IRC5 With FlexPendant - Operating Manual - ABB Robotics

ABB Robotics
Operating manual IRC5 with FlexPendant
Trace back information: Workspace R12-2 version a10 Checked in 2012-10-11 Skribenta version 1184
Operating manual IRC5 with FlexPendant

M2004 Document ID: 3HAC16590-1 Revision: T
Copyright 2004-2012 ABB. All rights reserved.
The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual. Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like. In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein. This manual and parts thereof must not be reproduced or copied without ABB's written permission. Additional copies of this manual may be obtained from ABB. The original language for this publication is English. Any other languages that are supplied have been translated from English.
Copyright 2004-2012 ABB. All rights reserved. ABB AB Robotics Products SE-721 68 Vsters Sweden
Table of contents
Table of contents
Overview of the manual .................................................................................................................... 11 Product documentation, M2004 ....................................................................................................... 15 1 Safety 1.1 1.2 1.3 About this chapter ............................................................................................. Applicable safety standards ................................................................................ Safety terminology ............................................................................................ 1.3.1 Safety signals in the manual ...................................................................... 1.3.2 Safety symbols on manipulator labels ......................................................... 1.3.3 DANGER ............................................................................................... 1.3.3.1 DANGER - Make sure that the main power has been switched off! ........ 1.3.3.2 DANGER - Moving manipulators are potentially lethal! ........................ 1.3.3.3 DANGER - Robot without axes' holding brakes are potentially lethal! .... 1.3.4 WARNING ............................................................................................. 1.3.4.1 WARNING - The unit is sensitive to ESD! ......................................... 1.3.5 What is an emergency stop? ..................................................................... 1.3.6 What is a safety stop? .............................................................................. 1.3.7 What is safeguarding? ............................................................................. 1.3.8 Safe use of the FlexPendant ...................................................................... How to deal with an emergency ........................................................................... 1.4.1 Stop the system ...................................................................................... 1.4.2 Release the robot holding brakes ............................................................... 1.4.3 Extinguishing fires ................................................................................... 1.4.4 Recover from emergency stops ................................................................. 1.4.5 Return to the programmed path ................................................................. Working in a safe manner .................................................................................. 1.5.1 Overview ............................................................................................... 1.5.2 For your own safety ................................................................................. 1.5.3 Handling of FlexPendant .......................................................................... 1.5.4 Safety tools ............................................................................................ 1.5.5 Safety in manual mode ............................................................................. 1.5.6 Safety in automatic mode ......................................................................... 17 17 18 20 20 22 27 27 28 29 30 30 31 33 35 36 37 37 40 41 42 43 44 44 45 46 48 49 50 51 51 52 59 60 61 63 65 65 66 66 68 69 71 71 72 74 75 77 78 79
1.4
1.5
Welcome to FlexPendant 2.1 2.2 2.3 2.4 2.5 2.6 About this chapter ............................................................................................. What is a FlexPendant? ...................................................................................... What is an IRC5 controller? ................................................................................. What is RobotStudio? ........................................................................................ When to use the FlexPendant and RobotStudio ...................................................... Buttons and ports on the controller .......................................................................
Get started 3.1 3.2 About this chapter ............................................................................................. Connections ..................................................................................................... 3.2.1 Connecting a FlexPendant ........................................................................ 3.2.2 Disconnecting a FlexPendant .................................................................... 3.2.3 Set up the network connection ................................................................... Action scenarios ............................................................................................... 3.3.1 About action scenarios ............................................................................. 3.3.2 System start ........................................................................................... 3.3.3 Jogging ................................................................................................. 3.3.4 Using RAPID programs ............................................................................ 3.3.5 Working with inputs and outputs ................................................................ 3.3.6 Backup and restore ................................................................................. 3.3.7 Running in production ..............................................................................
3.3
3HAC16590-1 Revision: T Copyright 2004-2012 ABB. All rights reserved.
Table of contents
3.3.8 3.3.9 3.3.10 3.3.11 4
Granting access for RobotStudio ................................................................ Upgrading .............................................................................................. Installing software options ........................................................................ Shutting down ........................................................................................
80 81 82 83 85 85 86 87 87 89 90 91 93 94 96 98 99 101 103 105 107 108 109 110 111 111 112 118 119 120 121 122 123 123 125 126 127 130 131 133 133 134 136 140 141 142 142 144 145 146 147 148 149 151 153
Navigating and handling FlexPendant 4.1 4.2 4.3 About this chapter ............................................................................................. Overview, personalizing the FlexPendant .............................................................. The ABB menu ................................................................................................. 4.3.1 HotEdit menu ......................................................................................... 4.3.2 FlexPendant Explorer ............................................................................... 4.3.3 Inputs and Outputs, I/O ............................................................................ 4.3.4 Jogging ................................................................................................. 4.3.5 Production Window ................................................................................ 4.3.6 Program Data ......................................................................................... 4.3.7 Program Editor ...................................................................................... 4.3.8 Backup and Restore ............................................................................... 4.3.9 Calibration ............................................................................................ 4.3.10 Control Panel ......................................................................................... 4.3.11 Event Log .............................................................................................. 4.3.12 System Info ........................................................................................... 4.3.13 Restart .................................................................................................. 4.3.14 Log Off ................................................................................................. Operator window ............................................................................................... Status bar ........................................................................................................ Quickset .......................................................................................................... 4.6.1 The Quickset menu ................................................................................. 4.6.2 Quickset menu, Mechanical unit ................................................................ 4.6.3 Quickset menu, Increment ........................................................................ 4.6.4 Quickset menu, Run Mode ........................................................................ 4.6.5 Quickset menu, Step Mode ....................................................................... 4.6.6 Quickset menu, Speed ............................................................................. 4.6.7 Quickset menu, Tasks ............................................................................. Basic procedures .............................................................................................. 4.7.1 Using the soft keyboard ............................................................................ 4.7.2 Messages on the FlexPendant ................................................................... 4.7.3 Scrolling and zooming .............................................................................. 4.7.4 Filtering data .......................................................................................... 4.7.5 Process applications ................................................................................ 4.7.6 Logging on and off ..................................................................................
4.4 4.5 4.6
4.7
Jogging 5.1 5.2 5.3 5.4 5.5 5.6 Introduction to jogging ....................................................................................... Joystick directions ............................................................................................. Coordinate systems for jogging ........................................................................... Restrictions to jogging ....................................................................................... Coordinated jogging .......................................................................................... Basic settings for jogging ................................................................................... 5.6.1 Selecting mechanical unit for jogging .......................................................... 5.6.2 Selecting motion mode ............................................................................. 5.6.3 Selecting tool, work object, and payload ...................................................... 5.6.4 Setting the tool orientation ........................................................................ 5.6.5 Jog axis by axis ...................................................................................... 5.6.6 Selecting coordinate system ..................................................................... 5.6.7 Locking the joystick in specific directions .................................................... 5.6.8 Incremental movement for precise positioning .............................................. 5.6.9 Reading the exact position ........................................................................
6 Copyright 2004-2012 ABB. All rights reserved.
3HAC16590-1 Revision: T
Table of contents
Programming and testing 6.1 6.2 Before you start programming ............................................................................. Programming concept ........................................................................................ 6.2.1 The structure of a RAPID application .......................................................... 6.2.2 About the Program and Motion Pointers ...................................................... 6.3 Data types ....................................................................................................... 6.3.1 Viewing data in specific tasks, modules, or routines ...................................... 6.3.2 Creating new data instance ....................................................................... 6.3.3 Editing data instances .............................................................................. 6.4 Tools .............................................................................................................. 6.4.1 Creating a tool ........................................................................................ 6.4.2 Defining the tool frame ............................................................................. 6.4.3 Editing the tool data ................................................................................. 6.4.4 Editing the tool declaration ........................................................................ 6.4.5 Deleting a tool ........................................................................................ 6.4.6 Setup for stationary tools .......................................................................... 6.5 Work objects .................................................................................................... 6.5.1 Creating a work object ............................................................................. 6.5.2 Defining the work object coordinate system ................................................. 6.5.3 Editing the work object data ...................................................................... 6.5.4 Editing the work object declaration ............................................................. 6.5.5 Deleting a work object .............................................................................. 6.6 Payloads ......................................................................................................... 6.6.1 Creating a payload .................................................................................. 6.6.2 Editing the payload data ........................................................................... 6.6.3 Editing the payload declaration .................................................................. 6.6.4 Deleting a payload ................................................................................... 6.7 Programming ................................................................................................... 6.7.1 Handling of programs .............................................................................. 6.7.2 Handling of modules ................................................................................ 6.7.3 Handling of routines ................................................................................ 6.7.4 Handling of instructions ............................................................................ 6.7.5 Example: Add movement instructions ......................................................... 6.8 Advanced programming ..................................................................................... 6.8.1 Mirroring a program, module, or routine ...................................................... 6.8.2 Modifying and tuning positions .................................................................. 6.8.3 Modifying positions in the Program Editor or Production Window ................... 6.8.4 Tuning positions with HotEdit .................................................................... 6.8.5 Working with displacements and offsets ...................................................... 6.8.6 Moving the robot to a programmed position ................................................. 6.8.7 Aligning tools ......................................................................................... 6.8.8 Editing instruction expressions and declarations ........................................... 6.8.9 Hiding declarations in program code ........................................................... 6.8.10 Deleting programs from memory ................................................................ 6.8.11 Deleting programs from hard disk .............................................................. 6.8.12 Activating mechanical units ....................................................................... 6.9 Testing ............................................................................................................ 6.9.1 Using the hold-to-run function ................................................................... 6.9.2 Running the program from a specific instruction ........................................... 6.9.3 Running a specific routine ........................................................................ 6.9.4 Stepping instruction by instruction ............................................................. 6.10 Service routines ................................................................................................ 6.10.1 Running a service routine ......................................................................... 6.10.2 Battery shutdown service routine ............................................................... 6.10.3 Calibration Pendulum, CalPendulum service routine ...................................... 6.10.4 Service Information System, ServiceInfo service routine ................................. 6.10.5 LoadIdentify, load identification service routine .............................................
155 155 156 156 158 159 159 160 162 166 166 169 173 176 177 178 180 180 181 184 185 186 187 187 189 190 191 192 192 195 199 204 208 209 209 211 212 216 220 222 223 224 227 228 230 231 232 232 233 234 235 238 238 241 242 243 244
Table of contents
Running in production 7.1 Basic procedures .............................................................................................. 7.1.1 Starting programs ................................................................................... 7.1.2 Stopping programs .................................................................................. 7.1.3 Using multitasking programs ..................................................................... 7.1.4 Using motion supervision and non motion execution ..................................... 7.1.5 Using the hot plug option .......................................................................... Trouble shooting and error recovery ..................................................................... 7.2.1 General procedure when trouble shooting .................................................... 7.2.2 Returning the robot to the path .................................................................. 7.2.3 Running RAPID program with uncalibrated mechanical unit ............................ Operating modes .............................................................................................. 7.3.1 Present operating mode ........................................................................... 7.3.2 About the automatic mode ........................................................................ 7.3.3 About the manual mode ........................................................................... 7.3.4 Switching from manual to automatic mode ................................................... 7.3.5 Switching from automatic to manual mode ................................................... 7.3.6 Switching to manual full speed mode ..........................................................
253 253 253 256 257 259 262 265 265 267 268 269 269 271 273 275 277 278 279 279 279 281 282 283 285 286 288 288 291 291 291 292 293 295 295 296 296 297 300 301 301 302 305 306 307 308 309 310 311 312 312 314 314 316 317
7.2
7.3
Handling inputs and outputs, I/O 8.1 Basic procedures .............................................................................................. 8.1.1 Viewing signal lists .................................................................................. 8.1.2 Simulating and changing signal values ........................................................ 8.1.3 Viewing signal group ............................................................................... 8.1.4 Configuring I/O ....................................................................................... 8.1.5 Deactivating and activating I/O units ........................................................... 8.1.6 Alias I/O signals ...................................................................................... Safety signals ................................................................................................... 8.2.1 Safety I/O signals ....................................................................................
8.2 9
Handling the event log 9.1 Basic procedures .............................................................................................. 9.1.1 Accessing the event log ........................................................................... 9.1.2 Deleting log entries .................................................................................. 9.1.3 Saving log entries ...................................................................................
10 Systems 10.1 What is a system? ............................................................................................. 10.2 Memory and file handling .................................................................................... 10.2.1 What is the memory? ............................................................................. 10.2.2 The structure of the main computer RAM memory contents ............................ 10.2.3 File handling .......................................................................................... 10.3 Restart procedures ............................................................................................ 10.3.1 Restart overview ..................................................................................... 10.3.2 Using the Boot Application ........................................................................ 10.3.3 Restart and use the current system (warm start) ........................................... 10.3.4 Restart and select another system (X-start) .................................................. 10.3.5 Restart and delete the current system (C-start) ............................................. 10.3.6 Restart and delete programs and modules (P-start) ....................................... 10.3.7 Restart and return to default settings (I-start) ................................................ 10.3.8 Restart from previously stored system (B-start) ............................................ 10.3.9 Reflashing firmware and FlexPendant ......................................................... 10.4 Installed Systems .............................................................................................. 10.4.1 Managing Installed Systems ...................................................................... 10.5 Back up and restore systems .............................................................................. 10.5.1 What is saved on backup? ........................................................................ 10.5.2 Back up the system ................................................................................. 10.5.3 Restore the system ..................................................................................
Table of contents
10.5.4 Important when performing backups! .......................................................... 10.6 Diagnostic files ................................................................................................. 10.6.1 Creating a diagnostic file .......................................................................... 10.7 System configuration ......................................................................................... 10.7.1 Configuring system parameters ................................................................. 11 Calibrating 11.1 Basic procedures .............................................................................................. 11.1.1 How to check if the robot needs calibration .................................................. 11.1.2 Updating revolution counters ..................................................................... 11.1.3 Loading calibration data using the FlexPendant ............................................ 11.1.4 Editing motor calibration offset .................................................................. 11.1.5 Fine calibration procedure on FlexPendant .................................................. 11.1.6 Serial measurement board memory ............................................................ 11.1.7 4 points XZ calibration .............................................................................. 12 Changing FlexPendant settings 12.1 System settings ................................................................................................ 12.1.1 Setting default paths ................................................................................ 12.1.2 Defining a view to be shown at operating mode change .................................. 12.1.3 Changing the background image ................................................................ 12.1.4 Defining visibility level for UAS protected functions ....................................... 12.1.5 Defining an additional test view .................................................................. 12.1.6 Defining position programming rule ............................................................ 12.1.7 Defining which tasks should be selectable in the tasks panel ........................... 12.2 Basic settings ................................................................................................... 12.2.1 Changing brightness and contrast .............................................................. 12.2.2 Adapting the FlexPendant for left-handed users ............................................ 12.2.3 Changing date and time ............................................................................ 12.2.4 Configuring Most Common I/O ................................................................... 12.2.5 Changing language ................................................................................. 12.2.6 Changing programmable keys ................................................................... 12.2.7 Calibrating the touch screen ...................................................................... 13 Descriptions of terms and concepts 13.1 13.2 13.3 13.4 13.5 13.6 13.7 13.8 13.9 13.10 Index About this chapter ............................................................................................. What is the robot system? .................................................................................. What are mechanical units, manipulators and positioners? ....................................... What is a tool? ................................................................................................. What is the tool center point? .............................................................................. What is a work object? ....................................................................................... What is a coordinate system? .............................................................................. What is a RAPID application? .............................................................................. What is mirroring? ............................................................................................. What is a data array? .........................................................................................
319 320 320 321 321 325 325 325 326 328 329 330 332 335 339 339 339 340 341 342 343 344 346 347 347 348 350 351 352 353 355 357 357 358 359 360 361 362 363 369 370 376 377
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Overview of the manual

About this manual This manual contains instructions for daily operation of IRC5 based robot systems using a FlexPendant. Usage This manual should be used during operation. Who should read this manual? This manual is intended for: operators product technicians service technicians robot programmers
How to read the operating manual The operating manual is structured in the following chapters.
Chapter 1 2 3 4 5 6 7 8 9 10 11 12 13 Title Safety Content Safety instructions and warnings.
Welcome to FlexPendant Descriptions of the FlexPendant and the controller. Get started Navigating and handling the FlexPendant Jogging Descriptions of connections and step-by-step instructions to the most common tasks Descriptions of the FlexPendants user interface and basic procedures. Procedures for jogging.
Programming and testing Procedures for programming and testing, including descriptions of some concepts for programming. Running in production Handling inputs and outputs, I/O Handling the event log Systems Calibrating Changing FlexPendant settings Procedures for running in production. Procedures for handling I/O. Procedures for the event log. Procedures for restart, backup, restore, and configuring systems. Procedures for calibrating the robot system. Procedures for changing the settings for the FlexPendant.
Descriptions of terms and Descriptions of terms and concepts used in robotconcepts ics.
Prerequisites The reader should: Be familiar with the concepts described in Operating manual - Getting started, IRC5 and RobotStudio. Be trained in robot operation. Continues on next page
3HAC16590-1 Revision: T Copyright 2004-2012 ABB. All rights reserved. 11

Continued
References
Product manual - IRC5 Product manual - IRC5 Panel Mounted Controller Operating manual - Getting started, IRC5 and RobotStudio Operating manual - RobotStudio Operating manual - Service Information System Operating manual - Trouble shooting IRC5 Technical reference manual - System parameters Technical reference manual - RAPID overview 3HAC021313-001 3HAC027707-001 3HAC027097-001 3HAC032104-001 3HAC025709-001 3HAC020738-001 3HAC17076-1 3HAC16580-1
Technical reference manual - RAPID Instructions, Functions and Data 3HAC16581-1 types Technical reference manual - RAPID kernel Application manual - Additional axes and stand alone controller Application manual - Engineering tools Application manual - Motion coordination and supervision Application manual - Motion functions and events Application manual - MultiMove Operating manual - Calibration Pendulum 3HAC16585-1 3HAC021395-001 3HAC020434-001 3HAC18154-1 3HAC18152-1 3HAC021272-001 3HAC16578-1
Revisions
Revision A B C D E F G H J Description First issued. IRC5 M2004. Released with RobotWare 5.04. Released with RobotWare 5.05. Released with RobotWare 5.06. Organization of chapters restructured to task orientation. Released with RobotWare 5.07. Released with RobotWare 5.07.01. Released with RobotWare 5.07.02. Minor corrections. Released with RobotWare 5.08. Released with RobotWare 5.09. Description of displacements added. Released with RobotWare 5.10. Some changes to the Program Editor, menus Edit and Debug. Some changes to Quickset menu, Mechanical unit. Released with RobotWare 5.11. Minor corrections in section Restart procedures. Details describing the difference between PP to Main from the Production window and the Program editor is added to section Starting programs - Restart from the beginning. RobotStudio Online is integrated in RobotStudio.
Continues on next page

12 Copyright 2004-2012 ABB. All rights reserved. 3HAC16590-1 Revision: T

Continued
Revision L
Description Released with RobotWare 5.12. New FlexPendant hardware with USB port, four new buttons, reset button, and stylus pen. Quickset menu is now described in chapter Navigating and handling the FlexPendant. Changes to descriptions on settings for jogging. LoadIdentify for 4-axis robots described in section Service routines. Minor corrections. Released with Robotware 5.12.02. Added information on Alias I/O signal. See Alias I/O signals on page 286. Released with Robotware 5.13. The chapter Safety updated with: Updated safety signal graphics for the levels Danger and Warning, see Safety signals in the manual on page 20. New safety labels on the manipulators, see Safety symbols on manipulator labels on page 22. The following sections were updated: Limitation added in Modifying positions in the Program Editor or Production Window on page 212. The screenshot of soft keyboard. See Using the soft keyboard on page 123. The procedure Creating a new program. See Creating a new program on page 192. Setting default paths from the chapter Changing FlexPendant settings by removing the information about Backup/restore files. See Setting default paths on page 339. Released with Robotware 5.14. Chapter Managing Installed Systems on page 312 added The following sections were updated: The prerequisites in Modifying positions in the Program Editor or Production Window on page 212. Steps in Configuring I/O on page 283. Description in System Info on page 105. Chapter Creating I/O categories removed, the category information is now available in Configuring I/O on page 283. Section Adding AliasIO on page 286 updated. Released with Robotware 5.14.02. The following are the changes and corrections made: Clarification to verify that the safety functions on the FlexPendant work after a shock, see Handling of FlexPendant on page 46. Deleted information on FlexPendant without USB port from What is a FlexPendant? on page 52. Updated the illustration and information on filtering types in the section Filtering data on page 127. Updated the information on modifying sensitivity of motion supervision, see Editing motion supervision settings on page 260. Released with Robotware 5.14.02. Updated the section Limitations on page 218. Note added to section Set up the network connection on page 69, not to use leading zeros in IP settings.
M N


Continued
Revision S
Description Released with Robotware 5.14.03. Updated the section Set up the network connection on page 69. Updated information on Elog buffer size in the section Saving log entries on page 293. Updated the screenshot that displays the current active filter in the section Filtering data on page 127. Added a note in the section What is mirroring? on page 370. Updated the procedure Restore the system on page 317. Added information on Total Load in the section Creating a payload on page 187. Released with RobotWare 5.15. Added the section Running LoadIdentify with ModalPayLoadMode deactivated on page 248. Added a note about the limitation that configuration files are not backwards compatible in the section Loading system parameters on page 323. As per the new ISO 10218-1:2011, updated information on Manual Full Speed mode in the following sections: - What is the manual full speed mode? on page 273 - Tasks you normally perform in manual mode on page 273 - Switching to manual full speed mode on page 278 Updated the information and screenshots displaying active filter in the section Filtering data on page 127.
Product documentation, M2004

Categories for manipulator documentation The manipulator documentation is divided into a number of categories. This listing is based on the type of information in the documents, regardless of whether the products are standard or optional. All documents listed can be ordered from ABB on a DVD. The documents listed are valid for M2004 manipulator systems. Product manuals Manipulators, controllers, DressPack/SpotPack, and most other hardware will be delivered with a Product manual that generally contains: Safety information. Installation and commissioning (descriptions of mechanical installation or electrical connections). Maintenance (descriptions of all required preventive maintenance procedures including intervals and expected life time of parts). Repair (descriptions of all recommended repair procedures including spare parts). Calibration. Decommissioning. Reference information (safety standards, unit conversions, screw joints, lists of tools ). Spare parts list with exploded views (or references to separate spare parts lists). Circuit diagrams (or references to circuit diagrams).
Technical reference manuals The technical reference manuals describe reference information for robotics products. Technical reference manual - Lubrication in gearboxes: Description of types and volumes of lubrication for the manipulator gearboxes. Technical reference manual - RAPID overview: An overview of the RAPID programming language. Technical reference manual - RAPID Instructions, Functions and Data types: Description and syntax for all RAPID instructions, functions, and data types. Technical reference manual - RAPID kernel: A formal description of the RAPID programming language. Technical reference manual - System parameters: Description of system parameters and configuration workflows.
Application manuals Specific applications (for example software or hardware options) are described in Application manuals. An application manual can describe one or several applications. Continues on next page

Continued
An application manual generally contains information about: Operating manuals The operating manuals describe hands-on handling of the products. The manuals are aimed at those having first-hand operational contact with the product, that is production cell operators, programmers, and trouble shooters. The group of manuals includes (among others): Operating manual - Emergency safety information Operating manual - General safety information Operating manual - Getting started, IRC5 and RobotStudio Operating manual - Introduction to RAPID Operating manual - IRC5 with FlexPendant Operating manual - RobotStudio Operating manual - Trouble shooting IRC5, for the controller and manipulator. The purpose of the application (what it does and when it is useful). What is included (for example cables, I/O boards, RAPID instructions, system parameters, DVD with PC software). How to install included or required hardware. How to use the application. Examples of how to use the application.
1 Safety
1.1 About this chapter
1 Safety
Introduction to safety This chapter describes safety principles and procedures to be used when a robot or robot system is operated. It does not cover how to design for safety nor how to install safety related equipment. These topics are covered in the Product Manuals supplied with the robot system.
17
1 Safety
1.2 Applicable safety standards
1.2 Applicable safety standards

Standards, EN ISO The manipulator system is designed in accordance with the requirements of:
Standard EN ISO 12100 -1 EN ISO 12100 -2 EN ISO 13849-1 EN ISO 13850 EN ISO 10218-1 i EN ISO 9787 EN ISO 9283 EN ISO 14644-1 ii EN ISO 13732-1 EN IEC 61000-6-4 (option 129-1) EN IEC 61000-6-2 EN IEC 60974-1 iii EN IEC 60974-10iii EN IEC 60204-1 IEC 60529
i ii iii
Description Safety of machinery - Basic concepts, general principles for design - Part 1: Basic terminology, methodology Safety of machinery - Basic concepts, general principles for design - Part 2: Technical principles Safety of machinery, safety related parts of control systems Part 1: General principles for design Safety of machinery - Emergency stop - Principles for design Robots for industrial environments - Safety requirements -Part 1 Robot Manipulating industrial robots, coordinate systems, and motion nomenclatures Manipulating industrial robots, performance criteria, and related test methods Classification of air cleanliness Ergonomics of the thermal environment - Part 1 EMC, Generic emission EMC, Generic immunity Arc welding equipment - Part 1: Welding power sources Arc welding equipment - Part 10: EMC requirements Safety of machinery - Electrical equipment of machines - Part 1 General requirements Degrees of protection provided by enclosures (IP code)
There is a deviation from paragraph 6.2 in that only worst case stop distances and stop times are documented. Only robots with protection Clean Room. Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots.
European standards
Standard EN 614-1 EN 574 EN 953 Description Safety of machinery - Ergonomic design principles - Part 1: Terminology and general principles Safety of machinery - Two-hand control devices - Functional aspects - Principles for design Safety of machinery - General requirements for the design and construction of fixed and movable guards
Other standards
Standard ANSI/RIA R15.06 Description Safety requirements for industrial robots and robot systems

1 Safety
1.2 Applicable safety standards Continued
Standard ANSI/UL 1740 (option 429-1) CAN/CSA Z 434-03 (option 429-1) Description Safety standard for robots and robotic equipment Industrial robots and robot Systems - General safety requirements
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1 Safety
1.3.1 Safety signals in the manual
1.3 Safety terminology 1.3.1 Safety signals in the manual

Introduction to safety signals This section specifies all dangers that can arise when doing the work described in this manual. Each danger consists of: Danger levels The table below defines the captions specifying the danger levels used throughout this manual.
Symbol Designation DANGER Significance Warns that an accident will occur if the instructions are not followed, resulting in a serious or fatal injury and/or severe damage to the product. It applies to warnings that apply to danger with, for example, contact with high voltage electrical units, explosion or fire risk, risk of poisonous gases, risk of crushing, impact, fall from height, and so on. Warns that an accident may occur if the instructions are not followed that can lead to serious injury, possibly fatal, and/or great damage to the product. It applies to warnings that apply to danger with, for example, contact with high voltage electrical units, explosion or fire risk, risk of poisonous gases, risk of crushing, impact, fall from height, etc. Warns for electrical hazards which could result in severe personal injury or death.
A caption specifying the danger level (DANGER, WARNING, or CAUTION) and the type of danger. A brief description of what will happen if the operator/service personnel do not eliminate the danger. Instruction about how to eliminate danger to simplify doing the work.
xx0200000022
WARNING
xx0100000002
ELECTRICAL SHOCK
xx0200000024
CAUTION
xx0100000003
Warns that an accident may occur if the instructions are not followed that can result in injury and/or damage to the product. It also applies to warnings of risks that include burns, eye injury, skin injury, hearing damage, crushing or slipping, tripping, impact, fall from height, etc. Furthermore, it applies to warnings that include function requirements when fitting and removing equipment where there is a risk of damaging the product or causing a breakdown.
ELECTROSTATIC Warns for electrostatic hazards which could result DISCHARGE (ESD) in severe damage to the product.
xx0200000023

1 Safety
1.3.1 Safety signals in the manual Continued
Symbol Designation NOTE Significance Describes important facts and conditions.
xx0100000004
TIP
Describes where to find additional information or how to do an operation in an easier way.
xx0100000098
21
1 Safety
1.3.2 Safety symbols on manipulator labels
1.3.2 Safety symbols on manipulator labels

Introduction to labels This section describes safety symbols used on labels (stickers) on the manipulator. Symbols are used in combinations on the labels, describing each specific warning. The descriptions in this section are generic, the labels can contain additional information such as values. Note The safety and health symbols on the labels on the manipulator must be observed. Additional safety information given by the system builder or integrator must also be observed. Types of labels Both the manipulator and the controller are marked with several safety and information labels, containing important information about the product. The information is useful for all personnel handling the manipulator system, for example during installation, service, or operation. The safety labels are language independent, they only use graphics. See Symbols on safety labels on page 22. The information labels can contain information in text (English, German, and French). Symbols on safety labels
Symbol Description Warning! Warns that an accident may occur if the instructions are not followed that can lead to serious injury, possibly fatal, and/or great damage to the product. It applies to warnings that apply to danger with, for example, contact with high voltage electrical units, explosion or fire risk, risk of poisonous gases, risk of crushing, impact, fall from height, etc. Caution! Warns that an accident may occur if the instructions are not followed that can result in injury and/or damage to the product. It also applies to warnings of risks that include burns, eye injury, skin injury, hearing damage, crushing or slipping, tripping, impact, fall from height, etc. Furthermore, it applies to warnings that include function requirements when fitting and removing equipment where there is a risk of damaging the product or causing a breakdown. Prohibition Used in combinations with other symbols.
xx0900000812
xx0900000811
xx0900000839

1 Safety
1.3.2 Safety symbols on manipulator labels Continued
Symbol Description See user documentation Read user documentation for details. Which manual to read is defined by the symbol: No text: Product manual. EPS: Application manual - Electronic Position Switches.
xx0900000813
Before dismantling see product manual
xx0900000816
Do not dismantle Dismantling this part can cause injury.
xx0900000815
Extended rotation This axis has extended rotation (working area) compared to standard.
xx0900000814
Brake release Pressing this button will release the brakes. This means that the manipulator arm can fall down.
xx0900000808
Tip risk when loosening bolts The manipulator can tip over if the bolts are not securely fastened.
xx0900000810

1 Safety
Symbol Description Crush Risk of crush injuries.
xx0900000817
Heat Risk of heat that can cause burns.
xx0900000818
Moving robot The robot can move unexpectedly.
xx0900000819
xx1000001141
Brake release buttons
xx0900000820
xx1000001140

1 Safety
Symbol Description Lifting bolt
xx0900000821
Chain sling with shortener
xx1000001242
Lifting of robot
xx0900000822
Oil Can be used in combination with prohibition if oil is not allowed.
xx0900000823
Mechanical stop
xx0900000824
No mechanical stop
xx1000001144
Stored energy Warns that this part contains stored energy. Used in combination with Do not dismantle symbol.
xx0900000825

1 Safety
Symbol Description Pressure Warns that this part is pressurized. Usually contains additional text with the pressure level.
xx0900000826
Shut off with handle Use the power switch on the controller.
xx0900000827
1 Safety
1.3.3.1 DANGER - Make sure that the main power has been switched off!
1.3.3 DANGER 1.3.3.1 DANGER - Make sure that the main power has been switched off!
Description Working with high voltage is potentially lethal. Persons subjected to high voltage may suffer cardiac arrest, burn injuries, or other severe injuries. To avoid these dangers, do not proceed working before eliminating the danger as detailed below. Elimination, Single Cabinet Controller
Action 1 Switch off the main switch on the controller cabinet. Note/illustration
xx0600002782
A: Main switch
Elimination, Dual Cabinet Controller

Action 1 Switch off the main switch on the Drive Module. Note/illustration
xx0600002783
K: Main switch, Drive Module 2 Switch off the main switch on the Control A: Main switch, Control Module Module.
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1 Safety
1.3.3.2 DANGER - Moving manipulators are potentially lethal!
1.3.3.2 DANGER - Moving manipulators are potentially lethal!

Description Any moving manipulator is a potentially lethal machine. When running, the manipulator may perform unexpected and sometimes irrational movements. Moreover, all movements are performed with great force and may seriously injure any personnel and/or damage any piece of equipment located within the working range of the manipulator. Elimination
Action 1 Note
Before attempting to run the manipulator, Emergency stop equipment such as gates, make sure all emergency stop equipment tread mats, light curtains, etc. is correctly installed and connected. Usually the hold-to-run function is active only in manual full speed mode. To increase safety it is also possible to activate hold-to-run for manual reduced speed with a system parameter. The hold-to-run function is used in manual mode, not in automatic mode. Make sure no personnel are present within the working range of the manipulator before pressing the start button. How to use the hold-to-run function is described in section How to use the hold-torun function in the Operating manual - IRC5 with FlexPendant.
1 Safety
1.3.3.3 DANGER - Robot without axes' holding brakes are potentially lethal!
1.3.3.3 DANGER - Robot without axes' holding brakes are potentially lethal!
Description Since the robot arm system is quite heavy, especially on larger robot models, it is dangerous if the holding brakes are disconnected, faulty, worn or in any way rendered non-operational. For instance, a collapsing IRB 7600 arm system may kill or seriously injure a person standing beneath it. Elimination
Action 1 Info/illustration
If you suspect that the holding brakes are Weight specifications etc. may be found in non-operational, secure the robot arm the Product manual of each robot model. system by some other means before working on it. If you intentionally render the holding How to correctly connect an external brakes non-operational by connecting an voltage supply is detailed in the Product external voltage supply, the utmost care manual of each robot model. must be taken! DANGER NEVER stand inside the robot working area when disabling the holding brakes unless the arm system is supported by some other means! DANGER Under no circumstance stand beneath any of the robots axes!
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1 Safety
1.3.4.1 WARNING - The unit is sensitive to ESD!
1.3.4 WARNING 1.3.4.1 WARNING - The unit is sensitive to ESD!

Description ESD (electrostatic discharge) is the transfer of electrical static charge between two bodies at different potentials, either through direct contact or through an induced electrical field. When handling parts or their containers, personnel not grounded may potentially transfer high static charges. This discharge may destroy sensitive electronics. Elimination
Action 1 Use a wrist strap Note Wrist straps must be tested frequently to ensure that they are not damaged and are operating correctly. The mat must be grounded through a current-limiting resistor. The mat should provide a controlled discharge of static voltages and must be grounded.
2 3
Use an ESD protective floor mat. Use a dissipative table mat.
Location of wrist strap button The location of the wrist strap button is shown in the following illustration. IRC5 The wrist strap button is located in the top right corner.
xx0500002171
Wrist strap button
1 Safety
1.3.5 What is an emergency stop?
1.3.5 What is an emergency stop?

Definition of emergency stop An emergency stop is a state that overrides any other manipulator control, disconnects drive power from the manipulator motors, stops all moving parts, and disconnects power from any potentially dangerous functions controlled by the manipulator system. An emergency stop state means that all power is disconnected from the manipulator except for the manual brake release circuits. You must perform a recovery procedure, i.e, resetting the emergency stop button and pressing the Motors On button, in order to return to normal operation. The manipulator system can be configured so that the emergency stop results in either: An uncontrolled stop, immediately stopping the manipulator actions by disconnecting power from the motors. A controlled stop, stopping the manipulator actions with power available to the motors so that the manipulator path can be maintained. When completed, power is disconnected from the motors.
The default setting is an uncontrolled stop. However, controlled stops are preferred since they minimize extra, unnecessary wear on the manipulator and the actions needed to return the manipulator system back to production. Please consult your plant or cell documentation to see how your manipulator system is configured. Note The emergency stop function may only be used for the purpose and under the conditions for which it is intended. Note The emergency stop function is intended for immediately stopping equipment in the event of an emergency. Note Emergency stop should not be used for normal program stops as this causes extra, unnecessary wear on the manipulator. For how to perform normal program stops, see What is an emergency stop? on page 31. Classification of stops The safety standards that regulate automation and manipulator equipment define categories in which each type of stop applies:
If the stop is... uncontrolled controlled ... then it is classified as... category 0 (zero) category 1

1 Safety
1.3.5 What is an emergency stop? Continued Emergency stop devices In a manipulator system there are several emergency stop devices that can be operated in order to achieve an emergency stop. There are emergency stop buttons available on the FlexPendant and on the controller cabinet (on the Control Module on a Dual Cabinet Controller). There can also be other types of emergency stops on your manipulator. Consult your plant or cell documentation to see how your manipulator system is configured.
1 Safety
1.3.6 What is a safety stop?
1.3.6 What is a safety stop?

Definition of safety stops A safety stop means that only the power to the manipulator motors is disconnected. There is no recovery procedure. You need only to restore motor power to recover from a safety stop. Safety stop is also called protective stop. The manipulator system can be configured so that the stop results in either: An uncontrolled stop, immediately stopping the manipulator actions by disconnecting power from the motors. A controlled stop, stopping the manipulator actions with power available to the motors so that the manipulator path can be maintained. When completed, power is disconnected from the motors.
The default setting is controlled stop. Controlled stops are preferred since they minimize extra, unnecessary wear on the robot and the actions needed to return the robot system back to production. Please consult your plant or cell documentation to see how your robot system is configured. Note The safety stop function may only be used for the purpose and under the conditions for which it is intended. Note Safety stop should not be used for normal program stops as this causes extra, unnecessary wear on the manipulator. For how to perform normal program stops, see What is an emergency stop? on page 31. Classification of stops The safety standards that regulate automation and manipulator equipment define categories in which each type of stop applies:
If the stop is... uncontrolled controlled ... then it is classified as... category 0 (zero) category 1
Type of safety stops Safety stops are activated through special signal inputs to the controller, see Product manual - IRC5. The inputs are intended for safety devices such as cell doors, light curtains, or light beams.
Safety stop: Description:
Automatic mode stop (AS) Disconnects drive power in automatic mode. In manual mode this input is inactive.

1 Safety
1.3.6 What is a safety stop? Continued
Safety stop: General stop (GS) Superior stop (SS) Description: Disconnects drive power in all operating modes. Disconnects drive power in all operating modes. Intended for external equipment.
Note Use normal program stop for all other types of stop.
1 Safety
1.3.7 What is safeguarding?
1.3.7 What is safeguarding?

