Getting Started

Getting Started
FlexPendant and RobotStudioOnline
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
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Safety Note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1 Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
1.1 Procedure for single robot systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2 Procedure for multi robot systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2 General. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
2.1 What you need to get the system started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.2 What is a FlexPendant? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.3 What is RobotStudioOnline? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.4 What is RobotWare? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.5 About the media pool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.6 When to use the FlexPendant and RobotStudio Online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.7 Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
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
Document ID
Product manual, procedures - IRC5
3HAC021313-001
Product manual, reference information - IRC5
3HAC021313-001
Operator's manual - IRC5 with FlexPendant
3HAC16590-1
Online
Operator's manual - RobotStudio
3HAC18236-1
Online
Getting started - IRC5 and RobotStudio
3HAC021564-001
Trouble shooting manual - IRC5
3HAC020738-001
Technical reference manual - System parameters
3HAC17076-1
Application Manual - MultiMove
3HAC021272-001
Continues on next page
3HAC021564-001 Revision: D
5
Overview
Continued
Revisions
Revision Description
6
-
First edition
A
Information has been added on new SMB functionality and Absolute Accuracy
systems.
B
Information about connecting controller to LAN removed. References to
Operator's Manual, IRC5 and Product Manual, IRC 5 introduced instead
C
Contents restructured and condensed. Procedures rewritten. Scope of
information not changed.
D
Calibration information for Absolute Accuracy systems has been changed.
The order of actions in chapter 1 has been changed.
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.
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.
Procedure
Step
Action
Info/illustration
1.
Mechanically install the robot 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.
Make sure any safety related connections are
made correctly.
Refer to the work station wiring
diagram.
Continues on next page
3HAC021564-001 Revision: D
9
1 Procedures
1.1. Procedure for single robot systems
Continued
Step
3.
Action
Info/illustration
Connect the FlexPendant to the controller.
xx0400001042
Connection:
• A: FlexPendant socket
connector
4.
If the system is delivered with fully functional
system software installed, proceed as detailed
in section Power up on page 15
If no functional system software has been
installed, please proceed below!
5.
After connecting the FlexPendant, proceed with
installing RobotStudioOnline.
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.
Continues on next page
10
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 RobotStudioOnline, 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
LicenseKeyRequestRobotStudio 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 [email protected]
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 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.
4.
After obtaining a RobotStudioOnline license key,
proceed with installing it.
Continues on next page
3HAC021564-001 Revision: D
11
1 Procedures
1.1. Procedure for single robot systems
Continued
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 RobotStudioOnline 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!
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
12
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 Refer to the system documentation for
be connected is correct.
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
The cable is delivered in the
crossover boot cable with RJ45 connectors. 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 The service port is shown in the figure
cable to the service port.
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 RobotStudionOnline
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 RobotStudioOnline Installation Manual.
Step
Action
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.
Info/illustration
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
en0200000057
5.
After creating a system, proceed with powering up.
Continues on next page
14
3HAC021564-001 Revision: D
1 Procedures
1.1. Procedure for single robot systems
Continued
Power up
Step
1.
Action
Info/illustration
Switch the power to the Drive Module
on.
en0400001017
•
2.
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.
A: Drive Module main switch
xx0400000978
•
A: Control Module main switch
After switching the power on, proceed
with loading calibration data.
Continues on next page
3HAC021564-001 Revision: D
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
Continues on next page
16
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.
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.
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.
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
18
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
These procedures are detailed in the
controller, and connect the electerical
Product Manuals of robot and controller
power and signal cables between them. respectively
Also connect the electrical power supply.
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
Continues on next page
3HAC021564-001 Revision: D
19
1 Procedures
1.2. Procedure for multi robot systems
Continued
Step
3.
Action
Info/illustration
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.
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
4.
Make sure any safety related
connections are made correctly.
5.
Connect the FlexPendant to the
controller.
