ROBOTICS

Operating manual
OmniCore
Trace back information:
Workspace 23D version a14
Checked in 2023-12-12
Skribenta version 5.5.019
 Operating manual
OmniCore
Robotware 7.13

Document ID: 3HAC065036-001

Revision: Q

© Copyright 2019-2023 ABB. All rights reserved.

Specifications subject to change without notice.
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, damage 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.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.

© Copyright 2019-2023 ABB. All rights reserved.

Specifications subject to change without notice.
 Table of contents

Table of contents
Overview of this manual ................................................................................................................... 9
Product documentation .................................................................................................................... 14

1 Introduction to OmniCore 17
1.1 About this section ............................................................................................. 17
1.2 The OmniCore controller .................................................................................... 18
1.3 The FlexPendant ............................................................................................... 20
1.4 RobotStudio ..................................................................................................... 25
1.5 Directory structure on OmniCore .......................................................................... 26

2 Navigating and handling the FlexPendant 27

2.1 Overview ......................................................................................................... 27
2.2 The user interface ............................................................................................. 28
2.2.1 FlexPendant touch screen ........................................................................ 28
2.2.2 Status bar .............................................................................................. 31
2.2.3 FlexPendant applications .......................................................................... 42
2.3 Personalizing the FlexPendant ............................................................................. 47
2.3.1 Introduction ............................................................................................ 47
2.3.2 System information .................................................................................. 48
2.3.3 Configuring the identity settings ................................................................. 49
2.3.4 Configuring date and time ......................................................................... 50
2.3.5 Configuring the interface language ............................................................. 52
2.3.6 Configuring the default view during system events ........................................ 53
2.3.7 Configuring the Joystick ........................................................................... 54
2.3.8 Configuring the display of event logs .......................................................... 55
2.3.9 Configuring the display of Controller ID and System Name ............................. 56
2.3.10 Configuring the default paths ..................................................................... 57
2.3.11 Configuring the programmable keys ........................................................... 58
2.3.12 Adapting the FlexPendant for left-handed users ............................................ 60
2.4 Basic procedures .............................................................................................. 61
2.4.1 Using the soft keyboard ............................................................................ 61
2.4.2 Messages on the FlexPendant ................................................................... 63
2.4.3 Capturing screenshots ............................................................................. 64
2.4.4 Filtering data .......................................................................................... 65
2.4.5 Searching the settings .............................................................................. 66
2.4.6 Granting access for RobotStudio ................................................................ 67
2.4.7 Logging on and off .................................................................................. 68
2.4.8 Changing the user password ..................................................................... 70
2.5 Updating the applications ................................................................................... 71

3 OmniCore controller operating modes 73

3.1 Introduction ...................................................................................................... 73
3.2 Changing operating modes ................................................................................. 74
3.3 Locking and unlocking operating modes ................................................................ 75

4 Calibration 79
4.1 Introduction ...................................................................................................... 79
4.2 How to check if the robot needs calibration ............................................................ 80

5 Jogging 83
5.1 Introduction to jogging ....................................................................................... 83
5.2 Coordinate systems for jogging ........................................................................... 86
5.3 Basic settings for jogging ................................................................................... 91
5.4 Reading the exact position .................................................................................. 93
5.5 Incremental movement for precise positioning ........................................................ 95

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Table of contents

5.6 Restrictions to jogging ....................................................................................... 96

5.7 Lead-through .................................................................................................... 97
5.8 Motion supervision ............................................................................................ 100
5.9 Align tool ......................................................................................................... 102
5.10 Working with SmartGripper ................................................................................. 103
5.10.1 Introduction ............................................................................................ 103
5.10.2 Gripper configuration ............................................................................... 107
5.10.3 Smart Gripper function ............................................................................. 108