Definition Safeguarding are safety measures consisting of the use of safeguards to protect persons from hazards which cannot reasonably be removed or sufficiently eliminated by design. A safeguard prevents hazardous situations by stopping the manipulator in a controlled manner when a certain safeguarding mechanism such as a light curtain is activated. This is done by connecting the safeguard to any of the safety stop inputs at the manipulator controller. The safety stops described in What is a safety stop? on page 33, should be used for safeguarding. Note The safeguarding function may only be used for the purpose and under the conditions for which it is intended. Note The safeguarding function should not be used for normal program stops as this causes extra, unnecessary wear on the manipulator. For how to perform normal program stops, see What is an emergency stop? on page 31. Safeguarded space The safeguarded space is the space guarded by the guards. For example, a manipulator cell is safeguarded by the cell door and its interlocking device. Interlocking devices Each present guard has an interlocking device which, when activated stops the manipulator. The manipulator cell door has an interlock that stops the manipulator when the door is opened. The only way to resume operation is to close the door. Safeguarding mechanisms A safeguarding mechanism consists of a number of guards connected in series. When a guard is activated, the chain is broken and the machine operation is stopped regardless of the state of the guards in the rest of the chain. Note Use normal program stop for all other types of stop.
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1 Safety
1.3.8 Safe use of the FlexPendant
1.3.8 Safe use of the FlexPendant

Enabling device The enabling device is a manually operated, constant pressure push-button which, when continuously activated in one position only, allows potentially hazardous functions but does not initiate them. In any other position, hazardous functions are stopped safely. The enabling device is of a specific type where you must press the push-button only half-way to activate it. In the fully in and fully out positions, manipulator operation is impossible. Note The enabling device is a push-button located on the side of the FlexPendant which, when pressed halfway in, switches the system to MOTORS ON. When the enabling device is released or pushed all the way in, the manipulator switches to the MOTORS OFF state. To ensure safe use of the FlexPendant, the following must be implemented: The enabling device must never be rendered inoperational in any way. During programming and testing, the enabling device must be released as soon as there is no need for the manipulator to move. Anyone entering the manipulator working space must always bring the FlexPendant with him/her. This is to prevent anyone else from taking control of the manipulator without his/her knowledge.
Hold-to-run function The hold-to-run function allows movement when a button connected to the function is actuated manually and immediately stops any movement when released. The hold-to-run function can only be used in manual mode. How to operate the hold-to-run function for IRC5 is described in Operating manual - IRC5 with FlexPendant.
1 Safety
1.4.1 Stop the system
1.4 How to deal with an emergency 1.4.1 Stop the system

Overview Press any of the emergency stop buttons immediately if: There are any personnel in the robot manipulator area, while the manipulator is working. The manipulator causes harm to personnel or mechanical equipment.
The FlexPendant emergency stop button
xx0300000449
Emergency stop button

1 Safety
1.4.1 Stop the system Continued The controller emergency stop button The emergency stop button on the controller is located on the front of the cabinet. However, this can differ depending on your plant design.
xx0600003423
Emergency stop button, Single Cabinet Controller
xx0600003424
Emergency stop button, Dual Cabinet Controller

1 Safety
1.4.1 Stop the system Continued
xx0900000378
Emergency stop button, IRC5 Compact
Other emergency stop devices The plant designer may have placed additional emergency stop devices in convenient places. Please consult your plant or cell documentation to find out where these are placed.
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1 Safety
1.4.2 Release the robot holding brakes
1.4.2 Release the robot holding brakes

Overview The robots brakes may be manually released as long as power is available. As long as the controller's power switch is in its on position, power is available and applied even if the system is in emergency state. Battery power In case of a plant or cell power outage the brake system may be powered by a battery. How to connect the battery is different for each robot model. This is detailed in the Product Manual delivered with the robot. Brake release buttons Brake release buttons are placed differently depending on robot type, this is detailed in the Product Manual. Always learn where the buttons are placed on robot models you work with. Precautions Before releasing the brakes verify: Which way will the arm go? How will an entangled object be affected?
A minor damage can easily become serious if the consequences are not considered. DANGER Releasing the brakes is a hazardous action that may cause injury and damage property. It must be done with great care and only when absolutely necessary. Releasing brakes
Action 1 2 3 4 If necessary, use an overhead crane, fork lift or similar to secure the robots arms. Make sure the robot is powered. Once more, make sure that damage to entangled objects is not extended when brakes are released. Press the appropriate brake release button to release the brake.
1 Safety
1.4.3 Extinguishing fires
1.4.3 Extinguishing fires

Precautions In case of a fire always make sure both you and your coworkers are safe before performing any fire extinguishing activities. In case of injury always make sure these are treated first. Select fire extinguisher Always use carbon dioxide extinguishers when extinguishing fires in electrical equipment such as the robot or the controller. Do not use water or foam.
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1 Safety
1.4.4 Recover from emergency stops
1.4.4 Recover from emergency stops

Overview Recovering from an emergency stop is a simple but important procedure. This procedure ensures that the manipulator system is not returned to production while maintaining a hazardous condition. Reset the latch of emergency stop buttons All push-button style emergency stop devices have a latching feature that must be released in order to remove the emergency stop condition of the device. In many cases this is done by twisting the push-button as marked, but there are also devices where you pull the button to release the latch. Reset automatic emergency stop devices All automatic emergency stop devices also have some kind of latching feature that must be released. Please consult your plant or cell documentation to see how your manipulator system is configured. Recover from emergency stops
Action 1 2 3 Make sure the hazardous situation that resulted in the emergency stop condition no longer exists. Locate and reset the device or devices that gave the emergency stop condition. Press the Motors On button to recover from the emergency stop condition.
The Motors On button The Motors On button is located on the controller. On a Dual Controller the Motors On button is located on the Control Module. If your manipulator system uses another type of control cabinet, then the Motors On button may look different than the illustration below.
xx0600003430
Motors On button
1 Safety
1.4.5 Return to the programmed path
1.4.5 Return to the programmed path

Overview Turning off the power to the robot motors often results in the robot slipping from its programmed path. This may occur after an uncontrolled emergency or safety stop. The allowed slip distance is configured with system parameters. The distance can be different depending on operating mode. If the robot is not within the configured allowed distance, you may choose to let the robot return to the programmed path or continue to the next programmed point in the path. Then the program execution continues automatically in programmed speed. For more information see Technical reference manual - System parameters, section TopicController - TypePath Return Region.
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1 Safety
1.5.1 Overview
1.5 Working in a safe manner 1.5.1 Overview

About the robot A robot is heavy and extremely powerful regardless of its speed. A pause or longer stop in movement can be followed by a fast hazardous movement. Even if a pattern of movement is predicted, a change in operation can be triggered by an external signal resulting in an unexpected movement without warning. Therefore, it is important that all safety regulations are followed when entering safeguarded space. About this section In this section some most basic rules of conduct for you as a robot system user are suggested. However, it is impossible to cover each and every specific situation.
1 Safety
1.5.2 For your own safety
1.5.2 For your own safety

General principles A few simple principles should be followed in order to operate the robot system safely: Always operate the robot system in manual mode if personnel are inside safeguarded space. Always bring the FlexPendant along when you enter safeguarded space so that robot control is in your hands. Watch out for rotating or moving tools such as milling cutters and saws. Make sure those are stopped before you approach the robot. Watch out for hot surfaces both on work pieces as well as on the robot system. The robot's motors can become fairly hot if run for a long time. Watch out for grippers and objects gripped. If the gripper is opened the work piece could fall and cause injuries or damage equipment. The gripper can be very powerful and can also cause injuries if not operated in a safe manner. Watch out for hydraulic and pneumatic systems and live electric parts. Even with power off residual energy in such circuits can be very dangerous.
Disconnected FlexPendant Always put away a disconnected FlexPendant safe from any robot cell or controller to avoid that a disconnected unit is used when trying to stop the robot in a hazardous situation. CAUTION A disconnected FlexPendant should be stored in such a way that it cannot be mistaken for being connected to the controller. Custom FlexPendant connections Any means of connecting the FlexPendant except by the supplied cable and its standard connector must not render the emergency stop button inoperative. Always test the emergency stop button to make sure it works if a custom connection cable is used.
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1 Safety
1.5.3 Handling of FlexPendant
1.5.3 Handling of FlexPendant

Handling of FlexPendant The FlexPendant is a high-quality handheld terminal equipped with highly sensitive state-of-the-art electronics. To avoid malfunctions or damage through improper handling, follow these instructions during operation. The FlexPendant may only be used for the purposes mentioned in this manual. The FlexPendant was developed, manufactured, tested and documented in accordance with applicable safety standards. If you follow the instructions regarding safety and use as described in this manual, the product will, in the normal case, neither cause personal injury nor damage to machinery and equipment. Handling and cleaning Handle with care. Do not drop, throw, or give the FlexPendant strong shock. It can cause breakage or failure. If the FlexPendant is subjected to shock, always verify that the safety functions (enabling device and emergency stop) work and are not damaged. When not using the device, hang it on the wall bracket provided for storage so it does not accidentally fall. Always use and store the FlexPendant in such a way that the cable does not become a tripping hazard. Never use sharp objects (such as screwdriver or pen) for operating the touch screen. This could damage the touch screen. Instead use your finger or a stylus (located on the back on FlexPendant with USB port). Clean the touch screen regularly. Dust and small particles can clog the touch screen and cause it to malfunction. Never clean the FlexPendant with solvents, scouring agent, or scrubbing sponges. Use a soft cloth and a bit of water or mild cleaning agent. See Product manual - IRC5, section Cleaning the FlexPendant. Always close the protective cap on the USB port when no USB device is connected. The port can break or malfunction if exposed to dirt or dust. CAUTION A disconnected FlexPendant should be stored in such a way that it cannot be mistaken for being connected to the controller.

1 Safety
1.5.3 Handling of FlexPendant Continued Restarting a locked FlexPendant In case the FlexPendant is locked by a software error or misuse you can unlock it either using the joystick, or using the reset button (located on the back on FlexPendant with USB port). See also Operating manual - Trouble shooting IRC5. Normal restart procedures are described in section Restart procedures on page 301. Use this procedure to unlock the FlexPendant using the joystick.
Action 1 Info
Move the joystick to the right three times, with full The joystick must be moved to its deflection. utmost limit. Therefore, use slow and distinct movements. Move the joystick to the left once, with full deflection. Move the joystick down once, with full deflection. A dialog is displayed. Tap Reset. The FlexPendant is restarted.
2 3 4
Cabling and power supply Turn off the power supply before opening the cable entrance area of the FlexPendant. Otherwise the components could be destroyed or undefined signals could occur. Make sure that nobody trips over the cable to prevent the device from falling to the ground. Take care not to squeeze and thus damage the cable with any object. Do not lay the cable over sharp edges since this can damage the cable sheath.
Waste disposal Observe the national regulations when disposing of electronic components! When replacing components, please dispose of used components properly. Foreseeable misuse of enabling device Foreseeable misuse means that it is not allowed to jam the enabling device in the enabling position. The foreseeable misuse of the enabling device must be restricted. When releasing and then pressing the enabling device again, make sure to wait for the system to go to Motors Off state before pressing again. Otherwise you will receive an error message.
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1 Safety
1.5.4 Safety tools
1.5.4 Safety tools

Safeguarding mechanisms Your robot system can be equipped with a vast range of safeguards such as door interlocks, safety light curtains, safety mats, and others. The most common is the door interlock of the robot cell that temporarily stops the robot if you open it. The controller has three separate safeguarding mechanisms, the general mode safeguarded stop (GS), the automatic mode safeguarded stop (AS) and the superior safeguarded stop (SS).
Safeguards connected to... the GS mechanism the AS mechanism the SS mechanism are... always active regardless of the operating mode. only active when the system is in automatic mode. always active regardless of the operating mode.
Please consult your plant or cell documentation to see how your robot system is configured and where the safeguarding mechanisms are placed and how they work. Safety supervision The emergency stop and safeguarding mechanisms are supervised so that any failure is detected by the controller and the robot is stopped until the problem is solved. Built-in safety stop functions The controller continuously monitor hardware and software functionality. If any problems or errors are detected the robot is stopped until the problem has been solved.
If the failure is... simple and can easily be solved minor and can be solved major, for instance concerns broken hardware then... a simple program stop is issued (SYSSTOP). a SYSHALT is issued which results in a safety stop. a SYSFAIL is issued which results in an emergency stop. The controller must be restarted in order to return to normal operation.
Restricting the robot's working range The robot's working range can be restricted by means of mechanical stops or software functions, or by a combination of both. Please consult your plant or cell documentation to see how your robot system is configured.
1 Safety
1.5.5 Safety in manual mode
1.5.5 Safety in manual mode

What is the manual mode? The manual mode allows program creation, storage, and testing of robot paths and positions. The manual mode is used when programming and when commissioning a robot system. There are two manual modes: Manual reduced speed mode, usually called manual mode. Manual full speed mode (not available in USA or Canada).
In manual mode, you need to press the enabling device to activate the robots motors. What is the manual full speed mode? In manual full speed mode the robot system can run in full speed. This mode is used when testing programs. Operating speed In manual mode the robot can only be operated (moved) in reduced speed, 250 mm/s or slower. You should always operate in reduced speed whenever working inside safeguarded space. In manual full speed mode the robot moves in programmed speed. The manual full speed mode should only be used while all personnel are outside safeguarded space and only by specifically trained personnel extra aware of the implied risks. Bypassed safeguard mechanisms Automatic mode safeguarded stop (AS) mechanisms are bypassed while operating in manual mode. The enabling device In manual mode the robots motors are activated by the enabling device on the FlexPendant. This way the robot can only move as long as the device is pressed. In order to run a program in manual full speed mode it is necessary, for safety reasons, to keep pressing both the enabling device and the Start button. This hold-to-run function also applies when stepping through a program in manual full speed mode. The enabling device is designed so that you must press its push-button just half-way to activate the robots motors. Both in its all-out and full-in positions the robot will not move. The hold-to-run function The hold-to-run function allows stepping or running a program in manual full speed mode. Note that jogging does not require the hold-to-run function, regardless of operating mode. The hold-to-run function can also be activated for manual reduced speed mode.
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1 Safety
1.5.6 Safety in automatic mode
1.5.6 Safety in automatic mode

What is the automatic mode? The automatic mode is used for running the robot program in production. In automatic mode the enabling device is disconnected so that the robot can move without human intervention. Active safeguard mechanisms Both the general mode stop (GS) mechanisms, the automatic mode stop (AS) mechanisms and the superior stop (SS) are all active while operating in automatic mode. Coping with process disturbances Process disturbances may not only affect a specific robot cell but an entire chain of systems even if the problem originates in a specific cell. Extra care must be taken during such a disturbance since that chain of events may create hazardous operations not seen when operating the single robot cell. All remedial actions must be performed by personnel with good knowledge of the entire production line, not only the malfunctioning robot. Process disturbance examples A robot picking components from a conveyer might be taken out of production due to a mechanical malfunction, while the conveyer must remain running in order to continue production in the rest of the production line. This means, of course, that extra care must be taken by the personnel preparing the robot in close proximity to the running conveyor. A welding robot needs maintenance. Taking the welding robot out of production also means that a work bench as well as a material handling robot must be taken out of production to avoid personnel hazards.
2 Welcome to FlexPendant
Overview This chapter presents an overview of the FlexPendant, the IRC5 controller, and RobotStudio. A basic IRC5 robot system consists of a robot controller, the FlexPendant, RobotStudio, and one or several robots or other mechanical units. There may also be process equipment and additional software options. This manual describes a basic IRC5 system without options. However, in a few places, the manual gives an overview of how options are used or applied. Most options are described in detail in their respective Application manual.
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2.2 What is a FlexPendant?
2.2 What is a FlexPendant?

Introduction to the FlexPendant 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 and so on. 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. 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.

2.2 What is a FlexPendant? Continued Main parts These are the main parts of the FlexPendant.
xx0900000022
A B C D E F G H
Connector Touch screen Emergency stop button Joystick USB port Enabling device Stylus pen Reset button
Joystick Use the joystick to move the manipulator. This is called jogging the robot. There are several settings for how the joystick will move the manipulator. USB port Connect a USB memory to the USB port to read or save files. The USB memory is displayed as drive /USB:Removable in dialogs and FlexPendant Explorer. Note! Close the protective cap on the USB port when not used. Continues on next page
2.2 What is a FlexPendant? Continued Stylus pen The stylus pen included with the FlexPendant is located on the back. Pull the small handle to release the pen. Use the stylus pen to tap on the touch screen when using the FlexPendant. Do not use screw drivers or other sharp objects. Reset button The reset button resets the FlexPendant, not the system on the controller. Note The USB port and the reset button work on systems using RobotWare 5.12 or later. These will not work on older systems. Hard buttons There are dedicated hardware buttons on the FlexPendant. You can assign your own functions to four of the buttons.
xx0900000023
A-D E F G H J K L M
Programmable keys, 1 - 4. How to define their respective function is detailed in section Programmable keys,. Select mechanical unit. Toggle motion mode, reorient or linear. Toggle motion mode, axis 1-3 or axis 4-6. Toggle increments. Step BACKWARD button. Executes one instruction backward as button is pressed. START button. Starts program execution. Step FORWARD button. Executes one instruction forward as button is pressed. STOP button. Stops program execution.
Note The select and toggle buttons work on systems using RobotWare 5.12 or later. These will not work on older systems. Continues on next page
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. For more information about adapting the FlexPendant to left-handness, see Adapting the FlexPendant for left-handed users on page 348..
en0400000913

2.2 What is a FlexPendant? Continued Touch screen elements The illustration shows important elements of the FlexPendant touch screen.
en0300000588
A B C D E F
ABB menu Operator window Status bar Close button Task bar Quickset menu
ABB menu The following items can be selected from the ABB menu: Continues on next page
HotEdit Inputs and Outputs Jogging Production Window Program Editor Program Data Backup and Restore Calibration Control Panel Event Log FlexPendant Explorer
2.2 What is a FlexPendant? Continued System Info etc.
This is further described in section The ABB menu on page 87. 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 on page 109. 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 on page 110. 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 on page 111. Handling and cleaning Handle with care. Do not drop, throw, or give the FlexPendant strong shock. It can cause breakage or failure. When not using the device, hang it on the wall bracket provided for storage so it does not accidentally fall. Always use and store the FlexPendant in such a way that the cable does not become a tripping hazard. Never use sharp objects (such as screwdriver or pen) for operating the touch screen. This could damage the touch screen. Instead use your finger or a stylus (located on the back on FlexPendant with USB port). Clean the touch screen regularly. Dust and small particles can clog the touch screen and cause it to malfunction. Never clean the FlexPendant with solvents, scouring agent, or scrubbing sponges. Use a soft cloth and a bit of water or mild cleaning agent. See Product manual - IRC5, section Cleaning the FlexPendant. Always close the protective cap on the USB port when no USB device is connected. The port can break or malfunction if exposed to dirt or dust. CAUTION A disconnected FlexPendant should be stored in such a way that it cannot be mistaken for being connected to the controller.

2.2 What is a FlexPendant? Continued Operated in fifteen languages As suggested by its name, the FlexPendant is designed with flexibility and adaptation to end-users specific needs in mind. Currently, it can be operated in 15 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. For more information about changing language, see Changing language on page 352.
2.3 What is an IRC5 controller?
2.3 What is an IRC5 controller?

The IRC5 controller The IRC5 controller contains all functions needed to move and control the robot. The standard IRC5 controller consists of a single cabinet, Single Cabinet Controller. The controller can also be divided into two cabinets, Dual Cabinet Controller, or integrated in an external cabinet, Panel Mounted Controller. A controller consists of two modules, the Control Module and the Drive Module. The Control Module contains all the control electronics such as main computer, I/O boards, and flash memory. The Control Module runs all software necessary for operating the robot (that is the RobotWare system). The Drive Module contains all the power electronics supplying the robot motors. An IRC5 Drive Module may contain nine drive units and handle six internal axes plus two or additional axes depending on the robot model.
When running more than one robot with one controller (MultiMove option), an extra drive module must be added for each additional robot. However, a single control module is used.
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A B C
Control Module, Dual Cabinet Controller Drive Module, Dual Cabinet Controller Single Cabinet Controller
Related information Product manual - IRC5. Product manual - IRC5 Panel Mounted Controller. Application manual - MultiMove.
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2.4 What is RobotStudio?
2.4 What is RobotStudio?

Overview RobotStudio is a computer application for the offline creation, programming, and simulation of robot cells. RobotStudio is available in complete, customized, and minimal installation. The minimal installation is used for working in online mode on the controller, as a complement to the FlexPendant. The Complete (and customized) installation offers advanced programming and simulation tools. RobotStudio for real controllers RobotStudio allows the following operations when connected to a real controller: 1 Creating, installing, and maintaining systems, using the System Builder. 2 Text-based programing and editing, using the RAPID Editor. 3 File manager for the controller. 4 Administrating the User Authorization System.
2.5 When to use the FlexPendant and RobotStudio
2.5 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... Jog a robot. Use... The FlexPendant
Start or stop a robot program. The FlexPendant or RobotStudio Start and stop background tasks RobotStudio
Communicate with the controller

To... Acknowledge events. View and save the controller's event logs. Back up the controller's software to files on the PC or a server. Back up the controller's software to files on the controller Use... The FlexPendant. RobotStudio or the FlexPendant. RobotStudio or the FlexPendant. The FlexPendant.
Transfer files between the controller and net- RobotStudio or the FlexPendant. work drives.
Program a robot
To... 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. Use... 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.

2.5 When to use the FlexPendant and RobotStudio Continued
To... Use...
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 instruc Instruction pick lists tions. 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. Use... RobotStudio or the FlexPendant
Save the robot's system parameters as config- RobotStudio or the FlexPendant uration files. Load system parameters from configuration files to the running system. Load calibration data. RobotStudio or the FlexPendant RobotStudio or the FlexPendant
Create, modify and install systems

To... Create or modify a system. Install a system on a controller. Use... RobotStudio together with RobotWare and a valid RobotWare Key. RobotStudio
Install a system on a controller from The FlexPendant. a USB memory.
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... FlexPendant RobotStudio for details, see manual... Document number
Operating manual - IRC5 with Flex- 3HAC16590-1 Pendant Operating manual - RobotStudio 3HAC032104-001
2.6 Buttons and ports on the controller
2.6 Buttons and ports on the controller

Buttons and ports on the controller These are the buttons and ports on an IRC5 controller. Some buttons and ports are options and might not be available on your controller. The buttons and ports look the same but the placing can differ depending on the controller model (Single Cabinet Controller, Dual Cabinet Controller, or Panel Mounted Controller) and if there is an external operators panel.
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A B C D E F G H J K L
Main switch Emergency stop Motors on Mode switch Safety chain LEDs (option) USB port Service port for PC (option) Duty time counter (option) Service outlet 115/230 V, 200 W (option) Hot plug button (option) FlexPendant connector

2.6 Buttons and ports on the controller Continued Related information Product manual - IRC5. Product manual - IRC5 Panel Mounted Controller. Operating manual - Trouble shooting IRC5.
3 Get started
3 Get started
Overview This chapter describes how to connect the FlexPendant to the controller and how to set up network connections. It also presents a number of often performed work tasks with the FlexPendant, described as action scenarios.
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3 Get started
3.2.1 Connecting a FlexPendant
3.2 Connections 3.2.1 Connecting a FlexPendant

Location of FlexPendant connector The FlexPendant connector is located on the operators panel on the controller, or on an external operators panel. The Panel Mounted Controller has a connector on the front. CAUTION Always inspect the connector for dirt or damage before connecting it to the controller. Clean or replace any damaged parts.
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FlexPendant connector (A22.X1)
Connecting a FlexPendant
Action 1 Info
Locate the FlexPendant socket connector The controller must be in manual mode. If on the controller or operators panel. your system has the option Hot plug, then you can also disconnect in auto mode. See section Using the hot plug option on page 262. Plug in the FlexPendant cable connector.

3 Get started
3.2.1 Connecting a FlexPendant Continued
Action 3 Screw the connector lock ring firmly by turning it clockwise. Info
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3.2.2 Disconnecting a FlexPendant
3.2.2 Disconnecting a FlexPendant

Disconnecting a FlexPendant Use this procedure to disconnect a FlexPendant
Action 1 2 3 4 Finish any ongoing activities that require the FlexPendant to be connected. (For example path adjustments, calibration, program changes.) Shut down the system. If the system is not shut down when disconnecting the FlexPendant it will go to the emergency stop state. Unscrew the connector cable counter clockwise. Store the FlexPendant safely away from any robot system.
3 Get started
3.2.3 Set up the network connection
3.2.3 Set up the network connection

When do I need to setup the network connection? You need to setup the controllers network connection when the controller is connected to a network for the first time or when the network addressing scheme changes. Preparations If an IP address is to be obtained automatically, make sure there is a server running that supplies the network with IP addresses (a DHCP server). Otherwise you will not be able to access the controller via the controller network. It is still possible to access the controller via the service PC connection. Network connection dialog box The illustration shows the network connection dialog box.
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Set up the network connection Regardless of how you choose to set up the network connections, the first steps are common:
Action 1 Info
Perform an X-start to start the Boot Applic- How to perform an X-start is detailed in ation. section Restart and select another system (X-start) on page 306. In the Boot Application, tap Settings. The network connection dialog is displayed. If you choose to use no IP address, then In some cases it can be useful to discontap Use no IP address. Otherwise, proceed nect the controller from the network, below! without disconnecting the network cable. Without IP address the controller cannot be accessed from other equipment on the same network.

3 Get started
3.2.3 Set up the network connection Continued
Action 4 If you choose to obtain an IP address automatically, then tap Obtain an IP address automatically. Otherwise, proceed below! If you choose to use a fixed IP address, tap Use the following IP address. Enter the IP address, subnet mask, and default gateway. Note Make sure a valid address is used so there are no conflicts in the network. A conflict may cause other controllers to malfunction Note Do not use leading zeros in the numbers in IP settings. A number with a leading zero is interpreted as an octal number. 6 7 8 Tap OK to save the new setting. In the Boot Application, tap Select System How to select a system is detailed in secand select the system to restart. tion Selecting system on page 303. In the Boot Application, tap Restart Controller and tap OK to restart the controller with new settings. Note You can verify the new settings by tapping ABB -> System Info -> Controller properties -> Network connections -> LAN Info
3 Get started
3.3.1 About action scenarios
3.3 Action scenarios 3.3.1 About action scenarios

Overview This chapter presents brief procedures, detailing a number of typical actions a typical user may perform. It also includes references to detailed information about the same topics. The brief information given, is intended to be used directly by experienced users, while the references may be more adequate for novices and for training purposes. Related information Note that there may be more information available than the one referred to in the procedures. Information about: a specific menu is described in chapter Navigating and handling FlexPendant on page 85. a specific button on the FlexPendant is described in What is a FlexPendant? on page 52. a specific button is described in chapter What is an IRC5 controller? on page 59 for tasks performed using the controls on the controller cabinet. how to perform a specific task is detailed in the tasks chapters, e.g. Programming and testing on page 155 or Running in production on page 253. Operating manual - RobotStudio Product manual - IRC5 Operating manual - Trouble shooting IRC5
Related information can also be found in other manuals:
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3 Get started
3.3.2 System start
3.3.2 System start

Prerequisites before start This procedure details the main steps required to start the system when the power has been switched off. All information is based on the assumption that working system software has already been installed on the robot controller, as the case would be at first start directly after delivery. Note that there may be more information available than the one referred to in the procedure. System start This procedure details all required steps to start the system for the first time. For everyday start, step 4 is normally the only required step.
Action 1 Install the robot equipment. Info Mechanical installation and electrical connections between manipulator and controller is described in the Product manual of the robot and controller respectively.
Make sure the safety circuits of How to connect the safety circuits is detailed in the the system are properly connec- robots Product manual. ted to the robot cell or have jumper connections installed (if required). Connect the FlexPendant to the The FlexPendant and its major parts and functions controller. are detailed in section What is a FlexPendant? on page 52 How to connect the FlexPendant to the controller is detailed in section Connecting a FlexPendant on page 66 Switch the power on. If the controller or manipulator have been replaced with spare parts, make sure the calibration values, revolution counters and serial numbers are updated correctly. Use the main switch on the controller. Normally, only the revolution counters require updating, which is to be performed as detailed in section Updating revolution counters on page 326. If required, transfer the calibration data from the serial measurement board as detailed in Serial measurement board memory on page 332 for systems without the Absolute Accuracy option. If required, enter the calibration data as detailed in Loading calibration data using the FlexPendant on page 328 for systems with the Absolute Accuracy option.
4 5
This step is only required if the Detailed in section Restart and select another system robot system will be connected (X-start) on page 306. to a network. Perform an X-start. The Boot Application is started.

3 Get started
3.3.2 System start Continued
Action 7 Info
This step is only required if the How to use the Boot Application is detailed in section robot system will be connected Using the Boot Application on page 302. to a network. At this point, a single system is available. Use the Boot Application to: set the IP address of the controller cabinet set the network connections select the system restart the system The system is restarted. Install RobotStudio on a PC. Proceed as detailed in Operating manual - RobotStudio. RobotStudio is used to create a system to run on the controller, but at this point (prior to the first start) a system is already installed by the manufacturer.
Connect the controller to a PC Proceed as detailed in Product manual - IRC5, section (through the service port) or to Connecting a PC to the service port. the network (if used). Also see section Set up the network connection on page 69. Proceed as detailed in Operating manual - RobotStudio.
10 Start RobotStudio on the PC. 11 Restart the controller. 12 The robot system is now ready for operation.
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3.3.3 Jogging
3.3.3 Jogging
Jogging This procedure details the main steps required to jog the robot. The term Jogging is described in section Introduction to jogging on page 133. Note that there may be more information available than the one referred to in the procedure.
Action 1 It is possible to jog the robot under the following conditions: The system has been started as detailed in this manual. No programmed operation is running The system is in Manual mode. The enabling device is pressed and the system is in Motors On state. Determine in which way you want to jog. Info The Manual mode is described in section About the manual mode on page 273. Starting in the Manual mode is detailed in section Starting programs on page 253. How to switch to manual mode is detailed in section Switching from automatic to manual mode on page 277.
The difference between different types of jogging is detailed in section Introduction to jogging on page 133. How to select coordinate system is detailed in section Selecting coordinate system on page 148.
3 4
Select a mechanical unit. The axes can be How to jog the robot axis by axis is detailed jogged in different ways. in section Jog axis by axis on page 147. Define the working range for the robot/ro- The robots working range is defined by bots as well as for any other pieces of system parameters. See section Configurequipment working in the robot cell. ing system parameters on page 321 or Technical reference manual - System parameters. Jog the manipulator using the joystick on The FlexPendant and its various parts and the FlexPendant. sections are described in section What is a FlexPendant? on page 52. The joystick and how to map the directions of it, is detailed in section Selecting motion mode on page 144. How to prevent causing manipulator movements in certain directions while jogging, is detailed in section Locking the joystick in specific directions on page 149. There might be restrictions to how you can jog, see section Restrictions to jogging on page 140. In some cases, more than one manipulator How to jog multiple manipulators is decan be jogged simultaneously. This retailed in section Coordinated jogging on quires the option MultiMove. page 141.
3 Get started
3.3.4 Using RAPID programs
3.3.4 Using RAPID programs

Using the RAPID program This procedure describes the main steps required in creating, saving, editing and debugging any RAPID program. Note that there is more information available, than the one referred to in the procedure. The concept RAPID program is described in section The structure of a RAPID application on page 156.
Action 1 Start by creating a RAPID program. Info How to create a RAPID program is detailed in section Handling of programs on page 192. Proceed as detailed in section Handling of instructions on page 204. The module concept is described in section The structure of a RAPID application on page 156. How to view, add, or delete a module is detailed in section Handling of modules on page 195.
2 3
Edit your program. To simplify programming and keep an overview of the program, you may want to divide the program into more than one module.
To further simplify programming, you may The routine concept is described in section want to divide the module into more than The structure of a RAPID application on one routine. page 156. How to add or delete a routine is detailed in section Handling of routines on page 199. When programming you may want to work Also read the following sections: with: Creating a tool on page 166. Tools Creating a work object on page 180. Work objects Creating a payload on page 187. Payloads In order to deal with potential errors that Error handlers are described in the RAPID may occur during program execution, you manuals. may want to create an error handler. After completing the actual RAPID program, it will require testing before being put into production. After test running your RAPID program, it may require altering. You may want to modify, or tune, programmed positions, the TCP positions, or paths. Proceed as detailed in section Testing on page 232. How to modify positions while the program is running is described in section HotEdit menu on page 87. How to modify positions in manual mode is described in section Modifying positions in the Program Editor or Production Window on page 212.
Programs that are no longer required may See Deleting programs from memory on be removed. page 228. Also see Deleting programs from hard disk on page 230.

3 Get started
3.3.4 Using RAPID programs Continued Running the program This procedure specifies how to use an existing RAPID program.
Action 1 2 Load an existing program. Info Described in section Starting programs on page 253.
When starting program execution, you may Described in section Quickset menu, Run choose between running the program once, Mode on page 119. or running it continuously. Once the program has been loaded, you may start program execution. Described in section Starting programs on page 253 and in Using multitasking programs on page 257.
After program execution is completed, the Proceed as detailed in section Stopping program may be stopped. programs on page 256.
3 Get started
3.3.5 Working with inputs and outputs
3.3.5 Working with inputs and outputs

Working with inputs and outputs This procedure details the main steps required to set outputs, read inputs and configure I/O units. Note that there may be more information available than the one referred to in the procedure.
Action 1 You can create a new I/O. Info I/O signals are created using system parameters, see section Configuring system parameters on page 321.
Before using any input or output, the Configuring the system is done when creating system must be configured to enable the system. How to do this is detailed in Operthe I/O functions. ating manual - RobotStudio. You can set a value to a specific digital Proceed as detailed in section Simulating and output. changing signal values on page 281. You can set a value to a specific analog Proceed as detailed in section Simulating and output. changing signal values on page 281. You can view the status of a specific digital input. You can view the status of a specific analog input. Safety signals. How to edit an I/O. Proceed as detailed in section Simulating and changing signal values on page 281. Proceed as detailed in section Simulating and changing signal values on page 281. Signal explanation is detailed in Safety I/O signals on page 288 Proceed as detailed in sectionSimulating and changing signal values on page 281.
3 4 5 6 7 8
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3.3.6 Backup and restore
3.3.6 Backup and restore

Backup and restore The contents of a typical backup is specified in section What is saved on backup? on page 314. How to perform the backup is detailed in section Back up the system on page 316. Re-introducing the previously saved memory contents from the backup into the robot controller is called performing a restore. How to perform the restore is detailed in section Restore the system on page 317. Information about starts is described in Restart overview on page 301. Note that there may be more information available than the one referred to above.
3 Get started
3.3.7 Running in production
3.3.7 Running in production

Running in production This instruction details the main steps useful when running the system in automatic mode (production mode). Note that there may be more information available than the one referred to in the procedure.
Action 1 2 Start the system as detailed in section System start on page 72. If the system is using UAS, User Authoriz- How to log in is described in section Logation System, the user must log into the ging on and off on page 131. system before starting operation. Load a program. Before starting system choose mode to start in on the controller. Start by pressing the Start button on the FlexPendant. The controller system communicates with the operator through messages displayed on the FlexPendant screen. Messages can be either event messages or RAPID instructions, e.g. TPWrite. Event messages describe an event occurring within the system, and is saved in an event log. In manual mode, the Modify Position function allows the operator to make adjustments to the robot positions in a RAPID program. The HotEdit function allows the operator to make adjustments to programmed positions in both automatic and manual mode. How to load a program is described in Handling of programs on page 192. How to choose mode is described in section Switching from manual to automatic mode on page 275. The FlexPendants hardware buttons are described in What is a FlexPendant? on page 52. The basic concepts are described in section Accessing the event log on page 291. RAPID instructions TPReadFK and TPWrite are described in Technical reference manual - RAPID Instructions, Functions and Data types. Info
3 4
How to modify position is described in sections Modifying positions in the Program Editor or Production Window on page 212 and HotEdit menu on page 87.
8 9
In a production process you may want to How to stop production is described in stop the robot. section Stopping programs on page 256. In the Production Window you can super- The Production window is described in vise the ongoing process. section Production Window on page 93. How to log in is described in section Logging on and off on page 131.
10 When ending operation, the user should log off.
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3.3.8 Granting access for RobotStudio
3.3.8 Granting access for RobotStudio

About write access on the controller The controller only accepts one user with write access at a time. Users in RobotStudio can request write access to the system. If the system is running in manual mode the request is accepted or rejected on the FlexPendant. Granting access for RobotStudio This procedure describes how to grant access for RobotStudio.
Action 1 When a user in RobotStudio requests access, a message is displayed on the FlexPendant. Decide whether to grant or reject access. If you want to grant access, then tap Grant. The user holds write access until he disconnects or until you reject the access. If you want to deny access, then tap Deny. If you have granted access and want to revoke the access, tap Deny.
3 Get started
3.3.9 Upgrading
3.3.9 Upgrading
Upgrading This procedure details the main steps required to correctly upgrade the system. By upgrading we mean changing hardware, such as replacing circuit board with newer versions, as well as loading software with later releases. Note that there may be more information available than the one referred to in the procedure.
Type of upgrade Info
When replacing circuit boards such as buses, What happens during reflashing is detailed I/O boards, etc., with newer versions, the in section Reflashing firmware and FlexPendsystem will automatically reflash the unit. ant on page 311.
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During reflashing, the system may restart several times, and it is vital not to shut down the system, or in any other way interrupt the automatic process. When upgrading the robot or controller mechanically, fitting instructions are normally delivered with the kit. If no such instruction are provided, useful information may be found in the Repair section of the Product Manual of the equipment in question. When upgrading the system software, the system must be changed in order to reflect the additions. A new license key may be required. How to modify an existing system is detailed in section How to Modify a System in the Operating manual - RobotStudio. How to create a new system is detailed in section Creating a new system in the Operating manual - RobotStudio.
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3.3.10 Installing software options
3.3.10 Installing software options

Installing software options The main steps required to correctly install a generic software option or option package is described in Operating manual - RobotStudio.
3 Get started
3.3.11 Shutting down
3.3.11 Shutting down

Shutting down This procedure describes how to shut down the system and turn off power.
Action 1 2 Stop all running programs. Shut down the system using the main power The FlexPendant will display " Connectswitch (On/Off switch) or ing to controller ...". This can safely be shut down the system using the FlexPendant, ignored. tap ABB menu - Restart - Advanced - Shutdown. When using the FlexPendant, wait for 30 seconds after shutting down the system. It is then safe to turn off the main power switch. If you want to protect the FlexPendant you can How to disconnect the FlexPendant unplug it and store it elsewhere when the sys- from the controller is detailed in sectem has shut down. tion Disconnecting a FlexPendant on page 68. Info
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4 Navigating and handling FlexPendant


Introduction to this chapter This chapter will help you to work efficiently with the FlexPendant. The important elements for navigation illustrated in Touch screen elements on page 56 are described here. All views of the ABB menu, the main element for navigation, are described in overview with references to further details on how to use their functions. In addition, this chapter provides information about basic procedures, such as how to use the soft keyboard for entering text or numbers, how to scroll and zoom the graphical touch screen, and how to use the filtering function. How to log on and log off is also described. Handling and trouble shooting the FlexPendant How to handle and clean the FlexPendant is described in Handling of FlexPendant on page 46. Trouble shooting the FlexPendant is described in Operating manual - Trouble shooting IRC5. Hardware and software options Note that this manual only covers views of a basic RobotWare system. Process applications such as arc welding, dispense, or plastics are started from the ABB menu but not described in this manual. All options are detailed in their respective application manual.
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4.2 Overview, personalizing the FlexPendant
4.2 Overview, personalizing the FlexPendant

Personalizing The FlexPendant can be personalized in a number of ways. How to do this is described in the following sections:
How to: change the language used in windows and dialogs is described in section: Changing language on page 352.
change the display's brightness and contrast Changing brightness and contrast on page 347. rotate the FlexPendant for Left/Right hand- Rotating the FlexPendant screen on page 348 held use configure views for program start recalibrate the touch screen configure programmable keys configure most common I/O list change background image change the date and time Defining a view to be shown at operating mode change on page 340. Calibrating the touch screen on page 355. Changing programmable keys on page 353. Configuring Most Common I/O on page 351. Changing the background image on page 341. Changing date and time on page 350.

4.3.1 HotEdit menu
4.3 The ABB menu 4.3.1 HotEdit menu

HotEdit HotEdit is used to tune programmed positions. This can be done in all operating modes and even while the program is running. Both coordinates and orientation can be tuned. HotEdit can only be used for named positions of the type robtarget (see limitations below). The functions available in HotEdit may be restricted by the user authorization system, UAS. Illustration of the HotEdit view
en0500001542
Functions available in HotEdit

Programmed targets Lists all named positions in a tree view. Select one or several positions to be tuned by tapping the arrow. Notice that if a position is used at several places in your program, any change made to the offset will take effect everywhere it is used. Lists all selected positions and their current offset. To remove a position from the selection you tap it and then tap the trash. Saves and loads selections of positions to be tuned. If your system uses UAS, this may be the only way to select positions for HotEdit.
Selected targets File


4.3.1 HotEdit menu Continued
Baseline Used to apply or reject new offset values to the baseline, which holds the position values currently seen as the original ones. When you are satisfied with your HotEdit session and want to save the new offset values as the original position values, you apply these to the baseline. The old baseline values for these positions are now gone, and cannot be restored. Displays settings for tuning: Coordinate system, Tuning mode and Tuning increment. Make your choices and then use the plus and minus icons to specify tuning of selected targets. Tap Apply to make the settings made in the Tune Targets view take effect. Note that this does not change the baseline values of the positions!
Tune targets
Apply
CAUTION HotEdit offers advanced functionality, which has to be handled carefully. Be aware that new offset values will be used immediately by a running program once the Apply button has been tapped. Before you start using the HotEdit functionality it is strongly recommended to read Tuning positions with HotEdit on page 216, where HotEdit limitations and procedures as well as the baseline concept is detailed. Related information See section Modifying and tuning positions on page 211 for a general overview on how to modify programmed positions. For modifying positions by jogging the robot to the new position, see section Modifying positions in the Program Editor or Production Window on page 212. For detailed information about HotEdit, see Tuning positions with HotEdit on page 216. Technical reference manual - RAPID Instructions, Functions and Data types. Technical reference manual - System parameters, section TopicController TypeModPos Settings.

