Operating manual
Getting started, IRC5 and RobotStudio
Document ID: 3HAC 027097-001
Revision: B
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, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted.
Additional copies of this manual may be obtained from ABB at its then current charge.
Copyright 2007 ABB All rights reserved.
ABB AB
Robotics Products
SE-721 68 Västerås
Sweden
Table of Contents
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Safety note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1 Procedures 7
1.1 Procedure for single robot systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Procedure for MultiMove systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 Common procedures for all systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2 General 17
2.1 What you need to get the system started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.2 What is a FlexPendant? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.3 What is RobotStudio? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.4 What is RobotWare?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.5 About the media pool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.6 When to use the FlexPendant and RobotStudio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.7 Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3HAC 027097-001 Revision: B 3
Table of Contents
4 3HAC 027097-001 Revision: B
Overview
Overview
About this manual
This manual is to be used when starting up the system for the very first time. It contains excerpts from other documents included in the robot system delivery.
Usage
This manual contains instructions for starting up the IRC5 robot controller for the very first time after the physical installation has been completed.
Who should read this manual?
This manual is intended for:
• Commissioning personnel
Prerequisites
The reader should be familiar with:
• Mechanically installing the robot hardware.
• Be trained in robot operation.
The contents of the manual assumes all hardware (manipulator, controller and such) has been installed correctly and connected to each other.
Organization of chapters
The manual is organized in the following chapters:
Chapter
1. Procedures
2. General
Contents
Procedures for setup and startup of the IRC5 robot system.
Descriptions of the parts in IRC5 robot system.
References
Reference
Product manual - IRC5
Operating manual - IRC5 with FlexPendant
Operating manual - RobotStudio
Operating manual - Trouble shooting
Technical reference manual - System parameters
Application manual - MultiMove
Document Id
3HAC021313-001
3HAC16590-1
3HAC032104-001
3HAC020738-001
3HAC17076-1
3HAC021272-001
Revisions
A
B
-
Revision Description
Replaces manual with document id 3HAC 021564-001.
Released with RobotWare 5.08.
Polish translation added.
RobotStudio Online is integrated in RobotStudio. Title adjusted.
3HAC 027097-001 Revision: B 5
Safety note
Safety note
Overview
Please note that there is no information regarding safety aspects in this manual!
In an effort to keep this manual short, there is no information regarding:
• safe handling and operation of the equipment
• generic reference information
• detailed procedures
This information can be found in the Product manuals or the Operating manuals delivered with the robot system.
6 3HAC 027097-001 Revision: B
1 Procedures
1.1. Procedure for single robot systems
1 Procedures
1.1. Procedure for single robot systems
Overview
This instruction is valid for IRC5 single robot systems.
A single robot system contains either a Single Cabinet Controller (controller with integrated
Control Module and Drive Module) or a Dual Controller (Control Module to which one Drive
Module is connected).
How to get started
This procedure details how to get started with a single robot system.
Action Info/illustration
1. Mechanically install the robot and controller, and connect the electrical power and signal cables between them. Also connect the electrical power supply.
2. Make sure all safety related connections are made correctly.
3. Connect the FlexPendant to the controller.
These procedures are detailed in the Product Manuals of robot and controller respectively.
Refer to the work station wiring diagram.
A
4. If the robot system is delivered with fully functional system software installed, you can proceed as detailed in section How to switch on power in
Common procedures for all systems on page 11
.
If no functional system software has been installed, please proceed as detailed in section
Common procedures for all systems on page 11
.
xx0500001854
A: FlexPendant connector, Single
Cabinet Controller
3HAC 027097-001 Revision: B 7
1 Procedures
1.2. Procedure for MultiMove systems
1.2. Procedure for MultiMove systems
Overview
This instruction is valid for IRC5 multi robot systems, that is, systems using the MultiMove option.
xx0400001042
A MultiMove robot system contains either a Single Cabinet Controller (an integrated Control
Module and Drive Module as shown in the illustration above) or a separate Control Module to which a number of Drive Modules (one for each robot being run by the system) have been connected. Up to four robots may be operated by a MultiMove system.
NOTE!
All multi robot systems are configured as single robot systems on delivery. In order to be fully functional as multi robot systems, these systems must be re-configured.
