ABB IRC5 M2004 robot controller, FlexPendant, RobotStudioOnline Getting Started
Below you will find brief information for robot controller IRC5 M2004, FlexPendant. This document provides a step-by-step guide to get your robot controller up and running, including setting up network connection, installing software, and loading calibration data. It also describes the basic functionality of the FlexPendant and RobotStudioOnline software.
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Getting Started
FlexPendant and RobotStudio
Online
IRC5
M2004
Getting Started
IRC5 and RobotStudioOnline
M2004
Document ID: 3HAC021564-001
Revision: D
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 2005 ABB All right reserved.
ABB Automation Technologies AB
Robotics
SE-721 68 Västerås
Sweden
Table of Contents
3
Table of Contents
4
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.
References
Reference
Product manual, procedures - IRC5
Product manual, reference information - IRC5
Operator's manual - IRC5 with FlexPendant
Operator's manual - RobotStudio
Online
Getting started - IRC5 and RobotStudio
Online
Trouble shooting manual - IRC5
Technical reference manual - System parameters
Application Manual - MultiMove
3HAC021564-001 Revision: D
Document ID
3HAC021313-001
3HAC021313-001
3HAC16590-1
3HAC18236-1
3HAC021564-001
3HAC020738-001
3HAC17076-1
3HAC021272-001
Continues on next page
5
Overview
Continued
Revisions
Revision Description
-
A
B
C
D
First edition
Information has been added on new SMB functionality and Absolute Accuracy systems.
Information about connecting controller to LAN removed. References to
Operator's Manual, IRC5 and Product Manual, IRC 5 introduced instead
Contents restructured and condensed. Procedures rewritten. Scope of information not changed.
Calibration information for Absolute Accuracy systems has been changed.
The order of actions in chapter 1 has been changed.
6 3HAC021564-001 Revision: D
Safety Note
Safety Note
General
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 may be found in the Product Manuals or the Operator's Manuals delivered with the robot system.
3HAC021564-001 Revision: D 7
Safety Note
8 3HAC021564-001 Revision: D
1 Procedures
1.1. Procedure for single robot systems
1 Procedures
1.1. Procedure for single robot systems
Description
This instruction is valid for IRC5 single robot systems.
Procedure
xx0500001407
A single robot system contains either a controller with integrated Control and Drive Modules
or a Control Module to which one Drive Module is connected.
Step Action
1.
Mechanically install the robot and controller, and connect the electerical power and signal cables between them. Also connect the electrical power supply..
2.
Make sure any safety related connections are made correctly.
Info/illustration
These procedures are detailed in the Product Manuals of robot and controller respectively.
Refer to the work station wiring diagram.
3HAC021564-001 Revision: D
Continues on next page
9
1 Procedures
1.1. Procedure for single robot systems
Continued
Step Action
3.
Connect the FlexPendant to the controller.
Info/illustration
4.
If the system is delivered with fully functional system software installed, proceed as detailed
If no functional system software has been installed, please proceed below!
5.
After connecting the FlexPendant, proceed with installing RobotStudio
Online
.
xx0400001042
Connection:
• A: FlexPendant socket connector
Install RobotStudioOnline on a PC
10
Step Action
1.
Insert the Robot's software CD in the PC.
If a menu for the CD is opened automatically, continue with step 5
If no menu for the CD is opened, continue with step 2
2.
On the Start menu, click Run .
3.
In the Open box, type the drive letter for your CD drive followed by:
:\launch.exe
Example: If your CD drive has the letter D, then type:
D:\launch.exe
4.
Click OK.
5.
Select language for the CD menu.
Continues on next page
3HAC021564-001 Revision: D
1 Procedures
1.1. Procedure for single robot systems
Continued
Step Action
6.
On the CD menu, click Install.
7.
On the installation menu, click RobotStudioOnline . 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
Online
, proceed with obtaining a RobotStudioOnline license key if required.
NOTE that for a try-out period of 30 days, RobotStudioOnline will work without license key.
Obtain a RobotStudioOnline license key
It is not vital to perform this step at this point, but after the 30 day demo period has expired, you need to request a license key for each installation on a PC.
Step Action Info/illustration
1.
On the Start menu, point to Programs, ABB
Industrial IT, Robotics IT, Licensing and then select License Key Request Wizard.
2.
Follow the instructions in the wizard and enter the requested information. When the wizard is completed, a license key request file is saved to a file on your PC.
The file is called
LicenseKeyRequest-
RobotStudio Online-unique number.txt
, and it will be located on the desktop
3.