6 Programming and testing 109

6.1 Introduction ...................................................................................................... 109
6.2 Before you start programming ............................................................................. 110
6.3 Programming concept ........................................................................................ 111
6.3.1 Handling of programs .............................................................................. 111
6.3.2 Handling of modules ................................................................................ 116
6.3.3 Handling of routines ................................................................................ 121
6.3.4 Handling of instructions ............................................................................ 129
6.3.5 Example: Add movement instructions ......................................................... 136
6.3.6 Program and motion pointers .................................................................... 138
6.4 Debugging the program ...................................................................................... 139
6.5 Data types ....................................................................................................... 141
6.5.1 Edit data in specific tasks, modules, or routines ............................................ 141
6.5.2 Creating new data instance ....................................................................... 142
6.5.3 Editing data instances .............................................................................. 144
6.6 Tools .............................................................................................................. 146
6.6.1 What is a tool? ........................................................................................ 146
6.6.2 What is the tool center point? .................................................................... 148
6.6.3 Creating a tool ........................................................................................ 150
6.6.4 Copying a tool ........................................................................................ 152
6.6.5 Defining the tool frame ............................................................................. 153
6.6.6 Editing the tool data ................................................................................. 157
6.6.7 Deleting a tool ........................................................................................ 160
6.6.8 Setup for stationary tools .......................................................................... 161
6.7 Work objects .................................................................................................... 163
6.7.1 What is a work object? ............................................................................. 163
6.7.2 Creating a work object ............................................................................. 164
6.7.3 Copying a workobject ............................................................................... 165
6.7.4 Defining a work object .............................................................................. 166
6.7.5 Defining the work object coordinate system ................................................. 168
6.7.6 Editing the work object data ...................................................................... 171
6.7.7 Deleting a work object .............................................................................. 172
6.7.8 Setup stationary work object ..................................................................... 173
6.8 Payloads ......................................................................................................... 174
6.8.1 Overview ............................................................................................... 174
6.8.2 Creating a payload .................................................................................. 175
6.8.3 Copying a payload ................................................................................... 177
6.8.4 Editing the payload data ........................................................................... 178
6.8.5 Deleting a payload ................................................................................... 180
6.9 Testing ............................................................................................................ 181
6.9.1 Using the hold-to-run function ................................................................... 181
6.9.2 Running the program from a specific instruction ........................................... 183
6.9.3 Running a specific routine ........................................................................ 184
6.9.4 Stepping instruction by instruction ............................................................. 185
6.10 Service routines ................................................................................................ 188
6.10.1 Running a service routine ......................................................................... 188
6.10.2 Connected Services Reset service routine ................................................... 191
6.10.3 Battery shutdown service routine ............................................................... 192
6.10.4 Axis Calibration service routine .................................................................. 193
6.10.5 Service Information System, ServiceInfo service routine ................................. 194

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 Table of contents

6.10.6 LoadIdentify, load identification service routine ............................................. 195

6.10.7 Brake check service routine ...................................................................... 208
6.10.8 Cyclic Brake Check service routine ............................................................. 214
6.10.9 Wrist optimization service routine ............................................................... 218
6.10.10 SkipTaskExec service routine .................................................................... 219

7 Running in production 221

7.1 Introduction ...................................................................................................... 221
7.2 Basic procedures .............................................................................................. 222
7.2.1 Starting programs ................................................................................... 222
7.2.2 Stopping programs .................................................................................. 225
7.2.3 Using multitasking programs ..................................................................... 226
7.2.4 Returning the robot to the path .................................................................. 229
7.2.5 Using motion supervision and non motion execution ..................................... 230
7.3 Managing Dashboards ....................................................................................... 232
7.4 Managing positions ........................................................................................... 235
7.4.1 Introduction ............................................................................................ 235
7.4.2 Teach position ....................................................................................... 236
7.4.3 Go To position ........................................................................................ 241
7.4.4 Working with displacements and offsets ...................................................... 242
7.5 Detaching and attaching a FlexPendant ................................................................. 244

8 Handling inputs and outputs, I/O 247

8.1 Introduction ...................................................................................................... 247
8.2 Viewing signal lists ............................................................................................ 248
8.3 Setting signals as favorite signals ........................................................................ 249
8.4 Simulating the signals and changing the signal values ............................................. 250
8.5 I/O devices ....................................................................................................... 252

9 Handling the event log 255

9.1 Introduction ...................................................................................................... 255
9.2 Accessing the event log ..................................................................................... 256
9.3 Saving log entries ............................................................................................. 257
9.4 Clearing the log entries ...................................................................................... 258