How to perform this is detailed in Operating manual - RobotStudio.
How to get started
This procedure details how to get started with a multi robot system.
Action Info
1. Mechanically install the robot and controller, and connect the electrical power and signal cables between them. Also connect the electrical power supply.
These procedures are detailed in the
Product Manuals of robot and controller respectively.
8
Continues on next page
3HAC 027097-001 Revision: B
Action
2. Connect the Ethernet cables from each
Drive Module to the Control Module
Ethernet card.
Make sure the Drive Modules are connected in the correct order! The order must correspond to the order in which the key strings are entered when creating the system.
Info
1 Procedures
1.2. Procedure for MultiMove systems
Continued
3. Before connecting the safety signal cables, remove jumpers from connectors X7, X8,
X14 and X17 as required by the number of
Drive Modules to connect.
Connect the safety signal cables from each
Drive Module to the Control Module panel board as shown in the figure.
xx0400001141
Connections:
• A: Robot communication card
• B: Ethernet card
• C: Ethernet connection to Drive
Module #1 (connected on delivery)
• D: Ethernet connection to Drive
Module #2
• E: Ethernet connection to Drive
Module #3
• F: Ethernet connection to Drive
Module #4
3HAC 027097-001 Revision: B xx0400001295
Connections:
• X7: safety signal cable to Drive
Module #1(connected on delivery)
• X8: safety signal cable to Drive
Module #2
• X14: safety signal cable to Drive
Module #3
• X17: safety signal cable to Drive
Module #4
Continues on next page
9
1 Procedures
1.2. Procedure for MultiMove systems
Continued
Action Info
4. Make sure all safety related connections are made correctly.
5. Connect the FlexPendant to the controller.
Refer to the work station wiring diagram.
A
6. Proceed as detailed in section
Common procedures for all systems on page 11
.
xx0500001854
A: FlexPendant connector, Single Cabinet
Controller
10 3HAC 027097-001 Revision: B
1 Procedures
1.3. Common procedures for all systems
1.3. Common procedures for all systems
Overview
These procedures are common for installing all robot systems.
How to install RobotStudio on a PC
Action
1. Insert the robot software DVD in the PC.
If a menu for the DVD is opened automatically, continue with step 5.
If no menu for the DVD is opened, continue with step 2.
2. On the Start menu, click Run.
3. In the Open box, type the drive letter for your DVD drive followed by:
:\launch.exe
Example: If your DVD drive has the letter D, then type:
D:\launch.exe
4. Click OK.
5. Select language for the DVD menu.
6. On the DVD menu, click Install.
7. On the installation menu, click RobotStudio. This opens the installation wizard, which will guide you through the rest of the software installation.
8. Follow the instructions in the installation wizard.
9. After installing RobotStudio, proceed with activating RobotStudio.
NOTE that for a try-out period of 30 days, RobotStudio will work without activation.
Activate RobotStudio
To continue using your product with all of its features, you must activate it. RobotStudio
Product Activation is based on Microsoft anti-piracy technology and designed to verify that software products are legitimately licensed.
Activation works by verifying that the Activation Key is not in use on more personal computers than are permitted by the software license.
How do I activate RobotStudio?
When you start RobotStudio for the first time after installation, you are prompted to enter your Activation Key.
Grace period
Before entering a valid Activation Key, you can run the software, with all the features enabled, for a grace period of up to 30 days. However, after entering a valid Activation Key, you will see only the features you have purchased.
Reduced Functionality mode
After the grace period, the software reverts to Reduced Functionality mode unless you have entered a valid Activation Key. In Reduced Functionality mode, RobotStudio only allows the use of the Online and basic Virtual Controller features. No existing files or stations are harmed in Reduced Functionality mode. After activating your software, you will have full functionality for the features you have purchased.
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11
1 Procedures
1.3. Common procedures for all systems
Continued
NOTE!
Activation is not required for the Online features for programming, configuring and monitoring a real controller connected over Ethernet.
Activate automatically over the Internet or manually
The Activation Wizard gives you two choices on how to proceed.
Automatic activation by using the Internet (recommended)
Once you have selected the option I want to activate RobotStudio over the Internet, the
Activation Wizard automatically contacts the ABB licensing servers over your Internet connection. If you are using a valid Activation Key that has not exceeded the number of installations allowed, your product is activated immediately.