Attach the license key request file to an E-mail and send it to
.
A license key file will then be sent by E-mail to the E-mail address specified in the License request Wizard within a few minutes
4.
After obtaining a RobotStudio
Online
license key, proceed with installing it.
The file must be attached to the Email (not copied into the body of the E-mail) and have the extension txt (as it is created), or the license key request will fail processing.
3HAC021564-001 Revision: D
Continues on next page
11
1 Procedures
1.1. Procedure for single robot systems
Continued
Install the RobotStudioOnline license key
Step Action
1.
Detach the license key file from the e-mail and save it to a file on your PC.
Info/illustration
For information about how to detach files from an e-mail, see the help for your e-mail program.
2.
Double-click the license key file
This will open the License Install Wizard
3.
In the License Install Wizard, follow the instructions in the wizard
4.
After installing the RobotStudio
Online
license key, proceed with configuring and connecting a PC to the controller.
Configure and connect PC/network
The illustration below shows the two main ports on the controller's Computer Unit: the
Service Port and the LAN port. Make sure the LAN (factory network) is not connected to any of the service ports!
12 xx0400001299
A Service port on the Control Module front
B Service port on computer unit (connected to Service port on the Control Module front through a cable)
C LAN port on computer unit (connects to factory LAN)
Continues on next page
3HAC021564-001 Revision: D
1 Procedures
1.1. Procedure for single robot systems
Continued
Step Action Info/illustration
1.
Make sure the network setting on the PC to be connected is correct.
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".
2.
Use the delivered category 5 Ethernet crossover boot cable with RJ45 connectors.
The cable is delivered in the
RobotWare product box.
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.
The service port is shown in the figure above
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.
Create a system using RobotStudion
Online
Normally, no system will have to be created since one is already installed on delivery.
However, if for some reason this system does not work, a new system must be created and loaded as outlined below.
A detailed procedure is given in the RobotStudio
Online
Installation Manual.
Step Action Info/illustration
1.
Start RobotStudioOnline of the PC and go to the menu Tools and then 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 models to use and which RobotWare options to run on the controller. It is located on the software CD delivered with the robot.
Continues on next page
3HAC021564-001 Revision: D 13
1 Procedures
1.1. Procedure for single robot systems
Continued
Step Action
3.
Select Create New...
A wizard for creating new systems is started.
4.
Follow the steps as outlined in the wizard in accordance with the illustration below:
Info/illustration
14 en0200000057
5.
After creating a system, proceed with powering up.
Continues on next page
3HAC021564-001 Revision: D
1 Procedures
1.1. Procedure for single robot systems
Continued
Power up
Step Action
1.
Switch the power to the Drive Module on.
Info/illustration
en0400001017
• A: Drive Module main switch
2.
Switch the power to the Control
Module on.
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 the
Trouble shooting manual, IRC5.
3.
After switching the power on, proceed with loading calibration data.
xx0400000978
• A: Control Module main switch
3HAC021564-001 Revision: D
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15
1 Procedures
1.1. Procedure for single robot systems
Continued
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 (AbsAcc) or not. This data is normally transfered automatically to the controller when the system is powered up, and in such cases no action is required by the operator.
Step Action
1.
Verify that the correct SMB data has been loaded into the system as detailed below:
Using the FlexPendant, open the ABB menu, tap
Calibration and then 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.
If Valid is displayed under the headings Cabinet
Memory and SMB memory, calibration data is correct.
3.
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.
Info/illustration
16
Continues on next page
3HAC021564-001 Revision: D
1 Procedures
1.1. Procedure for single robot systems
Continued
Update revolution counters
Step Action Info/illustration
1.
Manually run each robot, using the joystick on the
FlexPendant, to a position close to the calibration position.
2.
After positioning all axes within the scale indicated by the calibration marks, store the revolution counter settings.
Using the FlexPendant, open the ABB menu, tap
Calibration. Select the mechanical unit to be calibrated. Tap Update revolution counters... and follow the instructions provided.
The calibration position of each axis is indicated by the calibration marks.
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.
3HAC021564-001 Revision: D 17
1 Procedures
1.2. Procedure for multi robot systems
1.2. Procedure for multi robot systems
Description
This instruction is valid for IRC5 multi robot systems, i.e. systems using the MultiMove option.
18 xx0400001042
A MultiMove robot system contains either an integrated Control and Drive Module or a separate Control Module (as shown in the illustration above) 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 delivered configured as single robot systems. In order to be fully functional as multi robot systems, these systems must be re-configured.