10 Install, update, restart, and other configuration 259

10.1 Introduction ...................................................................................................... 259
10.2 Install RobotWare system ................................................................................... 260
10.3 Restart ............................................................................................................ 261
10.4 Backup and restore systems ............................................................................... 263
10.4.1 What is saved on backup? ........................................................................ 263
10.4.2 Backup the system .................................................................................. 266
10.4.3 Important when performing backups ........................................................... 268
10.4.4 Restore the system .................................................................................. 269
10.5 Reset user data ................................................................................................ 270
10.6 FlexPendant logs .............................................................................................. 272
10.7 Update FlexPendant .......................................................................................... 273
10.8 Connection log ................................................................................................. 275
10.9 Connected Services log ...................................................................................... 276
10.10 Creating a system diagnostics file ........................................................................ 277

Index 279

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 Overview of this manual

Overview of this manual

About this manual
This manual contains instructions for operation of OmniCore controller based
robots.

Note

It is the responsibility of the integrator to conduct a risk assessment of the final

application.
It is the responsibility of the integrator to provide safety and user guides for the
robot system.

Note

Screenshots in this manual are generally intended to show a language version

corresponding to the language of the manual. In some cases, a translated manual
still uses English screenshots if the localized user interface was not available at
the time of publishing the manual.

Usage
This manual should be used during operation.
Some actions that are more advanced, or not used in the daily operation, are
described in Operating manual - Integrator's guide OmniCore.

Note

Before any work on or with the robot is performed, the safety information in the
product manual for the controller and manipulator must be read.

Who should read this manual?

This manual is intended for:
• operators
• product technicians
• service technicians
• robot programmers

Prerequisites
The reader should:
• Have read and understood the safety instructions in the product manuals for
the robot.
• Be trained in robot operation.

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Overview of this manual
Continued

References
Documentation referred to in the manual, is listed in the table below.
Document name Document ID
Product manual - OmniCore E10 3HAC079399-001
Product manual - OmniCore C30 3HAC060860-001
Product manual - OmniCore C90XT 3HAC073706-001
Product manual - OmniCore V250XT Type B 3HAC087112-001
Product manual - OmniCore V400XT 3HAC081697-001
Operating manual - Integrator's guide OmniCore 3HAC065037-001
Operating manual - RobotStudio 3HAC032104-001
Application manual - Controller software OmniCore 3HAC066554-001
Technical reference manual - System parameters 3HAC065041-001
Application manual - Functional safety and SafeMove 3HAC066559-001

Tip

All documents can be found via myABB Business Portal, www.abb.com/myABB.

Revisions

Revision Description
A First edition.
B • The safety information is moved to the product manuals for the
controller and the manipulator.
• Updated the section Changing operating modes on page 74.
• Updated the section Detaching and attaching a FlexPendant on
page 244.
C Released with RobotWare 7.0.1. The following updates are made in this
revision:
• References to the Hold-to run-button is replaced with thumb button
in the manual.
• Section Service Information System service routine updated with
new counter: moved distance.
• Added information about recently used programs in the section
Starting programs on page 222.
• Updated the section Creating new data instance on page 142.

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Continued

Revision Description
D Released with RobotWare 7.0.2. The following updates are made in this
revision:
• FlexPendant terminology updated in entire manual.
• Added information about SafeMove.
• Updated information about queueing backups.
• Added the section Locking and unlocking operating modes on
page 75.
• Added the section Go To position on page 241.
• Updated the section QuickSet window on page 33.
• Updated the section Detaching and attaching a FlexPendant on
page 244.
• Updated the section Creating new data instance on page 142.
• The directory of BC_config_IO.sys file is corrected in the section
Description of the I/O setup on page 210.
E Released with RobotWare 7.1. The following updates are made in this
revision:
• Removed information from Calibration chapter and inserted refer-
ences to product manuals.
• Added information about OmniCore C90XT in the section Omni-
Core C line on page 18.
• Added information about Array data in various sections.
• Updated the section Restart.
• Added the section Working with SmartGripper on page 103.
• Added the section Copying a data instance on page 145.
• Added the section Managing positions on page 235.
• Added the section Update position on page 130.
• Added the section Capturing screenshots on page 64.
• Added the section Debugging the program on page 139.
• Added the section Updating the FlexPendant applications on
page 273.
F Released with RobotWare 7.2. The following updates are made in this
revision:
• Added the section Directory structure on OmniCore on page 26.
• Added the section Shifting an instruction on page 133.
• Added the section Motion supervision on page 100.
• Added the section Incremental movement for precise positioning
on page 95.
• Added the section File Explorer on page 45.
• Added information about task bar in the section FlexPendant touch
screen on page 28.
• A NOTE is added in section Reset user data that the TEMP folder
is emptied at controller restart if RAPID and system parameters
are reset.
• A Footnote is added in the section FlexPendant applications on
page 42 stating for what manipulators the lead-through function-
ality is applicable.

