domain
Description
Edit icon
Displays the processing status of a variable:
•
Variable can be modified
•
Variable cannot be modified
•
Variable can be modified; Updating is done by
tapping the button.
•
Variable cannot be modified; Updating is done by
tapping the button.
E
Input field
To modify a variable, tap in the value range of the concerned
list entry.
A frame is displayed to enter the numerical value or the text.
Tap the frame, to display a numerical or an alphanumerical
keyboard, depending on the data type.
F
Reset button
Depending on the setting, the button to reset the variable is
displayed besides the list entry.
Tap this button to reset the variable to the pre-set value following a confirmation query.
G
Update Values
button
This button appears only if variables have to be updated
manually.
Note
Only persistent are updated automatically
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5 Station and robot data view
5.5.2 Changing a numerical variable
5.5.2 Changing a numerical variable
Use the following procedure to change a numerical value:
Action
1
Start the RobotWare Machine
Tending user interface.
2
Tap Production.
The Production page is displayed.
3
In the station view, tap the icon of
the station for which you wish to
change a variable.
The Station data page is displayed.
4
Description
xx1200001316
Tap the Variables tab.
The Variables page is displayed.
xx1200001317
5
Check if the processing icon is displayed, so that the variable can be
modified.
If this is not the case, switch to the
Manual mode of the robot controller.
or
xx1200001318
xx1200001319
Note
Changing the variable may not be allowed if
you do not have the required permissions.
6
Tap the value range of the variable
which you wish to modify, so that a
frame appears around the numerical
value or the text.
xx1200001320
The frame disappears again if you tap at another place away from the frame.
7
Tap the frame.
The numerical keyboard is displayed.
xx1200001321
Note
For string variables, the alphanumerical keyboard is displayed.
8
Use the keyboard to enter the desired value.
9
Tap the OK button to accept the
value or the Cancel button to discard the value.
The new value is transferred immediately to
the robot program.
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5 Station and robot data view
5.6 Station signals
5.6 Station signals
The signal window displays the signals that are related to the station and consists
of the following elements:
The following image and table provide details of the Signals tab.
xx1200001322
Domain
Description
A
Signals tab
Tap the Signals tab to open the Signals page.
B
C
Inputs
Outputs
The states of the digital input and output signals are
represented by the following icons:
- Signal is not active (low)
- Signal is active (high)
- Signal name is not known in the system
Note
For analog or group signals, the latest value is displayed next to the name of the signal.
D
Description of the signal
The description of the signal is displayed only if a
corresponding entry exists within the station signal
declaration or the signal configuration (please refer to
Technical reference manual: system parameters.
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5 Station and robot data view
5.6 Station signals
Continued
Domain
Description
E
Set button or
123… button
The buttons for setting and resetting the signals are
always active in the manual mode. In the automatic
mode, these are visible only if the setting of the corresponding output signal in the automatic mode is allowed
in the signal configuration (please refer to Technical
reference manual: system parameters listed in the
section References on page 7).
Digital outputs are set directly to 1 by activating the
button.
In the case of analog signals or group exits, an input
field is displayed, in which the desired value has to be
entered.
F
Reset button
The output signal is set to the value 0.
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6 Manual gripper operations
6.1 Introduction to manual gripper options
6 Manual gripper operations
6.1 Introduction to manual gripper options
This chapter explains how grippers or actuators can be operated manually using
the RobotWare Machine Tending user interface.
The Gripper window is loaded by tapping the Gripper button
Production window.
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6 Manual gripper operations
6.2 Gripper window
6.2 Gripper window
Actuators are the individual functions of a gripper and can be operated in the
manual mode of the robot controller through the following elements:
xx1200001324
Domain
Description
A
Title bar
Displays the name of the page and the details of the
selected robot task.
B
Tool code
If a tool code is used, the current value is displayed.
C
Gripper tab
Displays the sensors of the actuators and the parts. It
is possible to control the actuators through the menu
buttons.
D
Sequences tab
Displays the gripper sequences that can be executed.
E
Actuators list
Displays those actuators whose tool code corresponds
to the active gripper code.
F
Sensor display of the actu- Displays the signal states of upto four pairs of sensors
ators
of the selected actuator.