4.3.2 FlexPendant Explorer
4.3.2 FlexPendant Explorer

FlexPendant Explorer The FlexPendant Explorer is a file manager, similar to Windows Explorer, with which you can view the file system on the controller. You can also rename, delete, or move files or folders. Illustration FlexPendant Explorer The illustration details the FlexPendant Explorer.
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A B C D E F G
Simple view. Tap to hide type in the file window. Detailed view. Tap to show type in the file window. Path. Displays folder paths. Menu. Tap to display functions for file handling. New folder. Tap to create a new folder in current folder. Up one level. Tap to change to parent folder. Refresh. Tap to refresh files and folders.
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4.3.3 Inputs and Outputs, I/O
4.3.3 Inputs and Outputs, I/O

Inputs and outputs Inputs and outputs, I/O, are signals used in the robot system. Signals are configured with system parameters, see section Configuring system parameters on page 321. Illustration Inputs and Outputs view This illustration details the Inputs and Outputs view.
en0400000770
What is a signal An I/O signal is the logical software representation of: Inputs or outputs located on a fieldbus I/O unit that is connected to a fieldbus within the robot system (real I/O signal). An I/O signal without a representation on any fieldbus I/O unit (virtual I/O signal).
By specifying an I/O signal, a logical representation of the real or virtual I/O signal is created. The I/O signal configuration defines the specific system parameters for the I/O signal that will control the behavior of the I/O signal.

4.3.4 Jogging
4.3.4 Jogging
Overview The Jogging functions are found in the Jogging window. The most commonly used are also available under the Quickset menu. Jogging menu The illustration shows the functions available under the Jogging menu:
en0400000654
Property/button Mechanical unit Absolute accuracy Motion mode Coordinate system Tool Work object Payload
Function Select mechanical unit active for jogging, described in section Selecting mechanical unit for jogging on page 142. Absolute Accuracy: Off is default. If the robot has the Absolute Accuracy option, then Absolute Accuracy: On is displayed. Select motion mode, described in section Selecting motion mode on page 144. Select coordinate system, described in section Selecting coordinate system on page 148. Select tool, described in section Selecting tool, work object, and payload on page 145. Select work object, described in section Selecting tool, work object, and payload on page 145. Select payload, described in section Selecting tool, work object, and payload on page 145.


4.3.4 Jogging Continued
Property/button Joystick lock Increment Position Function Select locking joystick directions, described in section Locking the joystick in specific directions on page 149. Select movement increments, described in section Incremental movement for precise positioning on page 151. Displays each axis position in relation to the selected coordinate system, described in section Reading the exact position on page 153. If the position values are displayed in red, then the revolution counters must be updated. See section Updating revolution counters on page 326. Select position format, described in section Reading the exact position on page 153. Displays current joystick directions, depending on setting in Motion mode. See section Selecting motion mode on page 144. Align the current tool to a coordinate system. See section Aligning tools on page 223. Move the robot to a selected position/target. See section Moving the robot to a programmed position on page 222. Activate a mechanical unit. See section Activating mechanical units on page 231.
Position format Joystick directions Align Go To Activate

4.3.5 Production Window
4.3.5 Production Window

Overview The Production Window is used to view the program code while the program is running. Illustration Production Window This section illustrates the Production Window.
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Load Program Load a new program. PP to Main Debug Move the program pointer to the routine Main. The Debug menu is only available in manual mode. Modify Position, see Modifying positions in the Program Editor or Production Window on page 212. Show Motion Pointerand Show Program Pointer, see About the Program and Motion Pointers on page 158. Edit Program, see Program Editor on page 96.
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4.3.6 Program Data
4.3.6 Program Data

Overview The Program Data view contains functions for viewing and working with data types and instances. You can open more than one window of the Program Data, which can be useful when working with many instances or data types. Illustration of Program Data This section illustrates the Program Data view.
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Change Scope Changes scope of data types in the list, see Viewing data in specific tasks, modules, or routines on page 159. Show Data View Shows all instances of the selected data type. Shows all or only used data types.


4.3.6 Program Data Continued Illustration of a data type instances This section illustrates a list of instances for a data type.
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Filter New Refresh Edit View Data Types
Filters the instances, see Filtering data on page 127. Creates a new instance of the selected data type, see Creating new data instance on page 160. Refreshes the list of instances. Edits the selected instances, see Editing data instances on page 162. Returns to the Program Data menu.
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4.3.7 Program Editor
4.3.7 Program Editor

Overview The Program Editor is where you create or modify programs. You can open more than one window of the Program Editor, which can be useful with the Multitasking option installed. The Program Editor button in the task bar displays the name of the task. Illustration of Program Editor This section illustrates the Program Editor view.
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Tasks and Programs Modules Routines Add Instruction Edit Debug
Menu for program operations, see Handling of programs on page 192. Lists all modules, see Handling of modules on page 195. Lists all routines, see Handling of routines on page 199. Opens instruction menu, see Handling of instructions on page 204. Opens edit menu, see Handling of instructions on page 204. Functions for moving the program pointer, service routines etc., see Running a service routine on page 238, and About the Program and Motion Pointers on page 158. See Modifying positions in the Program Editor or Production Window on page 212. See Hiding declarations in program code on page 227.
Modify Position Hide Declarations


4.3.7 Program Editor Continued Automatically activate mechanical unit for jogging If Multitasking is installed with more than one mechanical unit and more than one motion task, then when switching between Program Editor windows the selection of mechanical unit for jogging is not effected. This means when jogging then the last used mechanical unit will move, which not neccessarily is the one used in the active Program Editor. This setting can be changed with system parameters of the type Automatically Switch Jog Unit in the topic Man-machine Communication. Turn this setting on to automatically activate the mechanical unit last used in a Program Editor when switching to that window. This means that when jogging, the mechanical unit last used in the active Program Editor moves. Note that when switching between Program Editors in the same task, there is no change. Mechanical units are manually activated for jogging in the Jogging window or in the Quickset menu, see Selecting mechanical unit for jogging on page 142.
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4.3.8 Backup and Restore
4.3.8 Backup and Restore

About backups The Backup and Restore menu is used for performing backups and restoring the system. See section Back up and restore systems on page 314. Illustration of Backup and Restore This is the Backup and Restore menu.
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Backup Current System See Back up the system on page 316. Restore System See Restore the system on page 317.

4.3.9 Calibration
4.3.9 Calibration
About calibration The Calibration menu is used to calibrate mechanical units in the robot system. Calibration can be performed using the option Calibration Pendulum. See Operating manual - Calibration Pendulum. Illustration of Calibration menu This illustration shows the Calibration menu. All mechanical units are listed and their calibration status is displayed in the Status column.
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4.3.9 Calibration Continued Calibration menu options This illustration shows the Calibration menu options after selecting mechanical unit.
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Revolution Counters Calibration Parameters
See section Updating revolution counters on page 326. See sections Loading calibration data using the FlexPendant on page 328, Editing motor calibration offset on page 329, and Fine calibration procedure on FlexPendant on page 330.
SMB Memory See section Serial measurement board memory on page 332. Base Frame See section 4 points XZ calibration on page 335.

4.3.10 Control Panel
4.3.10 Control Panel

Control Panel The Control Panel contains functions for customizing the robot system and the FlexPendant.


4.3.10 Control Panel Continued Illustration Control Panel
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Appearance Supervision I/O Language ProgKeys Date and Time Touch Screen FlexPendant
Settings to customize the displays brightness. See Changing brightness and contrast on page 347. Settings for motion supervision and execution settings. See Using motion supervision and non motion execution on page 259. Settings for configuring the Most Common I/O list. See Configuring Most Common I/O on page 351. Settings for current language for the robot controller. See Changing language on page 352. Settings for the four programmable keys on the FlexPendant. See Changing programmable keys on page 353. Settings for date and time for the robot controller. See Changing date and time on page 350. Recalibration settings for the touch screen. See Calibrating the touch screen on page 355. Configuration of views for operating mode switch and UAS, User Authorization System. See Defining a view to be shown at operating mode change on page 340. Configuration of the system parameters configuration. See Configuring system parameters on page 321. Managing installed systems in a controller. See Managing Installed Systems on page 312 Creates a diagnostic file, useful for trouble shooting. See Create a diagnostic file on page 320.
Configuration Installed Systems Diagnostic

4.3.11 Event Log
4.3.11 Event Log

The Event Log Robot systems are often operated without any personnel present. The logging function is a way to store information about past events for future reference in order to facilitate trouble shooting. How to open the event log is described in Accessing the event log on page 291. Illustration Event Log The table is a brief summary of all actions that may be performed with the event log.
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Function View a message Scroll or zoom a message Delete the log Save the log Close the log
Description Tap the message. The message structure is described in An event log message on page 104. See Scrolling and zooming on page 126. See Deleting log entries on page 292. See Saving log entries on page 293. See Accessing the event log on page 291.


4.3.11 Event Log Continued An event log message Each event log entry consists of a message describing the event in detail, and it often contains advice on how to solve the problem.
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A B C D E
Event number. All errors are listed by numbers. Event title. Briefly states what has happened. Event time marker. Specifies exactly when the event occurred. Description. A brief description of the event. Intended to assist in understanding the causes and implications of the event. Consequences. A brief description of any consequences inflicted on the system, transition to other operation mode, emergency stop, caused by the particular event. Intended to assist in understanding the causes and implications of the event. Probable causes. A list of probable causes, listed in order of probability. Recommended actions. A list of the recommended correcting actions, based on the Probable causes specified above. These may range from Replace the xx... to Run test program xx..., i.e. may be actions to isolate the problem as well as fixing it. Acknowledge or OK button.
F G
Related information about logs Event log messages and more information about the event log are described in Operating manual - Trouble shooting IRC5.

4.3.12 System Info
4.3.12 System Info

About System Info System Info displays information about the controller and the loaded system. Here you can find the RobotWare version and options currently in use, current keys for control and drive modules, network connections and so on. Illustration of System Info view
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Controller properties It contains controller and network information. When the Controller properties is expanded the following are visible:
Network connections Installed systems Service port and Local Area Network properties. List of installed systems.
System properties It contains information of the system that is currently in use. When the System properties is expanded the following are visibile:
Control module Options Drive modules Drive module x Options Additional options Name and key of the Control Module. Installed RobotWare options and languages. Lists all Drive Modules. Name and key of Drive Module x. Drive Module x options, with type of robot and so on. Any additional installed options.


4.3.12 System Info Continued Hardware devices It contains information of all the hardware attached. When the Hardware devices is expanded the following are visibile:
Controller Computer system Power supply system Drive module x Mechanical units Name and key of the Control Module. Contains information of the main computer. Contains information of the Power supply unit. It contains information about the Axis computer, drive unit, and contactor board. Lists the data of Robots or external axes connected to the controller.
Software resources It contains information about the RAPID. When the Software resources is expanded the following are visibile:
RAPID RAPID memory RAPID performance Software used by the controller. Memory allocated for RAPID programs. Shows the execution load.

4.3.13 Restart
4.3.13 Restart
Restart A running system normally does not need to be restarted. Tap the ABB menu and then Restart to restart the system.
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Related information Restart overview on page 301.
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4.3.14 Log Off
4.3.14 Log Off

The Log Off menu This section details the Log Off menu. More about using this menu is described in Logging on and off on page 131. Log Off is available under the ABB menu.
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4.4 Operator window
4.4 Operator window

Operator window The operator window displays messages from the program. With Multitasking installed, all tasks messages are displayed in the same operator window. If a message requires action then a separate window for that task will be displayed. The operator window is opened by tapping the icon to the right of the ABB logo in the status bar. The illustration shows an example of an operator window:
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Clear Dont Show Logs Dont Show Task Name
Clears all messages Hides all messages Hides task names
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4.5 Status bar
4.5 Status bar

Illustration of status bar The Status bar displays information about the current status, such as operational mode, system, and active mechanical unit.
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A B C D E F
Operator window Operating mode System name (and controller name) Controller state Program state Mechanical units. The selected unit (and any unit coordinated with the selected) is marked with a border. Active units are displayed in color, while deactivated units are grey.

4.6.1 The Quickset menu
4.6 Quickset 4.6.1 The Quickset menu

Quickset menu The QuickSet menu provides a quicker way to change among other things jog properties rather than using the Joggingview. Each button on the menu shows the currently selected property value or setting. In manual mode, the Quickset menu button shows the currently selected mechanical unit, motion mode, and increment size. Illustration of the Quickset menu This section describes the buttons in the Quickset menu.
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A B C D E F
Mechanical unit, see Quickset menu, Mechanical unit on page 112. Increment, see Quickset menu, Increment on page 118. Run Mode, see Quickset menu, Run Mode on page 119. Step Mode, see Quickset menu, Step Mode on page 120. Speed, see Quickset menu, Speed on page 121. Tasks, see Quickset menu, Tasks on page 122.
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4.6.2 Quickset menu, Mechanical unit
4.6.2 Quickset menu, Mechanical unit

Illustration Mechanical unit button On the Quickset menu, tap Mechanical unit, then tap to select a mechanical unit.
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A B C D E F G H
Mechanical unit menu button Mechanical unit, a selected unit is highlighted. See Selecting mechanical unit for jogging on page 142. Motion mode settings (axes 1-3 motion mode currently selected), further settings are described in Illustration Motion mode settings on page 113. Tool settings (tool 0 currently selected), further settings are described in Illustration Tool settings on page 114. Work object settings (work object 0 currently selected), further settings are described in Illustration Work object settings on page 115. Coordinate system settings (world coordinate currently selected), further settings are described in Illustration Coordinate system settings on page 116. Turn coordination off , further settings are described in Turn coordination off on page 117. Show details, further settings are described in Illustration Show Details on page 117.
Note The Mechanical unit menu is only available in manual mode.


4.6.2 Quickset menu, Mechanical unit Continued Illustration Motion mode settings To view or change any motion mode functionality, tap the Motion mode settings button. These settings are also available in the Jogging window, see Selecting motion mode on page 144.
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Select motion mode setting: Axis 1-3 Axis 4-6 Linear Reorient


4.6.2 Quickset menu, Mechanical unit Continued Illustration Tool settings To view or change the available tools, tap the Tool settings button. These settings are also available in the Jogging window, see Selecting tool, work object, and payload on page 145.
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4.6.2 Quickset menu, Mechanical unit Continued Illustration Work object settings To view or change the available work objects, tap the Work object settings button. These settings are also available in the Jogging window, see Selecting tool, work object, and payload on page 145.
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Select a work object to use.


4.6.2 Quickset menu, Mechanical unit Continued Illustration Coordinate system settings To view or change coordinate system functionality, tap the Coordinate system settings button. These settings are also available in the Jogging window, see Selecting coordinate system on page 148.
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Select a coordinate system setting: World coordinate system Base coordinate system Tool coordinate system Work object coordinate system


4.6.2 Quickset menu, Mechanical unit Continued Illustration Show Details Tap Show Details to display the settings available for a mechanical unit.
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A B C D E
Override jog speed settings (100% currently selected) Coordinate system settings (world coordinate currently selected) Motion mode settings (axes 1-3 motion mode currently selected) Turn on or off user increment Turn on or off jog supervision
If any of the settings are not available, they will crossed over. Motion mode and coordinate settings can be changed by tapping the buttons. Tap Hide Details to return to the basic display. Turn coordination off To quickly change between coordinated and uncoordinated jogging, use the coordination off button. The button is automatically hidden when you change anything that effects coordination, for example the work object or the coordinate system of the coordinated mechanical unit. To re-enable the button you must setup coordination again manually. For information about coordination between MultiMove robots, see Application manual - MultiMove.
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4.6.3 Quickset menu, Increment
4.6.3 Quickset menu, Increment

Increment settings The increment settings are also available in the Jogging window, see Incremental movement for precise positioning on page 151. Illustration Increment
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None Small
No increments Small movements
Medium Medium movement Large User Show Values Large movements User defined movements Displays increment values
Note The Increment menu is only available in manual mode.

4.6.4 Quickset menu, Run Mode
4.6.4 Quickset menu, Run Mode

Run mode By setting run mode you define if the program execution should run once and then stop, or run continuously. For information about run mode in: Multitasking, see Application manual - Engineering tools, section Multitasking. MultiMove, see Application manual - MultiMove, section User interface specific for Multimove.
Illustration Run mode
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Single Cycle Continuous
Runs one cycle then stops execution. Runs continuously.
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4.6.5 Quickset menu, Step Mode
4.6.5 Quickset menu, Step Mode

Step mode By setting step mode you define how the step-by-step program execution should function., see Stepping instruction by instruction on page 235 Illustration Step mode
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Step Into Step Out
Steps into called routines and executes them step-by-step. Executes the remains of the current routine and then stops at the next instruction in the routine from which the current routine was called. Not possible to use in the Main routine. Called routines are executed in one single step.
Step Over
Next Move In- Steps to the next move instruction. Stops before and after movement instruction structions, for example to modify positions.

4.6.6 Quickset menu, Speed
4.6.6 Quickset menu, Speed

Speed button The speed settings apply to the current operating mode. However, if you decrease the speed in automatic mode, the setting also applies to manual mode if you change mode. Illustration Speed Tap the Speed button to view or change the speed settings. The current running speed, in relation to max, is displayed above the buttons.
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-1% +1% -5% +5% 25% 50% 100%
Decrease running speed in steps of 1% Increase running speed in steps of 1% Decrease running speed in steps of 5% Increase running speed in steps of 5% Run at quarter speed (25%) Run at half speed (50%) Run at full speed (100%)
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4.6.7 Quickset menu, Tasks
4.6.7 Quickset menu, Tasks

Tasks button If you have the option Multitasking installed there can be more than one task. Otherwise there is only one task. By default, only normal tasks are possible to activate/deactivate in the Quickset menu. Using the Control Panel you can however change the settings so all tasks are possible to activate/desactivate. For static and semistatic tasks, only those with the system parameter TrustLevel set to NoSafety can be activated/deactivated. Activated tasks are started and stopped with the Start and Stop buttons on the FlexPendant. The tasks settings are only valid for manual operating mode. Related information Application manual - Engineering tools, section Multitasking. How to start and stop multitasking programs is described in section Using multitasking programs on page 257. TrustLevel for tasks are set with system parameters, see Configuring system parameters on page 321, and section Task in Technical reference manual - System parameters. You can define if all tasks or only normal tasks should be displayed. See section Defining which tasks should be selectable in the tasks panel on page 346.

4.7.1 Using the soft keyboard
4.7 Basic procedures 4.7.1 Using the soft keyboard

Soft keyboard The soft keyboard is used frequently when operating the system, for example when entering file names or parameter values. The soft keyboard works as an ordinary keyboard with which you can place the insertion point, type and correct typing errors. Tap letters, numbers and special characters to enter your text or values. Illustration soft keyboard This illustration shows the soft keyboard on the FlexPendant.
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Using international characters All western characters can be used, also in usernames and passwords. To access international characters, tap the Intl button on the soft keyboard.


4.7.1 Using the soft keyboard Continued Changing the insertion point Tap the arrow keys to change the insertion point, for instance when correcting typing errors.
If you need to move... backward then tap...
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forward
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Deleting 1 Tap the Backspace key (top right) to delete characters to the left of the insertion point.
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4.7.2 Messages on the FlexPendant
4.7.2 Messages on the FlexPendant

Overview of messages The FlexPendant displays messages from the system. These can be status messages, error messages, program messages, or requests for action from the user. Some require actions, and some are plain information. Event log messages The event log messages are messages from the RobotWare system about system status, events, or errors. How to work with the event log messages is described in section Handling the event log on page 291. All messages are also described in Operating manual - Trouble shooting IRC5. System messages Some messages sent out by the system are not from the event log. They can come from other applications, such as RobotStudio. To be able to change configurations and settings in the system from RobotStudio, the user must request write access. This generates a message on the FlexPendant where the operator can grant or deny access. The operator can at any time decide to withdraw the write access. How to request access and work with RobotStudio is described in Operating manual - RobotStudio. Program messages RAPID programs can send out messages to the Operator window, see section Operator window on page 109. How to generate program messages is described in Technical reference manual - RAPID Instructions, Functions and Data types.
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4.7.3 Scrolling and zooming
4.7.3 Scrolling and zooming

Overview The entire contents of a screen might not be visible at the same time. To see the entire contents, you can: Scroll up/down (and sometimes left/right) Zoom in or out (only available in the Program Editor)
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A B C D E F G H
Zoom in (larger text) Scroll up (the height of one page) Scroll up (the height of one line) Scroll left Scroll right Zoom out (smaller text) Scroll down (the height of one page) Scroll down (the height of one line)

4.7.4 Filtering data
4.7.4 Filtering data

Filtering data In several of the FlexPendant menus you can use filtering. This can be useful when you are looking at instances of a data type, for example, and there are more available than is possible to overlook. By filtering instances starting with a specific character for example, the number can be greatly reduced. Depending on the type of data, you can filter data either alphabetically or numerically. Illustration of filtering The filter function is switched on until the active filter is removed (For example, by tapping Reset).
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Note When filtering I/O signals there are more options than for many other types of data. For example, you can filter data by Name or Category. filtering function can be displayed automatically if the number of signals displayed exceeds a predefined number. See Illustration of automatic filter display on page 129.


4.7.4 Filtering data Continued
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Active filter Clear Reset 123 / ABC Filter
Displays the current filter. It is also displayed at the top of the list of items. Clears the text within the Active filter text box. Removes the filter string. Depending on type of data, there may be one or several ways to filter data, e.g. numeric, alphabetic. Applies the filter. Opens and closes the Active filter menu.
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4.7.4 Filtering data Continued Illustration of automatic filter display The I/O signal filter can be set to be displayed automatically if the number of data exceeds a predefined number.
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Action 1. 2. 3. Tap Change to edit the setting controlling when the filter dialog should appear. Enter a new number defining the upper limit for not using the filter. Then tap Done. Tap Virtuals to select if all, or only virtual, or only non virtual signals should be listed.
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4.7.5 Process applications
4.7.5 Process applications

Process applications Custom process applications are started from the ABB menu. Each application is listed as a menu item together with the FlexPendant views. Start a process application Use this procedure to start a process application.
Action 1 2 Tap the ABB button to display the ABB menu. Process applications are listed in the menu. Tap the name of the process application to start.
Switch between started process applications A started application has a quick-button in the taskbar, just like FlexPendant views. Tap the buttons to switch between the started applications and views.
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The views and process application running in this case are:

A B C D FlexPendant Explorer view Program Editor view RobotWare Arc, a process application Control Panel view

4.7.6 Logging on and off
4.7.6 Logging on and off

Logout procedure Use this procedure to log off the system.
Action 1 2 On the ABB menu, tap Log Off. Tap Yesto confirm.
Login procedure Use this procedure to log on to the controller, using the User Authorization System, UAS. UAS can limit the available functions for users. After a log off, the Login window is displayed automatically.
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Action 1
Info
Tap on the User menu and select a user. If you select Default User, then no passIf there are more than seven users then word is required, and you are logged on automatically. the menu is replaced with a button. If the user you have chosen has a password you must use the soft keyboard to enter password. Tap ABC... to display the soft keyboard. Enter the password and tap OK. TapLogin.


4.7.6 Logging on and off Continued Handling users and authorization levels Read more on how to add users or set the authorization in Operating manual - RobotStudio. How to edit what views or functions are hidden for certain users is described in Defining a view to be shown at operating mode change on page 340.
5 Jogging
5.1 Introduction to jogging
5 Jogging
5.1 Introduction to jogging
What is jogging? To jog is to manually position or move robots or external axes using the FlexPendant joystick. When can I jog? You jog in manual mode. Jogging is possible regardless of what view is displayed on the FlexPendant, however you cannot jog during program execution. About motion modes and robots The selected motion mode and/or coordinate system determines the way the robot moves. In linear motion mode the tool center point moves along straight lines in space, in a move from point A to point B fashion. The tool center point moves in the direction of the selected coordinate systems axes. Axis-by-axis mode moves one robot axis at a time. It is then hard to predict how the tool center point moves. About motion modes and additional axes Additional axes can only be jogged axis-by-axis. An additional axis can either be designed for some kind of linear motion or for rotational (angular) motion. Linear motion is used in conveyers, rotational motion in many kinds of workpiece handlers. Additional axes are not affected by the selected coordinate system. About coordinate systems Positioning a pin in a hole with a gripper tool can be performed very easily in the tool coordinate system, if one of the coordinates in that system is parallel to the hole. Performing the same task in the base coordinate system may require jogging in both x, y, and z coordinates, making precision much more difficult. To select the proper coordinate systems to jog in will make jogging easier but there are no simple or single answers to which coordinate system to choose. A certain coordinate system will make it possible to move the tool center point to the target position with fewer joystick moves than another. Conditions such as space limitations, obstacles or the physical size of a work object or tool will also guide you to the proper judgement. Read more about coordinate systems in section What is a coordinate system? on page 363.
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5 Jogging
5.2 Joystick directions
5.2 Joystick directions

Introduction to joystick directions The Joystick Directions area shows how joystick axes correspond to the selected coordinate systems axes. CAUTION The Directions properties is not intended to show the direction in which the mechanical unit will move. Always try jogging with small joystick movements so that you learn the true directions of the mechanical unit. Joystick directions The significance of the joystick directions depends on the selected motion mode.
Motion mode Linear Illustration joystick Description Linear mode is described in section Setting the tool orientation on page 146.
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Axis 1, 2, and 3 (default for robots)
Axis 1-3 mode is described in section Jog axis by axis on page 147.
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Axis 4, 5, and 6
Axis 4-6 mode is described in section Jog axis by axis on page 147.
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Reorient
Reorient mode is described in section Setting the tool orientation on page 146.
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5 Jogging
5.2 Joystick directions Continued Illustration of axes and joystick directions The axes of a generic six axis manipulator can be jogged manually using the joystick. Please check your plant or cell documentation to determine the physical orientation of any additional axes. The illustration shows the movement patterns for each manipulator axis.
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Default settings The linear and reorientation motion modes have default settings for coordinate systems, valid per mechanical unit. These are always set after a restart. If you change the coordinate system for one of these motion modes, the change will be remembered until the next restart (warm start).
Motion mode Linear Reorientation Default coordinate system Base coordinate system Tool coordinate system
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5 Jogging
5.3 Coordinate systems for jogging
5.3 Coordinate systems for jogging

Coordinate systems A coordinate system defines a plane or space by axes from a fixed point called the origin. Robot targets and positions are located by measurements along the axes of coordinatesystems. A robot uses several coordinate systems, each suitable for specific types of jogging orprogramming. The base coordinate system is located at the base of the robot. It is the easiest one for just moving the robot from one position to another. The work object coordinate system is related to the work piece and is often the best one for programming the robot. The tool coordinate system defines the position of the tool the robot uses when reaching the programmed targets. The world coordinate system that defines the robot cell, all other coordinate systems are related to the world coordinate system, either directly or indirectly. It is useful for jogging, general movements and for handling stations and cells with several robots or robots moved by external axes. The user coordinate system is useful for representing equipment that holds other coordinate systems, like work objects.
Default settings If you change coordinate system in the jogging properties, this will automatically be reset to default settings after a restart. Linear mode For each mechanical unit the system will by default use the base coordinate system for the linear motion mode. Reorient mode For each mechanical unit the system will by default use the tool coordinate system for the reorientation motion mode. Related information For more detailed descriptions of coordinate systems, see What is a coordinate system? on page 363.

5 Jogging
5.3 Coordinate systems for jogging Continued Base coordinates
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Work object coordinates
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A B C D
User coordinate system World frame Work object coordinate system Work object coordinate system
Examples of use For example, you are determining the positions of a number of holes to be drilled along the edge of the work object. You are creating a weld between two walls in a box. Continues on next page
5 Jogging
5.3 Coordinate systems for jogging Continued Tool coordinates
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Examples of use Use the tool coordinate system when you need to program or adjust operations for threading, drilling, milling or sawing.

5 Jogging
5.3 Coordinate systems for jogging Continued World coordinates
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A B C
Base coordinate system World coordinate system Base coordinate system
Examples of use For example, you have two robots, one floor mounted and one inverted. The base coordinate system for the inverted robot would be upside down. If you jog in the base coordinate system for the inverted robot, movements will be very difficult to predict. Choose the shared world coordinate system instead.
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5 Jogging
5.4 Restrictions to jogging
5.4 Restrictions to jogging

Jog additional axes Additional axes can only be jogged axis-by-axis. Please see Application manual - Additional axes and stand alone controller. Jog mechanical units that are not calibrated If the mechanical unit is not calibrated the text Unit not calibrated will be displayed in the Positionarea of the Jogging window. An uncalibrated mechanical unit can only be jogged axis-by-axis. Its working range will not be checked. When the robot is not calibrated, incremental movement is restricted to one step per joystick deflection. A calibrated robot performes 10 steps/sec when deflecting the joystick. CAUTION Mechanical units whose working range is not controlled by the robot system can be moved to dangerous positions. Mechanical stops should be used and configured to avoid danger to equipment or personnel. Jog robot axes in independent mode It is not possible to jog axes in independent mode. You need to return the axes to normal mode in order to jog. Please see Application manual - Motion functions and events for details. Jog while using world zones With the option World Zones installed, defined zones will restrict motion while you jog. Please see Application manual - Motion functions and events for details. Jog with axis loads not set If equipment is mounted on any of the robot axes, then axes loads must be set. Otherwise overload errors might occur when jogging. How to set axis loads are described in the Product Manuals delivered with your robot. Jog with tool or payload weights not set If the weight of tools and payloads is not set, then overload errors might occur when jogging. Loads for additional axes controlled by specific software (dynamic models) can only be set in programing.
5 Jogging
5.5 Coordinated jogging
5.5 Coordinated jogging

Coordination A robot that is coordinated to a work object will follow the movements of that work object. Coordinated jogging If the mechanical unit moving the work object is jogged, any robot that is currently coordinated with the work object will move so that it maintains its relative position to the work object. Set up coordination
Action 1 2 3 4 Info
Select the robot that is to be coordinated See Selecting mechanical unit for jogging to another mechanical unit. on page 142. Set Coordinate system to Work Object. See Selecting coordinate system on page 148.
Set Work object to the work object moved See Selecting tool, work object, and payby the other mechanical unit. load on page 145. Select the mechanical unit that moves the Any jogging, while this mechanical unit is work object. selected, will also affect the robot that is coordinated with it.
Coordinating robots Coordinating robots, so that when jogging one robot another robot will follow, requires the option MultiMove. See Application manual - MultiMove.
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5 Jogging
5.6.1 Selecting mechanical unit for jogging
5.6 Basic settings for jogging 5.6.1 Selecting mechanical unit for jogging
Jogging properties If your system has more than one robot, that is additional robots or additional axes, then you need to select which mechanical unit to jog when using the joystick. There are three ways to select mechanical unit: Using the Select mechanical unit button. Using the Jogging window on the ABB menu. Using the Quickset menu Mechanical unit, see Quickset menu, Mechanical unit on page 112.
Any changes you make to jogging properties only affects the currently selected mechanical unit. All jogging properties are saved and restored when you return to jog that mechanical unit. Identifying mechanical units Each mechanical unit that can be jogged is represented in the mechanical units list. The name of the unit is defined in the system configuration. Each unit also has a symbol that is used in the Status bar, see section Status bar on page 110. In manual mode, the Quickset menu button displays which mechanical unit is selected. Please consult your plant or cell documentation to see which mechanical units are available in your robot system. Selecting mechanical unit using the hard button Press the Select mechanical unit button to change unit. One press on the button changes to the next mechanical unit, as steps in a cycle.
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Selecting mechanical unit in the Jogging window Use this procedure to select a mechanical unit to jog in the Jogging window.
Action 1 On the ABB menu, tap Jogging.

5 Jogging
5.6.1 Selecting mechanical unit for jogging Continued
Action 2 Tap Mechanical Unit.
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Tap the mechanical unit to be jogged, and then tap OK. The selected mechanical unit is active until you select another unit, even if you close the Jogging window.
Examples of use Your robot system may consist of more than a single robot. There can also be other mechanical units such as workpiece handlers or additional axes mounted on the robot that can also be jogged. Related information If the system uses Multitasking, and has more than one motion task, and uses more than one mechanical unit, then the selected mechanical unit can be switched automatically when switching between Program Editor windows. See section Program Editor on page 96. Mechanical units can be activated or deactivated with the Activate function in the Jogging window, see section Activating mechanical units on page 231.
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5 Jogging
5.6.2 Selecting motion mode
5.6.2 Selecting motion mode

Motion mode There are three ways to select motion mode: 1 Using the Toggle motion mode button. 2 Using the Jogging window on the ABB menu. 3 Using the Quickset menu Mechanical unit, see Quickset menu, Mechanical unit on page 112. Selecting motion mode using the toggle button Press the Toggle motion mode reorient/linear button to switch motion mode.
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Selecting motion mode in the Jogging window Use this procedure to select motion mode in the Jogging window.
Action 1 2 3 On the ABB menu, tapJogging. Tap Motion mode. Tap on the mode you want and then tap OK. The significance of the joystick directions are shown in Joystick direction after making the selection. Info
Related information Joystick directions on page 134.
5 Jogging
5.6.3 Selecting tool, work object, and payload
5.6.3 Selecting tool, work object, and payload

Overview It is always important to choose the proper tool, work object, or payload. It is absolutely vital when you create a program by jogging to the target positions. Failing to do so will most likely result in overload errors and/or incorrect positioning either when you jog or when you run the program in production. Selecting tool, work object, and payload
Action 1 2 3 On the ABB menu, choose Jogging to view jogging properties. Tap Tool, Work object, or Payload to display the lists of available tools, work objects or payloads. Tap the tool, work object, or payload of choice followed by OK.
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5 Jogging
5.6.4 Setting the tool orientation
5.6.4 Setting the tool orientation

Examples of use Tools for arc welding, grinding and dispensing must be oriented in a particular angle to the work piece to obtain the best result. You also need to set up the angle for drilling, milling or sawing. In most cases you set the tool orientation when you have jogged the tool center point to a specific position such as the starting point for a tool operation. After you have set the tool orientation you continue to jog in linear motion to complete the path and the supposed operation. Definition of tool orientation The tool orientation is relative to the currently selected coordinate system. From a user perspective however this is not noticeable. Setting the tool orientation
Action 1 2 3 4 On the ABB menu, tap Jogging. Tap Motion Mode, then tap Reorientfollowed by OK. If not already selected, select the proper tool by following the procedure in Selecting tool, work object, and payload on page 145. Press and hold the enabling device to activate the mechanical unit's motors. Move the joystick and the tools orientation changes.
Tip Use the QuickSet menu to select jogging mode faster.
5 Jogging
5.6.5 Jog axis by axis
5.6.5 Jog axis by axis

Jogging axis by axis There are three ways to select axis for jogging. Using the Toggle motion mode axis group button. Using the Jogging window on the ABB menu. Using the Quickset menu Mechanical unit, see Quickset menu, Mechanical unit on page 112.
In manual mode, the Quickset menu button displays which axis group is selected. How to use the joystick when jogging axis by axis is displayed in the Joystick directions area. See Illustration of axes and joystick directions on page 135. Examples of use Use axis by axis jogging when you need to: Move the mechanical unit out of a hazardous position. Move robot axes out of singularities. Position axes for fine calibration.
Selecting axis group using the toggle button Press the Toggle motion mode axis group button to switch motion mode.
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Selecting axis group in the Jogging window Use this procedure to select axis group in the Jogging window.
Action 1 2 3 On the ABB menu, tap Jogging. Tap Motion Mode. Tap on the axis group 1-3 or 4-6 and then tap OK.
CAUTION The orientation of any mounted tool will be affected by this procedure. If the resulting orientation is important, perform the procedure described in Setting the tool orientation on page 146 when finished.
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5 Jogging
5.6.6 Selecting coordinate system
5.6.6 Selecting coordinate system

Coordinate systems for jogging The coordinate system most suitable for your jogging depends on many things. See sections Coordinate systems for jogging on page 136, and What is a coordinate system? on page 363, for more information. There are two ways to select coordinate system: Using the Jogging window on the ABB menu. Using the Quickset menu Mechanical unit, see Quickset menu, Mechanical unit on page 112.
Prerequisites Select motion mode suitable for the intended jogging. Stationary tools in the tool coordinate system If your robot system uses stationary tools, you must select both the proper tool and the proper work object (held by the robot) to jog in tool coordinates. The tool coordinate system is defined by the position and orientation of the stationary tool and is fixed in space. To perform the intended operations you move the work object. This way positions can be expressed in the tool coordinate system. Selecting coordinate system Use this procedure to select coordinate system in the Jogging window.
Action 1 2 3 4 On the ABB menu, tap Jogging. Tap Coordinate System. Tap to select a coordinate system. Tap OK.
5 Jogging
5.6.7 Locking the joystick in specific directions
5.6.7 Locking the joystick in specific directions

Overview The joystick can be locked in specific directions to prevent movement for one or more axes. This may be useful for instance while fine tuning positions or when programming operations that should only be performed in the direction of a specific coordinate system axis. Note that the axes locked depends on the currently selected motion mode. Which axes are locked? This section describes how to see which joystick directions are locked
Action 1 2 On the ABB menu, tap Jogging to view jogging properties. Tap Joystick lock to check the joystick properties, or check the Joystick directions area properties in the right hand corner of the window. A padlock symbol is displayed for locked axes.
Locking the joystick in specific directions This section describes how to lock the joystick in specific directions.
Action 1 2 In the ABB menu, tap Jogging. Tap Joystick lock.
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Tap the joystick axis or axes that should be locked. The axis toggles between locked and unlocked each time you tap. Tap OK to lock.

5 Jogging
5.6.7 Locking the joystick in specific directions Continued Unlocking all axes This section describes how to unlock all axes from the joystick directions lock.
Action 1 2 3 In the ABB menu, tap Jogging. Tap Joystick lock. Tap None, then tap OK.
5 Jogging
5.6.8 Incremental movement for precise positioning
5.6.8 Incremental movement for precise positioning

Incremental movement Use incremental movement to jog the robot in small steps, which enables very precise positioning. This means that each time the joystick is deflected, the robot moves one step (increment). If the joystick is deflected for one or more seconds, a sequence of steps, (at a rate of 10 steps per second), will be performed as long as the joystick is deflected. Default mode is no increment, then the robot moves continuously when the joystick is deflected. There are three ways to select the increment size: Using the Toggle increments button. Using thee Jogging window on the ABB menu. Using the Quickset menu Increments, see Quickset menu, Increment on page 118.
To use the toggle button you must first select an increment size in the Jogging window or Quickset menu. Selecting increments using the toggle button Press the Toggle increments button to switch increment size, you toggle between no increments and the increment size you previously selected in the Jogging window.
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Selecting increments in the Jogging window Use this procedure to select the incremental movement size using the Jogging window.
Action 1 On the ABB menu, tap Jogging.

5 Jogging
5.6.8 Incremental movement for precise positioning Continued
Action 2 Tap Increment.
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Tap the desired increment mode, see description in section Incremental movement sizes on page 152. Tap OK.
Incremental movement sizes Choose between small, medium or large increments. You can also define your own increment movement sizes.
Increment Small Medium Large User Distance 0.05 mm 1 mm 5 mm Angular 0.005 0.02 0.2
5 Jogging
5.6.9 Reading the exact position
5.6.9 Reading the exact position

About positions and revolution counters The exact position of the robot is determined using the position of the resolvers and counters that count the number of resolver revolutions. These are called revolution counters. If the robot is correctly calibrated then the current position is automatically calculated at start. CAUTION If the positions are displayed in red text then the values from the revolution counters are lost and instead the values stored on the SMB are displayed. Be careful when jogging the robot if the values are displayed in red text. Watch the robot closely and do not use the displayed values! If the mechanical unit is uncalibrated then the actual position can be very different from the position values stored by the SMB. You must update the revolution counters before a program can be started. See Updating revolution counters on page 326. See Serial measurement board memory on page 332 for more information about data stored on the SMB. Note If no positions are displayed then the mechanical unit is uncalibrated. Instead the text Selected mechanical unit is not calibrated is displayed. How robot positions are displayed Positions are always displayed as: The point in space expressed in the x, y, and z tool center point coordinates. The angular rotation of the tool center point expressed in Euler angles or as a quaternion.
How additional axes positions are displayed When an additional axis is moved, only the axis position is displayed. Linear axis positions are displayed in millimeters expressed as the distance to the calibration position. Rotating axis positions are displayed in degrees expressed as the angle to the calibration position. Reading the exact position This procedure describes how to read the exact position.
Action 1 2 On the ABB menu tap .Jogging. The position is displayed in the Position area properties in the right hand side of the window. See illustration in Jogging on page 91.