Continues on next page

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Continued

Revision Description
G Released with RobotWare 7.3. The following updates are made in this
revision:
• Updated the section Configuring the interface language on
page 52.
• Updated the section Configuring date and time on page 50.
• Updated information about grant in the section Detaching and at-
taching a FlexPendant on page 244.
• Updated the section File Explorer on page 45.
• Updated the section Locking and unlocking operating modes on
page 75.
H Released with RobotWare 7.4. The following updates are made in this
revision:
• Added the section Configuring the default view during system
events on page 53.
• Added the section Edit options on page 131.
• Added the section Connected Services log on page 276.
• Added the section Axis Calibration service routine on page 193.
• Added the section Wrist optimization service routine on page 218.
• Updated the section Connection log on page 275.
• Updated the section Handling inputs and outputs, I/O on page 247.
• Updated the section Editing data in specific tasks, modules, or
routines on page 141.
• Information about OmniCore E line added in the section The
OmniCore controller on page 18.
J Released with RobotWare 7.5. The following updates are made in this
revision:
• Added the section Adapting the FlexPendant for left-handed users
on page 60.
• Added information for delta robots, see LoadIdentify, load identi-
fication service routine on page 195.
• Added information about Update Load in Jog Settings on page 35.
• Information about V line controller added in References on page 10
and The OmniCore controller on page 18.
K Released with RobotWare 7.6. The following updates are made in this
revision:
• Added information regarding Select Range in the section Edit
options on page 131.
• Added the section SkipTaskExec service routine on page 219.
• Added the section Scenarios while editing a line that contains
multiple instructions on page 135.
• Added information regarding QR code in the section ABB Ability
on page 40.
• Updated the section Lead-through on page 97.
• Updated the section Editing the values of a data instance on
page 140.
• Updated the section Configuring date and time on page 50.
• Updated various sections to reflect the change of introducing
Program Data as a new app.
• Minor changes in chapter Install, update, restart, and other config-
uration on page 259.
• Corrected name of UAS grant for locking the operating mode, see
Locking and unlocking operating modes on page 75.

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Continued

Revision Description
L Released with RobotWare 7.7. The following updates are made in this
revision:
• Added the section Description of the icons in the QuickSet button
on page 31.
• Added information about Align to a coordinate system on page 98
in the Lead-through section.
• Added information for 5-axis delta robots, see LoadIdentify, load
identification service routine on page 195.
• Added a NOTE for the option Edit selection with keyboard in the
section Edit options on page 131.
• Removed the information about Pendulum Calibration as that is
not available on OmniCore.
M Released with RobotWare 7.8. The following updates are made in this
revision:
• Updated the section Updating the FlexPendant applications on
page 273.
• Updated the section Modifying instructions on page 129.
• The name of the service routine Bat_Shutdown is changed to
BatteryShutDown.
N Released with RobotWare 7.10. The following updates are made in this
revision:
• Added the section Configuring the display of Controller ID and
System Name on page 56.
• Added the section Changing the user password on page 70.
• Information about OmniCore V250XT Type A added in References
on page 10 and The OmniCore controller on page 18.
• Updated various sections to reflect the change of transferring the
RAPID data editing functionality, from Calibrate to Program Data.
• Minor corrections in Service Information System, ServiceInfo
service routine on page 194.
P Released with RobotWare 7.12. The following updates are made in this
revision:
• Added the section Configuring the default paths on page 57.
• Added a NOTE about locked accounts in the section Login pro-
cedure on page 68.
• Added a NOTE regarding adding the value in Mass field in the
section How to create a tool on page 150.
Q Released with RobotWare 7.13. The following updates are made in this
revision:
• ABB Connect is the new name for ABB Ability Connected Services.
• Information about OmniCore V250XT Type B added in References
on page 10 and The OmniCore controller on page 18.
• Information about OmniCore V400XT added in References on
page 10 and The OmniCore controller on page 18.
• Added information that the restart type Reset System does not
reset the topic Communication in the system parameter configur-
ation.
• The functionality for non motion execution is now available in
RobotWare. See Non motion execution on page 101.