When you activate over the Internet, your activation request is sent to ABB. Your license will then be automatically installed and your product ready for use. If you choose to activate over the Internet but are not currently connected, the wizard alerts you that there is no connection.
Manual activation
If the computer does not have an Internet connection, you must create a license file by selecting the option I want to request a license file. Proceed through the wizard, enter your
Activation Key and save the License Request File to your computer. Use a removable medium, such as a USB stick or floppy disk, to transfer the file to a computer with an Internet connection. Go to www.robotstudio.com/community to find a hyperlink to the manual activation page, click the link and then follow the instructions. The result will be a License
File that should be saved and transferred back to the computer holding your product.
Relaunch the Activation Wizard and select the option I have a license file I want to install.
Proceed through the wizard, selecting the License File when requested. Upon completion,
RobotStudio is activated and ready for use.
How do I activate later?
If you do not want to activate your copy of the software at installation, you can do so later.
The following steps will launch the Activation Wizard.
If you have a problem with your activation, contact your local ABB customer support representative at the e-mail address or telephone number provided at www.abb.com/robotics.
Action
1. Click the RobotStudio button, and then click Licencing.
2. Click Request a license to launch the activation wizard.
3. f your RobotStudio installation has been activated, you will have valid licenses for the features covered by your subscription.
Which RobotStudio version is installed?
The version number of RobotStudio is displayed on the start page that appears when
RobotStudio is started.
How can I tell if my RobotStudio installation is activated?
12
Action
1. Click the RobotStudio button, and then click Licencing.
Continues on next page
3HAC 027097-001 Revision: B
1 Procedures
1.3. Common procedures for all systems
Continued
Action
2. Click View Installed License Keys to see the status of your current license.
3. If your RobotStudio installation is activated, you will have valid licenses for the features covered by your subscription.
How to configure and connect a PC or network to the controller
The illustration below shows the two main ports on the controller Computer Unit: the Service
Port and the LAN port. Make sure the LAN (factory network) is not connected to any of the service ports!
xx0700000003
A
B
Service port on computer unit (connected to Service port on the Control
Module front through a cable)
LAN port on computer unit (connects to factory LAN)
Action Info
1. Make sure the network setting on the PC to be connected is correct.
2. Use the delivered category 5 Ethernet crossover boot cable with RJ45 connectors.
3. Connect the crossover boot cable to the network port of your PC.
4. Connect the other end of the crossover boot cable to the service port.
5. After configuring and connecting a PC to the controller, proceed with creating a system if required.
NOTE that normally this step will not be required, since a system has already been installed.
Refer to the system documentation for your PC, depending on the operating system you are running.
The PC must be set to "Obtain an
IP address automatically".
The cable is delivered in the
RobotWare product box.
The service port is shown in the figure above.
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13
1 Procedures
1.3. Common procedures for all systems
Continued
How to create a system using RobotStudio
Normally, no system will have to be created for single robot systems since one is already installed on delivery. However, if your system uses the option MultiMove, you must create a new system defining all robots in the system.
If for some reason the delivered system does not work, a new system must be created and loaded as outlined below.
A detailed procedure is given in Operating manual - RobotStudio. For MultiMove systems, more information is also described in Application manual - MultiMove.
Action Info
1. Start RobotStudio and click System Builder.
2. Before creating a new system, make sure the following criteria are met:
• The RobotWare media pool must be installed on your PC.
• You must have a RobotWare key for the system, if the system is to run on a controller.
The RobotWare key is a license key that determines which robot model(s) to use and which
RobotWare options to run on the controller. It is delivered on the software DVD (delivered with the robot).
3. Click Create New.
A wizard for creating new systems is started.
4. Follow the steps in the wizard:
• Enter name and location
• Enter RobotWare key(s)
• Add additional options
• Modify options
• Add configuration files
• Add files to home directory
• View summary
• Finish
5. After creating a system, proceed with switching on the power.
Some of the steps are optional and can be skipped.
How to switch on power
The mains power switch(es) is located on the front of the controller/modules. See illustration of the switch below.
14 en0400000793
Action
1. Switch on the power to the Drive Module(s).
Info
If you have a single robot system with a Single Cabinet Controller, proceed to step 2.