5 Jogging
5.6.9 Reading the exact position Continued Position format The position can be displayed in different formats. Tap Position Format to change settings. The Position can be displayed relative the following frames: World Base Work object Quaternion Euler angles Angles Degrees Radians
The Orientation format can be set to:
The Position angle format can be set to: The Presentation angle unit can be set to:
6 Programming and testing

6.1 Before you start programming

6.1 Before you start programming
Programming tools You can use both the FlexPendant and RobotStudio for programming. The FlexPendant is best suited for modifying programs, such as positions and paths, while RobotStudio is preferred for more complex programming. How to program using RobotStudio is described in Operating manual - RobotStudio. Define tools, payloads, and work objects Define tools, payloads and work objects before you start programming. You can always go back and define more objects later, but you should define your basic objects in advance. Define coordinate systems Make sure the base and world coordinate systems have been set up properly during the installation of your robot system. Also make sure that additional axes have been set up. Define tool and work object coordinate systems as needed before you start programming. As you add more objects later you also need to define the corresponding coordinate systems. Tip Need to know more about the RAPID language and structure? See Technical reference manual - RAPID overview and Technical reference manual - RAPID Instructions, Functions and Data types.
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6.2.1 The structure of a RAPID application
6.2 Programming concept 6.2.1 The structure of a RAPID application

Illustration of a RAPID application
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Parts
Part Task Function Each task usually contains a RAPID program and system modules aimed at performing a certain function, e.g. spot welding or manipulator movements. A RAPID application may contain one task. If you have the Multitasking option installed, then there can be more than one task. Read more about Multitasking in Application manual - Engineering tools. The task property parameters set certain properties for all task contents. Any program stored in a certain task, assumes the properties set for that task. The task property parameters are specified in Technical reference manual - RAPID overview. Each program usually contains program modules with RAPID code for different purposes. Any program must have an entry routine defined to be executable.
Task property parameter
Program
Program module Each program module contains data and routines for a certain purpose. The program is divided into modules mainly to enhance overview and facilitate handling the program. Each module typically represents one particular robot action or similar. All program modules will be removed when deleting a program from the controller program memory. Program modules are usually written by the user. Data Data are values and definitions set in program or system modules. The data are referenced by the instructions in the same module or in a number of modules (availability depending on data type). Data type definitions are specified in the Technical reference manual - RAPID Instructions, Functions and Data types.


6.2.1 The structure of a RAPID application Continued
Part Routine Function A routine contains sets of instructions, i.e. defines what the robot system actually does. A routine may also contain data required for the instructions. A special type of routine, in English sometimes referred to as "main", defined as the program execution starting point. Note Each program must have an entry routine called "main", or it will not be executable. How to appoint a routine as entry routine is specified in Technical reference manual - RAPID overview. The default name for main can be changed by the system parameter configurations, type Task. See Technical reference manual - System parameters. Instruction Each instruction is a request for a certain event to take place, e.g. "Run the manipulator TCP to a certain position" or "Set a specific digital output". The instructions, their syntax and function is thoroughly described in the Technical reference manual - RAPID Instructions, Functions and Data types.
Entry routine
System module Each system module contains data and routines to perform a certain function. The program is divided into modules mainly to enhance overview and facilitate handling the program. Each module typically represents one particular robot action or similar. All system modules will be retained when "Delete program" is ordered. System modules are usually written by the robot manufacturer or line builder.
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6.2.2 About the Program and Motion Pointers
6.2.2 About the Program and Motion Pointers

The Program Pointer The Program Pointer (PP) indicates the instruction with which the program will start when you press any of the Start, Forward, or Backward buttons on the FlexPendant. Program execution continues from the instruction where the Program Pointer is. However, if the cursor is moved to another instruction when the program is stopped, the Program Pointer can be moved to the position of the cursor (or the cursor can be moved to the Program Pointer), and execution can be restarted from there. The Program Pointer is shown as a yellow arrow to the left of the program code in the Program Editor and Production Window. The Motion Pointer The Motion Pointer (MP) indicates the instruction that the robot is currently executing. This is normally one or more instructions after the Program Pointer, as the system executes and calculates the robot path faster than the robot moves. The Motion Pointer is shown as a small robot to the left of the program code in the Program Editor and in the Production Window. The cursor The cursor can indicate a complete instruction or any of the arguments. The cursor is shown as blue highlighting of the program code in the Program Editor. Program Editor If you toggle between the Program Editor and another view and back again, the Program Editor will show the same part of the code as long as the program pointer has not been moved. If the program pointer is moved, the Program Editor shows the code at the position of the program pointer. The same behavior applies to the Production Window. Related information Production Window on page 93. Program Editor on page 96. Stepping instruction by instruction on page 235. Starting programs on page 253.

6.3.1 Viewing data in specific tasks, modules, or routines
6.3 Data types 6.3.1 Viewing data in specific tasks, modules, or routines
Overview It is possible to view selections of data types by selecting a specific scope. Viewing data in specific tasks, modules, or routines This section details how to view data instances in specific modules or routines.
Action 1 2 In the ABB menu, tap Program Data. Tap Change Scope. The following screen is displayed:
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Select the required scope by selecting: Built-In Data Only: Shows all data types used by the specific system Current execution: Shows all data types used in the current execution Task: Shows all data types used by a specific task Module: Shows all data types used by a specific module Routine: Shows all data types used by a specific routine Tap OK to confirm your choice. Tap twice to select a data type and view its instances.
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6.3.2 Creating new data instance
6.3.2 Creating new data instance

Creating new data instance This section details how to create new data instances of data types.
Action 1 2 3 In the ABB menu, tap Program Data. A list of all available data types is displayed. Tap the data instance type to be created, i.e. bool and then tap Show data. A list of all instances of the data type is displayed. Tap New.
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Tap ... the right of Name to define the data instances name.Name Tap the Scope menu to set accessibility for the data instance. Select: Global Local Task Tap the Storage type menu to select type of memory used for the data instance. Select: Persistent if the data instance is persistent Variable if the data instance is variable Constant if the data instance is constant Tap the Module menu to select module. Tap the Routine menu to select routine.
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6.3.2 Creating new data instance Continued
Action 9 If you want to create an array of data instances, then tap the Dimensions menu and select the number of dimensions in the array, 1-3. 1 2 3 None Then tap ... to set the Size of the arrays axes. Arrays are described in section What is a data array? on page 376
10 Tap OK.
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6.3.3 Editing data instances
6.3.3 Editing data instances

Overview This section describes how to view data instances in the Program Data window. It also details how to edit, delete, change declaration of, copy, and define a data instance. For the data types tooldata, wobjdata and loaddata also see sections Tools on page 166, Work objects on page 180 or Payloads on page 187. Viewing data instances This section details how to view the available instances of a data type.
Action 1 2 3 In the ABB menu, tap Program Data. Tap the data type you want view and then tap Show Data. Tap the data instance you want to edit, and then tap Edit.
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Depending on what you want to do, tap one of the following menu items: Tap Delete to remove the data instance. Tap Change Declaration to change the declaration of the data instance. Tap Change Value to edit the value of the data instance. Tap Copy to copy the data instance. Tap Define to define the instance (only available for tooldata, wobjdata and loaddata). Tap Modify Position to modify a position (only available for robtarget and jointtarget). Proceed as described in the respective section following below.


6.3.3 Editing data instances Continued Editing the value of a data instance This section describes how to edit a data instance value.
Action 1 2 Tap Change Value to open the instance. Tap the value to open a keyboard or list of The way to edit a value depends on the choices. data type and possible values, for instance text, numbers, predefined values etc. Select or enter a new value. Tap OK. Info
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Note If the value of a persistent variable is changed at any point in a running program, the Program Editor will still show the old value until the program stops. The Program Data view, however, always shows the current value of persistent variables. See Persistent declaration in the Technical reference manual - RAPID overviewfor further information. Deleting a data instance This section details how to delete a data instance.
Action 1 Tap Delete in the menu for the data instance to be deleted, as detailed in section Viewing data instances on page 162. A dialog box is displayed. Tap Yes if you are sure the data instance is to be deleted.


6.3.3 Editing data instances Continued Changing the declaration of a data instance This section details how to change the declaration of a data instance.
Action 1 Tap Change Declaration in the menu for the data instance to be deleted, as detailed in section Viewing data instances on page 162.
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Select what data instance values to be changed: Name: Tap ... to bring out the soft keyboard and change the name. Scope Storage type Module Routine
Copying a data instance This section details how to copy a data instance.
Action 1 Tap Copy in the menu for the data instance to be copied, as detailed in section Viewing data instances on page 162. A copy of the data instance is created. The copy has the same values as the original, but the name is unique.
Defining a data instance How to define the tool frame or work object frame is described in the sections Defining the tool frame on page 169 and Defining the work object coordinate system on page 181.


6.3.3 Editing data instances Continued Modifying position of a data instance Only instances of data types robtarget and jointtarget can use the function Modify Position. The currently active work object and tool will be used in the operation. More information about modifying positions is detailed in Modifying and tuning positions on page 211. Note Make sure that the correct work object and tool are selected when modifying positions in the Program Data window. This is not verified automatically by the system.
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6.4.1 Creating a tool
6.4 Tools 6.4.1 Creating a tool

What happens when you create a tool? When you create a new tool a variable of the data type tooldata is created. The variable name will be the name of the tool. For more information on data types, see Technical reference manual - RAPID Instructions, Functions and Data types. The new tool has initial default values for mass, frame, orientation etc., which must be defined before the tool can be used. How to create a tool The tool center point of the default tool (tool0) is in the center of the robot's mounting flange and shares the orientation of the robot base. By creating a new tool you define another tool center point. For more information about tools and the tool center points see What is a tool? on page 360and What is the tool center point? on page 361.
A
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Tool center point, TCP, for tool0 Action
1 2
On the ABB menu, tap Jogging. Tap Tool to display the list of available tools.


6.4.1 Creating a tool Continued
Action 3 Tap New to create a new tool.
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Enter values for each field, see table below. 4 Tap OK.
Tool declaration settings

If you want to change... the name of the tool then... tap the ... button next to the name Recommendation Tools are automatically named tool followed by a running number, for example tool10 or tool21. You are recommended to change this to something more descriptive such as gun, gripper or welder. Note! If you change the name of a tool after it is referenced in any program you must also change all occurrences of that tool. Tools should always be global, as to be available to all modules in the program. Tool variables must always be persistent.
the scope
select the preferred scope from the menu select the module in which this tool should be declared from the menu
the storage type the module


6.4.1 Creating a tool Continued
Note The created tool is not useful until you have defined the tool data (TCP coordinates, orientation, weight etc.). See Editing the tool data on page 173 and LoadIdentify, load identification service routine on page 244 to learn more about how to do it.

6.4.2 Defining the tool frame
6.4.2 Defining the tool frame

Preparations To define the tool frame, you first need a reference point in the world coordinate system. If you need to set the tool center point orientation, you also need to affix elongators to the tool. You also need to decide which method to use for the tool frame definition. Available methods There are three different methods which can be used when defining the tool frame. All three require that you define the cartesian coordinates of the tool center point. What differs is how the orientation is defined.
If you want to... ...then select
set the orientation the same as the orientation TCP (default orient.) of the robots mounting plate set the orientation in Z axis set the orientation in X and Z axes TCP&Z TCP&Z,X
How to select a method This procedure describes how to select the method to be used when defining the tool frame.
Action 1 2 3 4 On the ABB menu, tap Jogging. Tap Tool to display a list of available tools. Select the tool you want to define. In the Edit menu, tap Define


6.4.2 Defining the tool frame Continued
Action 5 In the dialog box which appears, select the method to use.
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Select the number of approach points to use. Usually 4 points is enough. If you choose more points to get a more accurate result, you should be equally careful when defining all of them. See How to proceed with tool frame definition on page 171 for information on how to gather positions and perform the tool frame definition.


6.4.2 Defining the tool frame Continued How to proceed with tool frame definition This procedure describes how to define the tool center point in Cartesian coordinates.
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Action 1 Jog the robot to an appropriate position, A, for the first approach point. Tap Modify Position to define the point.
Info Use small increments to accurately position the tool tip as close to the reference point as possible.
2 3
Repeat step 1 and 2 for each approach Jog away from the fixed world point to point to be defined, positions B, C, and D. achieve the best result. Just changing the tool orientation will not give as good a result. If the method you are using is TCP&Z or TCP&Z,X orientation must be defined as well. If, for some reason, you want to redo the calibration procedure described in step 14, tap Positions and then Reset All. Follow the instructions in How to define elongator points on page 172.


6.4.2 Defining the tool frame Continued
Action 6 When all points are defined you can save them to file, which enables you to reuse them later. On the Positions menu, tap Save. Tap OK. The Calculation Result dialog box For further information see Is the calcuwill now be displayed, asking you to cancel lated result good enough? on page 172 or to confirm the result before it is written to the controller. Info
How to define elongator points This procedure describes how to define the orientation of the tool frame by specifying the direction of the z and/or x axis. You need to do this only if you the tool orientation should differ from that of the robot base. The tool coordinate system by default resembles the coordinate system of tool0, as illustrated in Measuring the tool center point on page 174.
Action 1 2 3 Without changing the orientation of the tool, jog the robot so that the reference world point becomes a point on the desired positive axis of the rotated tool coordinate system. Tap Modify Position to define the point. Repeat step 1 and 2 for the second axis if it should be defined.
Is the calculated result good enough? The Calculation Result dialog box displays the calculated result of the tool frame definition. You have to confirm that you accept the result before it can take effect in the controller. The alternative is to redo the frame definition in order to achieve a better result. The result Mean Error is the average distance of the approach points from the calculated TCP (tool center point). Max Error is the maximum error among all approach points. It is hard to tell exactly what result is acceptable. It depends on the tool, robot type etc. you are using. Usually a mean error of a few tenths of a millimeter is a good result. If the positioning has been undertaken with reasonable accuracy the result will be okay. As the robot is used as a measuring machine, the result is also dependent on where in the robots working area the positioning has been done. Variation of the actual TCP up to a couple of millimeters (for large robots) can be found between definitions in different parts of the working area.The repeatability of any following TCP calibrations will thus increase if these are done close to the preceding ones. Note that the result is the optimal TCP for the robot in that working area, taking into account any discrepancies of the robot in the configuration at hand. Tip A common way to check that the tool frame has been correctly defined is to perform a reorientation test when the definition is ready. Select the reorient motion mode and the tool coordinate system and jog the robot. Verify that the tool tip stays very close to the selected reference point as the robot moves.

6.4.3 Editing the tool data
6.4.3 Editing the tool data

Tool data Use the value settings to set the tool center point position and physical properties of the tool such as weight and center of gravity. This can also be done automatically with the service routine LoadIdentify. See sections Running a service routine on page 238, or LoadIdentify, load identification service routine on page 244. Displaying the tool data This section details how to display the tool data.
Action 1 2 3 On the ABB menu, tap Jogging. Tap Tool to display the list of available tools. Tap the tool you want to edit, then tap Edit. A menu appears. Change Declaration Change Value Delete Define In the menu, tap Change Value. The data that defines the tool appears. Green text indicates that the value can be changed. Proceed with changing the data as described below.


6.4.3 Editing the tool data Continued Measuring the tool center point The easiest way to define the tool center point, TCP, is usually to use the predefined method described in Defining the tool frame on page 169. If you use this method, you do not have to write any values for the frame as these are supplied by the method. If you already have the measurements of the tool, or for some reason want to measure them manually, the values can be entered in the tool data.
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X Y Z X Y Z
X axis for tool0 Y axis for tool0 Z axis for tool0 X axis for the tool you want to define Y axis for the tool you want to define Z axis for the tool you want to define Action
1 2 3
Measure the distance from the center of the robot's mounting flange to the tool's center point along the X axis of tool0. Measure the distance from the center of the robot's mounting flange to the tool's center point along the Y axis of tool0. Measure the distance from the center of the robot's mounting flange to the tool's center point along the Z axis of tool0.
Editing the tool definition

Action 1 Enter the cartesian coordinates of the tool center point's position. Instance tframe.trans.x tframe.trans.y tframe.trans.z Unit [mm]


6.4.3 Editing the tool data Continued
Action 2 Instance Unit None
If necessary, enter the tool frame orientation. tframe.rot.q1 tframe.rot.q2 tframe.rot.q3 tframe.rot.q4 Enter the weight of the tool. tload.mass
3 4
[kg] [mm]
If necessary, enter the tool's center of gravity. tload.cog.x tload.cog.y tload.cog.z If necessary, enter the orientation of the axis tload.aom.q1 of moment tload.aom.q2 tload.aom.q3 tload.aom.q4 If necessary, enter the tool's moment of inertia. tload.ix tload.iy tload.iz Tap OK to use the new values, Cancel to leave the definition unchanged.
None
[kgm2]
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6.4.4 Editing the tool declaration
6.4.4 Editing the tool declaration

Tool declaration Use the declaration to change how the tool variable can be used in the program's modules. Displaying the tool declaration
Action 1 2 3 On the ABB menu, tap Jogging. Tap Tool to see the list of available tools. Tap the tool you want to edit, then tap Edit. A menu appears. Change Declaration Change Value Delete Define In the menu, tap Change Declaration. The tool's declaration appears. Edit the tool declaration as listed in section Creating a tool on page 166.
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Note If you change the name of a tool after it is referenced in any program you must also change all occurrences of that tool.

6.4.5 Deleting a tool
6.4.5 Deleting a tool

Deleting a tool This section describes how to delete a tool.
Action 1 2 3 4 5 In the ABB menu, tap Jogging. Tap Tool to display the list of available tools. Tap the tool you want to delete, then tap Edit. Tap Delete to delete the selected tool. A confirmation dialog box appears. In the dialog box, tap Yes to delete the tool, No to keep the tool.
CAUTION A deleted tool, work object or payload cannot be recovered, and all related data will be lost. If the tool, work object or payload is referenced by any program, those programs cannot run without changes. If you delete a tool you cannot continue the program from the current position.
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6.4.6 Setup for stationary tools
6.4.6 Setup for stationary tools

Stationary tools Stationary tools are used, for instance, in applications that involve large machines such as cutters, presses and punch cutters. You may use stationary tools to perform any operation that would be difficult or inconvenient to perform with the tool on the robot. With stationary tools, the robot holds the work object. Make a tool stationary This section describes how to make a tool stationery.
Action 1 2 3 4 5 6 7 In the ABB menu, tap Jogging. Tap Tool to display the list of available tools. Tap the tool you want to edit, then tap Edit. A menu appears. In the menu, tap Change value. The data that defines the tool appears. Tap the instance robhold. Tap FALSE to make this tool stationary. Tap OK to use the new setup, Cancel to leave the tool unchanged.
Make a work object robot held This section describes how to make a work object robot held.
Action 1 2 3 4 5 6 In the Jogging window, tap Work object to display the list of available work objects. Tap the work object you want to edit, then tap Edit. A menu appears. In the menu, tap Change value. The data that defines the work object appears. Tap the instance robhold. Tap TRUE to indicate that this work object is held by the robot. Tap OK to use the new setup, Cancel to leave the work object unchanged.
Differences in coordinate system referencing This section describes differences in coordinate system referencing.
The... work object coordinate system user coordinate system tool coordinate system ...normally references the... ...but now references the... user coordinate system world coordinate system robots mounting plate user coordinate system (no change) robots mounting plate world coordinate system


6.4.6 Setup for stationary tools Continued Set up the tool coordinate system You use the same measurement methods to set up a stationary tool coordinate system as with tools mounted on the robot. The world reference tip must, in this case, be attached to the robot. Define and use a tool with the reference tips measurements when you create approach points. You also need to attach elongators to the stationary tool if you need to set up the orientation. You should enter the reference tips tool definition manually to minimize errors when calculating the stationary tools coordinate system. You may enter the stationary tools definition manually.
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6.5.1 Creating a work object
6.5 Work objects 6.5.1 Creating a work object

What happens when I create a work object? A variable of the type wobjdata is created. The variables name will be the name of the work object. For more information on data types, see Technical reference manual - RAPID Instructions, Functions and Data types. See also What is a work object? on page 362 for more details. Creating a work object The work objects coordinate system is now identical with the world coordinate system. To define the position and orientation of the work objects coordinate system, see Editing the work object declaration on page 185.
Action 1 2 3 4 On the ABB menu, tap Jogging. Tap Work Object to display the list of available work objects. Tap New... to create a new work object. Tap OK.
Work object declaration settings

If you want to change... the work objects name then... tap the ... button next to it Recommendation Work objects are automatically named wobj followed by a running number, for example wobj10, wobj27. You should change this to something more descriptive. If you change the name of a work object after it is referenced in any program you must also change all occurrences of that work object. Work objects should always be global to be available to all modules in the program. Work object variables must always be persistent.
the scope
select the scope of choice from the menu select the module in which this work object should be declared from the menu

6.5.2 Defining the work object coordinate system
6.5.2 Defining the work object coordinate system

Overview Defining a work object means that the robot is used to point out the location of it. This is done by defining three positions, two on the x-axis and one on the y-axis. When defining a work object you can use either the user frame or the object frame or both. The user select frame and the object frame usually coincides. If not, the object frame is displaced from the user frame. How to select method This procedure describes how to select method for defining either user frame or object frame or both. Note that this only works for a user created work object, not the default work object, wobj0. Defining work object can also be done from the Program Data window.
Action 1 2 3 4 5 On the ABB menu, tap Jogging Tap Work object to display the list of available work objects. Tap the work object you want to define, then tap Edit. In the menu, tap Define..... Select method from the User method and/or the Object method menu. See How to define the user frame on page 182 and How to define the object frame on page 183
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6.5.2 Defining the work object coordinate system Continued How to define the user frame This section details how to define the user frame.
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The x axis will go through points X1-X2, and the y axis through Y1.
Action 1 2 In the User method pop up menu, tap 3 points. Press the enabling device and jog the robot Large distance between X1 and X2 is to the first (X1, X2 or Y1) point you want to preferable for a more precise definition. define. Select the point in the list. Tap Modify Position to define the point. Repeat steps 2 to 4 for the remaining points. Info
3 4 5


6.5.2 Defining the work object coordinate system Continued How to define the object frame This section describes how to define the object frame if you want to displace it from the user frame.
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The x axis will go through points X1-X2, and the y axis through Y1.
Action 1 2 In the Object method pop up menu, tap 3 points. See steps 2 to 4 in the description of How to define the user frame on page 182.
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6.5.3 Editing the work object data
6.5.3 Editing the work object data

Overview Use the work object data definition to set the position and rotation of the user and object frames. How to display the work object data
Action 1 2 3 4 In the ABB menu, tap Jogging. Tap Work object to display the list of available work objects. Tap the work object you want to edit, then tap Edit. Tap Change Value. The data that defines the work object appears.
How to set user and object frame values manually The easiest way to set the work object and user coordinate systems position is to use the method described in Defining the work object coordinate system on page 181. You can however edit the values manually using the guide below.
Values Instance Unit mm
The cartesian coordinates of the position of the object oframe.trans.x frame oframe.trans.y oframe.trans.z The object frame orientation oframe.rot.q1 oframe.rot.q2 oframe.rot.q3 oframe.rot.q4 uframe.trans.x uframe.trans.y uframe.trans.z uframe.rot.q1 uframe.rot.q2 uframe.rot.q3 uframe.rot.q4
The cartesian coordinates of the position of the user frame
mm
The user frame orientation
Note Editing work object data can also be done from the Program Data window.

6.5.4 Editing the work object declaration
6.5.4 Editing the work object declaration

Overview Use the declaration to change how the work object variable can be used in the programs modules. Displaying the work object declaration
Action 1 2 3 4 5 6 In the ABB menu, tap Jogging. Tap Work object to see the list of available work objects. Tap the work object you want to edit, then tap Edit. In the menu, tap Change Declaration. The work objects declaration appears. Edit the tool declaration as listed in section Creating a work object on page 180.
Note If you change the name of a work object after it is referenced in any program you must also change all occurrences of that work object.
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6.5.5 Deleting a work object
6.5.5 Deleting a work object

Deleting a work object
Action 1 2 3 4 5 In the ABB menu, tap Jogging. Tap Work object to display the list of available work objects. Tap the work object you want to delete, then tap Edit. Tap Delete to delete the work object. A confirmation dialog box appears. In the dialog box, tap Yes to delete the work object, No to keep it.

6.6.1 Creating a payload
6.6 Payloads 6.6.1 Creating a payload

What happens when I create a payload? A variable of the type loaddata is created. The variables name will be the name of the payload. For more information on data types, see Technical reference manual - RAPID Instructions, Functions and Data types. Adding a new payload and setting data declaration The payloads coordinate system will be set to the position, including orientation, of the world coordinate system.
Action 1 2 In the ABB menu tap Jogging. Tap Payload or Total Load to display the list of available payloads. Note Total Load is displayed only when the value of ModalPayLoadMode is set to 0 and the mechanical units are TCP robots. See Setting the value for ModalPayLoadMode on page 187. 3 4 Tap New to create a new payload and enter the data. See Payload declaration settings on page 187. Tap OK.
Payload declaration settings

If you want to change... the payloads name ...then... tap the ... button next to it Recommendation Payloads are automatically named load followed by a running number, for example load10, load31. You should change this to something more descriptive. If you change the name of a payload after it is referenced in any program you must also change all occurrences of that payloads name. Payloads should always be global to be available to all modules in the program. Payload variables must always be persistent. -
the scope
select the scope of choice from the menu select the module in which this payload should be declared from the menu
Setting the value for ModalPayLoadMode This procedure describes how to modify the value of ModalPayLoadMode: 1 On the ABB menu, tap Control Panel and then Configuration. Continues on next page

6.6.1 Creating a payload Continued 2 Select Controller. 3 Select the type System Misc and tap. 4 Select ModalPayLoadMode and then tap Edit. 5 Tap the parameter Value twice and set to 0. 6 Click OK. 7 Tap Yes to the question The changes will not take effect until the controller is warm started. Do you want to restart now?.

6.6.2 Editing the payload data
6.6.2 Editing the payload data

Overview Use the payload data to set physical properties of the payload such as weight and center of gravity. This can also be done automatically with the service routine LoadIdentify. See sections Running a service routine on page 238, or LoadIdentify, load identification service routine on page 244. Displaying the payload definition
Action 1 2 3 4 In the ABB menu, tap Jogging. Tap Payload to display the list of available payloads. Tap the payload you want to edit, then tap Edit. Tap Change Value. The data that defines the payload appears.
Changing the payload data This procedure describes how to manually enter the payload data. This can also be done automatically by running the service routine LoadIdentify. How to run a service routine is described in section Running a service routine on page 238.
Action 1 2 Enter the weight of the payload. Enter the payloads center of gravity. Instance load.mass load.cog.x load.cog.y load.cog.z load.aom.q1 load.aom.q2 load.aom.q3 load.aom.q3 ix iy iz [kgm2] Unit [kg] [mm]
Enter the orientation of the axis of moment.
Enter the payloads moment of inertia.
Tap OK to use the new values, Cancel to leave the data unchanged.
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6.6.3 Editing the payload declaration
6.6.3 Editing the payload declaration

Overview Use the declaration to change how the payload variable can be used in the programs modules. Displaying the payload declaration
Action 1 2 3 4 5 In the ABB menu, tap Jogging. Tap Payload to see the list of available payloads. Tap the payload you want to edit, then tap Edit. In the menu, tap Change declaration. The payloads declaration appears. See Creating a payload on page 187.
Note If you change the name of a payload after it is referenced in any program you must also change all occurrences of that payloads name.

6.6.4 Deleting a payload
6.6.4 Deleting a payload

Deleting a payload
Action 1 2 3 4 5 In the ABB menu, tap Jogging. Tap Payload to display the list of available payloads. Tap the payload you want to delete, then tap Edit. Tap Delete. A confirmation dialog box appears. In the dialog box, tap Yes to delete the payload, No to keep the payload.
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6.7.1 Handling of programs
6.7 Programming 6.7.1 Handling of programs

Overview This section details how to perform normal handling of existing robot programs. It details how to: create a new program load an existing program save a program rename a program
Each task must contain one program, no more, no less. Note that the following procedures describe a single task system, i.e. only one task is available. How to create a new program when no program is available is detailed in section Creating a new program on page 192. About program files When saving a program to the controller hard disk, it is by default saved to the directory HOME in the systems folder unless otherwise stated. How to set another default path is detailed in section Setting default paths on page 339. The program is saved as a folder, named as the program, containing the actual program file, of type pgf. When loading a program you open the program folder and select the pgf file. When renaming a program you rename the program folder and the program file. When saving a loaded program which is already saved to the hard disk, you must not open the existing program folder. Instead, you should save the program folder again and overwrite the old version, or rename the program. Creating a new program This section describes how to create a new program.
Action 1 2 3 On the ABB menu, tap Program Editor. Tap Tasks and Programs. Tap File, then New Program. If there was already a program loaded, a warning dialog appears. Tap Save to save the loaded program. Tap Don't save to close loaded program without saving it, i.e. delete from program memory. Tap Cancel to leave the program loaded. Continue by adding instructions, routines, or modules.


6.7.1 Handling of programs Continued Loading an existing program This section describes how to load an existing program.
Action 1 2 3 On the ABB menu, tap Program Editor. Tap Tasks and Programs. Tap File, then Load Program. If there was already a program loaded, a warning dialog appears. Tap Save to save the loaded program. Tap Don't save to close loaded program without saving it, i.e. delete from program memory. Tap Cancel to leave the program loaded. Use the file searching tool to locate the program file to be loaded (file type pgf). Then tap OK. The program is loaded and the program code is displayed.
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Saving a program This section describes how to save a loaded program to the controllers hard disk. A loaded program is automatically saved in the program memory, but saving to the controller hard disk is an extra precaution.
Action 1 2 3 4 On the ABB menu, tap Program Editor. Tap Tasks and Programs. Tap File and select Save Program As.... Use the suggested program name or tap ... to open the soft keyboard and enter a new name. Then tap OK.


6.7.1 Handling of programs Continued Renaming a loaded program This section describes how to rename a loaded program.
Action 1 2 3 4 On the ABB menu, tap Program Editor. Tap Tasks and Programs. Tap File and select Rename Program. A soft keyboard is displayed. Use the soft keyboard to enter the new name of the program. Then tap OK.

6.7.2 Handling of modules
6.7.2 Handling of modules

Overview This section details how to handle program modules. i.e.: create a new module load an existing module save a module rename a module delete a module
Creating a new module This section describes how to create a new module.
Action 1 2 3 On the ABB menu, tap Program Editor. Tap Modules. Tap File, then tap New Module.
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Tap ABC... and use the soft keyboard to enter the new module's name. Then tap OK to close the soft keyboard. Select which type of module to be created: Program System Then tap OK. The differences between module types are described in section The structure of a RAPID application on page 156. How to later switch between these types is detailed in section Changing type of module on page 197.


6.7.2 Handling of modules Continued Loading an existing module This section describes how to load an existing module.
Action 1 2 3 On the ABB menu, tap Program Editor. Tap Modules. Tap File, then Load Module.
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Locate the module to be loaded. See section FlexPendant Explorer on page 89. A default path may be defined as detailed in section Setting default paths on page 339. 4 Tap OK to load the selected module. The module is loaded.
Saving a module This section describes how to save a module.

Action 1 2 On the ABB menu, tap Program Editor. Tap Modules and tap to select the module you want to load.


6.7.2 Handling of modules Continued
Action 3 Tap File, then Save Module As...
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Tap on the suggested file name and use the soft keyboard to enter the module's name. Then tap OK. Use the file searching tool to locate where you want to save the module. See section FlexPendant Explorer on page 89. The default location is on the controller disk, but any other location may be set as default as detailed in section Setting default paths on page 339. Then tap OK. The module is saved.
Renaming a module This section describes how to rename a module.

Action 1 2 3 4 On the ABB menu, tap Program Editor. Tap Modules. Tap File, then Rename Module... The soft keyboard is displayed. Use the soft keyboard to enter the module's name. Then tap OK.
Changing type of module This section describes how to change the type of module.
Action 1 2 3 4 On the ABB menu, tap Program Editor. Tap Modules and select the module to be changed. Tap File, then Change declaration... Tap Type and select module type.


6.7.2 Handling of modules Continued
Action 5 Tap OK.
Deleting a module This section describes how to delete a module from memory. If the module has been saved to disk, it will not be erased from the disk.
Action 1 2 3 4 On the ABB menu, tap Program Editor. Tap Modules and tap to select the module you want to delete. Tap File, then Delete Module... A dialog box is displayed. Tap OK to delete the module without saving it. If you want to save the module first, tap Cancel and save the module first. How to save the module is detailed in section Saving a module on page 196.

6.7.3 Handling of routines
6.7.3 Handling of routines

Overview This section details how to handle program routines. i.e.: create a new routine create a copy of a routine change the declaration of a routine delete a routine
Creating a new routine This section details how to create a new routine, set the declaration, and add it to a module.
Action 1 2 3 On the ABB menu, tap Program Editor. Tap Routines. Tap File, then New Routine. A new routine is created and displayed with default declaration values.
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Tap ABC... and use the soft keyboard to enter the new routines' name. Then tap OK. Select the type of routine: Procedure: used for a normal routine without return value Function: used for a normal routine with return value Trap: used for an interrupt routine Do you need to use any parameters? If YES; tap ... and proceed as detailed in section Defining parameters in routine on page 200. If NO; proceed to the next step. Select module to add the routine to.


6.7.3 Handling of routines Continued
Action 8 9 Tap the checkbox to select Local declaration if the routine should be local. A local routine can only be used in the selected module. Tap OK.
Defining parameters in routine This section describes how to define parameters in a routine.
Action 1 In the routine declaration, tap ... to define parameters. A list of defined parameters is displayed.
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Action 2 If no parameters are shown, tap Add to add a new parameter. Add optional parameter adds a parameter that is optional Add optional mutual parameter adds a parameter that is mutually optional with another parameter Read more about routine parameters in the RAPID reference manuals.
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Use the soft keyboard to enter the name of the new parameter and then tap OK. The new parameter is displayed in the list.
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Tap to select a parameter. To edit values, tap the value.


Action 5 Tap OK to return to the routine declaration.
Creating a copy of a routine This section describes how to create a copy of a routine.
Action 1 2 3 4 On the ABB menu, tap Program Editor. Tap Routines. Highlight the routine by tapping it. Tap File, then Copy Routine. The new routine is displayed. The name of the new routine is set to the same as the original with the suffix Copy. Make any changes in the declarations for the new routine copy. Then tap OK. How to make all declarations is detailed in section Creating a new routine on page 199.
Changing the declaration of a routine This section describes how to change the declaration of a routine.
Action 1 2 3 4 5 On the ABB menu, tap Program Editor. Tap Routines. Highlight the routine by tapping it. Tap File, then Change Declaration Change any declaration values for the routine. Then tap OK. Declaration settings are described in section Creating a new routine on page 199.
Moving a routine This section describes how to move a routine to another module.
Action 1 2 3 4 5 On the ABB menu, tap Program Editor. Tap Routines. Highlight the routine by tapping it. Tap File, then Move Routine... Select task and module. Then tap OK.
Deleting a routine This section describes how to delete a routine from memory.
Action 1 2 3 4 On the ABB menu, tap Program Editor. Tap Routines. Highlight the routine by tapping it. Tap File, then Delete Routine... A dialog box is displayed.


Action 5 Tap: OK to delete the routine without saving any changes made to it. Cancel to revert without deleting the routine.
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6.7.4 Handling of instructions
6.7.4 Handling of instructions

Instructions A RAPID program consists of instructions. An instruction can, for example, move the robot, set an I/O signal, or write a message to the operator. A large number of instructions are available, and these are listed in Technical reference manual - RAPID Instructions, Functions and Data types. The basic procedure for adding instructions are, however, identical. Undo and redo When editing programs in the Program editor, you can undo and redo up to three steps. This function is available in the Edit menu. Adding instructions This section describes how to add instructions.
Action 1 2 3 On the ABB menu, tap Program Editor. Tap to highlight the instruction under which you want to add a new instruction. Tap Add instruction. A category of instructions is displayed.
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A large number of instructions, divided into several categories, are available. The default category is Common, where the most common instructions are listed. You can create three personalized lists using the system parameters of the type Most Common Instruction in the topic Man-machine Communication. The system parameters are described in Technical reference manual - System parameters. 4 Tap Common to display a list of the available categories. You can also tap Previous/Next at the bottom of the list of instructions to move to the next/previous category.


6.7.4 Handling of instructions Continued
Action 5 Tap the instruction you want to add. The instruction is added to the code.
Editing instruction arguments This section describes how to edit instruction arguments.
Action 1 Tap the instruction to edit.
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Tap Edit.
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Action 3 Tap Change Selected. Depending on the type of instruction, the arguments have different data types. Use the soft keyboard to change string values or proceed to the next steps for other data types or multiple argument instructions.
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Tap the argument to be changed. A number of options are displayed.
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Action 5 Tap an existing data instance to select and then tap OK to complete, or tap Expression See more about expressions in section Editing instruction expressions and declarations on page 224. To edit a particular data instance, see Editing instruction expressions and declarations on page 224.
Tip Tapping twice on an instruction will automatically launch the Change selected option. Tapping twice on an instruction argument will automatically launch the argument editor. Copying and pasting instructions or arguments This section describes how to paste instructions or arguments.
Action 1 Tap to select the argument or instruction you want to copy. To select more than one row: select the first row, tap Select Range in the Edit menu and then tap the last row. Tap Edit and then tap Copy. Place the cursor on the instruction above where you want to paste the instruction or argument, or tap on the argument or instruction you want to change and tap Paste.
2 3
Cutting an instruction This section describes how to cut an instruction.