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Product documentation

Product documentation
Categories for user documentation from ABB Robotics
The user documentation from ABB Robotics 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.

Tip

All documents can be found via myABB Business Portal, www.abb.com/myABB.

Product manuals
Manipulators, controllers, DressPack, and most other hardware is 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.
• Troubleshooting.
• Decommissioning.
• Reference information (safety standards, unit conversions, screw joints, lists
of tools).
• Spare parts list with corresponding figures (or references to separate spare
parts lists).
• References to circuit diagrams.

Technical reference manuals

The technical reference manuals describe reference information for robotics
products, for example lubrication, the RAPID language, and system parameters.

Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals. An application manual can describe one or several
applications.
An application manual generally contains information about:
• The purpose of the application (what it does and when it is useful).
• What is included (for example cables, I/O boards, RAPID instructions, system
parameters, software).
• How to install included or required hardware.
• How to use the application.

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Continued

• Examples of how to use the application.

Operating manuals
The operating manuals describe hands-on handling of the products. The manuals
are aimed at those having first-hand operational contact with the product, that is
production cell operators, programmers, and troubleshooters.

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 1 Introduction to OmniCore
1.1 About this section

1 Introduction to OmniCore
1.1 About this section

Overview
This section presents an overview of the FlexPendant, the OmniCore controller,
and RobotStudio.
A robot consists of a robot controller, the FlexPendant, RobotStudio, and one or
several manipulators or other mechanical units.
This manual describes a robot without options, not a robot system. 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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1 Introduction to OmniCore
1.2 The OmniCore controller

1.2 The OmniCore controller

Overview of OmniCore
The OmniCore controller contains all the functions needed to move and control
the manipulator, and delivers flexibility, connectivity, and performance. The
OmniCore controller gives ABB robots the ability to perform their tasks in a highly
efficient manner and also increases the flexibility to incorporate the latest digital
technologies. The controller comes with ABB’s powerful operating system,
RobotWare 7.
The controller can be equipped with additional offerings, such as industrial network
protocols, vision solutions, and force control.

OmniCore E line
OmniCore E line is an ultra slim controller for confined spaces and high density
lines within the OmniCore family, offering only the essential functions together
with full motion performance and precision. The E line controller is designed for
stand-alone and slave installations and has a very compact design with integrated
hardware and RobotWare functions.

OmniCore E10
The OmniCore E10 controller has only one base configuration without electronic
hardware options. For more information about the OmniCore E10 controller, see
Product manual - OmniCore E10.

OmniCore C line
OmniCore C line is the compact line of controllers within the OmniCore family,
offering significant size reduction and flexible integration possibilities without any
compromise on performance or precision.

OmniCore C30
The OmniCore C30 controller offers a compact solution suitable for applications
where there is less need for additional equipment inside. For more information
about the OmniCore C30 controller, see Product manual - OmniCore C30.

OmniCore C90XT
The OmniCore C90XT controller offers a compact solution suitable for most
applications with room for some additional equipment inside. For more information
about the OmniCore C90XT controller, see Product manual - OmniCore C90XT.

OmniCore V line
OmniCore V line is a versatile and powerful controller with high degree of flexibility
covering a wide range robot and applications. V line supports external axis and
provides flexible configuration opportunities.