Refer to the work station wiring diagram.
xx0400000729
Connection:
• A: FlexPendant socket connector
Continues on next page
20
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 Power up on page 26
If no functional system software has
been installed, please proceed below!
7.
After connecting the FlexPendant,
proceed with installing RobotStudioOnline.
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 RobotStudioOnline, 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.
Continues on next page
3HAC021564-001 Revision: D
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
LicenseKeyRequestRobotStudio 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 [email protected]
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 RobotStudioOnline 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 For information about how to
to a file on your PC.
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 RobotStudioOnline license key,
proceed with configuring and connecting a PC to the
controller.
Continues on next page
22
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 Refer to the system documentation for
be connected is correct.
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.
Continues on next page
3HAC021564-001 Revision: D
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.
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 the system is to be run as a multi
robot system.
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 RobotStudioOnline Installation Manual and Application
Manual - MultiMove.
Step
Action
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.
3.
Select Create New.
A wizard for creating new systems is started.
Info/illustration
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
24
3HAC021564-001 Revision: D
1 Procedures
1.2. Procedure for multi robot systems
Continued
Step
4.
Action
Info/illustration
Follow the steps as outlined in the wizard in
accordance with the illustration below:
en0200000057
5.
After creating a system, proceed with powering up.
Continues on next page
3HAC021564-001 Revision: D
25
1 Procedures
1.2. Procedure for multi robot systems
Continued
Power up
Step
1.
Action
Info/illustration
Switch the power to the Drive Module on.
en0400001017
•
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.
A: Drive Module main
switch
xx0400000978
•
4.
A: Control Module
main switch
After switching the power on, proceed with loading
calibration data.
Continues on next page
26
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
Continues on next page
3HAC021564-001 Revision: D
27
1 Procedures
1.2. Procedure for multi robot systems
Continued
Update revolution counters
Step
28
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.
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
Continues on next page
3HAC021564-001 Revision: D
29
2 General
2.1. What you need to get the system started
Continued
Parts
Part Description
Described in:
A
Manipulator (a generic model shown)
Documents specified in
section Product
documentation, M2004 on
page 42.
B1
Control Module, IRC5, containing the control
electronics of the robot system.
Documents specified in
section Product
documentation, M2004 on
page 42.
B2
Drive Module, IRC5, containing the power electronics Documents specified in
of the robot system.
section Product
documentation, M2004 on
page 42.
C
RobotWare CD containing all robot software specified
in section What is RobotWare? on page 38What is
RobotWare? on page 38.
D
Documentation CD
Containing documentation
files as specified in section
Product documentation,
M2004 on page 42.
E
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.
F
RobotStudioOnline PC software installed on PC x.
RobotStudioOnline 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.
RobotStudioOnline is used to perform tasks as defined
in section When to use the FlexPendant and
RobotStudio Online on page 39.
Documents specified in
section Product
documentation, M2004 on
page 42 and in section What
is RobotStudioOnline? on
page 37
G
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
30
3HAC021564-001 Revision: D
2 General
2.1. What you need to get the system started
Continued
Part Description
Described in:
H
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
39.
Documents specified in
section Product
documentation, M2004 on
page 42Product
documentation, M2004 on
page 42.
J
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 RobotStudioOnline
• 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 RobotStudioOnline
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.
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3HAC021564-001 Revision: D
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
RobotStudioOnline . How to perform these are specified in Operator's manual - RobotStudio
Online.
Continues on next page
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3HAC021564-001 Revision: D
2 General
2.2. What is a FlexPendant?
Continued
Main parts
These are the main parts on the FlexPendant.
en0300000586
A
Connector
B
Touch screen
C
Emergency stop button
D
Enabling device
E
Joystick
F
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.
en0300000587
A
Programmable key 1. How to define its function is detailed in section Programmable
keys in Operator's manual - IRC5 with FlexPendant.
B
Programmable key 2. How to define its function is detailed in section Programmable
keys in Operator's manual - IRC5 with FlexPendant.