Action 1 Tap to select the instruction you want to cut. To select more than one row: select the first row, tap Select Range in the Edit menu and then tap the last row. Tap Edit and then tap Cut.
Changing motion mode for a move instruction This section describes how to change the motion mode for a move instruction.
Action 1 2 Tap to select the move instruction you want to change and then tap Edit. Tap Change to MoveJ or Change to MoveL. The change is performed.
Commenting instruction rows Instruction rows can be commented, i.e. skipped in the program execution. The comment/uncomment command is found under the Edit menu in the Program Editor.
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6.7.5 Example: Add movement instructions
6.7.5 Example: Add movement instructions

Overview In this example you will create a simple program that makes the robot move in a square. You need four movement instructions to complete this program.
C
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A B C
First point Robot movement Speed data v50 = speed 50mm/s Zone z50 = (50mm)
Add movement instructions This section details how to add movement instructions.
Action 1 2 3 4 5 Jog the robot to the first point. In the program editor, tap Add Instruction. Tap MoveL to insert a MoveL instruction. Repeat for the next four positions of the square. For the first and last instruction. Tap z50 in the instruction, tap Edit and then Change selected to Fine. Tap OK Info Tip: Use only left-right/up-down joystick movements to jog in a square.
Result Your program code should look like this:

Proc main() MoveL *, v50, MoveL *, v50, MoveL *, v50, MoveL *, v50, MoveL *, v50, End Proc; fine, tool0; z50, tool0; z50, tool0; z50, tool0; fine, tool0;

6.8.1 Mirroring a program, module, or routine
6.8 Advanced programming 6.8.1 Mirroring a program, module, or routine

Mirroring Mirroring creates a copy of a program, module, or routine in a specific mirror plane. The mirror function can be applied to any program, module, or routine. Mirroring can be performed in two different ways: Default against the base frame coordinate system. The mirror operation will be performed across the xz-plane in the base frame coordinate system. All positions and work object frames that are used in an instruction in the selected program, module or routine are mirrored. The position orientation axes x and z will be mirrored. Advanced against a specific mirror frame. The mirror operation will be performed across the xy-plane in a specified work object frame, mirror frame. All positions in the selected program, module or routine are mirrored. If the work object argument in an instruction is another work object than specified in the mirror dialog, the work object in the instruction is used in the mirror operation. It is also possible to specify which axis in the position orientation that will be mirrored, x and z or y and z.
Mirroring is described in section What is mirroring? on page 370. Mirroring a routine This section describes how to mirror a routine.
Action 1 2 3 In the ABB menu, tap Program Editor. Tap Edit and tap Mirror. To define the mirror. Tap the Module menu to select in which module the routine to mirror is used. Tap the Routine menu to select which routine you want to mirror. Tap ... to open the soft keyboard and enter the name for the new routine. If you want to mirror in base frame then proceed to the next step. If you want to define another type of mirror then tap Advanced options and proceed as follows. To define the type of mirror: Deselect the Base Mirror checkbox. Tap ... to the right of Work object to select the work object frame to which all positions which are to be mirrored are related to. Tap ... to the right of Mirror frame to select the mirror plane to which all positions will be mirrored. Tap the Axis to mirror menu to specify how to mirror the position orientation. x means that x and z axes will be mirrored. y means that y and z axes will be mirrored. Tap OK to save the advanced options. Tap OK. A dialogue box is displayed. Tap Yes to apply the selected mirror to the routine, or tap No to cancel.
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6.8.1 Mirroring a program, module, or routine Continued Mirroring a module or program This section describes how to mirror a module or program.
Action 1 2 3 In the ABB menu, tap Program Editor. Tap Edit and tap Mirror. To define the mirror. Tap the Module menu to select module to mirror. Tap ... to open the soft keyboard and enter the name for the new module or program. If you want to mirror in base frame then proceed to the next step. If you want to define another type of mirror then tap Advanced options and proceed as follows. To define the type of mirror: Deselect the Base Mirror checkbox. Tap ... to the right of Work object to select the work object frame to which all positions which are to be mirrored are related to. Tap ... to the right of Mirror frame to select the mirror plane to which all positions will be mirrored. Tap the Axis to mirror menu to specify how to mirror the position orientation. x means that x and z axes will be mirrored. y means that y and z axes will be mirrored. Tap OK to save the advanced options. Tap OK. A dialogue box is displayed. Tap Yes to apply the selected mirror to the module, or tap No to cancel.
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6.8.2 Modifying and tuning positions
6.8.2 Modifying and tuning positions

Overview Positions are instances of the data type robtarget or jointtarget. See Technical reference manual - RAPID Instructions, Functions and Data types. The positions can be tuned using the function HotEdit, where you enter offset values using a soft keyboard.The offset value is used together with the original position value. See Tuning positions with HotEdit on page 216. The HotEdit menu is described in section HotEdit menu on page 87. The positions can also be modified using the Modify positions function in the Program Editor or the Production Window where you step and jog the robot to the new position. A modified position value overwrites the original value. See Modifying positions in the Program Editor or Production Window on page 212. CAUTION Changing programmed positions may significantly alter the robots movement pattern. Always make sure any changes are safe for both equipment and personnel. Positions in arrays If a position is declared as an array, then the procedure for modifying or tuning may differ slightly depending on how the array is indexed in the move instruction. See more information about arrays in What is a data array? on page 376. Limitations Note that jointtargets can only be modified using the Modify positions method in the Program Editor and the Production Window, i.e. not with HotEdit. Note Your system can have restrictions on how positions can be modified. Restrictions can apply to distance using system parameters (topic Controller, type ModPos Settings) and which positions can be modified using UAS.
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6.8.3 Modifying positions in the Program Editor or Production Window
6.8.3 Modifying positions in the Program Editor or Production Window

Overview When modifying positions by jogging the robot to the new position you can either single-step through the program to the position(s) you want to modify, or jog directly to the new position and change the corresponding position argument of the instruction. The recommendation is to step through the program to the position, but if you know your robot program well and the new position is known, it is faster to use the jogging method. Note! Do not use this method to change orientation values. Prerequisites To modify positions using the Program Editor or Production Window. the system must be in manual mode the target position must have a initial value. For example: CONST robtarget p10:=[[515.00,0.00,712.00],[0.707107,0,0.707107,0],[0,0,0,0], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; CONST jointtarget jpos10:=[[-0,-0,0,-0,-0,-0], [9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; Note To modify positions in the Production Window, you must have started the program so that the motion pointer is set. Applying modified positions The modified position values will normally be used when you restart the program. If the robot cannot use the values directly at start, a warning is displayed. Then the modified position will be used the next time that the position is used in the program. Modifying positions This procedure describes how to modify positions, either by single-stepping to the positions or jogging. You can use the Program Editor or the Production Window, the functionality is the same.
Action 1 2 3 On the ABB menu, tap Program Editor. Stop the program, if running. Do you want to single-step to the position or jog? If single-stepping, step through the program to the position you want to change. Make sure the correct argument is selected. If jogging, use the Jogging view to make sure that the same work object and tool that are used in the instruction are selected. Jog to the new position. When single-stepping, if the instruction or procedure call has more than one position argument, continue to step to reach each argument. Info


6.8.3 Modifying positions in the Program Editor or Production Window Continued
Action 5 6 When using the jogging method, tap to select the position argument you want to change. In the Program Editor, tap Modify Position. In the Production Window, tap Debug and then Modify Position. A confirmation dialog appears. Tap Modify to use the new position, Cancel to keep the original. When modifying a position in an array that is indexed with a variable you will have to select which element in the array to modify before the modification is executed. If you select the check box Dont show this dialog again in the confirmation dialog, then you will not get any more confirmation dialogs when modifying positions. Note! This is only valid for the current Program Editor. Info
Repeat step 3 through 7 for each position argument you want to change.
Limitations The Modify position button in the Program Editor is disabled until you select a position argument (that is possible to modify). The Modify position button in the Production Window is disabled until the motion pointer is set and a position is selected. To set the motion pointer, the program must be started and then stopped. The maximum movement or change in orientation, may be restricted by the system parameters (topic Controller, type ModPos Settings) in the system design. Please read your cell or plant documentation for details. If the system parameters are setup to use absolute limits for position changes, then the original positions can only be restored or changed using the baseline menu in HotEdit. The baseline concept is described in section Tuning positions with HotEdit on page 216. If a named position is modified, all other instructions using that position will be affected. In the Production Window, circle points cannot be modified in synchronized mode. See Application manual - MultiMove. Differences between Program Editor and Production Window The procedure for modifying positions is the same in the Program Editor and the Production Window. However, there are differences in how positions are selected. Also, if your system uses MultiMove, then the result from the Program Editor and the Production Window will differ. See Application manual - MultiMove. Program Editor selections To select a position for modification in the Program Editor, tap the desired position. Production Window selections To select a position for modification in the Production Window you must step the program to the desired position. Continues on next page

6.8.3 Modifying positions in the Program Editor or Production Window Continued Note! If you have executed the program from another window and then switch back to the Production Window, the selected position will be changed to the position where the motion pointer now is. Make sure the correct position is selected before making the modification! Related information For an overview on how to modify positions, see Modifying and tuning positions on page 211. HotEdit and baseline are described in Tuning positions with HotEdit on page 216. The HotEdit menu is also described in HotEdit menu on page 87. Modifying positions in the Program Data window is described in Editing data instances on page 162. Technical reference manual - RAPID Instructions, Functions and Data types. Technical reference manual - System parameters. Application manual - MultiMove Examples planned path The following examples show how the planned path will be effected when modifying positions. Linear movement In example A the robot is stopped on path before reaching the position P10. The robot is jogged off path to the new position (P10x) and the position P10 is modified. In example B the robot is stopped on path in position P10. The robot is jogged off path to the new position (P10x) and the position P10 is modified.
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In both examples, when restarting the program the robot continues from the new P10 (that is now the same as P10x) directly to P20 without returning to the previous planned path (via the old P10).


6.8.3 Modifying positions in the Program Editor or Production Window Continued Circular movement In this example the robot is stopped on path in position P20 (circle point) and then jogged to the new position P20x. The position P20 is modified.
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In single robot systems or MultiMove systems in unsynchronized mode: When restarting the program the robot continues directly from the new P20 (that is now the same as P20x) to P30 without returning to the previous planned path (via the old P20). The new planned path from P20 (P20x) to P30 is calculated using these two positions and position P10. In MultiMove synchronized mode: When restarting the program the robot returns to the old P20 and uses the previously planned path to P30. In the next cycle only the new P20 (P20x) is used.
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6.8.4 Tuning positions with HotEdit
6.8.4 Tuning positions with HotEdit

Overview HotEdit is used to tune programmed positions. This can be done in all operating modes and even while the program is running. Both coordinates and orientation can be tuned. HotEdit can only be used for named positions of the type robtarget (see limitations below). The functions available in HotEdit may be restricted by the user authorization system, UAS. The HotEdit menu is described in the section HotEdit menu on page 87. Applying tuned positions Tuning values are used directly by an executing program when you tap Apply. If tuning is done close to the program or motion pointer it may be hard to predict exactly when it will take effect. It is therefore important that you know where in the program the robot is if applying offset values while the program is running. However, the new values are not stored in the baseline until you use a Commit command. How to tune positions This is how you tune programmed positions using HotEdit:
Action 1 2 3 4 5 6 In the Programmed targets window, select the positions to be tuned and add them to Selected targets by tapping the arrow. Tap Tune Targets and select tuning mode (linear, reorient, or external axes) and then coordinate system (tool or work object). Tap + and - to specify the exact tuning of the position(s) in x, y and z direction. Select Increment to define the step size of these buttons. To activate the new values, tap APPLY. The offset will be used directly if the program is running. If you are satisfied with the result and want the tuned positions to become part of the baseline, tap Baseline and then Commit Selection. If, however, the selected targets need further tuning, you can tap Baseline and then Restore Selection and start all over again, or you can simply continue tuning until you are satisfied.
Working with selections A selection of positions to be tuned later can be saved on the controller mass memory unit. If your system uses UAS, this may be the only way to select positions for tuning. The commands for working with selections are located in the File menu:
Save Selection As Make sure that the window Selected targets shows nothing but the positions to be saved. Tap File and Save Selection As. Enter the name and optionally a description of the file, then tap OK.


6.8.4 Tuning positions with HotEdit Continued
Open Selection Clear Selection Tap File and Open Selection. Then tap the selection you want to use and tap OK. Clear the Selected targets area by tapping File and Clear Selection.
Baseline concept A baseline can be defined as a reference against which future changes are measured. The baseline concept makes it possible to undo tuning and revert to the position values stored in the latest baseline. To do this you use a Restore command. When a Commit command is performed the baseline is updated with new offset values, and the old values no longer exist in program memory. Use the baseline menu to apply or reject tuning. Restore Selection will discard all tuning of the currently selected positions and revert them to the values of the latest baseline, meaning that their offset values will be 0,0. Restore Entire Program will discard ALL tuning to programmed positions since the latest Commit command. This may include several HotEdit sessions for the same task. If the system uses Absolute Limit ModPos any Modify Position command from the Program Editor will also be undone. Commit Selection will apply the offset of the currently selected positions to the baseline. Commit Entire Program will apply ALL tuning to programmed positions. This may include several HotEdit sessions for the same task. If the system uses Absolute Limit ModPos it also includes Modify Position performed in the Program Editor.
Baseline target criteria Targets that fulfil all of the following criteria are part of the baseline: The data type must be robtarget or jointtarget It must not be declared locally in a routine It must not be declared as part of an array of targets


6.8.4 Tuning positions with HotEdit Continued Illustration of baseline concept The baseline concept is illustrated below, where a point is moved, restored and committed. Starting out from the original baseline (A), let us assume that you move the point (B) twice. If you regret the changes you perform a restore command (C). But if you instead continue moving the point and perform a commit command (B +D), you will have created a new baseline (E) and there is no way to revert to the original baseline. If you move the point one more time and then restore, the point is moved back to the latest baseline (E).
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A B C D E
Original baseline Move selected point Restore Commit New baseline
Restore Selection or Restore Entire Program The following example shows the difference between Restore Selection and Restore Entire Program to original. The same idea applies for Commit Selection and Commit Entire Program.
Action 1. 2. 3. 4. The robtargets p10 and p30 are added to Selected Targets and tuned once. p10 is removed from Selected Targets p30 is tuned again. Restore Selection sets the currently selected position, p30, to its value in the latest baseline. p10 is not affected, thus still tuned. Restore Entire Program sets all tuned positions, that is both p10 and p30 to their baseline values.
HotEdit for external axes External axes can be tuned with HotEdit if they are activated in at least one of the selected robtargets. Only axes with active values are tuned. Limitations HotEdit tuning is only possible for named (e.g. p10, p20) robtargets. (* robtargets are not visible in the treeview.) If a robtarget is declared as an array, it must be indexed with a number to be modified in HotEdit. Continues on next page

6.8.4 Tuning positions with HotEdit Continued It is only possible to perform HotEdit tuning on targets that are part of the baseline. Targets that are NOT part of the baseline will not be shown in the HotEdit treeview, as they cannot be selected for tuning. This means that a target declared locally in a routine, for example, will not be displayed. HotEdit tuning is possible for robtargets only. (Jointtargets can only be tuned by using Modify Position in the Program Editor.) If the system uses Absolute limit ModPos these jointtargets are however part of the baseline and will be affected when Restore Entire Program and Commit Entire Program are used. Note For more information about Absolute Limit ModPos, see the Technical reference manual - System parameters, section Topic Controller - Type ModPos Settings. Using UAS in HotEdit The user authorization system can be used to restrict the Hot Edit functionality and only allow a user to edit pre-selected positions. These are loaded by tapping File and thenOpen Selection. The selected positions can then be tuned in the usual way. Related information Technical reference manual - System parameters.
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6.8.5 Working with displacements and offsets
6.8.5 Working with displacements and offsets

About displacements Sometimes, the same path is to be performed at several places on the same object, or on several work pieces located next to each other. To avoid having to reprogram all positions each time a displacement coordinate system can be defined. This coordinate system can also be used in conjunction with searches, to compensate for differences in the positions of the individual parts. The displacement coordinate system is defined based on the object coordinate system. The displacement coordinate system is described in section What is a coordinate system? on page 363. Select displacement method Depending on how, when, and how often you want to use displacements, the best method may vary. Moving a work object Moving a work object is suitable when you do not need to move or displace the work object very often. See procedure in section Defining the work object coordinate system on page 181. Displace a work object A work object consists of a user frame and a object frame. You can move one or both of these frames. If you move both frames, then the whole work object is moved. It can be useful to displace the object frame from the user frame for instance when using one fixture for several work objects. Then you can keep the user frame and displace the object frame for the work objects. See procedure How to define object frame in section Defining the work object coordinate system on page 181. Displace and rotate a work object You may want to displace and rotate the object frame from the user frame if the displacement is not in just x, y, and z. To displace in x, y, and z, you can use the same method as above. To rotate the work object, follow the procedure in section Editing the work object data on page 184. About offsets Sometimes it is easier to define a position as an offset from a given position. If, for example, you know the exact dimensions of a work object, it will only be necessary to jog to one position. The offset is programmed with the displacement distance in x, y, and z direction, in relation to the work object. For instance:
MoveL Offs(p10, 100, 50, 0), v50...
Define the offset for the position with the following expressions: 1 Original position / starting point Continues on next page

6.8.5 Working with displacements and offsets Continued 2 Displacement in x direction 3 Displacement in y direction 4 Displacement in z direction Examples This example shows the move instructions with offsets to move the robot in a square (clockwise), starting at p10, with a 100 mm displacement in x and y.
MoveL MoveL MoveL MoveL MoveL p10, v50... Offs(p10, 100, 0, 0), v50... Offs(p10, 100, 100, 0), v50... Offs(p10, 0, 100, 0), v50... p10, v50...
How to create position offsets This procedure details how to change a position to become an offset position.
Action 1 2 3 4 In the Program Editor, tap to select the position argument to edit. Tap Edit and then Change Selected. Tap Functions and then Offs. Tap to select each expression, <EXP>, and then tap any of the desired available data or functions. You can also tap Edit to access more functions. Tap All to open the soft keyboard and edit all expressions at the same time, or tap Only Selected to edit one at a time with the soft keyboard. Tap OK to save changes. You can use the filter to narrow down the available data. You can also change data type of the available data. See more information about expressions in section Editing instruction expressions and declarations on page 224. Info
Related information There are a number of functions in RAPID that may be useful. See Technical reference manual - RAPID Instructions, Functions and Data types, and Technical reference manual - RAPID overview.
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6.8.6 Moving the robot to a programmed position
6.8.6 Moving the robot to a programmed position

Positions A robot program usually contain programmed positions. The robot can move automatically to a programmed position using a function in the Jogging menu. The robot will move at 250 mm/s. DANGER When moving the robot automatically, the robot arm may move without warning. Make sure no personnel are in safeguarded space and that no objects are in the way between the current position and the programmed position. Moving the robot to a programmed position This procedure describes how to move a robot automatically to a programmed position.
Action 1 2 3 On the ABB menu, tap Jogging. Make sure the correct mechanical unit is selected and then tap Go To.... Tap to select a programmed position. If you have many programmed positions you can use a filter to narrow down the visible positions. See section Filtering data on page 127. Info
Press and hold the enabling device and then tap and hold the Go To button. The robot now moves directly from the current position to the programmed position. Make sure no objects are in the way.

6.8.7 Aligning tools
6.8.7 Aligning tools

Overview A tool can be aligned with another coordinate system. When aligning a tool, the tools z axis is aligned to the selected coordinate systems nearest axis. Therefore it is recommended to first jog the tool so it is close to the desired coordinates. Note that the tools data is not changed! Aligning mechanical units This procedure describes how to align tools.
Action 1 2 On the ABB menu, tap Jogging. Make sure that the right tool is active and then tap Align....
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3 4 5
Select a coordinate system to align the selected tool to. Press and hold the enabling device and then tap and hold Start Align to start aligning the tool. Tap Close when completed.
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6.8.8 Editing instruction expressions and declarations
6.8.8 Editing instruction expressions and declarations

Expressions An expression specifies the evaluation of a value. It can be used, for example: as a condition in an IF instruction as an argument in an instruction as an argument in a function call
Read more in Technical reference manual - RAPID overview and Technical reference manual - RAPID Instructions, Functions and Data types. Inserting expressions This procedure describes how to insert and edit expressions in instructions.
Action 1 2 3 In the Program Editor, tap to select the instruction you want to edit and then tap Edit. Tap Change Selected and tap to select the argument to change. Tap Expression.
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Edit the length of the expression by tapping the keys to the right: Arrows: step backward and forward in the expression. + to add expression. Tap the new expression to define it. - to delete expression. () to set a parenthesis around the highlighted expression. (o) to delete a parenthesis.


6.8.8 Editing instruction expressions and declarations Continued
Action 5 Tap: New to create a new data declaration, i.e. adding a data declaration not previously used. This is detailed in section Creating new data declarations on page 225. View to change views or change data type. This is detailed in section Changing data type on page 226. ABC displays the soft keyboard. Tap OK to save the expression.
Declarations and data types When editing an expression new data can be declared with the button New. More information about data declarations and how to edit them can be found in section Editing data instances on page 162. Creating new data declarations This procedure describes how to create a new data declaration in an instruction expression.
Action 1 In the Insert Expression view, tap New.
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Tap and enter desired values: Initial value to set the initial value. ... to display the soft keyboard and change the data types name. Scope Storage type Module Routine Dimension to set the size of an array if the data type should be an array. If a value has been chosen for Dimension, tap ... to set array size, see What is a data array? on page 376


6.8.8 Editing instruction expressions and declarations Continued
Action 3 After making all selections, tap OK. A dialog box is displayed, prompting you to allow resetting of the program pointer and applying all changes: Tap Yes to proceed. Tap No to return to the data type view without resetting of the program pointer or applying changes.
Changing data type This section describes how to change data type.
Action 1 In the Insert Expression view, tap Change data type, the following screen is displayed:
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Tap to select the required data type and tap OK.

6.8.9 Hiding declarations in program code
6.8.9 Hiding declarations in program code

Declarations Program declarations can be hidden to make the program code easier to read. Hiding declarations This section describes how to hide or show declarations.
Action 1 2 In the ABB menu, tap Program Editor to view a program. Tap Hide Declarations to hide declarations. Tap Show Declarations to show declarations.
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6.8.10 Deleting programs from memory
6.8.10 Deleting programs from memory

Overview Deleting a program in a task does not erase the program from the controller mass memory but only from the program memory. When you switch programs, the previously used program is deleted from the program memory, but not removed from the mass memory if it was saved there. How to save your work is detailed in section Handling of programs on page 192. The different memories are described in section What is the memory? on page 296. Deleting programs from memory This section details how to delete programs from the program memory.
Action 1 2 3 On the ABB menu tap Program Editor. Tap Tasks and Programs. Tap File.
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6.8.10 Deleting programs from memory Continued
Action 4 Tap Delete Program.... WARNING! Recent program changes will not be saved.
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Tap OK. If you don't want to lose information about program changes then use Save Program before deleting the program. How to save your work is described in section Handling of programs on page 192.
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6.8.11 Deleting programs from hard disk
6.8.11 Deleting programs from hard disk

Overview Programs are deleted via FlexPendant Explorer or an FTP client. When deleting programs from the controller hard disk, the currently loaded program in the program memory is not affected. The different memories are described in section What is the memory? on page 296. Deleting programs with FlexPendant Explorer Programs can be deleted using FlexPendant Explorer on the ABB menu. See section FlexPendant Explorer on page 89.

6.8.12 Activating mechanical units
6.8.12 Activating mechanical units

Overview A mechanical unit can be active or deactive. Only active units are run when executing a program. Deactivated units will not run. This may be useful when programming or testing a program. A robot cannot be deactivated. The Activate function does not affect jogging. To select mechanical unit for jogging, use the Mechanical unit property in the Jogging menu. Activating mechanical units This procedure describes how to activate a mechanical unit.
Action 1 2 On the ABB menu, tap Jogging. Make sure that the right mechanical unit is selected, then A robot cannot be deactivtap Activate.... ated. To deactivate an active mechanical unit, tap Deactivate. Info
Related information Selecting mechanical unit for jogging on page 142. Mechanical units can be active or deactive at start depending on the system setup, see Technical reference manual - System parameters, topic Motion.
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6.9.1 Using the hold-to-run function
6.9 Testing 6.9.1 Using the hold-to-run function

When to use the hold-to-run function The hold-to-run function is used to run or step programs in manual full speed mode, in combination with the enabling device. In order to run a program in manual full speed mode it is necessary, for safety reasons, to keep pressing both the enabling device and the Start button. This hold-to-run function also applies when stepping through a program in manual full speed mode. When Start, Forward, and Backward buttons are used like this (press and hold) they are referred to as hold-to-run buttons. Some versions of the FlexPendant also have separate hold-to-run buttons.
Operational mode Function
Manual reduced speed mode Normally, hold-to-run has no effect in the manual reduced speed mode. However, it is possible to activate for manual reduced speed mode by changing a system parameter. Manual full speed mode Pressing hold-to-run AND pressing the enabling device enables running a program. It may be run continuously or stepby-step. Releasing hold-to-run in this mode immediately stops manipulator movement as well as program execution. When pressing it again, execution is resumed from that position. Hold-to-run is not used in automatic mode.
Automatic mode
Using the hold-to-run function This instruction details how use the hold-to-run function in manual full speed mode.
Action 1 2 Press the enabling device on the FlexPendant. Choose execution mode by pressing and holding either: Start (continuous program execution) Forward (step-by step program execution forwards) Backward (step-by step program execution backwards) If Start was pressed, then the program execution continues as long as the Start button is pressed. If Forward or Backward was pressed, the program is executed step-by-step by alternately releasing and pressing the Forward/Backward button. Note that the button must be pressed and held until the instruction is executed. If the button is released, program execution will stop immediately! If the enabling device is released, intentionally or by accident, the complete procedure must be repeated to enable running.

6.9.2 Running the program from a specific instruction
6.9.2 Running the program from a specific instruction

Overview When starting a program the execution starts from the program pointer. To start from another instruction, move the program pointer to the cursor. WARNING When execution is started the robot will move to the first programmed position in the program. Make sure that the robot with TCP does not risk running into any obstacles! Running the program from a specific instruction
Action 1 2 3 DANGER Make sure that no personnel are in the robot working area. Before running the robot, observe the safety information in section DANGER - Moving manipulators are potentially lethal! on page 28. 4 Press the Start button on the FlexPendant (see E in illustration below). On the ABB menu Tap Program Editor. Tap on the program step where you want to start, then tap Debug and then PP to Cursor.
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6.9.3 Running a specific routine
6.9.3 Running a specific routine

Overview When starting a program the execution starts from the program pointer. To start from anotherroutine, move the program pointer to the routine. Prerequisites In order to run a specific routine the module with the routine must be loaded and the controller must be in manual stopped mode. Running a specific routine This procedure describes how to run a specific routine by moving the program pointer.
Action 1 2 3 On the ABB menu, tap Program Editor. Tap Debug and then PP to Routine to place the program pointer at the start of the routine. Press the Start button on the FlexPendant.
Related information How to run a service routine is described in Running a service routine on page 238. The same method can be used to run a specific routine in the task scope. See Running a service routine on page 238 for detailed information.

6.9.4 Stepping instruction by instruction
6.9.4 Stepping instruction by instruction

Overview In all operating modes the program may be executed step by step forwards or backwards. Stepping backwards is limited, see Technical reference manual - RAPID overviewfor more details. Select step mode This section details how to select step mode. Stepping can be done in three ways; step in, step over, and motion step.
Action 1 Info
Select step mode using the Quickset menu. Described in Quickset menu, Step Mode on page 120.
Stepping This section details how to step forwards and backwards.

If you want to step... forward backward then press... Forward button on FlexPendant Backward button on FlexPendant
Limitations of backward execution There are some restrictions for the backward execution: When stepping backwards through a MoveC instruction, the execution does not stop in the circular point. It is not possible to step backwards out of a IF, FOR, WHILE and TEST statement. It is not possible to step backwards out of a routine when reaching the beginning of the routine. There are instructions affecting the motion that cannot be executed backwards (e.g. ActUnit, ConfL and PDispOn). If attempting to execute these backwards, an alert box will inform you that this is not possible.
Backward execution behavior When stepping forward though the program code, a program pointer indicates the next instruction to execute and a motion pointer indicates the move instruction that the robot is performing. When stepping backward though the program code, the program pointer indicates the instruction above the motion pointer. When the program pointer indicates one move instruction and the motion pointer indicates another, the next backward movement will move to the target indicated by the program pointer, using the type of movement and speed indicated by the motion pointer.


6.9.4 Stepping instruction by instruction Continued Example of backward execution This example illustrates the behavior when stepping backwards through move instructions. The program pointer and motion pointer helps you keep track of where the RAPID execution is and where the robot is. MoveL, MoveJ, and MoveC are move instructions in RAPID, see Technical reference manual - RAPID Instructions, Functions and Data types.
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A B C
Program pointer Motion pointer Highlighting of the robtarget that the robot is moving towards, or already has reached. then...
When...
stepping forward until the motion pointer will indicate p5 and the program pointer will indicthe robot is in p5 ate the next move instruction (MoveL p6). pressing the Backward button once pressing the Backward button again the robot will not move but the program pointer will move to the previous instruction (MoveC p3, p4). This indicates that this is the instruction that will be executed the next time Backward is pressed. the robot will move to p4 linearly with the speed v300. The target for this movement (p4) is taken from the MoveC instruction. The type of movement (linear) and the speed are taken from the instruction below (MoveL p5). The motion pointer will indicate p4 and the program pointer will move up to MoveL p2. the robot will move circularly, via p3, to p2 with the speed v100. The target p2 is taken from the instruction MoveL p2. The type of movement (circular), the circular point (p3) and the speed are taken from the MoveC instruction. The motion pointer will indicate p2 and the program pointer will move up to MoveL p1.
pressing the Backward button again


6.9.4 Stepping instruction by instruction Continued
When... pressing the Backward button again then... the robot will move linearly to p1 with the speed v200. The motion pointer will indicate p1 and the program pointer will move up to MoveJ p0.
pressing the Forward the robot will not move but the program pointer will move to the next button once instruction (MoveL p2). pressing the Forward the robot will move to p2 with the speed v200. button again
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6.10.1 Running a service routine
6.10 Service routines 6.10.1 Running a service routine

Service routines Service routines perform a number of common services. Which service routines are available depends on your system setup and available options. Please refer to your plant or cell documentation for more information. Prerequisites Service routines can only be started in manual mode. The program must be stopped and there has to be a program pointer. It is not possible to call a routine when in synchronized mode. If the service routine contains parts that must be carried out in automatic mode, then the program pointer must not be moved manually before starting the service routine. The program pointer should be where the program flow was stopped. CAUTION Note that once a service routine has started, aborting it might not resume the system to its previous state, as the routine may have moved the robot arm. Running a service routine This section describes how to execute a service routine or another routine in the task scope using Call Routine.
Action 1 On the ABB menu tap Program Editor.


6.10.1 Running a service routine Continued
Action 2 On the Debug menu tap Call Routine.
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The Call Service Routine dialog lists all predefined service routines. The same dialog can however be used to run any routine in the task scope. Select All Routines on the View menu to see all available routines.
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Tap a service routine and then tap Go to. The Program Editor will be displayed with the program pointer moved to the beginning of the selected routine.


6.10.1 Running a service routine Continued
Action 5 Press the Start button on the FlexPendant and follow the instructions displayed on the FlexPendant. After execution of the routine the task is stopped and the program pointer is returned to where it was before the service routine started.
CAUTION Press Cancel Call Rout if you need to interrupt the routine before it has finished executing. Before resuming normal program flow, however, you must see to it that the robot is correctly positioned. If the interrupted routine has moved it, you will need to take actions to return the robot to its position. See Returning the robot to the path on page 267 for further information. WARNING Do not execute a service routine in the middle of a move or a weld. If you execute a service routine in the middle of a movement, the unfinished movements will be completed before the called routine is executed. This can result in an unwanted movement. If possible, step and complete the interrupted movement before the service routine is called. Otherwise save the current movement by adding StorePath and RestoPath in the service routine. The movement will then be completed after the service routine has ended and the program starts again. However, it is not possible to save more than one interrupted movement each time as wanted, if the service routine would be called from an error handler with StorePath and RestoPath. Limitations Besides service routines, Call Routine applies to all routines with the following criteria: Must be a procedure with empty parameter list. This means not a function and not a trap routine. Must be in the task scope, not local. If the procedure is local in a module the scope is restricted to that module, and the procedure is not visible from the task level. Must be in a loaded module, not installed. (Check the system parameter Installed in the type Automatic Loading of Modules in the Controller topic.)
Related information Battery shutdown service routine on page 241. LoadIdentify, load identification service routine on page 244. Service Information System, ServiceInfo service routine on page 243. Calibration Pendulum, CalPendulum service routine on page 242. For more information about StorePath and RestoPath, see Technical reference manual - RAPID Instructions, Functions, and Data types.

6.10.2 Battery shutdown service routine
6.10.2 Battery shutdown service routine

Bat_shutdown It is possible to shutdown the battery backup of the Serial Measurement Board to save battery power during transportation or storage. The function is reset when the system is powered on again. The revolution counters will be lost and needs an update but the calibration values will remain. The consumption in ordinary shutdowns is then approx. 1 mA. Using sleep mode the consumption is reduced to 0,3 mA. When the battery is nearly discharged, less then 3 Ah left an alert is given on the FlexPendant and the battery should be replaced before next longer power switched off period Tip Before starting the service routine Bat_shutdown, run the robot to its calibration position. This will make it easier to recover after the sleep mode. Related information How to start a service routine is described in Running a service routine on page 238. The Serial Measurement Board is described in Serial measurement board memory on page 332. How to update the revolution counters is described in Updating revolution counters on page 326.
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6.10.3 Calibration Pendulum, CalPendulum service routine
6.10.3 Calibration Pendulum, CalPendulum service routine

CalPendulum CalPendulum is a service routine used with Calibration Pendulum, the standard method for calibration of ABB robots. This is the most accurate method for the standard type of calibration, and it is also the recommended method in order to achieve proper performance. The calibration equipment for Calibration Pendulum is delivered as a complete toolkit, including the manual Operating manual - Calibration Pendulum. Related information Running a service routine on page 238. Calibration Pendulum is described in full in the manual Operating manual - Calibration Pendulum. Specific information for each robot is described in the robots product manual.

6.10.4 Service Information System, ServiceInfo service routine
6.10.4 Service Information System, ServiceInfo service routine

ServiceInfo ServiceInfo is a service routine based on Service Information System, SIS, a software function which simplifies maintenance of the robot system. It supervises the operating time and mode of the robot, and alerts the operator when a maintenance activity is scheduled. Maintenance is scheduled by setting the system parameters of the type SIS Parameters. How to work with system parameters is described in section Configuring system parameters on page 321. All system parameters are described in Technical reference manual - System parameters. More details about SIS is described in Operating manual - Service Information System. Supervised functions The following counters are available: Calender time counter Operation time counter Gearbox operation time counters
Counters are reset when maintenance has been performed. The counter status is displayed after running the ServiceInfo routine for maintenance. Status OK indicates that no service interval limit has been exceeded by that counter. Related information Running a service routine on page 238. Configuring system parameters on page 321. Operating manual - Service Information System. The system parameters for SIS are described in Technical reference manual - System parameters, chapter Motion.
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6.10.5 LoadIdentify, load identification service routine
6.10.5 LoadIdentify, load identification service routine

Overview The service routine LoadIdentify is used to automatically calculate the data of loads mounted on the robot. You can also enter the data manually, but this requires information that may be difficult to calculate. If you want to run load identification for the payload, make sure that the tool load data is correctly defined first, e.g. by running LoadIdentify for the tool. To run LoadIdentify, there are a number of things to consider. These are described on the following pages. You can also find information on error handling and limitations in this chapter. LoadIdentify LoadIdentify can identify the tool load and the payload. The data that can be identified are mass, center of gravity, and moments of inertia.
en0500001535
A B C
Upper arm load Tool load Payload


6.10.5 LoadIdentify, load identification service routine Continued The movements of axis 3 will only be performed if the mass of B and/or C is to be identified. This means that to identify the mass, the upper arm load must be known and correctly defined first. Calibration angles To perform the identification the robot moves the load after a specific pattern and calculates the data. The axes that move are 3, 5 and 6. At the identification position, the motion for axis 3 is approximately 3 degrees up and 3 degrees down and for axis 5 it is approximately 30 degrees up and 30 degrees down. For axis 6 the motion is performed around two configuration points. The optimum value for the configuration angle is 90 degrees.
en0500001537
A B C
Configuration 2 Configuration angle Configuration 1 (start position)


6.10.5 LoadIdentify, load identification service routine Continued LoadIdentify with arm loads mounted The best way to perform load identification is with a robot with no arm loads mounted. If this is not possible, good accuracy can still be achieved. Consider, for example, the robot in the figure below, which has arc welding equipment mounted on it.
en0500001536
A B C D
Cable 1 Load 1 Cable 2 Load 2
If we want to use load identification to find the data of load 2, the most important thing to remember is to make sure that the upper arm load is correctly defined, in particular its mass and its center of gravity along the robot arm. The arm load includes everything that is mounted on the robot, except tool load and payload. In the figure above, cable 1, cable 2, and load 1 are included in the arm load. When performing the load identification, cable 2 should be disconnected since it will otherwise put an extra force on load 2. When identifying load 2 with such a force present, the result may differ considerably from the correct load. Ideally, cable 2 should be disconnected from load 2 and fastened on the upper arm. If this is not possible, the cable can also be disconnected at load 1 and fastened to the upper arm in such a way that the resulting force on load 2 is minimized. Prerequisites for tool loads Before running the LoadIdentify service routine for a tool load, make sure that: The tool is selected in the jogging menu. The tool is correctly mounted. Axis 6 is close to horizontal. The upper arm load is known, if the mass is to be identified. The axes 3, 5, and 6 are not close to their corresponding working range limits. The speed is set to 100%. The system is in manual mode.
Note that LoadIdentify cannot be used for tool0. Continues on next page

6.10.5 LoadIdentify, load identification service routine Continued Prerequisites for payloads Before running the LoadIdentify service routine for a payload, make sure that: The tool and payload are correctly mounted. Axis 6 is close to horizontal. The tool load is known (run LoadIdentify for the tool first). The upper arm load is known, if the mass is to be identified. When using a moving TCP, the tool must be calibrated (TCP). When using a stationary TCP, the corresponding work object must be calibrated (user frame and object frame). The axes 3, 5, and 6 are not close to their corresponding working range limits. The speed is set to 100%. The system is in manual mode.
Note that LoadIdentify cannot be used for load0. Running LoadIdentify To start the load identification service routine you must have an active program in manual mode and the tool and payload that you want to identify must be defined and active in the Jogging window. To achieve the best possible accuracy it is important to run a warming-up program that uses all axes on the manipulator .
Action 1 Info
Start LoadIdentify from the Program Editor. Press the How to start service routines enabling device and then press the Start button on the is described in Running a FlexPendant. service routine on page 238. Tap OK to confirm that current path will be cleared and Tap Cancel and then Cancel that the program pointer will be lost. Call Rout to quit the service routine without loosing the program pointer. Tap Tool or Payload. Tap OK to confirm that the correct tool and/or payload If it is not correct, release the is active in the jogging menu and that the tool load/pay- enabling device and select load is correctly mounted. the correct tool/payload in the jogging menu. Then return to LoadIdentify, press the enabling device, and press Start. Tap Retry and confirm that the new tool/payload is correct. When identifying tool loads, confirm that the tool is active. See above. When identifying payloads, confirm that the payloads tool is active and calibrated. When identifying payloads with stationary TCP, confirm See above. that the correct work object is active and (preferably) calibrated. If it is correct, tap OK to confirm. Select identification method. If you select the method where the mass is assumed to be known, remember that the tool/payload that you use must have the correct mass defined. Tap OK to confirm.
3 4


6.10.5 LoadIdentify, load identification service routine Continued
Action 8 Select configuration angle. The optimum is +90 or -90 degrees. If this is impossible, tap Other and set the angle. The minimum is plus or minus 30 degrees. If the robot is not in a correct position for load identifica- Axis 1 to 3 must not be more tion, you will be asked to jog one or more axes roughly than 10 degrees from proto a specified position. When you have done this tap OK posed position. to confirm. If the robot is still not in a correct position for load identification, the robot will slowly move to the correct position. Press Move to start the movement. This is useful for ensuring that the robot will not hit anything during the identification. However, this will take a lot longer time. Info
10 The robot can go through the load identification movements slowly before performing the load identification. Tap Yes if you want a slow test and No to proceed to the identification. 11 The setup for load identification is now complete. To start the motion, switch to Automatic mode and Motors On. Then tap Move to start the load identification movements. 12 When the identification is finished, switch back to manual mode, press the enabling device and the Start button. Tap OK to confirm. 13 The result of the load identification is now presented on the FlexPendant. Tap Yes if you want to update the selected tool or payload with the identified parameters or No otherwise.
Running LoadIdentify with ModalPayLoadMode deactivated When the system parameter ModalPayLoadMode is deactivated, set to 0, LoadIdentify will identify the tool load and the total load. It is no longer possible to define the payload. With ModalPayLoadMode deactivated it is possible to use the \TLoad argument in movement instructions. The \TLoad argument describes the total load used in the movement. The total load is the tool load together with the payload that the tool is carrying. If the \TLoad argument is used, then the loaddata in the current tooldata is not considered. For more information about ModalPayLoadMode in movement instructions, see section MoveL in Technical reference manual - RAPID Instructions, Functions and Data types. To start the load identification service routine you must have an active program in manual mode and the tool and payload that you want to identify must be defined and active in the Jogging window. To achieve the best possible accuracy it is important to run a warming-up program that uses all axes on the manipulator .
Action 1 Info
Start LoadIdentify from the Program Editor. Press the How to start service routines enabling device and then press the Start button on the is described in Running a FlexPendant. service routine on page 238. Tap OK to confirm that current path will be cleared and Tap Cancel and then Cancel that the program pointer will be lost. Call Rout to quit the service routine without loosing the program pointer.