OmniCore V250XT Type B

The OmniCore V250XT Type B controller offers a compact, yet flexible, solution
for advanced applications and robots sizes up to IRB 6700. The controller supports
up to three additional drive units and has 15 liter optional space inside.

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 1 Introduction to OmniCore
1.2 The OmniCore controller
Continued

For more information about the OmniCore V250XT Type B controller, see Product
manual - OmniCore V250XT Type B.

OmniCore V400XT
The OmniCore V400XT controller offers a compact, yet flexible, solution for
advanced applications and robots sizes up to IRB 7600. The controller supports
up to six additional drive units and has 50 liter optional space inside.
For more information about the OmniCore V400XT controller, see Product
manual - OmniCore V400XT.

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1 Introduction to OmniCore
1.3 The FlexPendant

1.3 The FlexPendant

Introduction to the FlexPendant

The FlexPendant is a hand held operator unit that is used for many of the tasks
when operating a robot: running programs, jogging the manipulator, modifying
programs, and so on.
The FlexPendant is designed for continuous operation in harsh industrial
environment. Its touchscreen is easy to clean and resistant to water, oil, and
accidental welding splashes.
The FlexPendant consists of both hardware and software and is a complete
computer in itself. It is connected to the robot controller by an integrated cable and
connector.

Note

If protective gloves are used, these must be compatible with touchscreens when
using the FlexPendant.

Main parts
These are the main parts of the FlexPendant.

J H
C
B
A

D G
F

xx1700001891

A Connector
B RFID reader (functionality not yet implemented)
C Touchscreen
D Emergency stop device
E Joystick

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 1 Introduction to OmniCore
1.3 The FlexPendant
Continued

F Reset button
G USB port
H Three-position enabling device. For details, see Three-position enabling device
on page 23
J Thumb button. For details, see Thumb button on page 24.

Touchscreen

xx1800001181

A Status bar buttons Allows you to navigate to operator messages, event logs,
and QuickSet window.
B Applications The applications that are required for operating a robot
system are available in the Home Screen. By default, the
Home screen displays all the applications available to you.
C Home button From any window tap the Home button to navigate to the
Home screen of FlexPendant. The Home screen view is
also the default view of the FlexPendant during startup.

Emergency stop device

On delivery, the emergency stop device on the FlexPendant is able to initiate the
emergency stop function affecting the manipulator(s) and additional axis only.

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.

Reset button
If the FlexPendant freezes during operation, press the reset button to restart the
FlexPendant.
The reset button resets the FlexPendant, not the system on the controller.

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1 Introduction to OmniCore
1.3 The FlexPendant
Continued

USB port
Connect a USB memory to the USB port to read or save files. For example, to load
and save programs and modules, save and restore backups, and so on. The USB
memory name and drive letter (X:) is displayed in dialogs.

Note

Close the protective cap on the USB port when not used.

Hard buttons
The following hard buttons are available on the FlexPendant.

1 2 3
5 4 6

7 9 8
10 11 12
xx1700001892

Label Description
1 Mechanical unit button. Allows you to select a mechanical unit.
2 Motion mode button 1. Allows you to toggle the motion mode between reorient
and linear.
3 Motion mode button 2. Allows you to toggle the motion mode between axis
1-3 and axis 4-6.
4 Messages button. Allows you to open the QuickSet window.

Note

Press the Messages button for a longer duration to capture a screenshot of

the current screen.
For more details, see Capturing screenshots on page 64.

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1.3 The FlexPendant
Continued

Label Description
5, 6, 7, 8 Programmable keys, 1 to 4.
Programmable keys are hardware buttons on the FlexPendant that can be
used for dedicated, specific functions set by the user.
9 START button. Starts the program execution.
10 Step BACKWARD button. Executes one instruction backward.
11 STOP button. Stops the program execution.
12 Step FORWARD button. Executes one instruction forward.

Note

The user interface of the panel in Virtual FlexPendant is slightly different. For
more details, see UI elements in Virtual FlexPendant panel on page 29.

Three-position enabling device

CAUTION

The person using the three-position enabling device is responsible to observe

the safeguarded space for hazards due to robot motion and any other hazards
related to the robot.
The three-position enabling device is located on the FlexPendant. When
continuously held in center-enabled position, the three-position enabling device
will permit robot motion and any hazards controlled by the robot. Release of or
compression past the center-enabled position will stop the robot motion.