Continues on next page
3HAC 027097-001 Revision: B
1 Procedures
1.3. Common procedures for all systems
Continued
Action
2. Switch on the power to the Control Module.
3. After switching the power on, proceed with loading calibration data.
Info
The system will now start up, which will take a couple of minutes. The system will be ready to operate when the FlexPendant displays the start window.
If the system does not start up, or if the start window is not displayed, please proceed as detailed in Operating manual -
Trouble shooting.
How to load calibration data
The calibration data is normally stored on the serial measurement board of each robot, regardless of whether the robot runs an absolute measurement system (Absolute Accuracy option is installed, AbsAcc) or not. This data is normally transferred automatically to the controller when the system is powered up, and in such cases no action is required by the operator.
Verify that the correct SMB data has been loaded into the system as detailed below. In a
MultiMove system, this procedure must be repeated for each robot.
Action
1. On the FlexPendant, tap the ABB menu, then tap Calibration and select a mechanical unit.
2. Tap SMB memory and then tap Show status.
The data is displayed with status on the SMB and on the controller.
3. If Valid is displayed under the headings Cabinet Memory and SMB memory, calibration data is correct.
If not, the data (on the SMB board or in the controller) must be replaced with the correct one as detailed below:
• If, for instance, the SMB board has been replaced, transfer data from controller to SMB board.If the controller has been replaced, transfer data from the SMB board to the controller.
• Transfer data by tapping SMB Memory, Update and then selecting which data to update.
4. After loading calibration data, proceed with updating the revolution counters.
How to update revolution counters
In a MultiMove system, this procedure must be repeated for each robot.
Action
1. Manually run the robot, using the joystick on the
FlexPendant, to a position close to the calibration position.
Info
The calibration position of each axis is indicated by the calibration marks.
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15
1 Procedures
1.3. Common procedures for all systems
Continued
Action Info
2. After positioning all axes within the scale indicated by the calibration marks, store the revolution counter settings.
On the FlexPendant, tap the ABB menu, then tap
Calibration. Select the mechanical unit to be calibrated. Tap Update revolution counters and follow the instructions provided.
Caution!
If a revolution counter is incorrectly updated, it will cause incorrect robot positioning, which in turn may cause damage or injury!
Check the calibration position very carefully after each update.
16 3HAC 027097-001 Revision: B
2 General
2.1. What you need to get the system started
2 General
2.1. What you need to get the system started
Illustration
The illustration depicts, in a schematic way, the delivered parts, the software tools to install them and the basic work flow.
Parts
en0400000766
A
B1
B2
Description Described in
Manipulator (a generic model shown)
Control Module, IRC5, containing the control electronics of the robot system.
Documents specified in section
Product documentation, M2004 on page 31
.
Documents specified in section
Product documentation, M2004 on page 31
.
Drive Module, IRC5, containing the power electronics of the robot system.
In a Single Cabinet Controller the Drive Module is included in the single cabinet.
In a MultiMove system, there is more than one Drive
Module.
Documents specified in section
Product documentation, M2004 on page 31
.
3HAC 027097-001 Revision: B
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17
2 General
2.1. What you need to get the system started
Continued
Description Described in
C
D
E
F
G
RobotWare DVD containing all robot software specified in section
What is RobotWare? on page 26
, and RobotStudio installation package.
Documentation DVD.
Robot system software being run by the robot controller. The system has been loaded into the controller from the server on the local area network.
Containing documentation files as specified in section
Product documentation,
M2004 on page 31
.
Documents specified in section
Product documentation, M2004 on page 31
.
RobotStudio PC software installed on PC x.
RobotStudio is used for loading the RobotWare software to the server as well as configuring the robot system and then loading the complete robot system into the robot controller.
RobotStudio is used to perform tasks as defined in section
When to use the FlexPendant and
RobotStudio on page 28
.
Documents specified in section
Product documentation, M2004 on page 31
, and in section
What is RobotStudio? on page 25
.
Calibration data diskette for systems running the
Absolute Accuracy option only. Calibration data for systems without this option is normally delivered on the Serial Measurement Board (SMB).
H
J
FlexPendant, which is connected to the controller, is used to perform tasks as defined in section
When to use the FlexPendant and RobotStudio on page 28
.