How to perform this is detailed in the RobotStudioOnline Installation Manual.
Continues on next page
3HAC021564-001 Revision: D
1 Procedures
1.2. Procedure for multi robot systems
Continued
Procedure
Step Action Info/illustration
1.
Mechanically install the robots and controller, and connect the electerical 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
2.
Connect the Ethernet cables from each
Drive Module to the Control Module
Ethernet card.
Make sure the drive units are connected in the correct order! The order must correspond to the order in which the key strings are entered when creating the system.
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
3HAC021564-001 Revision: D
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19
1 Procedures
1.2. Procedure for multi robot systems
Continued
Step Action
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.
Info/illustration
4.
Make sure any safety related connections are made correctly.
5.
Connect the FlexPendant to the controller.
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
Refer to the work station wiring diagram.
20 xx0400000729
Connection:
• A: FlexPendant socket connector
Continues on next page
3HAC021564-001 Revision: D
1 Procedures
1.2. Procedure for multi robot systems
Continued
Step Action
6.
If the system is delivered with fully functional system software, proceed as detailed in section
If no functional system software has been installed, please proceed below!
7.
After connecting the FlexPendant, proceed with installing RobotStudio
Online
.
Info/illustration
Install RobotStudioOnline on a PC
Step Action
1.
Insert the Robot's software CD in the PC.
If a menu for the CD is opened automatically, continue with step 5
If no menu for the CD is opened, continue with step 2
2.
On the Start menu, click Run
3.
In the Open box, type the drive letter for your CD drive followed by:
:\launch.exe
Example: If your CD drive has the letter D, then type:
D:\launch.exe
4.
Click OK.
5.
Select language for the CD menu.
6.
On the CD menu, click Install.
7.
On the installation menu, click RobotStudioOnline . 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
Online
, proceed with obtaining a RobotStudioOnline license key if required.
NOTE that for a try-out period of 30 days, RobotStudioOnline will work without license key.
3HAC021564-001 Revision: D
Continues on next page
21
1 Procedures
1.2. Procedure for multi robot systems
Continued
Obtain a RobotStudioOnline license key
After the demo period has expired, you need to request a license key for each installation on a PC.
Step Action Info/illustration
1.
On the Start menu, point to Programs, ABB
Industrial IT, Robotics IT, Licensing and then select License Key Request Wizard.
2.
Follow the instructions in the wizard and enter the requested information. When the wizard is completed, a license key request file is saved to a file on your PC.
The file is called
LicenseKeyRequest-
RobotStudio Onlineunique number.txt
, and it will be located on the desktop
3.
Attach the license key request file to an E-mail and send it to
.
A license key file will then be sent by E-mail to the
E-mail address specified in the License request
Wizard within a few minutes
The file must be attached to the
E-mail (not copied into the body of the E-mail) and have the extension txt (as it is created), or the license key request will fail processing.
4.
After obtaining a RobotStudio
Online
license key, proceed with installing it.
Install the RobotStudioOnline license key
Step Action Info/illustration
1.
Detach the license key file from the e-mail and save it to a file on your PC.
For information about how to detach files from an e-mail, see the help for your e-mail program.
2.
Double-click the license key file
This will open the License Install Wizard
3.
In the License Install Wizard, follow the instructions in the wizard.
4.
After installing the RobotStudio
Online
license key, proceed with configuring and connecting a PC to the controller.
22
Continues on next page
3HAC021564-001 Revision: D
1 Procedures
1.2. Procedure for multi robot systems
Continued
Configure and connect PC/network
The illustration below shows the two main ports on the computer unit: the Service Port and the LAN port. Make sure the LAN (factory network) is not connected to any of the service ports!
xx0400001299
A Service port on the Control Module front
B Service port on computer unit (connected to Service port on the Control Module front through a cable)
C LAN port on computer unit (connects to factory LAN)
Step Action Info/illustration
1.
Make sure the network setting on the PC to be connected is correct.
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".
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.
The cable is delivered in the
RobotWare product box.
3HAC021564-001 Revision: D
Continues on next page
23
1 Procedures
1.2. Procedure for multi robot systems
Continued
Step Action Info/illustration
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 the system is to be run as a multi robot system.
The service port is shown in the figure above.
Create a system using RobotStudioOnline
All multi robot systems (featuring the MultiMove option) are delivered as single robot systems, i.e. the system loaded into the memory only defines a single robot!