C
Programmable key 3. How to define its function is detailed in section Programmable
keys in Operator's manual - IRC5 with FlexPendant.
D
Programmable key 4. How to define its function is detailed in section Programmable
keys in Operator's manual - IRC5 with FlexPendant.
E
START button. Starts program execution. In systems without hold-to-run buttons, the
Start button is also used for the hold-to-run function.
F
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.
G
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.
H
STOP button. Stops the program execution.
Continues on next page
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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
A
ABB menu
B
Status bar
C
ClientView
D
Close button
E
Task bar
F
Quickset menu
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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.
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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 RobotStudioOnline?
Overview
RobotStudioOnline is a PC software with which you work with robots, as a complement to
working from the FlexPendant. RobotStudioOnline 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.
RobotStudioOnline 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
RobotStudioOnline functionality
The main entry to the functionality of RobotStudioOnline 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.
RobotStudioOnline 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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3HAC021564-001 Revision: D
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 RobotStudioOnline.
In RobotStudioOnline, 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 RobotStudioOnline.
The FlexPendant is optimized for handling robot motions and ordinary operation, and
RobotStudioOnline is optimized for configuration, programming and other tasks not related to
the daily operation.
Start, restart and shut down the controller
To...
Use...
Start the controller.
The power switch on the controller's front panel .
Restart the controller.
The FlexPendant, RobotStudio Online or the power
switch on the controller's front panel .
Shut down the controller.
The power switch on the controller's front panel.
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3HAC021564-001 Revision: D
39
2 General
2.6. When to use the FlexPendant and RobotStudio Online
Continued
Run and control robot programs
To...
Use...
Jog a robot.
The FlexPendant
Start or stop a robot program. The FlexPendant
Communicate with the controller
To...
Use...
Acknowledge events.
The FlexPendant.
View and save the controller's event logs.
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, RobotStudioOnline 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.
Continues on next page
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3HAC021564-001 Revision: D
2 General
2.6. When to use the FlexPendant and RobotStudio Online
Continued
Create or edit a robot program The FlexPendant.
in a supportive way. This is
When programming, the FlexPendant provides the following
suitable for programs that
advantages:
mostly consist of move
• Instruction pick lists
instructions.
• Program check and debug while writing
• Possibility to create robot positions while
programming
Add or edit robot positions.
The FlexPendant.
Modify robot positions.
The FlexPendant.
Configure the robot's system parameters
To...
Use...
Edit the system parameters of the running
system.
RobotStudio Online or the FlexPendant
Save the robot's system parameters as
configuration files.
RobotStudio Online or the FlexPendant
Load system parameters from configuration
files to the running system.
RobotStudio Online or the FlexPendant
Load calibration data.
RobotStudio Online or the FlexPendant
Create, modify and install systems
To...
Use...
Create or modify a system.
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 The FlexPendant.
a USB memory.
Continues on next page
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41
2 General
2.7. Product documentation, M2004
Continued
Calibration
To...
Use...
Calibrate base frame etc.
The FlexPendant
Calibrate tools, work objects etc.
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...
Document number
FlexPendant
Operator's manual - IRC5 with
FlexPendant
3HAC 16590-1
RobotStudio Online
Operator's manual RobotStudio Online
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.
Continues on next page
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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:
44
•
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
3HAC021564-001 Revision: D
Index
B
backward button 34
tool, overview control tools 39
touch screen 35
TPU 32
C
client view 35
close button 35
connector 33
control tools, overview 39
E
emergency stop button
FlexPendant 33
enabling device 33
Ethernet 13, 23
F
FlexPendant 32
hardware buttons 34
how to hold 37
main parts 33
screen 35
forward button 34
H
hold-to-run button 33
J
joystick 33
M
Media Pool, about 39
P
program execution start button 34
R
RobotWare, about the media pool 39
RobotWare, what is? 38
run button 34
S
start button 34
stop button 34
T
teach pendant unit 32
45
Index
46

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