The states are represented through the following icons:
- Signal is not active (low)
- Signal is active (high)
- Signal name is not known in the system
- No signal is defined
G
Part check list
Displays those part controls whose tool code corresponds to the active gripper code.
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6 Manual gripper operations
6.2 Gripper window
Continued
Domain
H
Description
Sensor display of the part Displays the signal states of upto eight sensors of the
control
selected part control.
The states are represented through the following icons:
- Signal is not active (low)
- Signal is active (high)
- Signal name is not known in the system
J
Open button
Sets the output signal for opening the control element.
Note
The labeling of the button is specified through the selected actuator and changes according to the function.
For example, for a vacuum suction cup, the text Vacuum off can be used.
The instantaneous signal state of the output for
opening the actuator is displayed through the LED at
the button:
Output is set (high)
Output is reset (low)
K
Close button
Sets the output signal for closing the control element.
Note
The labeling of the button is specified through the selected actuator and changes according to the function.
For example, for a vacuum suction cup, the text Vacuum on can be used.
The instantaneous signal state of the exit for closing
the actuator is displayed through the LED at the button:
Output is set (high)
Output is reset (low)
L
Refresh button
Tap this button to reload the gripper declarations from
the robot program.
In this way, changes to the declarations are displayed
immediately.
M
Task button
Displays all the available robot tasks for selection in
the MultiMove systems.
As soon as a task is selected, its gripper declarations
are displayed.
N
Back button
Closes the Gripper window.
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6 Manual gripper operations
6.3 Controlling an actuator
6.3 Controlling an actuator
Use the following procedure to manually control an actuator element:
Action
1
Start the RobotWare Machine
Tending user interface.
2
Tap Production.
The Production page is displayed.
3
Tap the Gripper button
.
The Gripper page is dispalyed.
Description
Note
Make sure that the gripper is ready for operation.
4
Switch the mode selector of the robot control to the manual mode
(manual ≤ 250 mm/s or manual
100%).
xx1200001329
5
Select the actuator that is to be
controlled from the Actuator list.
6
Tap the enabling device on the
FlexPendant to switch on the motor.
7
Tap the menu button to 0pen or
close the gripper.
The sensors of the control element are displayed and the texts of the buttons for actuating the control element can be modified accordingly.
Note
If the actuator cannot be actuated due to an
external condition, then a dialog with the
corresponding message appears.
8
Confirm the confirmation query
asking whether you really wish to
Open or Close the controlling element.
Note
The confirmation query can be deactivated
in the setting menu of the main view.
The outputs of the actuator are actuated accordingly. The LEDs of the outputs and the
sensors can change according to the current
state.
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6 Manual gripper operations
6.4 Displaying the part control sensors
6.4 Displaying the part control sensors
To display the part control sensors, select the desired part control in the Part check
list. The sensors of the selected part control are displayed and the signal states
are displayed accordingly.
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6 Manual gripper operations
6.5 Gripper sequences
6.5 Gripper sequences
Gripper sequences contain the processing of several actuators, which are processed
simultaneously or sequentially.
The following image and table provide details of the Sequences page.
xx1200001330
Domain
Description
A
Processing status of the
gripper sequence
The gripper sequence is executed as a service routine,
so that the program pointer of the robot program does
not change.
The processing status of the gripper sequence is displayed through the following icons:
•
Gripper sequence is executable.
•
Gripper sequence is executing.
•
Gripper sequence is stopped.
•
Gripper sequence is blocked.
(Program pointer is not available or the robot
program is not executed).
B
Gripper sequence list
Displays those gripper sequences whose tool code
corresponds to the active gripper code.
C
Gripper sequence
Displays the sequence details of the selected gripper
sequence.
For readability reasons, all the data of the gripper sequence cannot be displayed at the same time. It is
possible to scroll through the sequence using the arrow keys.
D
Scroll to first column
Displays the content of the table at the first column.
E
Scroll to the left
Shifts the content of the table by one column to the
left.
F
Scroll to the right
Shifts the content of the table by one column to the
right.
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6 Manual gripper operations
6.5 Gripper sequences
Continued
Domain
Description
G
Scroll to the last column
Displays the contents in the last column of the table
on the right side.