6.10.5 LoadIdentify, load identification service routine Continued
Action 3 Tap OK to continue with the LoadIdentify process. Info The selection to update the tool load or the total load is done at a later stage.
Tap OK to confirm that the correct tool and/or total load If it is not correct, release the is active in the jogging menu and that the tool load/total enabling device and select load is correctly mounted. the correct tool/total load in the jogging menu. Then return to LoadIdentify, press the enabling device, and press Start. Tap Retry and confirm that the new tool/payload is correct. When identifying tool loads, confirm that the tool is active. See above. Select identification method. If you select the method where the mass is assumed to be known, remember that the tool/total load that you use must have the correct mass defined. Tap OK to confirm. Select configuration angle. The optimum is +90 or -90 degrees. If this is impossible, tap Other and set the angle. The minimum is plus or minus 30 degrees. If the robot is not in a correct position for load identifica- Axis 1 to 3 must not be more tion, you will be asked to jog one or more axes roughly than 10 degrees from proto a specified position. When you have done this tap OK posed position. to confirm. If the robot is still not in a correct position for load identification, the robot will slowly move to the correct position. Press Move to start the movement. The robot can go through the load identification movements slowly before performing the load identification. Tap Yes if you want a slow test or No to proceed to the identification. This is useful for ensuring that the robot will not hit anything during the identification. However, this will take a lot longer time.
5 6
10 The setup for load identification is now complete. To start the motion, switch to Automatic mode and Motors On. Then tap Move to start the load identification movements. 11 When the identification is finished, switch back to manual mode, press the enabling device and the Start button. Tap OK to confirm. 12 The result of the load identification is now presented on the FlexPendant. Tap Tool if you want to update the selected tool, tap Loaddata if you want to update the total load, or tap No if you want to quit without saving. 13 If Loaddata is selected it is possible to update the total load to either an existing or a new loaddata persistent variable.
Error handling If the enabling device is released during the load identification (before the movements start), the routine can always be restarted by pressing the enabling device again and then pressing the Start button. If an error should occur during the load identification movements, the routine must be restarted from the beginning. This is done automatically by pressing Start after


6.10.5 LoadIdentify, load identification service routine Continued confirming the error. To interrupt and leave the load identification procedure, tap Cancel Call Routine in the program editors debug menu. Limitations for LoadIdentify Only tool loads and payloads can be identified with LoadIdentify. Thus arm loads cannot be identified. If the load identification movements are interrupted by any kind of stop (program stop, emergency stop, etc.), the load identification must be restarted from the beginning. Confirm the error and press Start to automatically restart. If the robot is stopped on a path with program stop and load identification is performed at the stop point, the path will be cleared. This means that no regain movement will be performed to return the robot back to the path. The load identification ends with an EXIT instruction. That means that the program pointer is lost and must be set to main before starting any program execution. Tip The tool and/or payload data can be set manually if the load is small (10% or less of the maximum load) or symmetrical, for example if the tool load is symmetrical around axis 6. LoadIdentify for 4-axis robots When running LoadIdentify on a robot with 4 instead of 6 axes, there are some differences. In this description of the differences the robot type is assumed to be similar to IRB260, IRB460, IRB660, or IRB760. The main differences are: Axes 1, 3, and 6 are used. Because axis 1 is used, the resulting movements can be large. Not all load parameters can be identified.
Axis 1 will move approximately +-23 degrees from its current position. Therefore, the load can move a large distance during the identification. Axes 3 and 6 will move as for 6-axis robots. The configuration angle for axis 6 works exactly as for 6-axis robots. Because there is not 6 axes, a 4-axis robot cannot identify all parameters of the load. The following parameters cannot be identified: Ix - The inertia around the x-axis. Iy - The inertia around the y-axis. mz - The z-coordinate for the center of mass.


6.10.5 LoadIdentify, load identification service routine Continued However, for this type of robot the above parameters have negligible effect on the control performance. See the figure below for the definition of the load coordinate system.
xx0900000021
Related information It is also possible to include LoadIdentify in a program by using RAPID instructions. See LoadID in Technical reference manual - RAPID Instructions, Functions and Data types. How to enter the data manually is described in Editing the tool data on page 173, and Editing the payload data on page 189. The product manual for the robot contain information on how and where to mount the loads. Load identification for positioners is done with the service routine ManLoadIdentify, see Product manual - IRBP /D2009.
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7 Running in production
7.1.1 Starting programs
7.1 Basic procedures 7.1.1 Starting programs
Starting programs Use this procedure to start a program for the first time or to continue running a program that has been stopped. If your robot system has the option Multitasking installed, also see Using multitasking programs on page 257.
Action 1 Check that all necessary preparations are done to the robot and in the robot cell and that no obstacles exist within the robot work area. Make sure no personnel are inside the robot cell. Select operating mode on the controller with the mode switch. Info
2 3
xx0600002782
C: Motors on button D: Mode switch 4 5 Press the Motors on button on the controller to activate the robot. Is a program loaded? If yes, proceed to the next step. If no, load a program. How to load programs is described in section Handling of programs on page 192.
If needed, select run mode and speed us- See Quickset menu, Run Mode on page119, ing the Quickset menu. and Quickset menu, Speed on page 121.

7.1.1 Starting programs Continued
Action 7 In Auto mode: 1 Press the Start button on the FlexPendant to start the program. In manual mode: 1 Select start mode. 2 Press and hold the enabling device. 3 Press the Start button on the FlexPendant to start the program. Info The button is shown in section Hard buttons on page 54. How to select start mode is detailed insection Using the hold-to-run function on page 232.
Is the Regain Request dialog box disReturning the robot to the path is described played? in section Returning the robot to the path If yes, return the robot to the path using a on page 267. suitable method. If no, proceed. If the Cursor does not coincide with PP dialog box is displayed then tap PP or Cursor to select from where the program should start. Then press the Start button again. This dialog box is only displayed if the system parameters of type Warning at start are defined. See Technical reference manual - System parameters.
Continue running after the program is changed You can always continue a program even if it has been changed. In automatic mode, a warning dialog may appear to avoid restarting the program if the consequences are unknown.
If you... then tap...
Are sure the changes you have made are not in conflict with the current Yes robot position and that the program can continue without danger to equipment or personnel Are unsure of the consequences your changes might have and want No to investigate further
Restart from the beginning A program can be restarted from the Production Window or the Program Editor. PP to Main from the Production Window will reset the program pointer to the production entry in all normal tasks, including tasks deactivated in the task selection panel. PP to Main from the Program Editor will reset the program pointer to the production entry in the specified task only, even if the task is deactivated in the task selection panel. Use this procedure to restart a program from the Production Window.
Action 1 2 3 On the ABB menu, tap Production Window. Tap PP to Main. Start the program by pressing the Start button on the FlexPendant.
Use this procedure to restart a program from the Program Editor.

Action 1 On the ABB menu, tap Program Editor.

7.1.1 Starting programs Continued
Action 2 3 4 Tap Debug. Tap PP to Main. Start the program by pressing the Start button on the FlexPendant.
Limitations Only one program at a time can be executed, unless your system has the Multitasking option. If so several programs can be executed simultaneously. See how to select tasks in Quickset menu, Tasks on page 122. If the robot system encounters program code errors while the program is running, it will stop the program and the error is logged in the event log.
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7.1.2 Stopping programs
7.1.2 Stopping programs

Stopping programs If your robot system has the Multitasking option installed, see Using multitasking programs on page 257.
Action 1 2 3 Check that the ongoing operation is in such a state that it can be interrupted. Make sure it is safe to stop the program. Press the Stop button on the FlexPendant hardware button set. The button is shown in section Hard buttons on page 54.
DANGER Do not use the Stop button in an emergency. Use the emergency stop button. Stopping a program with the Stop button does not mean that the robot will stop moving immediately. Stopping execution when using hold-to-run or step-by-step execution When using hold-to-run or step-by-step execution, execution can be stopped according to the following.
Mode Operation with hold-to-run Action Release the Start button Info The hold-to-run function is described in section What is a FlexPendant? on page 52. The STOP and Forward button are described in section What is a FlexPendant? on page 52. If you press the STOP button while executing a move instruction, the robot will stop without completing the move.
Step-by-step mode
The robot will stop after executing each instruction. Execute the next instruction by pressing the Forward button again.
7.1.3 Using multitasking programs
7.1.3 Using multitasking programs

Overview In a system with the option Multitasking installed, you may have one or several programs running in parallel, for instance in a MultiMove cell with more than one robot where each robot has its own task and program (multitasking). For general information on program handling, see Handling of programs on page 192. Multitasking is described in Application manual - Engineering tools. Tip Need to know more about tasks and programs? These concepts are described in The structure of a RAPID application on page 156. Manually set up tasks Tasks need to be set up in order to run as planned. Normally, all tasks are set up on delivery. Setting up tasks is done by defining system parameters of the type Controller. See section Configuring system parameters on page 321 on how to configure system parameters, or Technical reference manual - System parameters for information about the parameters. You need detailed information to set up tasks manually. Please read your plant or cell documentation for details. How tasks are run Tasks may be defined as Normal, Static, or Semistatic. Static and Semistatic tasks are automatically started as soon as a program is loaded into that task. Normal tasks are started when you press the Start button of the FlexPendant, and stopped when you press the Stop button. To be able to step, start and stop a Static or Semistatic task: set TrustLevel to NoSafety, set Task Panel Settings to All tasks and activate the task using the Quickset menu. See Application manual - Engineering tools, section Multitasking. The concepts of Static, Semistatic, and Normal are described in Technical reference manual - System parameters, type Tasks. Load, run, and stop multitasking programs This section describes how to load, run, and stop multitasking programs.
Action 1 2 3 Make sure there is more than one task set up. This is done using system parameters, see Technical reference manual - System parameters. Load programs to respective task using the Program Editor or the Production Window, this is described in section Loading an existing program on page 193. If one or more task should be disabled, go to the Quickset menu to do this. See section Quickset menu, Tasks on page 122. Deselecting tasks can only be done in manual mode. When switching to automatic mode, an alert box will appear warning that not all tasks are selected to run. Start program execution by pressing the start button. All active tasks are started.

7.1.3 Using multitasking programs Continued
Action 5 Stop program execution by pressing the stop button. All active tasks are stopped.
How to load a program to a task This section describes how to load a program to a task in a multitasking system. It is assumed that the tasks have been configured. Load a program from the Production Window
Action 1. 2. 3. On the ABB menu, tap Production Window. Tap the task into which you want to load a program. Tap Load Program.... If you want to open a program in another folder, locate and open that folder. See description in FlexPendant Explorer on page 89. The file dialog box appears. Tap the program you want to load followed by OK.
4.
Load a program from the Program Editor

Action 1. 2. 3. 4. On the ABB menu, tap Program Editor. Tap Tasks and Programs. Tap the task into which you want to load a program. On the File menu, tap Load Program.... If you want to open a program in another folder, locate and open that folder. See description in FlexPendant Explorer on page 89. The file dialog box appears. Tap the program you want to load followed by OK. Tap Close to close the Program Editor.
5. 6.
Viewing multitasking programs In the Production Window, there is one tab for each task. To switch between viewing the different tasks, tap on the tabs. To edit several tasks in parallel, open one Program Editor for each task. To edit static and semistatic tasks, see Application manual - Engineering tools, section Multitasking.
7.1.4 Using motion supervision and non motion execution
7.1.4 Using motion supervision and non motion execution

Motion supervision The controller software has functionality aiming at reducing collision impact forces on the robot. This helps protecting the robot and external equipment from severe damage if a collision occurs. Motion supervision during program execution is by default always active, regardless which options are installed in the controller. When a collision is detected, the robot will immediately stop and relieve the residual forces by moving in reversed direction a short distance along its path. The program execution will stop with an error message. The robot remains in the state Motors on so that program execution can be resumed after the collision error message has been acknowledged. Moreover, there is a software option called Collision Detection, which has extra features such as supervision during jogging. To find out if your system has this option installed, tap System Info on the ABB menu. Expand the node System Properties and tap Options under Control Module. Functions in RobotWare base Description of functions in RobotWare base: Path Supervision in automatic and manual full speed mode used to prevent mechanical damage due to the robot running into an obstacle during program execution. Non motion execution used to run a program without robot motion.
Functions in Collision Detection A RobotWare system with Collision Detection has additional functionality: Path Supervision in manual mode and the possibility to tune supervision in all modes. Jog Supervision used to prevent mechanical damage to the robot during jogging. RAPID instruction MotionSup used to activate/deactivate collision detection and to tune sensitivity during program execution. Note All motion supervision must be set for each task separately.

7.1.4 Using motion supervision and non motion execution Continued Editing motion supervision settings This section describes how to modify settings for motion supervision.
Action 1 2 On the ABB menu tap Control Panel and then Supervision. Tap the Task list and select a task. If you have more than one task, you need to set the desired values for each task separately. Tip Sensitivity can be set between 0 and 300. If it is set lower than 80, however, the robot may stop due to internal drag. Note You can modify the sensitivity of Path supervision. For more information, see Setting sensitivity of Motion Supervision on page 261. 4 Tap OFF/ON to remove or activate jog supervision. Tap the -/+ to adjust sensitivity. Note Tip Info
Tap OFF/ON to remove or activate path supervision. Tap -/+ to adjust sensitivity. Note If the option Collision Detection is not installed, sensitivity setting will have no effect. path supervision affects only the robot in auto and manual full speed mode.
Sensitivity can be set between 0 and 300. If it is set lower than If the option Collision Detection is not installed, these 80, however, the robot may stop due to internal drag. settings will have no effect. Note You can modify the sensitivity of Path supervision. For more information, see Setting sensitivity of Motion Supervision on page 261 . 5 Under Execution Settings, tap OFF/ON to deactivate See Non motion execution on or activate non motion execution. This is a separate page 261 for information about function, not a part of motion supervision. this function.

7.1.4 Using motion supervision and non motion execution Continued Setting sensitivity of Motion Supervision Use the following procedure to set the sensitivity of Path Supervision and Jog Supervision.
Action 1 2 3 4 5 6 7 8 On the ABB menu, tap Control Panel and then Configuration. Tap Topics and select Motion. Select the type Motion Supervision and tap. Select one from the list and tap Edit. For example: rob1 Info
Select Path Collision Detection Level, tap twice and The maximum value that can be set a value. set is 500. Click OK. Select Jog Collision Detection Level, tap twice and The maximum value that can be set a value. set is 500 Click OK.
Non motion execution Non motion execution enables you to run a RAPID program without robot motion. All other functions work normally; current cycle times, I/O, TCP speed calculation etcetera. Non motion execution can be used for program debugging or cycle time evaluation. It also represents a solution if you need to measure for example glue or paint consumption during a cycle. When non motion execution is activated it can be executed in: manual mode manual full speed mode auto mode
Cycle times will be simulated according to the selected mode. Note Non motion execution can only be activated when the system is in Motors Off state. CAUTION Non motion execution is reset after a reboot. If you intend to run the program in non motion mode, do not restart without checking the status of Non motion execution. Starting the program incorrectly may cause serious injury or death, or damage the robot or other equipment. Related information For more information on Collision Detection, see Application manual - Motion coordination and supervision.
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7.1.5 Using the hot plug option
7.1.5 Using the hot plug option

Hot plug option The hot plug option makes it possible to: Disconnect the FlexPendant from a system in automatic mode and thereby run the system without a FlexPendant connected. Temporarily connect and operate a FlexPendant without interrupting the application running on the system. WARNING Pressing the hot plug button disables the emergency stop button on the FlexPendant. Only press the hot plug button while connecting or disconnecting the FlexPendant. WARNING A disconnected FlexPendant must always be stored separated from the IRC5 controller! Connect and disconnect the FlexPendant using the hot plug button The following procedure describes how to connect or disconnect the FlexPendant on a system in automatic mode using the hot plug button option. Note Do not switch to manual mode (or manual full speed mode) while the system is running without the FlexPendant. The FlexPendant must be connected when you switch to automatic mode otherwise you cannot confirm the mode change.
Action 1 2 Make sure that the system is in automatic mode. Press and hold the hot plug button. A red lamp inside the button indicates when pressed. Info

7.1.5 Using the hot plug option Continued
Action 3 Keep pressing the hot plug button and at the same time, switch the jumper plug with the FlexPendant plug. Info
xx0600002784
A: Hot plug button B: FlexPendant connector
xx0600002796
Jumper plug 4 Release the hot plug button. Make sure that the button is not stuck in the actuated position since this disables the FlexPendant emergency stop button.
Note When the FlexPendant is disconnected, the jumper plug must be connected in its place. Note If the hot plug button is released while neither the jumper plug, nor the FlexPendant is connected, the robot movements will be stopped since the emergency stop chains are opened. Limitations for messages on the FlexPendant When using the hot plug option, the following limitations apply to messages on the FlexPendant: Operator messages Some applications may require input from the operator by using the FlexPendant (e.g. applications using RAPID instructions TPReadNum, UIMsgBox, etc.). If the application encounters such an operator message, program execution will wait. After connecting the FlexPendant you must then stop and start the program execution to be able to see and respond to these messages. They are not displayed automatically by just connecting the FlexPendant. If possible, avoid using these types of instructions when programming systems that are using the hot plug button option.

7.1.5 Using the hot plug option Continued Event log messages When connecting the FlexPendant, event log messages can be viewed also for the period when the FlexPendant was disconnected, since these are stored on the controller.
7.2.1 General procedure when trouble shooting
7.2 Trouble shooting and error recovery 7.2.1 General procedure when trouble shooting
Types of faults Faults occurring in the robot system may be of two categories: Faults detected by the built-in diagnostics system. These faults are described in section Event log messages in Operating manual - Trouble shooting IRC5. Faults NOT detected by the built-in diagnostics system. These faults are described in section Other types of faults in Operating manual - Trouble shooting IRC5.
Faults causing error message on the FlexPendant The control system is supplied with diagnostic software to facilitate trouble shooting and to reduce downtime. Any errors detected by the diagnostics are displayed in plain language with a code number on the FlexPendant. All system and error messages are logged in a common log in which the last 150 messages are saved. The log can be accessed from the Status bar on the FlexPendant. To facilitate trouble shooting, it is important that some basic principles are followed. These are specified in Trouble shooting principles in Operating manual - Trouble shooting IRC5.
Action 1 Info
Read the error message displayed on the How to interpret the messages is detailed FlexPendant and follow any instructions in Event Log on page 103, and chapter given. Handling the event log on page 291. Was the information given on the FlexPendant enough to solve the problem? If yes; resume operation. If no; proceed below. If relevant, check the LEDs on the units. Each unit is thoroughly described in section Unit LEDs in Operating manual - Trouble shooting IRC5, including a description of its LEDs.
4 5
If relevant, check the cables, etc., with help Circuit diagrams are found in the Product of the circuit diagram. manual for the robot or controller. Replace, adjust or fix as detailed in the Repairs instruction if required. See the Product manual for the robot or controller.
Faults NOT causing error messages on the FlexPendant These faults are not detected by the diagnostic system and are handled in other ways. The way the symptom of the fault is observed greatly influences the type of fault. Instructions are given in section Other types of faults in Operating manual - Trouble shooting IRC5. To trouble shoot faults NOT causing error messages on the FlexPendant, follow steps 3 and 4 in the procedure above.

7.2.1 General procedure when trouble shooting Continued Other possible actions Some errors may require running a service routine. See section Service routines on page 238.
7.2.2 Returning the robot to the path
7.2.2 Returning the robot to the path

About paths and return regions While a program is running, the robot or additional axis is considered to be on path, which means that it follows the desired sequence of positions. If you stop the program the robot is still on path, unless you change its position. It is then considered to be off path. If the robot is stopped by an emergency or safety stop it may also be off path. If the stopped robot is within the path return region you can start the program again, and the robot will return to the path and continue program execution. Note that there is no way to predict the exact return movement for the robot. Tip The path return region is set with system parameters. This is described in the Technical reference manual - System parameters, type Path Return Region. Returning to path
Action 1 2 3 Make sure there are no obstacles blocking the way and that payload and work objects are properly placed. If necessary, put the system in automatic mode and press the Motors on button on the controller to activate the robot motors. Press the Start button on the FlexPendant to continue execution from where it stopped. One of these things will happen: The robot or axis will slowly return to the path and execution will continue. The Regain Request dialog will be displayed. If the Regain Request dialog is displayed, select the proper action.
Select action
If you... want to return to the path and continue the program then tap... Yes
want to return to the next target position and No continue the program don't want to continue the program Cancel
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7.2.3 Running RAPID program with uncalibrated mechanical unit
7.2.3 Running RAPID program with uncalibrated mechanical unit

When is this useful? If a servo gun is damaged or uncalibrated, you may want to run a service routine. In order to run the service routine (or any RAPID code), even though an additional axis is uncalibrated, the steps in this description must be followed. How to get the program started
Action 1 Set the system parameter Active at Start Up (in type Mechanical Unit, topic Motion) to No. Set the system parameter Disconnect at Deactivate (in type Measurement Channel, topic Motion) to Yes. How to set system parameters is described in sectionConfiguring system parameters on page 321. If any of the system parameter values where changed, restart the controller (warm start). Deactivate the uncalibrated mechanical unit. How to do this is described in section Activating mechanical units on page 231. Move the program pointer to Main (otherwise the mechanical unit will be automatically activated). Run the service routine or other RAPID code.
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7.3.1 Present operating mode
7.3 Operating modes 7.3.1 Present operating mode

Overview Check the position of the controller's mode switch or the status bar of the FlexPendant. Operational mode changes are also logged in the event log. The mode switch The mode switch should be in the position as illustrated:
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A B C D E
Two position mode switch Three position mode switch Automatic mode Manual reduced speed mode Manual full speed mode Action Info
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To switch from manual to automatic mode detailed in Switching from manual to automatic mode on page 275. To switch from automatic to manual mode detailed in Switching from automatic to manual mode on page 277.
Viewing present mode on the FlexPendant On the FlexPendant, you can view the present operating mode in the status bar. An example of the status bar is shown below:
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Operator window

7.3.1 Present operating mode Continued
B C D E F Operating mode Active system Controller state Program state Mechanical units, active is highlighted
7.3.2 About the automatic mode
7.3.2 About the automatic mode

What is the automatic mode? In automatic mode the enabling device is disconnected so that the robot can move without human intervention. A robot system in production normally runs in the automatic mode. This mode enables controlling the robot system remotely, for instance by using the controller's I/O signals. An input signal may be used to start and stop a RAPID program, another to activate the robot's motors. There are also additional safeguarding mechanisms active in automatic mode, not used in manual mode, to increase safety. Tasks you normally perform in the automatic mode In automatic mode you normally: Start and stop processes. Load, start and stop RAPID programs. Return the robot to its path when you return to operation after an emergency stop. Backup the system. Restore backups. Tune paths. Clean tools. Prepare or replace work objects. Perform other process oriented tasks.
A well designed system allows you to perform tasks safely and without affecting the running process. In such a system you can at any time enter safeguarded space temporarily having the process stopped by safeguarding mechanisms while you perform the tasks necessary. When you leave safeguarded space the process is resumed. Please consult your plant or cell documentation for details on process oriented tasks. CAUTION If the robot system is under remote control actions such as starting or stopping process applications and RAPID programs may be overridden. Path tuning may also be disturbed. In such case perform the mentioned tasks in manual mode. Limitations in automatic mode Jogging is not possible in automatic mode. There may also be other specific tasks that you should perform in manual mode to make sure only you are in control of the robot and its movements.

7.3.2 About the automatic mode Continued Please consult your plant or system documentation to find out which specific tasks should not be performed in manual mode.
7.3.3 About the manual mode
7.3.3 About the manual mode

What is the manual mode? In manual mode the robot can only move in a reduced and safe speed, and only under manual control. You need to press the enabling device to activate the robots motors. The manual mode is most often used when creating programs and when commissioning a robot system. In some robot systems, there are two manual modes, the normal manual mode, sometimes referred to as Manual Reduced Speed Mode, and then there is a Manual Full Speed Mode. What is the manual full speed mode? In manual full speed mode, the robot can move in programmed speed but only under manual control. You need to press the enabling device and the hold-to-run button to activate the robots motors. The manual full speed mode is most often used when testing programs and commissioning a robot system. Note that the manual full speed mode is not available in all robot systems. Note As per the new ISO 10218-1:2011 Robots and robotic devices Safety requirements for industrial robots Part 1 Robots, the following changes are made to the manual full speed mode: Resetting the speed to 250mm/s every time the enabling device is re-initiated by placing the switch in the centre-enabled position after either having been released or fully compressed. Editing RAPID programs and jogging the robot are disabled.
Tasks you normally perform in manual mode In manual mode you normally: Jog the robot back on its path when you return to operation after an emergency stop. Correct the value of I/O signals after error conditions. Create and edit RAPID programs. Tune programmed positions.

7.3.3 About the manual mode Continued
Note As per the new ISO 10218-1:2011, The following tasks can now be performed in the manual full speed mode: Starting/Stopping program execution Stepping program execution Setting speed (0100%) Setting program pointer (to Main, to Routine, to Cursor, to service routine) System Output Setting IO Simulating IO Changing Task Selection Panel Changing CFG System Input
The following tasks cannot be performed in the manual full speed mode:
Safety in manual mode When in manual mode some safeguarding mechanisms are disabled since the robot in this mode often is operated with personnel in close proximity. Maneuvering an industrial robot is potentially dangerous and therefore maneuvers should be performed in a controlled fashion, in manual mode the robot is operated in reduced speed, normally 250mm/s.
7.3.4 Switching from manual to automatic mode
7.3.4 Switching from manual to automatic mode

When should I put the system in automatic mode? Put the system in automatic mode when you have a process application or a RAPID program that is ready to be run in production. DANGER When put in automatic mode the robot may move without warning. Make sure no personnel are in safeguarded space before you change operating mode. Switching from manual to automatic mode
Action 1 Set the mode switch in the automatic position. A mode change dialog is displayed. Info
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If any debug settings have been changed, a dialog If these values are reset or not informs about the changes and if these values will be is defined by system parametreset. Tap Acknowledge. ers in the type Auto Condition Reset in the topic Controller. Tap OK to close the dialog. If you change the switch back to manual mode the dialog will be closed automatically. Did the system change mode without errors? How to start programs is deIf yes, then resume or start the process application or scribed in Starting programs on RAPID program. page 253. If no, stop and troubleshoot the problem.
Note If your specific system uses a distributed operators panel, controls and indicators may not be placed exactly as described in this manual. Please consult your plant or cell documentation for details. Controls and indicators do however look and function the same way. When can I start using the robot system? As long as the mode change dialog is displayed programs cannot be started and the robots motors cannot be activated either manually or remotely.

7.3.4 Switching from manual to automatic mode Continued Exceptions In automatic mode it is possible to start a RAPID program and turn motors on remotely. This means that the system will never enter a safe standby state and the robot may move at any time. Please consult your plant or cell documentation for details on how your system is configured. Related information A number of conditions can be set or reset when switching to automatic mode, see Technical reference manual - System parameters, sections Auto Condition Reset and Run Mode Settings.
7.3.5 Switching from automatic to manual mode
7.3.5 Switching from automatic to manual mode

Switching from automatic to manual mode
Action 1 Set the mode switch in the manual position. Info
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Did the system change mode without errors? If yes, then this procedure is completed. If no, try to locate the error.
Error handling is detailed in Operating manual - Trouble shooting IRC5.
Note If your specific system uses a distributed operators panel, controls and indicators may not be placed exactly as described in this manual. Please consult your plant or cell documentation for details. Controls and indicators do however look and function the same way.
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7.3.6 Switching to manual full speed mode
7.3.6 Switching to manual full speed mode

When should I use the manual full speed mode? Use full speed manual mode when the program is to be tested at full speed. The manual full speed mode allows you to run the program at full speed while still having access to all the available debugging functions of the program editor. DANGER Testing at full speed is dangerous. Make sure no personnel are in safeguarded space when starting the program. Switching to manual full speed mode
Action 1 2 Set the mode switch to the manual full speed position. Did the system change mode without errors? If yes, then this procedure is completed. If no, try to locate the error. Error handling is detailed in Operating manual - Trouble shooting IRC5. Info
Note When you switch to manual full speed mode, all the functionalities except for Start, Stop and Step are disabled. FlexPendant alert When changing mode a dialog is displayed on the FlexPendant to alert you about the change of mode. Tap OK to close the dialog. If you change the switch back to the previous mode the dialog will be closed automatically and there will be no change in mode.
8 Handling inputs and outputs, I/O

8.1.1 Viewing signal lists

8.1 Basic procedures 8.1.1 Viewing signal lists
Overview I/O signal properties is used to view the input and output signals and their values. Signals are configured with system parameters, see section Configuring system parameters on page 321. How to view signal lists This section details how to view a list of signals.
Action 1 On the ABB menu tap Inputs and Outputs. The list of Most Common I/O signals is displayed.
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Tap View to change the selection of signals in the list.
Tip Tap the Select Layout menu if you want to view signal labels in the list. Related information Simulating and changing signal values on page 281. Filtering data on page 127. Configuring Most Common I/O on page 351. Continues on next page

8.1.1 Viewing signal lists Continued Configuring system parameters on page 321.

8.1.2 Simulating and changing signal values
8.1.2 Simulating and changing signal values

Simulating and changing signal values A signal can be changed into a simulated signal and the value of the signal can be changed. More information on how to change the signals properties is described in the section Control Panel, Configuring Most Common I/O on page 351.
Action 1 On the ABB menu, tap I/O. A list of most common signals is displayed. See section Configuring Most Common I/O on page 351. Tap on a signal. Tap on Simulate to change the signal into a simulated signal. Tap on Remove Simulation to remove the simulation from the signal. For a digital signal, tap 0 or 1 to change the signals value. For analog signals and groups, tap on 123... to change the signals value. The soft numeric keyboard is displayed. Enter the new value and tap OK.
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8.1.3 Viewing signal group
8.1.3 Viewing signal group

Viewing signal group This section details how to view signal groups.
Action 1 On the ABB menu, tap I/O. A list of most common signals is displayed. See section Configuring Most Common I/O on page 351. In the View menu, tap Groups. Tap on the signal groups name in the list and then tap Properties. Or tap twice on the signal groups name. The signal groups properties is displayed.
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8.1.4 Configuring I/O
8.1.4 Configuring I/O

Creating/Editing bus This section describes how to create a bus:
Action 1 2 3 On the ABB menu, tap Control Panel and then tap Configuration. Select topic I/O, tap Bus and then tap Show All. For creating a new bus, tap Add. or For editing a bus, select the bus and then tap Edit. Enter the values for the following parameters: Name Type of Bus Connector ID Note For more information about the parameter for creating bus, see Technical reference manual - System parameters. 5 6 Tap OK to save the bus. The Restart dialog box appears. Tap Yes to the question Do you want to restart now for the changes to take effect.
Creating unit This section describes how to create an unit:

Action 1 2 3 On the ABB menu, tap Control Panel and then tap Configuration. Select topic I/O, tap Unit and then tap Show All.. For creating a new unit, tap Add. or For editing an unit, tap to select the unit and then tap Edit. Enter the values for the following parameters: Name Type of Unit Note For more information about the parameter for creating unit, see Technical reference manual - System parameters. 5 6 Tap OK to save the unit. The Restart dialog box appears. Tap Yes to the question Do you want to restart now for the changes to take effect.


8.1.4 Configuring I/O Continued Creating signal This section describes how to create I/O signal.
Action 1 2 3 On the ABB menu, tap Control Panel and then tap Configuration. Select topic I/O, tap Signal and then tap Show All. For creating new signal, tap Add to create the signal or For editing a signal, tap to select a signal and then tap Edit Enter the values for the following parameters: Name Type of Signal Category (optional, see NOTE: 1) Note 1 I/O categories is used to filter out selection of signals. You can create your own categories. Each signal can only belong to one category. Categories are used for filtering, see section Filtering data on page 127. For more information about the parameters for creating signal, see Technical reference manual - System parameters.
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Tap OK to save the signal. The Restart dialog box appears. Tap Yes to the question Do you want to restart now for the changes to take effect.

8.1.5 Deactivating and activating I/O units
8.1.5 Deactivating and activating I/O units

Overview Deactivating an I/O unit makes the controller ignore the unit. This can be useful during commissioning, for avoiding errors if the I/O unit is not connected to the controller yet. The signals configured on the unit will still be visible when it is deactivated, but the signal values will not be available. The controller will not attempt to send or receive any signals on a deactivated unit. Activating the unit again will take it back to normal operation. Deactivating and activating I/O units This section describes how to activate I/O units.
Action 1 2 3 4 On the ABB menu tap Inputs and outputs. The list of Most common I/O signals is displayed. Tap View to change the selection of signals in the list. Select I/O Units. Tap an I/O unit in the list. Tap Activate or Deactivate.
Note All signals on the I/O unit must have an access level that allows local clients (for instance the FlexPendant) to have write access. If not, then the unit cannot be activated or deactivated from local clients. The access level is set with system parameters for each signal, see the types Signal and Access Level in the topic I/O. Note The unit cannot be deactivated if the system parameter Unit Trustlevel is set to 0 (Required). Unit Trustlevel belongs to the type Unit in the topic I/O. Related information For information on how to configure an I/O unit (for instance to add and remove signals or to set the limits of the signal), see Configuring system parameters on page 321. Technical reference manual - System parameters.
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8.1.6 Alias I/O signals
8.1.6 Alias I/O signals

Introduction AliasIO is used to define a signal of any type with an alias name. After the AliasIO instruction is executed in the RAPID program, the Alias I/O signal can be viewed from the Alias I/O menu in the same way as the other signals from the View menu. Creating new signal data This section describes how to create new signal data instances:
Action 1 2 3 4 5 6 7 8 On the ABB menu, tap Program Data. Tap View and select All Data Types. A list of all available data types are displayed. Select signaldi and tap Show Data. Tap New. The New Data Declaration screen appears. Tap to the right of Name and define the name of data instance. For example, alias_di1. Tap the Scope menu and select Global. Tap OK. Repeat steps 1 to 7 to create signaldo data instance. For example, alias_do1.
Note Consider the following example, "VARsignaldoalias_do1;" "AliasIOdo_1, alias_do1;" VAR declaration must be done global in the module. After declaring signaldi and signaldo and executing the instruction AliasIO do_1, alias_do1 the alias_do1 signal is displayed in the AliasI/O menu in the same way the ordinary signals are displayed in the View menu. The alias_do1 signal is active as long as the RAPID program is active and is displayed after the AliasIO instruction is executed. Adding AliasIO This section describes how to add AliasIO instructions and to view them on Alias I/O menu:
Action 1 Load the system parameters file Eio.cfg. For more information on loading system parameters and adding parameters from a file, see Configuring system parameters on page 321. Declare the RAPID variables of data type signaldi and signaldo i.e alias_di1 and alias_do1 respectively as described in Creating new signal data on page 286. On the ABB menu, tap Program Editor.
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8.1.6 Alias I/O signals Continued
Action 4 5 Tap to highlight the instruction under which you want to add a new instruction. Tap Add Instruction. A category of instructions is displayed. A large number of instructions, divided into several categories are available. Tap I/O to display a list of the available categories. You can also tap Previous/Next at the bottom of the list of instructions to move to theprevious/next category. Select AliasIO. Select signaldi data type and click OK. Tap <EXP> and select the argument value (for example, di01_Box) for the From Signal argument from the configuration file.
7 8 9
10 Tap <EXP> for the To Signal argument. 11 Tap Edit and select Change data type. 12 Select signaldi from the list and click OK. 13 Select the argument value (for example, alias_di1) for the To Signal argument as created from step 1. 14 Tap Debug and select PP to Main from the Program Editor. 15 Press the Start button on the FlexPendant to run the program. 16 On the ABB menu, tap Inputs and Outputs. 17 Tap View and select Alias I/O menu. The new data declaration created from the RAPID program should be available. If not, click Refresh. 18 Repeat steps 7 to 16 to add signaldo data type and view from Alias I/O menu.
Note Currently only digital signals signaldi and signaldo are supported.
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8.2.1 Safety I/O signals
8.2 Safety signals 8.2.1 Safety I/O signals

General In the controller's basic and standard form, certain I/O signals are dedicated to specific safety functions. These are listed below with a brief description of each. All signals can be viewed in the I/O menu on the FlexPendant. Safety I/O signals The list below contains the safety I/O signals as used by the standard system.
Signal name ES1 ES2 SOFTESI EN1 EN2 AUTO1 AUTO2 MAN1 MANFS1 MAN2 MANFS2 USERDOOVLD MONPB AS1 AS2 SOFTASI GS1 Description Bit value condition From - To From panel board to main computer From panel board to main computer
Emergency stop, chain 1 = Chain closed 1 Emergency stop, chain 1 = Chain closed 2 Soft Emergency stop Enabling device1&2, chain 1 Enabling device1&2, chain 2 Op mode selector, chain 1 Op mode selector, chain 2 Op mode selector, chain 1 Op mode selector, chain 1 Op mode selector, chain 2 Op mode selector, chain 2 Over load, user DO
1 = Soft stop enabled From panel board to main computer 1 = Enabled 1 = Enabled 1 = Auto selected 1 = Auto selected 1 = MAN selected 1 = Man. full speed selected 1 = MAN selected 1 = Man. full speed selected 1 = Error, 0 = OK From panel board to main computer From panel board to main computer From panel board to main computer From panel board to main computer From panel board to main computer From panel board to main computer From panel board to main computer From panel board to main computer From panel board to main computer From panel board to main computer From panel board to main computer From panel board to main computer
Motors-on pushbutton 1 = Pushbutton pressed Auto stop, chain 1 Auto stop, chain 2 Soft Auto stop General stop, chain 1 1 = Chain closed 1 = Chain closed
1 = Soft stop enabled From panel board to main computer 1 = Chain closed From panel board to main computer


8.2.1 Safety I/O signals Continued
Signal name GS2 SOFTGSI SS1 SS2 SOFTSSI CH1 CH2 ENABLE1 ENABLE2_1 ENABLE2_2 ENABLE2_3 ENABLE2_4 PANEL24OVLD DRVOVLD DRV1LIM1 DRV1LIM2 DRV1K1 DRV1K2 DRV1EXTCONT DRV1TEST1 DRV1TEST2 SOFTESO SOFTASO SOFTGSO Description General stop, chain 2 Soft General stop Superior stop, chain1 Superior stop, chain2 Soft Superior stop All switches in run chain 1 closed All switches in run chain 2 closed Bit value condition 1 = Chain closed From - To From panel board to main computer
1 = Soft stop enabled From panel board to main computer 1 = Chain closed 1 = Chain closed From panel board to main computer From panel board to main computer
1 = Soft stop enabled From panel board to main computer 1 = Chain closed 1 = Chain closed From panel board to main computer From panel board to main computer
Enable from MC (read 1 = Enable, 0 = break From panel board to back) chain 1 main computer Enable from AXC1 Enable from AXC2 Enable from AXC3 Enable from AXC4 Overload, panel 24V Overload, drive modules Read back of chain 1 after limit switches Read back of chain 2 after limit switches 1 = Enable, 0 = break From panel board to chain 2 main computer 1 = Enable, 0 = break From panel board to chain 2 main computer 1 = Enable, 0 = break From panel board to chain 2 main computer 1 = Enable, 0 = break From panel board to chain 2 main computer 1 = Error, 0 = OK 1 = Error, 0 = OK 1 = Chain 1 closed 1 = Chain 2 closed From panel board to main computer From panel board to main computer From axis computer to main computer From axis computer to main computer From axis computer to main computer From axis computer to main computer
Read back of contactor 1 = K1 closed K1, chain 1 Read back of contactor 1 = K2 closed K2, chain 2 External contactors closed
1 = Contactors closed From axis computer to main computer From axis computer to main computer From axis computer to main computer From main computer to panel board
A dip in run chain 1 has Toggled been detected A dip in run chain 2 has Toggled been detected Soft Emergency stop Soft Auto stop Soft General stop 1 = Set soft E-stop
1 = Set soft Auto stop From main computer to panel board 1 = Set soft General stop From main computer to panel board


8.2.1 Safety I/O signals Continued
Signal name SOFTSSO MOTLMP TESTEN1 DRV1CHAIN1 DRV1CHAIN2 DRV1BRAKE Description Soft Superior stop Motors-on lamp Test of Enable1 Signal to interlocking circuit Signal to interlocking circuit Bit value condition 1 = Set soft Sup. Estop 1 = Lamp on 1 = Start test 1 = Close chain 1 1 = Close chain 2 From - To From main computer to panel board From main computer to panel board From main computer to panel board From main computer to axis computer 1 From main computer to axis computer 1 From main computer to axis computer 1
Signal to brake-release 1 = Release brake coil
9 Handling the event log

9.1.1 Accessing the event log

9.1 Basic procedures 9.1.1 Accessing the event log
Event log Open the event log to: view all present entries. study specific entries in detail. handle the log entries, such as saving or deleting.
The log can be printed by using RobotStudio. Open and close the event log This section details how to open the event log.
Action 1 2 3 4 5 Tap the status bar. The status window is displayed. Tap Event Log. The event log is displayed. If the log contents do not fit into a single screen, it can be scrolled. Tap a log entry to view the event message. Tap the status bar again to close the log.
Related information Operating manual - RobotStudio.
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9.1.2 Deleting log entries
9.1.2 Deleting log entries

Why should I delete log entries? Logs can be deleted to increase available disk space. Deleting log entries is often a good way to trace faults since you remove old and insignificant log entries not related to the problem you are trying to solve. Delete all log entries
Action 1 2 3 4 Tap the status bar, then the Event Log tab to open the event log. On the View menu, tap Common. Tap Delete and then Delete all logs. A confirmation dialog is displayed. Tap Yes to delete, or No to keep the log intact.
Delete log entries of a specific category

Action 1 2 3 4 Tap the status bar, then the Event Log tab to open the event log. On the View menu, tap the category of choice. Tap Delete and then Delete log. A confirmation dialog is displayed. Tap Yes to delete, or No to keep the log intact.