Server on network (not included in the delivery). This may be used for manually storing:
• RobotWare
• Complete robot systems
• Documentation files
In this context, the server may be considered as a storage unit used by the PC x, and may even be the same unit!
The server may be disconnected when not transferring data between the server and controller!
Documents specified in section
Product documentation, M2004 on page 31
.
PC K The server may be used for:
• All RobotWare software may be manually stored using the PC and RobotStudio.
• Complete configured system files may be manually stored after being created using the portable PC.
• All robot documentation files may be manually stored after being installed using the portable
PC and RobotStudio.
In this context, the server may be considered as a storage unit used by the portable PC.
18
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3HAC 027097-001 Revision: B
2 General
2.1. What you need to get the system started
Continued
Description
M RobotWare license key. The original key string is printed on a paper (for the Dual Controller there is one key for the Control Module and one for the Drive
Module, and in a MultiMove system there is one key for each module) delivered inside the Drive Module.
If ordered, the RobotWare license key is installed on delivery, so no further actions are required to get the system running.
N Serial Measurement Board (SMB) handling resolver data and storing calibration data. For systems not
running the Absolute Accuracy option, the calibration data is stored on the SMB on delivery.
PC x PC (not included in the delivery), may even be the same unit as the server J, shown above!
The PC may be disconnected when not transferring data between the server and controller!
Described in
3HAC 027097-001 Revision: B 19
2 General
2.2. What is a FlexPendant?
2.2. What is a FlexPendant?
Overview
The FlexPendant (occasionally called TPU or teach pendant unit) is a hand held operator unit used to perform many of the tasks involved when operating a robot system: running programs, jogging the manipulator, modifying robot programs etcetera.
NOTE!
Note that a few specific functions, such as administer the user authority system (UAS), cannot be performed using the FlexPendant, but only by using RobotStudio. Use Operating manual
- RobotStudio for details in these cases.
Complete computer and integral part of IRC5
The FlexPendant consists of both hardware and software and is a complete computer in itself.
It is an integral part of IRC5, connected to the controller by an integrated cable and connector.
The hot plug button option, however, makes it possible to disconnect the FlexPendant in automatic mode and continue running without it. See
Using the hot plug
in Operating manual
- IRC5 with FlexPendant for details.
Main parts
The FlexPendant is designed for continuous operation in harsh industrial environment. Its touch screen is easy to clean and resistant to water, oil and accidental welding splashes. These are the main parts of the FlexPendant.
en0300000586
C
D
A
B
E
Connector
Touch screen
Emergency stop button
Enabling device
Joystick
20
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Hard buttons
2 General
2.2. What is a FlexPendant?
Continued
There are eight dedicated hardware buttons on the FlexPendant, four of which the function is assigned by the end user.
en0300000587
E
F
A - D Programmable keys, 1 - 4. How to define their respective function is detailed in section
Programmable keys
in Operating manual - IRC5 with FlexPendant.
START button. Starts program execution.
Step BACKWARD button. Executes one instruction backward as button is pressed.
G
H
Step FORWARD button. Executes one instruction forward as button is pressed.
STOP button. Stops program execution.
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21
2 General
2.2. What is a FlexPendant?
Continued
How to hold the FlexPendant
The FlexPendant is typically operated while being held in the hand. A right-handed person uses his left hand to support the device while the other hand performs operations on the touch screen. A left-hander, however, can easily rotate the display through 180 degrees and use his right hand to support the device. See
Adapting the FlexPendant to left-handedness
in
Operating manual - IRC5 with FlexPendant for further information.
en0400000913
Operated in fourteen languages
As suggested by its name, the FlexPendant is designed with flexibility and adaptation to endusers’ specific needs in mind. Currently, it can be operated in 14 different languages, including Asian character-based languages such as Chinese and Japanese.
The individual FlexPendant supports up to three languages, selected before the installation of the system to the robot controller. Switching from one of the installed languages to another is easy. See
Changing language
in Operating manual - IRC5 with FlexPendant for information about how to do it.