To be able to use all robots (i.e. activate the MultiMove option), a new system, defining more than one robot, must be created and loaded as detailed below.
Detailed procedures are given in the RobotStudio
Online
Installation Manual and Application
Manual - MultiMove.
Step Action Info/illustration
1.
Start RobotStudioOnline of the PC and go to the menu Tools and then 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 models to use and which RobotWare options to run on the controller. It is located on the software CD delivered with the robot.
3.
Select Create New.
A wizard for creating new systems is started.
24
Continues on next page
3HAC021564-001 Revision: D
Step Action
4.
Follow the steps as outlined in the wizard in accordance with the illustration below:
1 Procedures
1.2. Procedure for multi robot systems
Continued
Info/illustration
en0200000057
5.
After creating a system, proceed with powering up.
3HAC021564-001 Revision: D
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25
1 Procedures
1.2. Procedure for multi robot systems
Continued
Power up
Step Action
1.
Switch the power to the Drive Module on.
Info/illustration
2.
Make sure all Drive Modules are switched ON.
3.
Switch the power to the Control Module on.
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 the
Trouble shooting manual, IRC5.
en0400001017
• A: Drive Module main switch
4.
After switching the power on, proceed with loading calibration data.
xx0400000978
• A: Control Module main switch
26
Continues on next page
3HAC021564-001 Revision: D
1 Procedures
1.2. Procedure for multi robot systems
Continued
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 (AbsAcc) or not. This data is normally transfered automatically to the controller when the system is powered up, and in such cases no action is required by the operator.
Step Action
1.
Verify that the correct SMB data has been loaded into the system as detailed below:
Using the FlexPendant, open the ABB menu, tap
Calibration and then 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.
If Valid is displayed under the headings Cabinet
Memory and SMB memory, calibration data is correct.
3.
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.
Info/illustration
3HAC021564-001 Revision: D
Continues on next page
27
1 Procedures
1.2. Procedure for multi robot systems
Continued
Update revolution counters
Step Action Info/illustration
1.
Manually run each robot, using the joystick on the
FlexPendant, to a position close to the calibration position.
The calibration position of each axis is indicated by the calibration marks.
2.
After positioning all axes within the scale indicated by the calibration marks, store the revolution counter settings.
Using the FlexPendant, open the ABB menu, 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.
28 3HAC021564-001 Revision: D
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 schematical way, the delivered parts, the software tools to install them and the basic work flow.
en0400000766
3HAC021564-001 Revision: D
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29
2 General
2.1. What you need to get the system started
Continued
Parts
30
Part Description
A
B1
B2
C
D
E
F
G
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 42
Documents specified in section
Product documentation, M2004 on page 42
Drive Module, IRC5, containing the power electronics of the robot system.
Documents specified in section
Product documentation, M2004 on page 42
RobotWare CD containing all robot software specified
What is RobotWare? on page 38What is
.
Documentation CD Containing documentation files as specified in section
.
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.
Documents specified in section
Product documentation, M2004 on page 42
RobotStudio
Online
PC software installed on PC x.
RobotStudio
Online
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
Online
is used to perform tasks as defined
When to use the FlexPendant and
.
Documents specified in section
Product documentation, M2004 on page 42
What is RobotStudioOnline? on page 37
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).
Continues on next page
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2 General
2.1. What you need to get the system started
Continued
Part Description Described in:
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 Online on page
Documents specified in section
Product documentation, M2004 on page 42Product documentation, M2004 on page 42
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!
PC K The server may be used for:
• all RobotWare software may be manually stored using the PC and RobotStudio
Online
• 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
Online
In this context, the server may be considered as a storage unit used by the portable PC.
M RobotWare license key. The original key strings are printed on a papers (one for the Control Module and one for the Drive 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.
3HAC021564-001 Revision: D
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31
2 General
2.2. What is a FlexPendant?
Continued
Part Description
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:
2.2. What is a FlexPendant?
Description of FlexPendant
The FlexPendant (occasionally called TPU, or teach pendant unit) is a device for handling many of the functions involved with operating the robot system; running programs, jogging the manipulator, producing and editing application programs, etc.
The FlexPendant consists of both hardware, such as buttons and joystick, and software. The
FlexPendant is connected to the controller module through an integrated cable and connector.
NOTE that specific functions may not be performed using the FlexPendant, but only through
RobotStudio
Online
. How to perform these are specified in
Operator's manual - RobotStudio
Online
.
32
Continues on next page
3HAC021564-001 Revision: D
Main parts
These are the main parts on the FlexPendant.