H
Run sequence button
Executes the selected gripper sequence.
Cancel routine button
If a gripper sequence is stopped while it is being processed, the Cancel routine button is displayed.
If the processing of the gripper sequence should be
discontinued, tap the Cancel routine button, since the
program pointer is still in the service routine and the
normal robot program cannot be executed.
J
PP ->main button
Sets the program pointer to the main routine.
K
Refresh button
Reloads the gripper declarations from the robot program.
In this way, changes to the declarations are displayed
immediately.
L
Task button
Displays all the available robot tasks for selection in
the MultiMove systems.
As soon as a task is selected, its gripper declarations
are displayed.
M
Back button
Closes the Gripper page.
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6 Manual gripper operations
6.6 Executing a gripper sequence
6.6 Executing a gripper sequence
Use the following procedure to manually process a gripper sequence:
Action
Description
1
Start the RobotWare Machine Tending user
interface
2
Tap Production.
The Production page is displayed.
3
Tap
and then tap the Gripper button
.
The Gripper page is displayed.
4
Tap the Sequences tab.
The tab pane for the gripper sequences is
displayed
5
Switch the mode selector of the robot controls to the manual mode (manual ≤ 250 mm/s
or manual 100%).
Make sure that the gripper is ready
for operation.
xx1200001329
6
Select the desired gripper sequence.
7
Tap the enabling device on the FlexPendant,
so that the motors are switched on.
8
Tap the Run sequence button.
If the gripper sequence cannot be
actuated due to an external condition, then a dialog with the corresponding message appears.
Note
As soon as the gripper sequence is
started, a dialog box opens, querying the manner in which the sequence is to be processed.
9
Tap the Complete button to completely pro- As soon as the gripper sequence
cess the gripper sequence.
has been processed completely a
dialog is displayed.
Tap the Step by step button to start the execution of the next step through a dialog after
Note
every step in the sequence that has been
processed.
In the step by step processing, it is
Tap the Cancel button to cancel the execu- also possible to process all the following steps by tapping the Comtion of the gripper sequence.
plete button, without further confirmation queries.
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7 Part data window
7.1 Introduction to part data window
7 Part data window
7.1 Introduction to part data window
This chapter explains how part information can be displayed in RobotWare Machine
Tending user interface and a part can be selected manually for processing.
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7 Part data window
7.2 Description of the part data window
7.2 Description of the part data window
In the part data window, all the part definitions and their detailed information are
displayed.
The Part window is loaded by tapping the Part data button
production window and consists of the following elements:
in the
xx1200001341
Domain
Description
A
Title bar
Displays the name of the page and the name of task
of the selected robot.
B
Parts tab
Displays a list with all the part declarations from the
robot program.
A part can be denoted by the following icons in the
parts list:
Part is selected externally
Part is selected manually
Coding does match this part
C
Current codes tab
Displays a list with the current values for the program
code, gripper code, and check codes.
xx1200001345
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7 Part data window
7.2 Description of the part data window
Continued
D
Domain
Description
Part Properties
Displays the details of the selected part. The codes
that match with the current values are also displayed:
Expected and actual coding match
Expected and actual coding do not match
E
Select part or Deselect
part button
Activates the selected part for processing after a confirmation query. When a part is selected manually the
external part selection is ignored.
If a part has been activated manually, the button
changes to Deselect part. Tap the Deselect part button to deactivate the part after a confirmation query.
F
Part Image or Part Proper- Switches the display between the part details and the
ties button
part image.
The labeling of the buttons changes according to the
data that is displayed.
G
Refresh button
Reloads the part data from the robot program. In this
way, changes to the declarations are displayed immediately.
H
Task button
Displays all the available robot tasks for selection in
the MultiMove systems.
As soon as a task is selected, its part data is displayed.
J
Back button
Closes the parts window.
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7 Part data window
7.3 Manual selection of a part
7.3 Manual selection of a part
Use the following procedure to manually select a particular part for processing:
Action
1
Start the RobotWare Machine Tending user
interface.
2
Tap Production.
The Production page is displayed.
3
Description
Tap
and then tap Part data.