CAUTION

For safe use of the three-position enabling device, the following must be
implemented:
• The three-position enabling device must never be rendered inoperational
in any way.
• If there is a need to enter safeguarded space, always bring the FlexPendant.
This is to enforce single point of control.

CAUTION

On the IRB 14050, the three-position enabling device is not active unless a valid
SafeMove configuration is active in the controller.

Note

To enforce single-point of control from the FlexPendant, press and release the
three-position enabling device twice.

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1.3 The FlexPendant
Continued

Note

YuMi robots with SafeMove requires using the enabling device.

On YuMi robots without SafeMove the enabling device is disabled, hence, not
used.

Thumb button
For robots used in collaborative application, the thumb button is used to enable
the lead-through functionality.
For robots supporting the mode manual full speed, the button is used as hold-to-run.

How to hold the FlexPendant

FlexPendant is typically operated while being held in the hand. The right-handed
users use their left-hand to support the FlexPendant while their right-hand performs
the operations on the touch screen. However, the left-handed users can easily
adapt FlexPendant for their use.
For more details, see the section Adapting the FlexPendant for left-handed users
on page 60.

xx1800000045

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 1 Introduction to OmniCore
1.4 RobotStudio

1.4 RobotStudio

Overview of RobotStudio
RobotStudio is an engineering tool for the configuration and programming of ABB
robots, both real robots on the shop floor and virtual robots in a PC. To achieve
true offline programming, RobotStudio utilizes ABB VirtualRobot™ Technology.
RobotStudio has adopted the Microsoft Office Fluent User Interface. The Office
Fluent UI is also used in Microsoft Office. As in Office, the features of RobotStudio
are designed in a workflow-oriented way.
With add-ins, RobotStudio can be extended and customized to suit the specific
needs. Add-ins are developed using the RobotStudio SDK. With the SDK, it is also
possible to develop custom SmartComponents which exceed the functionality
provided by RobotStudio's base components.
For more information, see Operating manual - RobotStudio.

RobotStudio for real controllers

RobotStudio allows, for example, the following operations when connected to a
real controller:
• Controller.Software.isRobotWare6Installing and modifying RobotWare
systems on controllers, using the Modify Installation function.
• Text-based programing and editing, using the RAPID Editor.
• File manager for the controller.
• Administrating the User Authorization System.
• Configuring system parameters.

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1 Introduction to OmniCore
1.5 Directory structure on OmniCore

1.5 Directory structure on OmniCore

Default base directory structure

The default base public directory structure on the OmniCore controller consists of
the following directories:
Directory Description
HOME Intended for user files and for use by RAPID programs.
Data stored in the HOME directory is included in the Backup and
restore function.

Note

Add-in data should not be stored in this directory. The ADDINDATA

directory is used for this purpose instead.

DATA Data stored in the DATA directory is not included in the Backup and
restore function.
ADDINDATA The ADDINDATA directory contains a number of sub-directories
used for the RobotWare add-ins.
See Application manual - RobotWare add-ins for detailed information
about the add-in directories.
TEMP The TEMP directory is for the storage of temporary files.

CAUTION

The TEMP directory is cleaned on system reset and during system

updates.

BACKUP The BACKUP directory is used for for saving backups.

RAMDISK The RAMDISK directory, located in the RAM disk (nonpersistent),
is used for high-performance logging.

CAUTION

Content is lost on each restart of the controller.

To make sure that all RAPID programs and URL-s in the robot web-service API
work properly, make sure that you only use the locations specified above (using
the predefined environment variables).

Note

RobotWare add-ins can add additional directories and files to the default base
directory structure of your controller, so the actual default structure on your
controller may have additional files and directories.

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 2 Navigating and handling the FlexPendant
2.1 Overview

2 Navigating and handling the FlexPendant

2.1 Overview

Introduction to this section

The content in this section applies to a robot and not a robot system. It is the
responsibility of the integrator to provide a safety and users manual for the robot
system.
This section provides information about basic parts of the user interface. The
important elements for navigation is illustrated in FlexPendant touch screen on
page 28.