2 General
2.2. What is a FlexPendant?
Continued
en0300000586
C
D
A
B
E
F
Connector
Touch screen
Emergency stop button
Enabling device
Joystick
Hold-to-run buttons (not included in all systems)
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33
2 General
2.2. What is a FlexPendant?
Continued
Hardware buttons
There are a number of dedicated hardware buttons on the FlexPendant. Four of them are programmable and four are pre-programmed.
34 en0300000587
A
B
C
D
E
F
G
H
Programmable key 1. How to define its function is detailed in section
Programmable keys
in
Operator's manual - IRC5 with FlexPendant
.
Programmable key 2. How to define its function is detailed in section
Programmable keys
in
Operator's manual - IRC5 with FlexPendant
.
Programmable key 3. How to define its function is detailed in section
Programmable keys
in
Operator's manual - IRC5 with FlexPendant
.
Programmable key 4. How to define its function is detailed in section
Programmable keys
in
Operator's manual - IRC5 with FlexPendant
.
START button. Starts program execution. In systems without hold-to-run buttons, the
Start button is also used for the hold-to-run function.
Step BACKWARD button. Steps the program one instruction backwards. In systems
without hold-to-run buttons, the Backward button is also used for the hold-to-run function.
Step FORWARD button. Steps the program one instruction forwards. In systems
without hold-to-run buttons, the Forward button is also used for the hold-to-run function.
STOP button. Stops the program execution.
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2 General
2.2. What is a FlexPendant?
Continued
Touch screen elements
The illustration shows the touch screen elements of the FlexPendant touch screen.
en0300000588
C
D
A
B
E
F
ABB menu
Status bar
ClientView
Close button
Task bar
Quickset menu
3HAC021564-001 Revision: D
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35
2 General
2.2. What is a FlexPendant?
Continued
ABB menu
The ABB menu contains programs, configurations, and applications. This is described in section
The ABB menu
in
Operator's manual - IRC5 with FlexPendant
.
Status bar
The Status bar displays information about the system and messages. This is described in section
Status bar
in
Operator's manual - IRC5 with FlexPendant
.
ClientView
The ClientView is the main area for displaying all available functions, this is where applications are displayed and used.
Close button
Tapping the close button closes the presently open view or application.
Task bar
The Task bar displays all open views and applications.
Quickset menu
The Quickset menu contains shortcuts to jogging and settings. This is described in section
The Quickset menu
in
Operator's manual - IRC5 with FlexPendant
.
36
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2 General
2.3. What is RobotStudioOnline?
Continued
Left and right handheld
The FlexPendant is set to left handheld on delivery. This can easily be changed to right handheld and back again whenever required.
en0400000913
2.3. What is RobotStudio
Online
?
Overview
RobotStudio
Online
is a PC software with which you work with robots, as a complement to working from the FlexPendant. RobotStudio
Online
is optimized for text based programming
(suitable for programs with lot of logic or complex structure) and tasks related to managing the robot's system.
RobotStudio
Online
can be installed on an ordinary computer running Windows 2000 or later.
This computer can then be connected to one or several controllers by an Ethernet network, or to one single controller by the controller's service port connection.
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37
2 General
2.4. What is RobotWare?
Continued
RobotStudio
Online
functionality
The main entry to the functionality of RobotStudio
Online
is a robot view explorer. From this you select which robot to work with, in case you have several robots installed, and what parts of the system you want to work with.
RobotStudio
Online
contains:
• The System Builder for creating, installing and maintaining systems.
•
A configuration editor for editing the system parameters of the running system.
• A program editor for online programming.
•
An event recorder for recording and monitoring robot events.
• Tools for backing up and restoring systems.
•
An administration tool for User Authorization.
• Other tools for viewing and handling controller and system properties.
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 folder on a PC/server. The media pool is described in section
About the media pool on page 39
RobotWare is delivered on a CD and this contains software for all available models, options and such.
However, a RobotWare license key, required to access the software, is delivered:
• on a diskette
• as a character string printed on a piece of paper delivered with the controller cabinet.
When adding functionality at a later date, a new license key is required to access the functions. The key is available from your local ABB representative.
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2 General
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 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 C:\Program Files\ABB Industrial IT\Robotics IT folder.
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 System Tool in RobotStudio
Online
.
In RobotStudio
Online
, you then choose which media pool to use when creating new systems.