The Part data window is displayed.
xx1200001349
Note
In the case of a MultiMove systems,
if the data for the desired robot is
not displayed, switch to the corresponding view, by tapping the Tasks
button and selecting the required
robot (for example, T_ROB1).
4
In the list, select a part by tapping and selecting it.
xx1200001350
Note
In case the list has more than 8 part
declarations, then it is possible to
scroll through the list by tapping the
arrows.
5
Tap Select part and then tap Yes to confirm.
The successful activation is indicated by the
icon in front of the program number in xx1200001355
the parts list.
Through the property view, you can
check if the coding of the part is
identical with the settings in the
system.
The processing of the part is executed by the robot only if all the
required conditions are fulfilled.
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8 Advanced HotEdit
8.1 Introduction to advanced HotEdit
8 Advanced HotEdit
8.1 Introduction to advanced HotEdit
This chapter explains how robot positions can be changed in RobotWare Machine
Tending.
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8 Advanced HotEdit
8.2 Description of the HotEdit window
8.2 Description of the HotEdit window
To select the positions those are to be changed in the robot, only the following are
offered in a type specific manner in a list with the help of a position description.
The HotEdit window is loaded by tapping the HotEdit button
production window and consists of the following elements:
in the
xx1200001357
Domain
Description
A
Title bar
Displays the name of the page and the name of task
of the selected robot.
B
Position list
Displays the part specific or station specific list of positions for selecting the robot position that is to be
changed.
C
HotEdit button
Tap this button to open the HotEdit window with the
selected choice of positions.
Note
If no position list entry has been selected, then the
HotEdit window is opened with all the available positions.
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8 Advanced HotEdit
8.2 Description of the HotEdit window
Continued
D
Domain
Description
Current position button
Displays the HotEdit window for the current robot position.
If a list entry contains the current robot position, then
all the positions from this entry are displayed for
modification.
Note
The Current Position button is active only if a motion
pointer is present in the robot program (that is, the
robot is moved to a specific position through program
control) and the robot program is stopped.
E
Refresh button
Reloads the position declarations from the robot program.
In this way, changes to the declarations are displayed
immediately.
F
Task button
Displays all the available robot tasks for selection in
the MultiMove systems.
As soon as a task is selected, its position lists are
displayed.
G
Back button
Closes the HotEdit page.
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8 Advanced HotEdit
8.3 Changing a robot position
8.3 Changing a robot position
The HotEdit option is used for changing the programmed positions. The change
can be made in all the modes of operation, even during an ongoing program
processing. Both the coordinates as well as the orientation can be customized.
Here, HotEdit can be used only for named positions of the type robtarget.
Use the following procedure to change a robot position:
Action
1
Start the RobotWare Machine Tending
user interface.
2
Tap Production.
The Production page is displayed.
3
Description
Tap
and then tap HotEdit.
The HotEdit page is displayed.
xx1200001358
Note
In the case of a MultiMove systems, if
the data for the desired robot is not displayed, switch to the corresponding
view, by tapping the Tasks button and
selecting the required robot (for example, T_ROB1).
4
In the list, select the position that is to
be changed by tapping and selecting it.
xx1200001359
Note
In case the list has more than 8 part positions, then it is possible to scroll
through the list by tapping the arrows.
5
Tap HotEdit to open the position editor
with the pre-defined positions.
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8 Advanced HotEdit
8.3 Changing a robot position
Continued
Action
6
7
If you do not wish to change all the positions with the same offset, the position
that is not required should be deleted
from the Selected targets list.
To delete a position, select the corresponding position and then tap the Trash
can icon.
Description
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Tap <<Tune Targets>> and select the
tuning mode (linear, re-orientation, or
external axes) and then select the coordinate system (tool or work object).
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8
Tap + and -, to tune the positions in the
X-, Y-, and Z-direction.
xx1200001363
Select increment to define the step size
of these buttons.
9
Tap Apply and then tap Yes to confirm.
If the program is being processed, then
the offset is used directly.
10
If you are satisfied with the result and
wish to set the modified positions as the
basis, tap Baseline and then tap Commit
Selection.
xx1200001364
Note
If the selected positions need to be
modified further tap Baseline and then
on Restore Selection and then start from
the beginning, or continue with the
change, till you are satisfied with the
result.