9.1.3 Saving log entries
9.1.3 Saving log entries

Why should I save log entries? You should save log entries when: you need to clear the log but want to keep the current entries to be viewed later. you want to send log entries to support to solve a problem. you want to keep log entries for future reference. Note The log can keep up to 20 entries per category and up to 1000 entries in the all events list. When the buffer is full the oldest entries will be overwritten and lost. There is no way to retrieve these lost log entries. Save all log entries This section details how to save all log entries.
Action 1 2 3 4 5 Tap the status bar to open the event log. Tap Save all logs as. The file dialog is displayed. If you want to save the log in a different folder, locate and open the folder. In the File name box, type a name for the file. Tap Save.
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10 Systems
10.1 What is a system?
10 Systems
10.1 What is a system?
The system A system is the software that runs on a controller. It consists of the specific RobotWare parts for the robots connected to the controller, configuration files, and RAPID programs. The RobotWare license key What parts of RobotWare (supported robot models, options, etc.) that is included in the system is determined by the RobotWare license key. When running a system on a real controller it has to be built with the license key that was delivered with the robot. For running a system on a virtual controller (e.g. for simulations in RobotStudio) either a license key from a real robot or a virtual license key can be used. Using a license key from a real robot is a quick way to ensure that the system matches that robot. Using a virtual key provides possibility to simulate and evaluate any robot model with any configuration. A system built with a virtual key can however never be run on a real controller. Empty system A new system that only contains the RobotWare parts and the default configurations is called an empty system. When robot or process specific configurations are made, I/O signals are defined or RAPID programs are created, the system is no longer considered empty. Loaded system and stored systems The loaded system is the system that will run on the controller when it is started. A controller can only have one system loaded, but additional systems can be stored on the controllers disk or any disk on the PC network. It is when a system is loaded, either in a real controller or a virtual one, you normally edit its content, like RAPID programs and configurations. For stored systems, you can make some changes with the System Builder in RobotStudio, like adding and removing options and replacing whole configuration files.
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10.2.1 What is the memory?
10.2 Memory and file handling 10.2.1 What is the memory?

Overview When using the term memory, a number of things may be implied: The main computer RAM memory The controller mass memory unit (hard disk, flash disk, or other drive) The hard disk of some other unit connected to the same LAN as the robot system, serving as a storage for software.
Main computer RAM memory The RAM memory is the main computer primary memory located on the computer motherboard. The memory is used by the processor during all program execution. The contents of the RAM memory during operation is described in section The structure of the main computer RAM memory contents on page 297. Controller mass memory unit This is the main mass storage unit of the controller, i.e. the controller mass memory. Depending on controller version, it may be a flash disk, hard drive, or other type and it may vary in size. It contains all necessary software for operating the robot, and is the unit on which RobotWare is installed. When starting up, data is loaded into the RAM memory from the mass memory. When powering down, the image.bin is saved here. The contents of the image.bin is described in section The structure of the main computer RAM memory contents on page 297. LAN unit This may be used as extra mass storage device if the one in the controller is not sufficient. It is not normally considered a part of the robot system.
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10.2.2 The structure of the main computer RAM memory contents
10.2.2 The structure of the main computer RAM memory contents

General This section describes what the main computer RAM memory contains during normal operation. The term RAM memory means the main computer primary memory, i.e. the memory modules with which the main computer processor works during normal operation. The generic term memory is described in section What is the memory? on page 296. Illustration of the RAM memory Each part of the illustration is described in the table below.
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Parts
Part Function
RAM memory The main computer memory modules, located on the computer motherboard. The processor reads and writes to this memory during program execution. The size of the RAM memory may vary, but increasing the size will not improve computer performance unless a number of hard- and software changes are made to the robot system.

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10.2.2 The structure of the main computer RAM memory contents Continued
Part image.bin Function When the system is powered OFF, intentionally or due to power failure, the image.bin file is saved to the controller mass memory. It is an internal file, created by the system during operation, usually invisible to the user. When performing a warm start of the system, the complete image.bin file is reloaded into the RAM memory. Other types of restarts may start with another system, etc., which is described in the Operating manual - IRC5 with FlexPendant. This file contains, among other things: robot identity data calibration data SIS data duty timer data The file is stored on the SMB board on robot delivery. Data may then be transferred to the controller as detailed in the Operating manual - IRC5 with FlexPendant. NOTE that the ctrl.bin file is not stored in the system specific folder on the mass memory unit. This means that all data in the file will be retained even if the system software is updated or in any other way replaced. The SMB board (serial measurement board) is normally fitted on the mechanical unit, and contains among other things, data from the ctrl.bin file. How to handle the data on the SMB board, moving data between SMB and controller, etc. is detailed in the Operating manual - IRC5 with FlexPendant.
ctrl.bin
SMB board
Controller The main mass storage unit of the controller, located in the Computer Unit. mass memory Depending on controller version, it may be a flash disk, hard drive, or other unit type and it may vary in size. It contains all necessary software for operating the robot, and is the unit on which RobotWare is installed. When starting up, data is loaded into the RAM memory from the mass memory. When powering down, the image.bin file is automatically saved here. RAPID code This section contains all executable RAPID code, whether written by ABB or the customer.
Configuration This data is basically the contents of the configuration files: data proc.cfg moc.cfg sio.cfg mmc.cfg sys.cfg Each file contains the settings made when creating and defining the system, options etc. The configuration files may not be changed after creation, but their contents may be checked as detailed in the Operating manual - Trouble shooting IRC5. When changing the contents of the configuration files, ABB strongly recommends using RobotStudio to reduce the risk of introducing errors. See Operating manual - RobotStudio. Texts Event logs Some of the texts used by the system during operation, in all languages selected when creating the system. All events logged in all event logs. This means that the logs will be saved even if a power failure occurs, which in turn, simplifies finding the fault causing the power failure.

10 Systems
10.2.2 The structure of the main computer RAM memory contents Continued
Part Function
Internal states This is data recording the state and position of all robot axes, all I/O, the state of each manipulator connected to a MultiMove system, etc. This data is constantly updated during operation. This enables the system to instantly return to its previous state if the system for any reason stops, there is a power failure or the robot collides with an obstacle etc. Calibration data SIS This is calibration data for one robot, i.e. all data describing the calibration position for all six axes of one robot. This is service data related to the SIS system (Service Information System). This means that SIS data will be kept by the robot even if its controller is replaced. This is the Duty timer data. This means that duty timer count will be kept by the robot even if its controller is replaced. This is the directory in which the RobotWare is stored after installation. The image file is stored in the directory Internal. NOTE that the ctrl.bin file is not stored here, which means that the contents of the image.bin file will be retained even if updating the system software during operation.
Duty timer
My system
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10.2.3 File handling
10.2.3 File handling

File handling and storing Backups, programs, and configurations etc. are saved as files in the robot system. These files are handled either in a specific FlexPendant application, such as the Program Editor, or using the FlexPendant Explorer. Files can be stored on a number of different drives, or memory devices, such as: Controller mass memory unit Portable PC USB device Other network drives
These drives are used the same way and available in the FlexPendant Explorer or when saving or opening files using an application on the FlexPendant. USB memory information IRC5 is equipped with a USB port on the controller, see Buttons and ports on the controller on page 63. Some IRC5 systems also hava a USB port on the FlexPendant, see What is a FlexPendant? on page 52. A USB memory is normally detected by the system and ready to use within a few seconds from plugging in the hardware. A plugged in USB memory is automatically detected during system start. It is possible to plug in and unplug a USB memory while the system is running. However, observing the following precautions will avoid problems: Do not unplug a USB memory immediately after plugging in. Wait at least five seconds, or until the memory has been detected by the system. Do not unplug a USB memory during file operations, such as saving or copying files. Many USB memories indicates ongoing operations with a flashing LED. Do not unplug a USB memory while the system is shutting down. Wait until shutdown is completed. There is no guarantee that all USB memories are supported. Some USB memories have a write protection switch. The system is not able to detect if a file operation failed due to the write protection switch.
Please also note the following limitations with USB memories:
Related information Operating manual - Trouble shooting IRC5. What is the memory? on page 296.
10 Systems
10.3.1 Restart overview
10.3 Restart procedures 10.3.1 Restart overview

When do I need to restart a running controller? ABB robot systems are designed to operate unattended for long times. There is no need to periodically restart functioning systems. Restart the robot system when: Restart types A number of restart types are available:
Situation: Restart type: Detailed in section: Restart and use the current system (warm start) on page 305. Restart and select another system (X-start) on page 306.
new hardware has been installed. the robot system configuration files have been changed. a new system has been added and is to be used. a system failure (SYSFAIL) has occurred.
You want to restart and use the current system. W-start (Warm All programs and configurations will be saved. restart) You want to restart and select another system. X-start (Xtra reThe Boot Application will be launched at start. start) NOTE: For system using RobotWare 5.14 or above, the required system can be directly selected, see Managing Installed Systems on page 312.
You want to switch to another installed system C-start (Cold re- Restart and delete the or install a new system and, at the same time, start) current system (C-start) remove the current system from the controller. on page 307. Warning! This can not be undone. The system and the RobotWare system package will be deleted. You want to delete all user loaded RAPID pro- P-start grams. Warning! This can not be undone. You want to return to the default system set- I-start (Installatings. tion restart) Warning!This will remove all user defined programs and configurations from memory and restart with default factory settings. The system has been restarted and you want B-start to restart the current system using the image file (system data) from the most recent successful shut down. You want to shut down and save the current system and shut down the main computer. Shutdown Restart and delete programs and modules (Pstart) on page 308. Restart and return to default settings (I-start) on page 309.
Restart from previously stored system (B-start) on page 310. Shutting down on page 83.
Related information Operating manual - Trouble shooting IRC5.
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10.3.2 Using the Boot Application
10.3.2 Using the Boot Application

Boot Application The Boot Application is primarily used to start the system when no RobotWare is installed, but can also be used for other purposes, such as changing the system to start. You can also use RobotStudio, see Operating manual - RobotStudio. Purpose of the Boot Application The Boot Application is installed at delivery and can be used to: Install systems. Set or check network settings. Select a system/switch between systems from the mass storage memory. Load the system from USB memory units or network connections.
The illustration shows the Boot Application main screen. The buttons and functions available are described below.
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Installing a system This procedure can take several minutes.

Action 1 2 3 Info
Perform an X-start to start the Boot Applic- X-start is detailed in section Restart and ation. select another system (X-start) on page 306. Tap Install System. Connect a USB memory containing a system to the USB port and tap Continue. If you do not have a USB memory containing a system then create a new system using the System Builder in RobotStudio. How to load a system to the USB memory is detailed in Operating manual - RobotStudio. The USB ports are shown in sections Buttons and ports on the controller on page 63, and What is a FlexPendant? on page 52.

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10.3.2 Using the Boot Application Continued
Action 4 Tap ... to the right of the Path text box to locate the system folder on the USB memory. Select a system folder and then tap OK. Tap Continue to start the installation. The system is read from the USB memory, and a dialog box is displayed, urging you to restart. Tap OK. Tap Restart Controller and then tap OK. The controller is now restarted with the system. The restart can take several minutes. The USB memory can be disconnected at this point. Info
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Boot Application settings The Boot Application settings contain IP and network settings.
Action 1 2 Info
Perform an X-start to start the Boot Applic- X-start is detailed in section Restart and ation. select another system (X-start) on page 306. Tap Settings.
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Enter your settings: Use no IP address Obtain IP address automatically Use the following settings Use the numerical keyboard to enter the desired values. Tap Service PC information to display network settings to be used when connection a service PC to the controller service port. Tap Misc. to display FlexPendant hardware and software versions.
These settings are detailed in section Set up the network connection on page 69.
Selecting system
Action 1 Info
Perform an X-start to start the Boot Applic- X-start is detailed in section Restart and ation. select another system (X-start) on page 306.

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10.3.2 Using the Boot Application Continued
Action 2 Tpp Select System. A dialog box is displayed showing the available installed systems. Tap a system and then tap Select. The selected system is displayed in the box Selected System. Tap Close. A dialog box is shown urging you to restart to be able to use the selected system. Info
Restarting controller
Action 1 2 Info
Perform an X-start to start the Boot Applic- X-start is detailed in section Restart and ation. select another system (X-start) on page 306. Tap Restart System. A dialog box is displayed specifying the selected system. Tap OK to restart using the selected system.
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10.3.3 Restart and use the current system (warm start)
10.3.3 Restart and use the current system (warm start)

What happens with my current system? The current system will be stopped. All system parameters and programs will be saved to an image file. During the restart process the systems state will be resumed. Static and semistatic tasks will be started. Programs can be started from the point they where stopped. Restarting this way will activate any configuration changes entered using RobotStudio. Restart and use the current system This section describes how to restart and use the current system.
Action 1 2 On the ABB menu, tap Restart. The restart dialog is displayed. Tap Warm Start to restart the controller using the current system. To select another type of start, tap Advanced. Detailed information about advanced starts is given in Restart overview on page 301. Info
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10.3.4 Restart and select another system (X-start)
10.3.4 Restart and select another system (X-start)

What happens with my current system? The current system will be stopped. All system parameters and programs will be saved to an image file, so that the system state can be resumed later. Restart and select another system This section describes how to restart and select another system.
Action 1 2 3 Make sure the power to the controller cabinet is switched on. On the ABB menu, tap Restart. The restart dialog is displayed. Tap Advanced... to select restart method. The select restart method dialog is displayed. Tap X-start, then tap OK. A confirmation dialog is displayed. Tap X-Start to restart the controller. The controller is restarted. After the start procedure the Boot Application is started. Use the Boot Application to select system. How to use the Boot Application is detailed in Using the Boot Application on page 302. Tap Close, then OK to return to the Boot Application. Tap Restart to restart the controller using the selected system. Info
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10.3.5 Restart and delete the current system (C-start)
10.3.5 Restart and delete the current system (C-start)

What happens with my current system? Your current system will be stopped. All contents, backups and programs, in the system directory will be deleted. This means it will be impossible to resume this systems state in any way. A new system must be installed using RobotStudio. Restart and delete the current system This section describes how to restart and delete the current system.
Action 1 2 On the ABB menu, tap Restart. The restart dialog is displayed. Tap Advanced... to select restart method. The select restart method dialog is displayed. Tap C-start, then tap OK. A dialog letting you confirm that you want to restart is displayed. Tap C-start to restart the controller. A dialog letting you confirm that you want to restart is displayed. Perform any of the following procedures: How to restart and select another system Select an already installed system is described in section Restart and select and restart. another system (X-start) on page 306. Install another system from RobotStudio or from a USB memory. Info
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10.3.6 Restart and delete programs and modules (P-start)
10.3.6 Restart and delete programs and modules (P-start)

What happens with my current system? After restart the systems state will be resumed except for manually loaded programs and modules. Static and semistatic tasks are started from the beginning, not from the state they had when the system was stopped. Modules will be installed and loaded in accordance with the set configuration. System parameters will not be affected. Restart and delete programs and modules This section describes how to restart and delete user loaded programs and modules.
Action 1 2 3 4 On the ABB menu, tap Restart. The restart dialog is displayed. Tap Advanced... to select restart method. The select restart method dialog is displayed. Tap P-start, then tap OK. A dialog letting you confirm that you really want to restart is displayed. Tap P-start to restart the controller. The controller is restarted using the current system. After the start procedure no programs or modules are open.
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10.3.7 Restart and return to default settings (I-start)
10.3.7 Restart and return to default settings (I-start)

What happens to my current system? After restart, the system's state will be resumed but any changes done to system parameters and other settings will be lost. Instead, system parameters and other settings are read from the originally installed system on delivery. For example, this returns the system to the original factory system state. Restart and return to default settings This section describes how to restart and return to default settings.
Action 1 2 3 4 On the ABB menu, tap Restart. The restart dialog is displayed. Tap Advanced... to select restart method. The select restart method dialog is displayed. Tap I-start, then tap OK. A dialog letting you confirm that you really want to restart is displayed. Tap I-start to restart the controller. The controller is restarted using the current system. Changes to system parameters and other settings are lost.
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10.3.8 Restart from previously stored system (B-start)
10.3.8 Restart from previously stored system (B-start)

What happens with my current system? After restart the system uses the backup of the image file from the last successful shut down. This means that all changes made to the system after that successful shut down are lost. When to use B-start B-start should be used if the controller was shut down without successfully saving the image file and you want to restart the same system again. However, all changes made to the system since the last successful shut down are lost, for instance new programs, modifyed positions, or changes to system parameters. If the system starts up with a corrupt or missing image file then the system is in system failure mode and an error message is displayed in the event log. The system must be restarted. To the current system from the last successful shut down, then use B-start. An alternative is to use I-start (resume the originally installed system at delivery). Using B-start when the controller is not in system failure mode due to a corrupt image file will be the same as a normal warmstart. Restart from previously stored system data This section describes how to restart from previously stored image file. CAUTION When restarting using B-start all changes made to the system since the last successful shut down are lost and cannot be resumed.
Action 1 2 3 4 On the ABB menu, tap Restart. The restart dialog is displayed. Tap Advanced... to select restart method. The select restart method dialog is displayed. Tap B-start, then tap OK. Tap B-start to restart the controller. The controller is restarted using the image file from the most recent successful shut down.
Note After loading a backup the program pointer will most likely not agree with the actual position of the robot. Related information Restart and return to default settings (I-start) on page 309.
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10.3.9 Reflashing firmware and FlexPendant
10.3.9 Reflashing firmware and FlexPendant

Overview of reflashing After replacing hardware units, such as axis computer, buses, etc., or installing newer versions of RobotWare, the system will automatically attempt reflashing the unit in order to maintain hardware/software compatibility. Reflashing is loading appropriate firmware (hardware specific software) onto a specific unit running this software during operation. If RobotWare is upgraded on the controller, then the FlexPendant will reflash, i.e. update to the new version, when connected. The units currently using the reflash function are: Reflashing process The automatic reflashing process, described below, must not be disturbed by switching off the controller while running:
Event 1 Info
Contactor interface board Drive units FlexPendant Profibus master Axis computer Panel board
When the system is restarted, the system The result can be: checks the hardware and firmwares used. Hardware OK. Hardware needs to be reflashed with new version of firmware. Hardware cannot be used. If reflashing of the firmware is required, the system restarts itself automatically while going to a specific Update Mode. All hardware that requires firmware update is reflashed in the same restart. Was the reflashing successful? If NO, an event log error message is logged. During the Update Mode, an attempt is made to download appropriate firmware to the hardware while a message is very briefly displayed on the FlexPendant. A message is very briefly displayed on the FlexPendant and stored in the event log. The actual reflashing can take a few seconds or up to a few minutes, depending on the hardware to be reflashed.
After performing a successful reflash of all required hardware, the system performs a normal restart. Another check is made for any additional hardware/firmware mismatches. Was any additional mismatches found? If the reflashing fails twice, an error is If YES, the process is repeated once again. logged. If NO, the process is complete.
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10.4.1 Managing Installed Systems
10.4 Installed Systems 10.4.1 Managing Installed Systems

Overview The Installed Systems is useful to switch between different systems installed. This feature in the FlexPendant allows the user to switch directly to different systems without doing a X-Start. Switching systems This section describes switching directly to different systems.
Action 1. 2. 3. On the ABB menu, tap Control Panel Tap Installed systems in Control Panel View the list of installed systems. Click on the system that need to be activated and then tap Activate. To delete a system from the list, click on the system and tap Delete.
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10.4.1 Managing Installed Systems Continued
Action 4. While a system is activated, the Activate and Delete controls are greyed out.
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Note It is not possible to activate or delete an already active system.
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10.5.1 What is saved on backup?
10.5 Back up and restore systems 10.5.1 What is saved on backup?

Introduction to backups When creating a backup, or restoring a previously made backup, not all data is included. What is saved? The backup function saves all system parameters, system modules, and program modules in a context. The data is saved in a directory specified by the user. A default path can be set, see Setting default paths on page 339. The directory is divided into four subdirectories, Backinfo, Home, Rapid, and Syspar. The file System.xml is also saved in the ../backup (root directory), it contains user settings. Backinfo Backinfo consists of the files backinfo.txt, key.id, program.id and system.guid, template.guid, and keystr.txt. backinfo.txt is used when the system is restored. This file must never be edited by the user! The files key.id and program.id can be used to recreate a system, using RobotStudio, with the same options as the backed up system. system.guid is used to identify the unique system the backup was taken from. system.guid and/or template.guid is used in the restore to check that the backup is loaded to the correct system. If the system.guid and/or template.guid do not match, the user will be informed.
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Home Home is a copy of the files in the HOME directory.

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10.5.1 What is saved on backup? Continued Rapid Rapid consists of a subdirectory for each configured task. Each task has one directory for program modules and one for system modules. The module directory will keep all installed modules. More information on loading modules and programs is described in Technical reference manual - System parameters. SysPar Syspar contains the configuration files (that is, system parameters). What is not saved? A few things are not saved on backup, but can be useful to save separately: The environment variable RELEASE: points out the current system pack. System modules loaded with RELEASE: as its path, are not stored in the backup. The current value of a PERS object in a installed module is not stored in a backup.
Related information Technical reference manual - System parameters. Operating manual - RobotStudio.
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10.5.2 Back up the system
10.5.2 Back up the system

When do I need this? We recommend performing a backup: Before installing new RobotWare. Before making any major changes to instructions and/or parameters to make it possible to return to the previous setting. After making any major changes to instructions and/or parameters and testing the new settings to retain the new successful setting.
Back up the system This section describes how to back up the system.
Action 1 2 Tap the ABB menu and then tap Backup and Restore. Tap Backup Current System. A display showing the selected path is shown. If a default path has been defined as detailed in section Setting default paths on page 339, this is shown. Is the displayed backup path the correct one? If YES: Tap Backup to perform the backup to the selected directory. A backup file named according to the current date is created. If NO: Tap ... to the right of the backup path and select directory. Then tap Backup. A backup folder named according to the current date is created.
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10.5.3 Restore the system
10.5.3 Restore the system

When do I need this? We recommend performing a restore: If you suspect that the program file is corrupt. If any changes made to the instructions and/or parameters settings did not prove successful, and you want to return to the previous settings.
During the restore, all system parameters are replaced and all modules from the backup directory are loaded. The Home directory is copied back to the new systems HOME directory during the warm start. Restore the system This section describes how to restore the system.
Action 1 2 On the ABB menu, tap Backup and Restore. Tap Restore System. A display showing the selected path is shown. If a default path has been defined as detailed in section Setting default paths on page 339, this is shown.
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10.5.3 Restore the system Continued
Action 3 Is the displayed backup folder the correct one? If YES: Tap Restore to perform the restore. If NO: Tap ... to the right of the backup folder, select directory and then tap Restore. The following screen is displayed.
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Click Yes. The restore is performed, and the system is warm started automatically. Note If there is a mismatch between the backup and the current system, the following warning dialog is displayed.
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10.5.4 Important when performing backups!
10.5.4 Important when performing backups!

General When creating backups or restoring previously made backups, there are several things to keep in mind. Some of these are listed below. BACKUP directory A local default backup directory, BACKUP, is automatically created by the system. We recommend using this directory for saving backups! Such backups are not copied to the directory HOME in following backups. Never change the name of the BACKUP directory. Also, never change the name of the actual backup to BACKUP, since this would cause interference with this directory. A default path can be created to any location on the network where the backup should be stored, see Setting default paths on page 339. When is backup possible? A backup of a system can be performed during program execution, with a few limitations: Start program, load program, load module, close program and erase module can not be done during backup in executing state. The RAPID instructions Load and StartLoad can, however, be used.
What happens during backup? Beside the obvious, a backup being made, a some other things happen during backup. For example, background tasks continue to execute. Duplicated modules? No save operation is performed in the backup command. This implies that two revisions of the same modules can exist in the backup, one from the program memory saved in Rapid\Task\Progmod\ directory and one from the HOME directory copied to the backups home directory. Large data amount Too many files in the HOME directory can result in a very large backup directory. The unnecessary files in the home directory can then be deleted without any problems. Faults during backup If a fault occurs during the backup, for example full disk or power failure, the whole backup structure is deleted.
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10.6.1 Creating a diagnostic file
10.6 Diagnostic files 10.6.1 Creating a diagnostic file

When do I need this? The diagnostic file can be useful when contacting ABB technical support personnel for trouble shooting. The diagnostic file contains the setup and a number of test results from your system. For more information, see Operating manual - Trouble shooting IRC5, section Instructions, how to correct faults - Filling an error report. Create a diagnostic file This section describes how to create a diagnostic file.
Action 1. 2. On the ABB menu, tap Control Panel. Tap Diagnostic. A selection screen is displayed.
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Tap ... next to the File name to change the name of the diagnostic file. Tap ... next to the Folder to change the destination for the file name. Tap OK to make a diagnostic file from the current system or tap Cancel to go back to the Control Panel
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10.7.1 Configuring system parameters
10.7 System configuration 10.7.1 Configuring system parameters

About system parameters System parameters define the system configuration and are defined to order on delivery. System parameters are edited using the FlexPendant or RobotStudio. Viewing system parameters This procedure describes how to view system parameter configurations.
Action 1 2 On the ABB menu, tap Control Panel. Tap Configuration. A list of available types in the selected topic is displayed.
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Tap Topics to select the topic. Controller Communication I/O Man-machine Communication Motion Tap File to save, load, or add new parameters from a file. Select folder and save or load. Proceed to section Saving system parameter configurations on page 323. Tap to select a type and then tap Show All. To edit parameters proceed to section Editing an instance on page 322. To add instances proceed to section Adding a new instance on page 322.
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10.7.1 Configuring system parameters Continued Editing an instance This section describes how to edit an instance of a system parameter type.
Action 1 In the list of system parameter instances, tap to select an instance and then tap Edit. The selected instance is displayed.
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Tap a parameter name or its value to edit the value. The way to edit values depend on the data type for the value, e.g. the soft keyboard is displayed for string or numerical values and dropdown menus are displayed for predefined values. Tap OK.
Adding a new instance This section describes how to add a new instance of a system parameter type.
Action 1 2 3 In the list of system parameter instances, tap Add. A new instance with default values is displayed. Tap the parameter name or its value to edit the value. Tap OK.

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10.7.1 Configuring system parameters Continued Saving system parameter configurations This section describes how to save system parameter configurations. It is recommended to save the parameter configurations before making larger changes to the robot system. The parameters are saved automatically when performing backups.
Action 1 In the list of types, tap the File menu and tap: Save As to save the selected topics parameter configurations. Save All As to save all topics parameter configurations. Select directory where you want to save the parameters. Tap OK.
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Loading system parameters This section describes how to load system parameter configuration and how to add parameters from a file.
Action 1 2 In the list of types, tap the File menu and tap Load Parameters. Select one of these actions, then tap Load: Delete existing parameters before loading Load parameters if no duplicates Load parameters and replace duplicates. Note Configuration files and backups cannot be loaded in systems running an older RobotWare version than in which they were created. 3 Select the directory and file where you want to load the parameters, then tap OK.
Related information Technical reference manual - System parameters.
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11.1.1 How to check if the robot needs calibration
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11.1 Basic procedures 11.1.1 How to check if the robot needs calibration
Check robot calibration status This section describes how to check the robots calibration status.
Action 1 2 On the ABB menu, tap Calibration. In the list of mechanical units, check the calibration status.
What kind of calibration is needed?

If the calibration status is... Not calibrated then... the robot must be calibrated by a qualified service technician. See section Loading calibration data using the FlexPendant on page 328. You must update the revolution counters. How to update the revolution counters is described in section Updating revolution counters on page 326. No calibration is needed.
Rev. counter update needed
Calibrated
DANGER Do not attempt to perform the fine calibration procedure without the proper training and tools. Doing so may result in incorrect positioning that may cause injuries and property damage.
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11.1.2 Updating revolution counters
11.1.2 Updating revolution counters

Overview This section details how to perform a rough calibration of each robot axis, that is updating the revolution counter value for each axis, using the FlexPendant. Detailed information about revolution counters and how to update them, with calibration positions and scales, can be found in the respective robot product manual. Also, see the manual Operating manual - Calibration Pendulum for information on calibration. For robots using the Absolute Accuracy option, the calibration data file absacc.cfg must be loaded first. Storing the revolution counter setting This procedure details the second step when updating the revolution counter; storing the revolution counter setting.
Action 1 On the ABB menu, tap Calibration. All mechanical units connected to the system are shown along with their calibration status. Tap the mechanical unit in question. A screen is displayed: tap Rev. Counters.
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Tap Update Revolution Counters. A dialog box is displayed, warning that updating the revolution counters may change programmed robot positions: Tap Yes to update the revolution counters. Tap No to cancel updating the revolution counters. Tapping Yes displays the axis selection window.

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11.1.2 Updating revolution counters Continued
Action 4 Select the axis to have its revolution counter updated by: Ticking in the box to the left Tapping Select all to update all axes. Then tap Update. A dialog box is displayed, warning that the updating operation cannot be undone: Tap Update to proceed with updating the revolution counters. Tap Cancel to cancel updating the revolution counters. Tapping Update updates the selected revolution counters and removes the tick from the list of axes. CAUTION If a revolution counter is incorrectly updated, it will cause incorrect manipulator positioning, which in turn may cause damage or injury! Check the calibration position very carefully after each update. See section Checking the calibration position in either of the calibration manuals, depending on which calibration method to be used. The Product manual for the robot also contains more information about calibration.
Related information Operating manual - Calibration Pendulum
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11.1.3 Loading calibration data using the FlexPendant
11.1.3 Loading calibration data using the FlexPendant

Overview This section describes how to load calibration data for using the FlexPendant. 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. Load calibration data This table describes how to load the calibration data.
Action 1 2 3 On the FlexPendant, tap the ABB menu, then tap Calibration and select a mechanical unit. 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. 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. After loading calibration data, proceed with updating the revolution counters.
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11.1.4 Editing motor calibration offset
11.1.4 Editing motor calibration offset

Editing motor calibration offset This procedure should be used when no specific file with motor calibration data is available, but only the numerical values. These values are normally found on a sticker on the rear of the robot. Entering motor calibration values can be done in three ways: From a disk, using the FlexPendant (as detailed in section Loading calibration data using the FlexPendant on page 328). From a disk, using RobotStudio (as detailed in Operating manual - RobotStudio). Manually entering the values, using the FlexPendant (as detailed in section Editing motor calibration offset on page 329).
Action 1 2 3 On the ABB menu, tap Calibration. Tap to select mechanical unit and then tap Calibration Parameters. Tap Edit motor calibration offset.... A dialog box is displayed, warning that updating the revolution counters can change programmed robot positions: Tap Yes to proceed. Tap No to cancel. Tapping Yes results in displaying a file selection view. Tap the axis to have its motor calibration offset edited. The offset value box is opened for that particular axis. Use the numerical keyboard to enter the value and then tap OK. After entering new offset values, a dialog box is displayed, urging you to restart the system to make use of the new values. Do a warm restart if required. After restarting, the contents of the calibration data in the Detailed in section Serial controller cabinet and on the serial measurement board measurement board will differ. memory on page 332 Update the calibration data. Update the revolution counters. Detailed in section Updating revolution counters on page 326 Info
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11.1.5 Fine calibration procedure on FlexPendant
11.1.5 Fine calibration procedure on FlexPendant

Overview This section describes how to use the FlexPendant when performing a fine calibration of the robot. The method of fitting the calibration equipment to each axis is described in the calibration instruction for the axis. See the product manual for the robot. Fine calibration procedure Use this procedure to fine calibrate using the FlexPendant.
Action 1 WARNING Do not fine calibrate the robot without special equipment used for axis calibration! It would cause an unsatisfied accuracy in the robot movement. 2 On the ABB menu, tap Calibration. All mechanical units connected to the system are shown along with their calibration status. Tap to select the mechanical unit and then tap Calib. Parameters.
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Tap Fine Calibration.... A dialog box is displayed, urging you to use external equipment to performing the actual calibration. Make sure all necessary calibration equipment is fitted, as detailed in the calibration instruction, for the axis to be calibrated. A warning that updating the revolution counters can change programmed robot positions is also displayed: Tap Yes to proceed. Tap No to cancel. Select the check-box for the axis to calibrate.

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11.1.5 Fine calibration procedure on FlexPendant Continued
Action 6 Tap Calibrate. A dialog box is displayed, warning that calibration of the selected axes will be changed, which cannot be undone: Tap Calibrate to proceed. Tap Cancel to cancel. Tapping Calibrate results in briefly displaying a dialog box, announcing that the calibration process has started. The axis is calibrated and the system returns to the list of available mechanical units.
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11.1.6 Serial measurement board memory
11.1.6 Serial measurement board memory

Serial measurement board (SMB) The serial measurement board (SMB) primarily gathers resolver data from the robots (or additional axes) motors. This data is used to measure the speed and position of each axis. Each SMB is capable of measuring up to 7 axes. It also stores a number of data pertaining to each robot. This data is used by the controller and can be transferred between the SMB and the controller. Normally, the data is transferred automatically, but it can also be done manually. The SMB data is affected when: The robot is replaced The SMB is replaced The controller (or its flash disk or mass memory unit) is replaced. Updating with new calibration data Serial number for the mechanical unit Joint calibration data Absolute accuracy data SIS data (Service Information System)
The following data is stored on the SMB:
Note that if the IRC5 controller is to be connected to a robot with an older SMB, not equipped with data storage capability, the SMB must be replaced. SMB data update
If... then...
the flash disk or mass memory or the com- the data stored in the SMB is automatically plete controller is new or replaced by an un- copied to the controller memory. used spare part... the SMB is replaced by a new, unused, spare the data stored in the controller memory is part SMB... automatically copied to the SMB memory. the flash disk or the complete controller is the data in the controller memory and the replaced by a spare part, previously used in SMB memory is different. You must update another system... the controller memory manually from the the SMB memory. the SMB is replaced by a spare part SMB, previously used in another system... the data in the controller memory and the SMB memory is different. You must first clear the data in the new SMB memory, and then update the SMB memory with the data from the controller memory. the data in the controller memory and the SMB memory is different. You must update the SMB memory manually from the controller memory. Check that the new calibration values belong to a manipulator with the serial number defined in your system.
new calibration data has been loaded via RobotStudio or using the FlexPendant and the system has been restarted...

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11.1.6 Serial measurement board memory Continued View SMB data status This section describes how to view the data status in the serial measurement board and the controller.
Action 1 2 On the ABB menu, tap Calibration and select a mechanical unit. Tap SMB memory and then tap Show status. The data is displayed with status on the SMB and on the controller.
Update controller data from SMB memory This section describes how to load data from the serial measurement board to the controller.
Action 1 2 3 On the ABB menu, tap Calibration and select a mechanical unit. Tap SMB memory and then tap Update. Tap the button Cabinet or manipulator has been exchanged. A warning is displayed. Tap Yes to proceed or No to cancel. It is vital that you load calibration data correctly. Info
The data is loaded. Tap Yes to acknowledge and restart The following data is upthe robot system. dated: Serial numbers for mechanical units Calibration data Absolute accuracy data SIS data
Update data in SMB memory This section describes how to update data on the serial measurement board from the controller. This is e.g. after calibration data has been loaded to the controller via RobotStudio or using the FlexPendant. If the SMB already contains data, you must first clear the memory, see Delete SMB data on page 334.
Action 1 2 3 On the ABB menu, tap Calibration and select a mechanical unit. Tap SMB memory and then tap Update. Tap the button Serial measurement board has been replaced. A warning is displayed. Tap Yes to proceed or No to cancel. The data is updated. It is vital that you load calibration data correctly. Info

11 Calibrating
11.1.6 Serial measurement board memory Continued Delete SMB data This section describes how to delete the data stored on the SMB memory or the controller memory when creating spare parts.
Action 1 2 On the ABB menu, tap Calibration and tap to select a mechanical unit. Tap SMB memory and then tap Advanced. The following functions are available: Clear cabinet memory Clear SMB memory Tap Clear cabinet memory if the controller should be replaced and used as a spare part. A list of the SMB data stored in the controller is displayed. Tap Clear to delete the memory for the selected robot. Repeat the procedure for all robots in the controller memory. Tap Clear SMB memory if the SMB should be replaced and used as a spare part. A list of the SMB data stored is displayed. Tap Clear to delete the memory for the selected robot. Repeat the procedure for all robots using this SMB board.
Related information Operating manual - RobotStudio. Operating manual - Service Information System. Application manual - Motion performance.
11 Calibrating
11.1.7 4 points XZ calibration
11.1.7 4 points XZ calibration

Base Frame calibration This section describes the 4 points XZ calibration, in the Base Frame calibration options. Other calibration methods can be available in this menu depending on your installed options. Overview This section describes how to define the base frame using the 4 points XZ method. This method can move and rotate the base frame in relation to the world frame. Normally the base frame is centered and aligned with the world frame. Note that the base frame is fixed to the base of the robot.
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A B C X Y Z X' Y' Z'
Displacement distance between base frame and world frame Elongator point Z Elongator point X X-axis in the base frame Y-axis in the base frame Z-axis in the base frame X-axis in the world frame Y-axis in the world frame Z-axis in the world frame

11 Calibrating
11.1.7 4 points XZ calibration Continued Fixed reference Position The calibration procedure requires that the tip of the tool is calibrated against a fixed reference position. The fixed position could be a manufactured World fixed tip device to facilitate finding the elongator points. The fixed reference position is the distance (in (x,y,z)) between the fixed position and the world frame.
Calibrate_xx
Running 4 points XZ calibration

Action 1 2 3 4 On the ABB menu, tap Calibration and select a mechanical unit. Then tap Base Frame. Tap 4 points XZ.... Set up a fixed reference position within the working range of the robot. Tap ... to change reference point. Enter the coordinates of the fixed reference position A numerical keyboard and boxes for X, Y and Z values are displayed. If the calibration positions exists in a file, follow the instructions below. Otherwise proceed to the next step Tap Positions menu and then Load the file containing the values. Tap Point 1 to highlight the line. Manually jog the robot to the previously fixed reference point. Tap Modify position. Modified is displayed on the status line. Re-orient the robot and again, run it to the reference point Repeat these steps until but from a different angle. points 1, 2, 3, and 4 have been modified. Info
6 7 8 9
10 Tap Elongator X and manually run the robot to a position The imaginary X-axis is where the tool center point (TCP) touches an imaginary shown in the illustration extension of the X-axis. above. 11 Tap Modify position. Modified is displayed on the status line. 12 To save the entered transformation data to a file, tap the Positions menu and then Save. Enter the name of the file and then tap OK. Repeat these steps to modify Elongator Z.

11 Calibrating
11.1.7 4 points XZ calibration Continued
Action 13 To delete all entered transformation data, tap the Positions menu and then Reset All. Info
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12 Changing FlexPendant settings

12.1.1 Setting default paths

12.1 System settings 12.1.1 Setting default paths
Introduction to default paths You can set individual default paths for some actions using the FlexPendant. The following default paths can be set: Saving and loading RAPID programs. Saving and loading RAPID modules. Saving and storing configuration files.
This function is available if the user that is logged on is authorized. User authorization is handled via RobotStudio. See Operating manual - RobotStudio. Setting default paths Use this procedure to set a default path.
Action 1 2 On the ABB menu, tap Control Panel and then FlexPendant. Tap File System Default Path.
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Tap the File type menu to choose type of default path: RAPID programs RAPID modules Configurations files Type the default path or tap Browse, to choose the desired location. If required, any previously entered path can be removed by tapping Clear. Tap OK.
4 5 6
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12.1.2 Defining a view to be shown at operating mode change
12.1.2 Defining a view to be shown at operating mode change

View on operating mode change This function can be used, for example, if a view other than the Production Window is desired when switching to Auto mode. Defining view on operating mode change Use this procedure to configure the FlexPendant to automatically show a specified view at an operating mode change.
Action 1 2 On the ABB menu, tap Control Panel and then tap FlexPendant. Tap View on Operating Mode change.
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Tap the Operating mode menu to select the mode change to be defined: Switching to Auto Switching to Manual Switching to Manual Full Speed Tap ... and select the desired application from the list. Tap OK.
4 5
Note The Clear View button will remove the currently selected view if you do not want any view to be automatically shown.