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2 General
2.2. What is a FlexPendant?
Continued
Touch screen elements
The illustration shows important elements of the FlexPendant touch screen.
en0300000588
C
D
A
B
E
F
ABB menu
Operator window
Status bar
Close button
Task bar
Quickset menu
ABB menu
From the ABB menu the following items can be selected
• HotEdit
• Inputs and Outputs
•
Jogging
• Production Window
• Program Editor
•
Program Data
•
Backup and Restore
•
Calibration
•
Control Panel
•
Event Log
•
FlexPendant Explorer
•
System Info
• etc.
This is further detailed in section
The ABB menu
in Operating manual - IRC5 with
FlexPendant.
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23
2 General
2.2. What is a FlexPendant?
Continued
Operator window
The operator window displays messages from robot programs. This usually happens when the program needs some kind of operator response in order to continue. This is described in section
Operator window
in Operating manual - IRC5 with FlexPendant.
Status bar
The status bar displays important information about system status, such as operating mode, motors on/off, program state and so on. This is described in section
Status bar
in Operating
manual - IRC5 with FlexPendant.
Close button
Tapping the close button closes the presently active view or application.
Task bar
You can open several views from the ABB menu, but only work with one at a time. The task bar displays all open views and is used to switch between these.
Quickset menu
The quickset menu provides settings for jogging and program execution. This is described in section
The Quickset menu
in Operating manual - IRC5 with FlexPendant.
Handling and cleaning
•
Handle with care. Do not drop, throw, or give the FlexPendant strong shock. It may cause breakage or failure.
• When not using the device, hang it on the wall bracket provided for storage so that it cannot fall to the ground by accident, or that nobody can trip over the cable.
• Never use sharp objects (e.g. screwdriver or pen) for operating the touch screen. This could damage the touch screen. Instead try a stylus, normally used for a PDA.
•
Never clean the device with solvents, scouring agent, or scrubbing sponges. For cleaning the device, use a soft cloth and a bit of water or mild cleaning agent. See
Product manual - IRC5, section Cleaning the FlexPendant.
24 3HAC 027097-001 Revision: B
2 General
2.3. What is RobotStudio?
2.3. What is RobotStudio?
Overview
RobotStudio is a computer application for the offline creation, programming, and simulation of robot cells.
RobotStudio is available in full, customized, and minimal installation. The minimal installation is used for working in online mode on the controller, as a complement to the
FlexPendant. The full (and customized) installation offers advanced programming and simulation tools.
RobotStudio online mode functionality
RobotStudio online mode is optimized for:
1. Creating, installing, and maintaining systems, using the System Builder.Text-based programing and editing, using the Program Editor.
2. File manager for the controller.
3. Administrating the User Authorization System.
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2.4. What is RobotWare?
2.4. What is RobotWare?
Concept
RobotWare is a generic term for all software to be installed in the robot system designed to operate the robot.
RobotWare is installed and stored in the media pool (
Mediapool
) folder on a PC/server. The media pool is described in section
About the media pool on page 27
.
RobotWare is delivered on a DVD and this contains software for all available models, options and such.
However, the RobotWare license keys, required to access the software, are delivered as character strings printed on a piece of paper delivered with the controller cabinet. There is one key for the Control Module, and one key for each Drive Module.
When adding functionality at a later date, a new controller license key is required to access the functions. The key is available from your local ABB representative.
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2.5. About the media pool
2.5. About the media pool
Overview
The media pool is a folder on your PC that contains the RobotWare software. It is from the media pool that you select programs and options when building systems.
The default media pool
If RobotWare is installed with default settings on the PC, the default media pool is located in the folder C:\Program Files\ABB Industrial IT\Robotics IT\Mediapool
Customized media pools
You can create customized media pools by creating new folders to which you copy
RobotWare files from existing media pools. You can also update or modify a media pool by importing new parts of RobotWare using the Import Option tool in RobotStudio.
In RobotStudio, you then choose which media pool to use when creating new systems.
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2.6. When to use the FlexPendant and RobotStudio
2.6. When to use the FlexPendant and RobotStudio
Overview
For operating and managing the robot, you either use the FlexPendant or RobotStudio. The
FlexPendant is optimized for handling robot motions and ordinary operation, and
RobotStudio is optimized for configuration, programming and other tasks not related to the daily operation.
Start, restart and shut down the controller
To...
Start the controller.
Restart the controller.
Shut down the controller.
Use...
The power switch on the controller's front panel.
The FlexPendant, RobotStudio or the power switch on the controller's front panel.