11
To include the deleted positions in the
selection again for further changes, you
can either add these manually or load
the previous selection.
To do so, tap File and then tap Open
Selection....
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8 Advanced HotEdit
8.3 Changing a robot position
Continued
Action
12
Description
Select the file RWMT_HOTEDIT and then
tap OK.
The original selection is restored.
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13
To change the positions, continue with
Step 6, or tap Close.
The HotEdit window is displayed with
the list of positions (please refer to Step
4).
14
To change another position, continue
with Step 3 or close the window.
Note
For more information on Coordination of positions with HotEdit, see Operating
manual - IRC5 with FlexPendant listed in the section References on page 7.
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9 Service menu
9.1 Overview
9 Service menu
9.1 Overview
This chapter explains how setup routines and service routines can be executed,
if the robot is not in operation.
Setup routines are used for setting up or configuring the robot at the time it is
commissioned.
Service routines are used for service and configuration tasks during pauses in
production and differ in terms of their execution.
•
Service routines of Type I are executed instead of a production program.
•
Service routines of Type II are executed in parallel with the normal program
run, so that the program pointer in the robot program does not change.
A description of the configuration of the setup routines and the service routines
can be found in the Application manual - RobotWare Machine Tending listed in the
section References on page 7.
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9 Service menu
9.2 Service menu
9.2 Service menu
The Service menu is loaded by tapping the Service button
in the
production window. The Service menu offers only those service routines for
selection, for which logged in user has the required permissions.
If the robot controller is in the automatic mode, then, only those entries which have
been released explicitly for the automatic mode can be selected in the service
menu. All the other entries are grayed out.
Note
Service routines of Type II can be executed only in the manual mode of the robot
controller. Service routines of type II are executed in parallel with the program
run, so that the program pointer is not lost.
Tip
This is used mainly for actuator functions of signals, for example, locking or
unlocking the tool change system.
Description of the service menu or setup menu
The following image and table provide details of the Service menu.
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A
Domain
Description
Robot task
The service menus for all the robots (MultiMove) are
displayed through the tab panes. Tap the corresponding tab pane to switch between the robots.
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9 Service menu
9.2 Service menu
Continued
B
Domain
Description
Processing status
The processing status of the setup routine or service
routine is displayed separately for each robot and is
represented by the following icons.
Routine is executable.
Routine is executed.
Routine is stopped.
Routine is blocked.
(No program pointer or robot program is executed)
C
Category filter
xx1200001370
To easily select a service menu, the menu entries
display can be set in the Category filter.
To do so, the combination list field is used to set the
desired category and the menu list displays only the
menu entries belonging to the category. To display all
the list entries, select the "blank" entry as the category.
D
Menu list
Displays all the available menu entries for loading a
setup routine or service routine with the image and
text.
If no image is specified through the menu declaration,
then the following standard images are used:
•
Service routine Type I
•
Service routine Type II
•
Setup routine
E
Execute button
Executes the selected routine.
Note
If the routine cannot be actuated due to an external
condition, then a dialog with the corresponding message appears.
F
Cancel Routine button
If a service routine (Type II) is stopped during an execution, then the Cancel Routine button is displayed.
If the processing should be discontinued tap Cancel
routine, since the program pointer is still in the service
routine and the normal robot program cannot be executed.
G
PP->main button
Sets the program pointer to the main routine.
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9 Service menu
9.2 Service menu
Continued
Domain
Description
H
Refresh button
Reloads the menu declarations from the robot program.
In this way, changes to the declarations are displayed
immediately.
J
Back button
Closes the window.
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9 Service menu
9.3 Executing a setup routine or service routine
9.3 Executing a setup routine or service routine
Use the following procedure to run a setup routine or service routine:
Action
1
Start the RobotWare Machine
Tending user interface.
2
Tap Production.
The Production page is displayed.
3
Tap
and then tap Service
The Service routine page is displayed.
Description
xx1200001378
If the cell operation mode is not in Service
mode, tap Start then tap
, to set the cell operation mode to Service.
xx1200001377
Cell operation mode Service
Note
Setup routines can be executed in every cell
operation mode.