12.1.3 Changing the background image
12.1.3 Changing the background image

Background images The background image on the FlexPendant can be changed. Any image file on the controller hard disk can be used, a photo as well as an illustration. For best result, use an image following these recommendations: 640 by 390 pixels (width, height) Format gif
Changing background image Use this procedure to change background image on FlexPendant.
Action 1 2 On the ABB menu, tap Control panel. Tap FlexPendant and then Background Image.
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3 4 5
Tap Browse to locate another picture on the controller hard disk. Tap Default to restore the original background image. Tap OK.
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12.1.4 Defining visibility level for UAS protected functions
12.1.4 Defining visibility level for UAS protected functions

Introduction to visibility levels This section describes how to define visibility level for functions protected by the user authorization system, UAS. The protected functions can be hidden or displayed but not accessible. All other administration of the user authorization system is done using RobotStudio. See Operating manual - RobotStudio. Defining visibility level for UAS protected functions
Action 1 2 On the ABB menu, tap Control Panel and then tap FlexPendant. Tap User Authorization System.
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Tap to select the level of visibility for UAS protected functions: Hide non accessible functions OR Show message when trying to access protected functions. Tap OK.

12.1.5 Defining an additional test view
12.1.5 Defining an additional test view

Overview If your system has a customized operator interface, that is one or several applications developed with FlexPendant SDK, it is possible to enable the user to start program execution in manual mode from such an application. If there is no such application, however, the screen for adding other test views will look as in the illustration below. Defining an additional test view Use this procedure to define an additional test view.
Action 1 2 On the ABB menu, tap Control Panel and then FlexPendant. Tap Additional Test View. The displayed screen might look like this:
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Usually only the Program Editor and the Production Window are allowed test views. In case there are additional views to choose from, these will appear in the list. Check one or several applications to be used as additional test views. Tap OK.
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12.1.6 Defining position programming rule
12.1.6 Defining position programming rule

Introduction to position naming Robot positions in a RAPID program are either named variables or not named (using the asterisk character, *). The programmer can choose which naming rule the FlexPendant should use when new move instructions are programmed. Defining position programming rule Use this procedure to define a naming rule for new robot positions.
Action 1 2 On the ABB menu, tap Control Panel and then FlexPendant. Tap Position Programming Rule.
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3 4
Tap to select the preferred position programming rule. Tap OK.
Position programming rules This section gives a detailed description of the options available when programming robot positions, here referred to as targets. This signifies the position to which the mechanical unit is programmed to move. New targets can be named according to any of these principles: New position created; * or sequential naming rule. Next sequential already existing position selected. No new position created; * naming rule.
New position created; * or sequential naming rule This is the default setting. When a move instruction is programmed, a new target will automatically be created. If the last target was named, that is not using an *, the new target will be named in sequence with the previous one.


12.1.6 Defining position programming rule Continued For example: MoveJ p10 will be followed by MoveJ p20, unless this target already exists in the program. In such a case, MoveJ p30 (or the next free number) will be used instead. Next sequential already existing position selected When a move instruction is programmed, no new target will be created. Instead, the next target in a sequence created beforehand will be selected. The very first target, however, will be an *, as no sequence yet exists. As soon as the first target has been defined this rule will be applied. For example: A number of targets have been predefined; p10 to p50. In such a case, MoveJ p10 will be followed by MoveJ p20. The next instruction will use target p30, etc. until p50 is reached. Since no further targets have been defined, p50 will be used for the following targets as well. No new position created; * naming rule When a Move instruction is programmed, no new target will be created. Instead, an * will always be used. This can be replaced by an existing target at a later stage. For example: MoveJ p10 will be followed by MoveJ *.
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12.1.7 Defining which tasks should be selectable in the tasks panel
12.1.7 Defining which tasks should be selectable in the tasks panel

Tasks panel The tasks panel is found in the Quickset menu. See Quickset menu, Tasks on page 122. Defining which tasks to show Use this procedure to define which tasks should be selectable in the tasks panel in the Quickset menu.
Action 1 2 3 4 On the ABB menu, tap Control Panel and then tap FlexPendant. Tap Task Panel Settings. Select Only Normal tasks or All tasks. All tasks makes all tasks with trustlevel set to No safety selectable in manual mode. Tap OK.

12.2.1 Changing brightness and contrast
12.2 Basic settings 12.2.1 Changing brightness and contrast

Appearance options This section describes the Appearance menu, where you can adjust the screens brightness and contrast. The contrast can only be adjusted on FlexPendant without USB port. Changing brightness and contrast Use this procedure to change brightness and contrast of the screen.
Action 1 2 3 On the ABB menu, tap Control Panel. Tap Appearance. Tap the Plus or Minus button to adjust the levels. Tap Set Default to return to default. The brightness and contrast changes as you change the levels which gives you an instant view of how the new levels will affect the visibility. Tap OK to use the new brightness and contrast levels.
Note If you change brightness or contrast from the default levels, some screens can appear to be striped. This is however not a sign of a faulty screen. Change back to default settings to avoid the striped appearance.
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12.2.2 Adapting the FlexPendant for left-handed users
12.2.2 Adapting the FlexPendant for left-handed users

Overview The device is usually operated while being supported by the left hand. A left-hander, however, normally prefers to use his left hand for using the touch screen. however, can easily rotate the display through 180 degrees and use his right hand to support the device. The FlexPendant is set to suit right-handers on delivery, but can easily be adapted to suit the needs of the left-handed. Illustration The FlexPendant operated by a right-handed person at the top and by a left-handed person at the bottom. Especially note the location of the emergency button when the display is rotated through 180 degrees.
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Rotating the FlexPendant screen Use this procedure to adapt the FlexPendant to suit a left-handed user.
Action 1 2 Tap the ABB menu, then tap Control Panel. Tap Appearance.


12.2.2 Adapting the FlexPendant for left-handed users Continued
Action 3 Tap Rotate right.
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Rotate the FlexPendant and move it to the other hand.
What is affected? The following settings are affected when adapting the FlexPendant for a left- handed user.
Setting Jogging directions Effect The joystick directions are adjusted automatically. Information The illustrations of jogging directions in the jogging menu are adjusted automatically.
Hardware buttons and programmable keys
Start, Stop, Forward, and See buttons A-G in the illustraBackward buttons do not tion Hard buttons on page 54. change place with programmable keys. No effect. No effect Differently located, at the bottom instead of at the top.
Emergency stop Enabling device
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12.2.3 Changing date and time
12.2.3 Changing date and time

Changing date and time Use this procedure to set the controller clock.
Action 1 2 3 4 On the ABB menu, tap Control Panel. Tap Date and Time. The current date and time is displayed. Tap the appropriate Plus or Minus button to change the date or time. Tap OK to use the time and date settings.
Note The date and time is always displayed according to ISO standard, that is, year-month-day and hour:minute, the time using 24-hour format.

12.2.4 Configuring Most Common I/O
12.2.4 Configuring Most Common I/O

Most Common I/O Most Common I/O is used in the Program Editor to display a list of the most commonly used I/O signals in the robot system. Since there can be many signals, it can be helpful to use this selection. The sorting in the list can be rearranged manually. By default, the signals are sorted in the order that they are created. Most Common I/O can also be configured using system parameters in the topic Man-machine Communication. However, sorting the list can only be done by using the function under the Control Panel. See section Configuring system parameters on page 321. Configuring Most Common I/O Use this procedure to configure the list Most Common I/O.
Action 1 2 3 On the ABB menu, tap Control Panel. Tap I/O. A list of all I/O signals defined in the system is listed with check boxes. Tap the names of the signals to select for the Most Common I/O list. Tap All or None to select all or no signals. Tap Name or Type to sort by name or signal type. Tap Preview to see the list of selected signals and adjust the sort order. Tap to select a signal and then tap the arrows to move the signal up or down in the list, rearranging the sort order. Tap APPLY to save the sort order. Tap Edit to return to the list of all signals. Tap APPLY to save the settings.
351

12.2.5 Changing language
12.2.5 Changing language

Languages This procedure details how to change between the currently installed languages. The individual FlexPendant supports up to three languages, selected before the installation of the system to the robot controller. When you switch to another language, all buttons, menus and dialogs will use the new language. RAPID instructions, variables, system parameters, and I/O signals are not affected. Changing language Use this procedure to change language on the FlexPendant.
Action 1 2 3 4 On the ABB menu, tap Control Panel. Tap Language. A list of all installed languages is displayed. Tap the language that you want to change to. Tap OK. A dialog box is displayed. Tap Yes to proceed and restart the FlexPendant. The current language is replaced by the selected one.

12.2.6 Changing programmable keys
12.2.6 Changing programmable keys

Overview Programmable keys are four hardware buttons on the FlexPendant that can be used for dedicated, specific functions set by the user. See Hard buttons on page 54. The keys can be programmed to simplify programming or testing of programs. They can also be used to activate menus on the FlexPendant. Change programmable keys Use this procedure to set the programmable keys.
Action 1 2 On the ABB menu, tap Control Panel. Tap ProgKeys.
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3 4
Select key to set, Key 1-4 in the upper selection list. Tap the Type menu to select type of action: None Input Output System If Type Input is selected. Tap to select one of the digital inputs from the list. Tap the Allow in auto menu to select if the function is also allowed in automatic operating mode. Note! A digital input signal cannot be set by using the programmable keys. Its value can only be pulsed from high to low and will result in an event which can be connected to a RAPID event routine.


12.2.6 Changing programmable keys Continued
Action 6 If Type Output is selected. Tap to select one of the digital outputs from the list Tap the Key pressed menu to define how the signal should behave when the key is pressed. Tap the Allow in auto menu to select if the function is also allowed in automatic operating mode Key pressed functions: Toggle - switches signal value from 0 to 1 or vice versa Set to 1 - sets the signal to 1 Set to 0 - sets the signal to 0 Press/Release - sets signal value to 1 while key is pressed (note that an inverted signal will be set to 0) Pulse - the signal value pulses once If Type System is selected. Tap the Key pressed menu to select Move PP to main Tap the Allow in auto menu to select if the function is also allowed in automatic operating mode Set the other keys as described in steps 3 to 7 above. Tap OK to save the settings.
8 9

12.2.7 Calibrating the touch screen
12.2.7 Calibrating the touch screen

Recalibration This section describes how to recalibrate the touch screen. The touch screen is calibrated on delivery and normally never needs to be recalibrated. Depending on FlexPendant model, the appearance of the symbols will vary, the function is however the same.
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Calibrating the touch screen Use this procedure to calibrate the touch screen.
Action 1 2 3 On the ABB menu, tap Control Panel. Tap Touch Screen. Tap Recalibrate. The screen will go blank for a few seconds. A series of symbols will appear on the screen, one at a time. Tap the center of each symbol with a pointed object. CAUTION Do not use a sharp object which can damage the surface of the screen. 5 The recalibration is complete. Info
About the touch calibration function The touch calibration function waits on each calibration point for a couple of touch coordinates or that the touch will be released. Then the average of the collected coordinates will be calculated and the symbol moves to the next position. Continues on next page

12.2.7 Calibrating the touch screen Continued The touch controller only sends new coordinates to the CPU when the coordinates are changing. If you touch the symbol very accurately with a stylus, the touch coordinates will not change. Then the touch controller sends only one coordinate and the touch calibration function is waiting endlessly for more coordinates. The best way to avoid this problem is to tap the symbol for only one second and then release.
13 Descriptions of terms and concepts


Overview This chapter provides definitions and explanations of important concepts and words used in this manual. Note that there can also be additional information in the chapters describing the features.
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13.2 What is the robot system?
13.2 What is the robot system?

Description The concept robot system comprises the manipulator(s), controller(s), and all equipment controlled by the controller (tool, sensors, etc.). It includes all hardware as well as software required to operate the robot. Application specific hardware and software, such as spot welding equipment, is not included in the term.

13.3 What are mechanical units, manipulators and positioners?
13.3 What are mechanical units, manipulators and positioners?

Mechanical unit A mechanical unit can be jogged. It can either be a robot, a single additional axis, such as a motor, or a set of additional axes, for example a two axis positioner or a non-ABB robot. Manipulator Manipulator is a generic term for mechanical units used to move objects, tools, etc. The term manipulator includes robots as well as positioners. Robot A robot is a mechanical unit with TCP. A robot can be programmed to move to a position specified in Cartesian coordinates (x, y and z) of the TCP and in tool orientation. Positioner A positioner is a mechanical unit used to move a work object. It can have one or several axes, however normally no more than 3 axes. A positioner normally does not have a TCP. Additional axis The robot controller can control additional axes besides the robot axes. These mechanical units can be jogged and coordinated with the movements of the robot. Illustration The illustration depicts the relation between the concepts: mechanical unit, manipulator, robot, positioner, and additional axis.
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13.4 What is a tool?
13.4 What is a tool?

Tool A tool is an object that can be mounted directly or indirectly on the robot turning disk or fitted in a fixed position within the robot working range. A fixture (jig) is not a tool. All tools must be defined with a TCP (Tool Center Point). Each tool that can be used by the robot must be measured and its data stored in order to achieve accurate positioning of the tool center point. Illustration
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A B
Tool side Robot side

13.5 What is the tool center point?
13.5 What is the tool center point?

Illustration The illustration shows how the tool center point (TCP) is the point around which the orientation of the tool/manipulator wrist is being defined.
xx0300000604
Description The tool center point (TCP) is the point in relation to which all robot positioning is defined. Usually the TCP is defined as relative to a position on the manipulator turning disk. The TCP will be jogged or moved to the programmed target position. The tool center point also constitutes the origin of the tool coordinate system. The robot system can handle a number of TCP definitions, but only one can be active at any one time. There are two basic types of TCPs: moveable or stationary. Moving TCP The vast majority of all applications deal with moving TCP, i.e. a TCP that moves in space along with the manipulator. A typical moving TCP can be defined in relation to, for example the tip of a arc welding gun, the center of a spot welding gun, or the end of a grading tool. Stationary TCP In some applications a stationary TCP is used, for example when a stationary spot welding gun is used. In such cases the TCP can be defined in relation to the stationary equipment instead of the moving manipulator.
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13.6 What is a work object?
13.6 What is a work object?

Illustration
Z Z Y Y X X X
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Description A work object is a coordinate system with specific properties attached to it. It is mainly used to simplify programing when editing programs due to displacements of specific tasks, objects processes etc. The work object coordinate system must be defined in two frames, the user frame (related to the world frame) and the object frame (related to the user frame). Work objects are often created to simplify jogging along the objects surfaces. There might be several different work objects created so you must choose which one to use for jogging. Payloads are important when working with grippers. In order to position and manipulate an object as accurate as possible its weight must be accounted for. You must choose which one to use for jogging.

13.7 What is a coordinate system?
13.7 What is a coordinate system?

Overview A coordinate system defines a plane or space by axes from a fixed point called the origin. Robot targets and positions are located by measurements along the axes of coordinate systems. A robot uses several coordinate systems, each suitable for specific types of jogging or programming. The base coordinate system is located at the base of the robot. It is the easiest one for just moving the robot from one position to another. See The base coordinate system on page 363for more information. The work object coordinate system is related to the work piece and is often the best one for programming the robot. See The work object coordinate system on page 365 for more information. The tool coordinate system defines the position of the tool the robot uses when reaching the programmed targets. See The tool coordinate system on page 367for more information. The world coordinate system that defines the robot cell, all other coordinate systems are related to the world coordinate system, either directly or indirectly. It is useful for jogging, general movements and for handling stations and cells with several robots or robots moved by external axes. See The world coordinate system on page 364 for more information. The user coordinate system is useful for representing equipment that holds other coordinate systems, like work objects. See The user coordinate system on page 368 for more information.
The base coordinate system
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13.7 What is a coordinate system? Continued The base coordinate system has its zero point in the base of the robot, which makes movements predictable for fixed mounted robots. It is therefore useful for jogging a robot from one position to another. For programming a robot, other coordinate systems, like the work object coordinate system are often better choices. See The work object coordinate system on page 365for more information. When you are standing in front of the robot and jog in the base coordinate system, in a normally configured robot system, pulling the joystick towards you will move the robot along the X axis, while moving the joystick to the sides will move the robot along the Y axis. Twisting the joystick will move the robot along the Z axis. The world coordinate system
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A B C
Base coordinate system for robot 1 World coordinate Base coordinate system for robot 2
The world coordinate system has its zero point on a fixed position in the cell or station. This makes it useful for handling several robots or robots moved by external axes. By default the world coordinate system coincides with the base coordinate system. Continues on next page

13.7 What is a coordinate system? Continued The work object coordinate system
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A B C
World coordinate system Work Object coordinate system 1 Work Object coordinate system 2
The work object coordinate system corresponds to the work piece: It defines the placement of the work piece in relation to the world coordinate system (or any other coordinate system). The work object coordinate system must be defined in two frames, the user frame (related to the world frame) and the object frame (related to the user frame). A robot can have several work object coordinate systems, either for representing different work pieces or several copies of the same work piece at different locations. It is in work object coordinate systems you create targets and paths when programming the robot. This gives a lot of advantages: When repositioning the work piece in the station you just change the position of the work object coordinate system and all paths are updated at once. Enables work on work pieces moved by external axes or conveyor tracks, since the entire work object with its paths can be moved.


13.7 What is a coordinate system? Continued The displacement coordinate system
C A
D B
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A B C D
Original position Object coordinate system New position Displacement coordinate system
Sometimes, the same path is to be performed at several places on the same object, or on several work pieces located next to each other. To avoid having to reprogram all positions each time a displacement coordinate system can be defined. This coordinate system can also be used in conjunction with searches, to compensate for differences in the positions of the individual parts. The displacement coordinate system is defined based on the object coordinate system.


13.7 What is a coordinate system? Continued The tool coordinate system
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The tool coordinate system has its zero position at the center point of the tool. It thereby defines the position and orientation of the tool. The tool coordinate system is often abbreviated TCPF (Tool Center Point Frame) and the center of the tool coordinate system is abbreviated TCP (Tool Center Point). It is the TCP the robot moves to the programmed positions, when executing programs. This means that if you change the tool (and the tool coordinate system) the robots movements will be changed so that the new TCP will reach the target. All robots have a predefined tool coordinate system, called tool0, located at the wrist of the robot. One or many new tool coordinate systems can then defined as offsets from tool0. When jogging a robot the tool coordinate system is useful when you dont want to change the orientation of the tool during the movement, for instance moving a saw blade without bending it.


13.7 What is a coordinate system? Continued The user coordinate system
B
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A B C D E
User coordinate system World coordinate system Work object coordinate system Moved user coordinate system Work object coordinate system, moved with user coordinate system
The user coordinate system can be used for representing equipment like fixtures, workbenches. This gives an extra level in the chain of related coordinate systems, which might be useful for handling equipment that hold work objects or other coordinate systems.

13.8 What is a RAPID application?
13.8 What is a RAPID application?

Purpose A RAPID application, or program, contains a sequence of instructions that controls the robot so that it can perform the operations it is intended for. Contents of the RAPID application An application is written using a particular vocabulary and syntax called RAPID programming language. The RAPID programming language is in English and contains instructions to enable the robot to move, setting outputs, and reading inputs. It also contains instructions for making decisions, to repeat other instructions, to structure the program, to communicate with the system operator, and more. Structure of the RAPID application The structure of a RAPID application is shown in section The structure of a RAPID application on page 156. How is an application stored? An application you work with or run must be loaded in the controller's program memory. This procedure is called to Load the application. You Save applications on the controller's mass memory unit or other disk memory to keep them safe when you want to work on another application. See also What is the memory? on page 296 and Setting default paths on page 339.
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13.9 What is mirroring?
13.9 What is mirroring?

Description Mirroring creates a copy of a program, module, or routine in a specific mirror plane. The mirror function can be applied to any program, module, or routine. Mirroring can be performed in two different ways: Default against the base frame coordinate system. The mirror operation will be performed across the xz-plane in the base frame coordinate system. All positions and work object frames that are used in an instruction in the selected program, module or routine are mirrored. The position orientation axes x and z will be mirrored. Advanced against a specific mirror frame. The mirror operation will be performed across the xy-plane in a specified work object frame, mirror frame. All positions in the selected program, module or routine are mirrored. If the work object argument in an instruction is another work object than specified in the mirror dialog, the work object in the instruction is used in the mirror operation. It is also possible to specify which axis in the position orientation that will be mirrored, x and z or y and z. Note The mirroring function recognizes the used workobject in all predefined motion instructions and in user made procedures with the same argument declaration: an argument for the robtarget, an argument for the tooldata with name 'Tool' and an optional argument for the wobjdata with the name 'Wobj'.
The following descriptions of mirroring describes advanced mirroring.


13.9 What is mirroring? Continued Mirror plane The mirror function will mirror all positions (robtargets) in the mirror plane, i.e. the mirrored position will be located symmetrically on the other side of the plane, relative to the original position. The mirror plane is always the xy-plane of an object frame, used for mirroring. This object frame is defined by a work object data, e.g. with the name MIRROR_FRAME.
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Ym, Xm A B p1 p1_m
Mirror plane World frame Work object frame Original point Mirrored point
Mirroring routines Mirroring creates a copy of a routine with all positions (robtargets) mirrored in a specific mirror plane. In general, all data of the type robtarget used in the routine, both local and global, will be mirrored. It makes no difference whether the robtarget data is declared as a constant (which it should be), as a persistent, or as an ordinary variable. Any other data, e.g. of type pos, pose, orient, etc., will not be mirrored. Mirroring data only affects the initialization value, i.e. any current value will be ignored. This means that if a robtarget variable has been defined without an init value, this variable will not be mirrored. The new, mirrored routine will be given a new name (a default name is proposed). All stored data of type robtarget, used in the routine, will be mirrored and stored


13.9 What is mirroring? Continued with a new name (the old name ending with _m). All immediate robtarget data, shown with an *, in movement instructions will also be mirrored. Mirrored values and arguments When mirroring a routine, the new routine is scanned for any local robtarget data, declared inside the routine with an init value. All init values of such data are mirrored. Then the new routine is scanned for statements with one or more arguments of type robtarget. When such a statement is found, the following actions will take place: If the argument is programmed with a reference to a local variable or a constant, this argument will be ignored, since it has already been mirrored as described above. If the argument is programmed with an immediate robtarget data, shown with an asterisk *, then this value will be mirrored directly. If the argument is programmed with a reference to a global variable, persistent or a constant, defined outside the routine with an init value, then a duplicate is created and stored in the module with a new name (the old name ending with _m). The init value of this new data is mirrored, and then the argument in the statement is changed to the new name. This means that the module data list will expand with a number of new mirrored robtarget data.
Error handlers or backward handlers in the routine are not mirrored. Work object frame All positions which are to be mirrored are related to a specific work object frame (B in figure above). This means that the coordinates of the robtarget data are expressed relative to this work object frame. Furthermore, the mirrored position will be related to the same work object frame. Before mirroring, this specific work object must be stated. This work object will be used as the reference frame for all variables that are to be mirrored. Make sure to state the same work object as was originally used when defining the robtarget data, and which was used as a parameter in the movement instructions. If no work object was used, the wobj0 should be stated.


13.9 What is mirroring? Continued Orientation of mirrored positions The orientation of the robtarget position is also mirrored. This mirroring of the orientation can be done in two different ways, where either the x and z axes are mirrored or the y and z axes. The method used, x or y axis (the z axis is always mirrored), is dependent on the tool used and how the tool coordinate system is defined.
xx0600002816
Mirroring of x and z axes.
xx0600002817
Mirroring of y and z axes.
Arm configurations The arm configuration will not be mirrored, which means that after mirroring, it has to be carefully checked by executing the path in manual mode. If the arm configuration has to be changed, this must be done manually and the position corrected with a modpos command. Continues on next page

13.9 What is mirroring? Continued Example 1: Mirroring with one robot A mirrored copy of the routine org is to be created and stored with the name mir. All positions are related to the work object, wobj3. The mirror plane is known from three positions in the plane, p1, p2, and p3. An original position in org, A, is mirrored to A_m.
xx0600002818
A A_m B C
Original position Mirrored position Object frame wobj3 Mirror plane
To perform this mirroring, the mirror frame must first be defined. To do this, create a new work object and name it (e.g. mirror). Then, use the three points, p1 to p3, to define the object coordinate system by using the robot. This procedure is described in Defining the work object coordinate system on page 181, in the Operating manual - IRC5 with FlexPendant. After this, the routine, org, can be mirrored using wobj3 and mirror as input data. Example 2: Mirroring with two robots The routine org was created on one robot and should be mirrored and used on another robot. Suppose that a spot welding robot, robot 1, is used for the left side of a car body. When the program for the left side is done, it should be mirrored and used again for the right side by robot 2. The original program, org, is programmed relative to a work object, wobj1, which is defined with the help of three points, A, B and C on the left side of the car body. The mirrored program, mir, is to be related to a corresponding work object, wobj1, defined by the corresponding points D, E and F on the right side of the car body. Wobj1 for robot 2 is defined with robot 2.


13.9 What is mirroring? Continued Note that since the points D, E, F are mirrored images of points A, B, and C, the wobj1 for robot 2 will also be mirrored. One of the consequences of this is that the z-axis will point downwards.
xx0600002819
R1 R2 G H J K p1 p1_m
Robot 1 Robot 2 Virtual mirror plane wobj1 = mirror frame wobj1 for robot 2 Projection of p1 in xy-plane Original position Mirrored position
After the work object, wobj1, has been defined, all programming is done in this frame. Then the program is mirrored using the same wobj1 frame as the mirroring frame. A position, p1, will be mirrored to the new position p1_m. After this, the mirrored program is moved to robot 2, using the work object wobj1, as described above. This means that the mirrored position, p1_m, will be turned up as if it were mirrored in a virtual mirror plane between the two robots.
375

13.10 What is a data array?
13.10 What is a data array?

Overview A data array is a special type of variable: a regular variable can contain one data value, but an array can contain several. It can be described as a table, that can have one or more dimensions. This table can be populated with data (for example numerical values, character strings, or variables) to be used during programming or operation of the robot system. An example of a three dimensional array is shown below:
en0400001006
This array, called "Array" is defined by its three dimensions a, b, and c. Dimension a has three rows, b has three rows (columns), and c has two rows. The array and its contents can be written as Array {a, b, c}. Example 1: Array {2, 1, 1}=29 Example 2: Array {1, 3, 2}=12
Index
Index
A
ABB menu, 56 Absolute Accuracy data storage, 332 additional axes activating, 231 deactivating, 231 additional axis definition, 359 approach points, 170 array modify positions, 165 automatic mode about, 271 switching to, 275 axes illustration, 135 calibration menu, 99 CalPendulum service routine, 242 cfg files, 298 characters entering, 123 international, 123 cleaning FlexPendant, 46 cleaning FlexPendant, 57 close button, 56 configuration files, 298 connection FlexPendant, 66 to network, 69 connector, 53 controller buttons, 63 dual controller, 59 overview, 59 ports, 63 single cabinet, 59 control tools, overview, 61 coordinate systems default settings, 136 overview, 136 Quickset, 116 selecting, 116, 148 C-start, 307 ctrl.bin file, 298 cursor about, 158
B
background changing, 341 backup default file path, 339 directory, 319 important, 319 menu, 98 system, 316 system parameters, 323 backward button, 54 backward execution about, 235 limitations, 235 base coordinates default settings, 136 definiton, 137 selecting, 148 baseline concept, 217 target criteria, 217 battery shutdown service routine, 241 Boot Application restart, 302 settings, 303 using, 302 B-start, 310 buttons controller, 63
D
danger levels, 20 data instance, 94, 160 data types changing type, 226 creating new, 160 editing, 162 menu, 94 viewing, 159 date and time, 350 declarations hiding, 227 default paths setting, 339 DHCP server, 69 displacements about, 220 work object, 181 duty timer data, 299
C
cabinets, 59 calculation result, 172 calender time counter, 243 calibrating CalPendulum, 242 LoadIdentify, 244 SMB memory, 332 calibration, 62 4 points XZ, 335 base frame, 335 fine calibration, 330 loading data, 328 motor calibration offset, 329 touch screen, 355
E
elongator points define, 172 emergency stop definition, 31 devices, 32 emergency stop button FlexPendant, 37, 53 emergency stops recovering, 42 enabling device, 36, 53
377
Index
using, 49, 232 entry routine, 157 error messages, 125 ESD damage elimination, 30 sensitive equipment, 30 wrist strap connection point, 30 event log menu, 103 message, 104 expressions editing, 224 offs, 220 positions, 220
F
files handling, 300 programs, 192 filtering about, 127 data types, 127 files, 127 programs, 127 firmware reflashing, 311 flash disk drive, 296 FlexPendant cleaning, 46, 57 connecting, 66 connecting in operation, 262 connector, 63 disconnecting, 262 emergency stop button, 37 hardware buttons, 54 hot plug, 262 how to hold, 55, 348 jumper plug, 262 left-hander, 55 main parts, 53 overview, 52 reflashing, 311 restarting, 47 rotating, 349 screen, 56 FlexPendant Explorer, 89 forward button, 54
safety signals, 288 simulating, 281 units, 285 viewing groups, 282 I/O, inputs and outputs, 279 image.bin file, 298 incremental movement definition, 151 quickset, 118 setting size, 151 size settings, 118, 152 insertion point, change, 124 instances data types, 160 system parameters, 321 instructions backward execution, 235 changing motion mode, 207 commenting, 207 copying and pasting, 207 copying arguments, 207 cutting, 207 data types and declarations, 225 editing arguments, 205 expressions, 224 handling of, 204 running from a specific, 233 undo, redo, 204 international characters, 123 IP address fixed, 70 obtain automatically, 70 use no address, 69 I-start, 309
J
jogging about, 133 additional axes, 140 axes in independent mode, 140 coordinated, 141 coordinate systems, 148 non calibrated mechanical units, 140 overview, 74 restrictions, 140 world zones, 140 jogging menu, 91 joystick, 53 locking directions, 149 using, 53 joystick directions about, 134 illustration, 135 locking, 149 jumper plug, 262
H
Hard buttons, 54 hard disk drive, 296 holding brakes, 29 hold-to-run, 36, 256 using, 49, 232 hold-to-run button, 53 HotEdit, 87, 212 using, 216 hot plug, 262
L
labels manipulator, 22 languages changing, 352 LAN unit, 296 left-handed, 348 linear mode default settings, 136 linear motion mode, 134 LoadIdentify 3HAC16590-1 Revision: T Copyright 2004-2012 ABB. All rights reserved.
I
I/O about, 90 activating, 285 changing values, 281 deactivating, 285 menu, 90 most common, 351
378
Index
service routine, 244 loads identifying, 244 log off, 131 log on, 131
multitasking programs about, 257 loading, running and stopping, 257 viewing, 258
M
main module, 156 main power switching off, 27 Main routine, 157 main switch controller, 63 controller cabinet, 27 control module, 27 drive module, 27 manipulator symbols, 22 manipulators definition, 359 ManLoadIdentify service routine, 251 manual full speed mode about, 273 switching to, 278 manual mode about, 273 switching to, 277 mechanical unit quickset, 112 selecting, 112, 142 mechanical units activate automatically, 97 activating, 231 deactivating, 231 definition, 359 memory, 296297 memory, what is?, 296 mirroring, 209 mirror plane, 371 routines, 371 what is, 370 modifying positions, 212 arrays, 165 data instances, 162 overview, 211 ModPos, 212 Absolute Limit ModPos, 211 modules creating, 195 deleting, 198 handling of, 195 loading, 196 mirroring, 210 renaming, 197 saving, 196 most common I/O configuring, 351 motion mode default settings, 135 Quickset, 113 selecting, 113, 144 motion pointer, MP, 236 Motion Pointer, MP about, 158 Motors on button, 42 MultiMove, 59 3HAC16590-1 Revision: T
N
network connections setting, 303 setting up, 69
O
offsets about, 220 creating, 221 description, 220 operation time counter, 243 operator unit, 52 operator window, 56, 109 options Calibration Pendulum, 99 dual controller, 59 duty time counter, 63 hot plug button, 63, 262 installing software, 82 Levelmeter Calibration, 99 MultiMove, 59, 141 safety chain LEDs, 63 service outlet, 63 service port, 63 SIS, 299
P
path returning to, 267 path return region, 267 payloads creating, 187 declarations, 187 deleting, 191 display definitions, 189 editing, 189 editing declarations, 190 identifying, 244 selecting, 145 personalizing, 86 ports controller, 63 positioners definition, 359 positions about, 153 exact, 153 HotEdit, 212 modifying, 211212 moving to, 222 naming rules, 344 offset, 220 reading, 153 tuning, 87, 211212, 216 program a robot, 61 program data editing, 162 menu, 94 program directory, 192 program execution start button, 54 programmable buttons editing, 353
Index
programmable keys editing, 353 program memory, 228 program module, 156 program pointer, PP, 236 Program Pointer, PP about, 158 programs about files, 192 creating, 192 default file path, 339 deleting, 228, 230 handling of, 192 loading, 193 mirroring, 210 multitasking, 257 renaming, 194 saving, 193 starting, 253 step by step execution, 235 stopping, 256 protection standards, 18 protective stop, 33 P-start, 308
Q
quickset increments, 118 mechanical unit, 112 Quickset coordinate systems, 116 motion mode, 113 run mode, 119 speed mode, 121 step mode, 120 tasks, 122 tools, 114 work objects, 115 quickset menu, 56
R
RAM memory, 296297 RAM memory, illustration, 297 RAPID, 75 RAPID, structure, 156 RAPID application, 156 redo instructions, 204 reflashing axis computer, 311 contactor interface board, 311 drive unit, 311 firmware, 311 FlexPendant, 311 panel board, 311 profibus, 311 reorient mode default settings, 136 reorient motion mode, 134 reset, 47 reset button location, 53 using, 54 resolvers about, 153 restart B-start, 310 380
controller, 304 C-start, 307 FlexPendant, 47 I-start, 309 menu, 107 overview, 301 P-start, 308 system, 304 warm start, 305 X-start, 306 restore default file path, 339 menu, 98 system, 317 revolution counters about, 153 battery shutdown, 241 setting, 326 updating, 326 robot symbols, 22 robots activating, 231 deactivating, 231 definition, 359 robot system, 358 RobotStudio overview, 60 Routine, 157 routines changing declarations, 202 copying, 202 creating, 199 defining parameters, 200 deleting, 202 handling of, 199 mirroring, 209 running a specific, 234 running service routines, 238 run button, 54 run mode quickset, 119 setting, 119
S
safety emergency stop, 31 ESD, 30 FlexPendant, 36 moving manipulators, 28 signals, 20 signals in manual, 20 symbols, 20 symbols on manipulator, 22 wrist strap, 30 safety I/O signals, 288 safety signals in manual, 20 safety standards, 18 safety stop, 33 scrolling, 126 Serial Measurement Board, SMB, 332 serial numbers data storage, 332 service port, 63 service routine, 268 service routines 3HAC16590-1 Revision: T Copyright 2004-2012 ABB. All rights reserved.
Index
bat_shutdown, 241 CalPendulum, 242 LoadIdentify, 244 ManLoadIdentify, 251 running, 238 ServiceInfo, 243 shut down, 83 signals changing values, 281 safety, 20 simulating, 281 viewing, 279 SIS, Service Information System counters, 243 data storage, 332 RAM memory contents, 299 service routine, 243 SMB, 332 battery shutdown, 241 SMB board RAM memory contents, 298 soft keyboard, 123 software options installing, 82 speed mode Quickset, 121 setting, 121 standards ANSI, 18 CAN, 18 EN, 18 EN IEC, 18 EN ISO, 18 protection, 18 safety, 18 start button, 54 start up, 72 status bar, 56, 110 step backward, 54 forward, 54 step by step execution, 235 step mode Quickset, 120 setting, 120 stop button, 54 stylus pen location, 53 using, 54 symbols safety, 20 system backup, 316 delete current, 307 installing, 302 loaded, 295 overview, 295 restarting, 304 restore, 317 return to default settings, 309 return to stored, 310 selecting, 303 start and select, 306 starting, 303 starting without software, 302 system, upgrading, 81
system module, 157 system parameters, 62 configuring, 321 instances, 321 saving, 323
T
targets modifying, 211212 moving to, 222 naming rules, 344 tuning, 87, 211212, 216 task bar, 56 tasks, 156 loading program to, 258 normal, static, semistatic, 257 setting up, 257 starting and stopping, 257 tasks panel, 122, 346 teach pendant unit, 52 toggle buttons, 54 tool, overview control tools, 61 tool center point about, 166 calculation result, 172 define, 171 defining, 172 measuring, 174 TCP, 166 working area variations, 172 tool coordinates default settings, 136 definiton, 138 selecting, 148 tool frame defining, 169 methods, 169 reorientation test, 172 tool orientation, 172 setting, 146 tool orientation, definition, 146 tools aligning, 223 creating, 166 deleting, 177 editing declarations, 176 editing definitions, 174 editing tool data, 173 identifying loads, 244 make stationary, 178 Quickset, 114 selecting, 114, 145 setting up tool coordinate system, 179 stationary, 178 Total Load, 187 touch screen, 52, 56 background image, 341 brightness, 347 calibrating, 355 rotating, 349 TPU, 52 trouble shooting, 265 tuning HotEdit, 212 positions, 211212, 216 targets, 211212
381
Index
U
UAS configuring views, 342 uncalibrated mechanical unit, 268 undo instructions, 204 units activating, 285 deactivating, 285 USB, 300 USB port controller, 63 FlexPendant, 53
V
viewing messages in programs, 109 view settings additional test views, 343 configuring, 340
selecting, 148 work objects creating, 180 declarations, 180 defining coordinate system, 181 deleting, 186 displacements, 181 editing declarations, 185 editing work objects data, 184 Quickset, 115 selecting, 115, 145 world coordinates definiton, 139 selecting, 148 write access granting, 80 message, 125 rejecting, 80
W
warm start, 305 work object coordinates definiton, 137
X
X-start, 306
Z
zooming, 126
Contact us
ABB AS, Robotics Discrete Automation and Motion Box 265 N-4349 BRYNE, Norway Telephone: +47 51489000 ABB Engineering (Shanghai) Ltd. 5 Lane 369, ChuangYe Road KangQiao Town, PuDong District SHANGHAI 201319, China Telephone: +86 21 6105 6666 www.abb.com/robotics
3HAC16590-1, Rev T, en
ABB AB Discrete Automation and Motion Robotics S-721 68 VSTERS, Sweden Telephone +46 (0) 21 344 400

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ABB Robotics

Operating manual IRC5 with FlexPendant

Operating manual IRC5 with FlexPendant

Copyright 2004-2012 ABB. All rights reserved.

3HAC16590-1 Revision: T Copyright 2004-2012 ABB. All rights reserved.

3.3.8 3.3.9 3.3.10 3.3.11 4

4.4 4.5 4.6

6 Copyright 2004-2012 ABB. All rights reserved.

3HAC16590-1 Revision: T Copyright 2004-2012 ABB. All rights reserved.

8 Copyright 2004-2012 ABB. All rights reserved.

3HAC16590-1 Revision: T Copyright 2004-2012 ABB. All rights reserved.

This page is intentionally left blank

Overview of the manual

Overview of the manual

Overview of the manual

Continues on next page

Overview of the manual

Continues on next page

Overview of the manual

14 Copyright 2004-2012 ABB. All rights reserved.

Product documentation, M2004

Product documentation, M2004

Product documentation, M2004

16 Copyright 2004-2012 ABB. All rights reserved.

3HAC16590-1 Revision: T Copyright 2004-2012 ABB. All rights reserved.

1.2 Applicable safety standards

Continues on next page

3HAC16590-1 Revision: T Copyright 2004-2012 ABB. All rights reserved.

1.3 Safety terminology 1.3.1 Safety signals in the manual

Continues on next page

Describes where to find additional information or how to do an operation in an easier way.

3HAC16590-1 Revision: T Copyright 2004-2012 ABB. All rights reserved.

1.3.2 Safety symbols on manipulator labels

Continues on next page

Before dismantling see product manual

Do not dismantle Dismantling this part can cause injury.

Continues on next page

Heat Risk of heat that can cause burns.

Moving robot The robot can move unexpectedly.

Brake release buttons

Continues on next page

Chain sling with shortener

Oil Can be used in combination with prohibition if oil is not allowed.

Continues on next page

26 Copyright 2004-2012 ABB. All rights reserved.

Elimination, Dual Cabinet Controller

3HAC16590-1 Revision: T Copyright 2004-2012 ABB. All rights reserved.

1.3.3.2 DANGER - Moving manipulators are potentially lethal!

28 Copyright 2004-2012 ABB. All rights reserved.

3HAC16590-1 Revision: T Copyright 2004-2012 ABB. All rights reserved.

1.3.4 WARNING 1.3.4.1 WARNING - The unit is sensitive to ESD!

Use an ESD protective floor mat. Use a dissipative table mat.

Wrist strap button

30 Copyright 2004-2012 ABB. All rights reserved.

1.3.5 What is an emergency stop?