The power switch on the controller's front panel or the
FlexPendant, tap Restart, then Advanced.
Run and control robot programs
To...
Use...
Jog a robot.
The FlexPendant
Start or stop a robot program. The FlexPendant or RobotStudio
Start and stop background tasks
RobotStudio
Communicate with the controller
To...
Use...
Acknowledge events.
View and save the controller's event logs.
The FlexPendant.
RobotStudio or the FlexPendant.
Back up the controller's software to files on the
PC or a server.
RobotStudio or the FlexPendant.
Back up the controller's software to files on the controller
The FlexPendant.
Transfer files between the controller and network drives.
RobotStudio or the FlexPendant.
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2.6. When to use the FlexPendant and RobotStudio
Continued
Program a robot
To...
Use...
Create or edit robot programs in a flexible way. This is suitable for complex programs with a lot of logic, I/O signals or action instructions.
RobotStudio to create the program's structure and most of the source code and the FlexPendant to store robot positions and make final adjustments to the program.
When programming, RobotStudio provides the following advantages:
• A text editor optimized for RAPID code, with auto-text and tool-tip information about instructions and parameters.
• Program check with program error marking.
• Close access to configuration and I/O editing.
Create or edit a robot program in a supportive way. This is suitable for programs that mostly consist of move instructions.
The FlexPendant.
When programming, the FlexPendant provides the following advantages:
• Instruction pick lists
• Program check and debug while writing
• Possibility to create robot positions while programming
Add or edit robot positions.
Modify robot positions.
The FlexPendant.
The FlexPendant.
Configure the robot's system parameters
To...
Use...
Edit the system parameters of the running system.
Save the robot's system parameters as configuration files.
RobotStudio or the FlexPendant
RobotStudio or the FlexPendant
RobotStudio or the FlexPendant Load system parameters from configuration files to the running system.
Load calibration data.
RobotStudio or the FlexPendant
Create, modify and install systems
To...
Use...
Create or modify a system.
Install a system on a controller.
Install a system on a controller from a USB memory.
RobotStudio together with RobotWare and a valid
RobotWare Key.
RobotStudio
The FlexPendant.
Calibration
To...
Calibrate base frame etc.
Calibrate tools, work objects etc.
Use...
The FlexPendant
The FlexPendant
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Continued
Related information
The table below specifies which manuals to read, when performing the various tasks referred to:
Recommended use...
for details, see manual...
Document number
FlexPendant
RobotStudio
Operating manual - IRC5 with
FlexPendant
Operating manual - RobotStudio
3HAC16590-1
3HAC032104-001
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2.7. Product documentation, M2004
2.7. Product documentation, M2004
General
The robot documentation is divided into a number of categories. This listing is based on the type of information contained within the documents, regardless of whether the products are standard or optional. This means that any given delivery of robot products will not contain all documents listed, only the ones pertaining to the equipment delivered.
However, all documents listed may be ordered from ABB. The documents listed are valid for
M2004 robot systems.
Product manuals
All hardware, robots and controllers, will be delivered with a Product manual that contains:
• Safety information
• Installation and commissioning (descriptions of mechanical installation, electrical connections)
•
Maintenance (descriptions of all required preventive maintenance procedures including intervals)
• Repair (descriptions of all recommended repair procedures including spare parts)
•
Additional procedures, if any (calibration, decommissioning)
•
Reference information (article numbers for documentation referred to in Product manual, procedures, lists of tools, safety standards)
• Part list
• Foldouts or exploded views
• Circuit diagrams
Technical reference manuals
The following manuals describe the robot software in general and contain relevant reference information:
• RAPID Overview: An overview of the RAPID programming language.
• RAPID Instructions, Functions and Data types: Description and syntax for all
RAPID instructions, functions and data types.
• 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.
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, CD with PC software)
• How to use the application
• Examples of how to use the application
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2.7. Product documentation, M2004
Continued
Operating manuals
This group of manuals is aimed at those having first hand operational contact with the robot, that is production cell operators, programmers and trouble shooters. The group of manuals includes:
•
Emergency safety information
•
General safety information
•
Getting started, IRC5
•
IRC5 with FlexPendant
•
RobotStudio
•
Introduction to RAPID
•
Trouble shooting, for the controller and robot
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