2.6. When to use the FlexPendant and RobotStudio Online
Overview
For operating and managing the robot, you either use the FlexPendant or RobotStudio
Online
.
The FlexPendant is optimized for handling robot motions and ordinary operation, and
RobotStudio
Online
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 Online or the power switch on the controller's front panel .
The power switch on the controller's front panel.
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39
2 General
2.6. When to use the FlexPendant and RobotStudio Online
Continued
Run and control robot programs
To...
Jog a robot.
Use...
The FlexPendant
Start or stop a robot program. The FlexPendant
Communicate with the controller
To...
Use...
Acknowledge events.
View and save the controller's event logs.
The FlexPendant.
RobotStudio Online or the FlexPendant.
Back up the controller's software to files on the PC or a server.
RobotStudio Online 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 Online or the FlexPendant.
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 Online 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
Online
provides the following advantages:
• A text editor optimized for RAPID code, with autotext and tool-tip information about instructions and parameters.
• Program check with program error marking.
• Close access to configuration and I/O editing.
40
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2 General
2.6. When to use the FlexPendant and RobotStudio Online
Continued
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...
Edit the system parameters of the running system.
Save the robot's system parameters as configuration files.
Load system parameters from configuration files to the running system.
Load calibration data.
Use...
RobotStudio Online or the FlexPendant
RobotStudio Online or the FlexPendant
RobotStudio Online or the FlexPendant
RobotStudio Online or the FlexPendant
Create, modify and install systems
To...
Create or modify a system.
Use...
RobotStudio Online together with RobotWare and a valid RobotWare Key.
Install a system on a controller.
RobotStudio Online
Install a system on a controller from a USB memory.
The FlexPendant.
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41
2 General
2.7. Product documentation, M2004
Continued
Calibration
To...
Calibrate base frame etc.
Calibrate tools, work objects etc.
Use...
The FlexPendant
The FlexPendant
Related information
The table below specifies which manuals to read, when performing the various tasks referred to:
Recommended use...
for details, see manual...
FlexPendant
RobotStudio Online
Operator's manual - IRC5 with
FlexPendant
Operator's manual -
RobotStudio Online
Document number
3HAC 16590-1
3HAC 18236-1
2.7. Product documentation, M2004
General
The robot documentation may be 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.
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3HAC021564-001 Revision: D
2 General
2.7. Product documentation, M2004
Continued
Hardware manuals
All hardware, robots and controller cabinets, will be delivered with a Product manual which is divided into two parts:
Product manual, procedures
• Safety information
•
Installation and commissioning (descriptions of mechanical installation, electrical connections and loading system software)
• 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)
Product manual, reference information
• 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
RobotWare 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 reference manual part 1: Description of all RAPID instructions.
• RAPID reference manual part 2: Description of all RAPID functions and data types.
•
Technical reference manual - System parameters: Description of system parameters and configuration workflows.
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43
2 General
2.7. Product documentation, M2004
Continued
Application manuals
Specific applications (e.g. 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 (e.g. cables, I/O boards, RAPID instructions, system parameters)
• How to use the application
•
Examples of how to use the application
Operator's manuals
This group of manuals is aimed at those having first hand operational contact with the robot, i.e. production cell operators, programmers and trouble shooters. The group of manuals include:
•
Getting started - IRC5 and RobotStudio Online
•
Operator's manual - IRC5 with FlexPendant
•
Operator's manual - RobotStudio Online
•
Trouble shooting manual for the controller and robot
44 3HAC021564-001 Revision: D
Index
B
backward button
C
client view
close button
connector
control tools, overview
E
emergency stop button
FlexPendant
enabling device
Ethernet
F
FlexPendant
hardware buttons
how to hold
main parts
screen
forward button
H
hold-to-run button
J
joystick
M
Media Pool, about
P
program execution start button
R
RobotWare, about the media pool
RobotWare, what is?
run button
S
start button
stop button
T
teach pendant unit
tool, overview control tools
touch screen
TPU
45
Index
46
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Key features
Modular design
Flexible configuration
Comprehensive software suite
User-friendly interface
Seamless integration
Robust and reliable performance
Frequently asked questions
The FlexPendant is a handheld device used for operating the robot system, including running programs, jogging the manipulator, and producing and editing application programs.
You can connect your computer to the robot controller using an Ethernet network or through the controller's service port connection. The document provides detailed instructions on how to configure the network settings.
RobotStudioOnline is a software tool for working with robots that complements the functionality of the FlexPendant. It is optimized for text-based programming, managing the robot's system, and configuring the network settings.