4
In the case of MultiMove systems, If the desired menu entry is shown in grey
tap the tab pane for the desired ro- color, then switch to the manual mode of the
bot (for example, T_ROB1).
robot controller.
xx1200001329
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9 Service menu
9.3 Executing a setup routine or service routine
Continued
Action
Description
5
Select a service routine.
Use the category filter to simplify the selection.
To run a service routine, the following conditions must be fulfilled:
• The program pointer must be set
• The motors must be switched on.
6
Tap Execute.
The service routine is executed.
If the routine cannot be actuated due to an
external condition, then a dialog with the
corresponding message appears.
In the automatic mode of the robot controller,
the starting of the service routine has to be
acknowledged through a dialog.
If the robot program is stopped, tap the Start
button.
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9 Service menu
9.4 Cancel the service routine
9.4 Cancel the service routine
If a service routine of Type II is stopped, then the button for cancelling the service
routine is shown.
xx1200001380
To continue the service routine, tap the Start button
.
If the processing of the service routine should be discontinued, tap Cancel Routine,
since the program pointer is still in the service routine and the normal robot program
cannot be executed.
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9 Service menu
9.5 Set program pointer to main
9.5 Set program pointer to main
To run a service routine, the program pointer must be set in the program, that is,
it points to an instruction in the program.
If the program pointer is not present, for instance, through the instruction EXIT or
by a modification of the RAPID program, it must be set first to the main routine.
To set the program pointers, tap
.
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10 User administration
10 User administration
Overview
The user authorization is meant for controlling the access levels. Three user groups
are predefined: Operator (or User), Service Technician, and Programmer.
User groups
While using the user authorization, the user has to log in with a user name and
password to access the RobotWare Machine Tending.
User group
Access to
•
•
•
•
•
Execute the production (for example, Starting and stopping the
robot, executing the production cycles, or user defined cycles)
Display of station and production information
Display of signals
Select or deselect stations
Reset station variables
Service technician
•
•
•
•
•
•
•
•
•
All permissions of the operator
Manual selection of part
Manual operation of gripper
Change the station variables (upto User Level 100)
Set or reset signals
Cycle settings
HotEdit
Execute service routines (upto User Level 100)
Load, Save, Import, and Export projects
Programmer
•
•
•
•
•
All permissions of the Service technician
Select or deselect the ghost mode
Select or deselect the test mode
Change the station variables (upto User Level 255)
Execute service routines (upto User Level 255)
Operator
Note
The User Authorization System is configured during the installation. For more
information, see Application manual – RobotWare Machine Tending listed in the
section References on page 7.
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Index
Index
A
action cycle, 53, 58
application errors, 31
C
cell operation mode, 51
color schema, 33
continuous cycle, 53, 58
count cycle, 53, 58–59
counter, 61
cycle menu, 50, 61
cycle selection, 54
cycle settings, 58
cycle type, 53
action cycle, 53
continuous cycle, 53
count cycle, 53
periodic cycle, 53
D
dialog settings, 27
G
gripper sequence, 80
execution, 82
list, 80
gripper window, 76
H
home position, 50, 52
HotEdit, 87
window, 88
I
Integrator, 11
M
manage projects, 35
export, 48
import, 47
load, 41
save, 42
unload, 46
manual gripper operations, 75
P
part data window, 83
part information, 83
periodic cycle, 53, 58
production cycle, 51
program cycle, 52
action cycle, 55
continue cycle, 57
start cycle, 54
project data, 36
R
request after discharging, 56
request before discharging, 56
robot station data, 66
RobotWare Machine Tending, 11
running production, 49
S
safe position, 52
safety, 10
service menu, 94
service routine, 51
start cycle, 50
station signals, 73
station variables, 70
stop after cycle, 56
System Operator, 11
U
User groups, 101
operator, 101
programmer, 101
service technician, 101
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© Copyright 2013 ABB. All rights reserved.
ABB AB
Discrete Automation and Motion
Robotics
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS, Robotics
Discrete Automation and Motion
Box 265
N-4349 BRYNE, Norway
Telephone: +47 51489000
ABB Engineering (Shanghai) Ltd.
5 Lane 369, ChuangYe Road
KangQiao Town, PuDong District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Discrete Automation and Motion
Robotics
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
www.abb.com/robotics
3HAC044397-001, Rev A, en
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