Handling and troubleshooting the FlexPendant

How to handle, clean, and troubleshoot the FlexPendant is described in the product
manual for the controller.

Hardware and software options

This manual covers only the views of a basic RobotWare system. The details of
the various options are explained in the application manuals.

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2 Navigating and handling the FlexPendant
2.2.1 FlexPendant touch screen

2.2 The user interface

2.2.1 FlexPendant touch screen

Overview
The FlexPendant touch screen consists of a status bar at the top, Task bar with
Home button at the bottom, and and also a set of applications.

Note

Virtual FlexPendant has an additional panel. For more details, see UI elements
in Virtual FlexPendant panel on page 29.

xx1900000917

The details about FlexPendant applications are described in the section FlexPendant
applications on page 42.
Active FlexPendant applications are displayed on the task bar at the bottom. To
switch between the active applications, tap on the respective application in the
task bar. To close an application, press and hold the application in the task bar
and tap on the displayed close button.

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Continued

UI elements in Virtual FlexPendant panel

The Virtual FlexPendant has some extra soft buttons and UI elements. These
correspond to the hardware buttons on the FlexPendant. This section provides
details about those soft buttons and UI elements available only in the panel of
Virtual Flexpendant. The details of the FlexPendant buttons and parts are available
in the section Main parts on page 20.

xx2100000288

A Thumb button Enables the lead-through functionality.

B Enable/Release but- Provides the same function as the three-position enabling
ton device.
C Emergency stop but- Stops the system with an emergency stop.
ton
D X Y Z values Displays instantaneously the difference in x,y,z axis values
while jogging the robot using joystick.
E Virtual Joystick Move the central part of virtual joy stick to jog the robot
along X and Y axes. Move the semi-circular bar along the
circumference to jog the robot along Z axis.
F Axes bar Locks all axes or individual axis.

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Continued

Menus
The following figure and table provides an overview of the menus that are available
in the FlexPendant interface.

xx1900002308

A Application menu The Application menu button is available when you select one
button of the applications on the FlexPendant start screen. The menu
content reflects the selected application.
B QuickSet menu The QuickSet menu button displays the QuickSet window.
button
C Context menu The context menu button displays a menu with available options
button for a selected row.

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 2 Navigating and handling the FlexPendant
2.2.2 Status bar

2.2.2 Status bar

Overview
The following figure and table provides an overview of the user interface elements
that you can access from the status bar of the FlexPendant.

xx1800000600

Label Buttons Description

A Messages button Tapping the Messages button displays the operator mes-
sages window. The operator messages window displays
the messages from robot programs. This usually happens
when the program needs some kind of operator response
in order to continue. For more details see Messages win-
dow on page 33
B Event logs button Tapping the Event logs button displays the event logs
window. The event logs window displays all the event logs.
The list allows you to filter the event log list according to
the category.
C QuickSet button The icons on the right side of status bar represents the
current status for important settings. The description of
each of these icons is provided in the following section.
Tapping on any icon in this region displays the QuickSet
window along with the status details. For more details, see
QuickSet window on page 33.

Description of the icons in the QuickSet button

QuickSet button in the status bar has various icons which indicates the current
status of various parameters. The following table provides a description of each
of these icons:
Section Icon Description
Operating status Indicates that the program is running.

Indicates that the program is stopped.

Indicates that the operating mode is Auto.

Indicates that the operating mode is Manual.

Indicates that the operating mode is Manual Full

Speed.

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Section Icon Description

Motors and speed Indicates that the motors are ON.
status

Indicates that the motors are OFF.

Indicates the running speed of the robot. The value of

speed can be between 0% to 100%.

Jog status Indicates the active mechanical unit.

Note

The Conveyor icon is displayed here if that mechanical

unit is selected.

Indicates that the jog mode is Axis 1-3.

Note

The Axis 4-6 icon is displayed here if that jog mode is

selected.

Indicates that the jog mode is Linear.

Indicates that the jog mode is Reorient.

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Continued

Messages 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, for example a service routine message, then a separate
window for that task is displayed.
The operator window is opened by tapping the Messages button on the status bar.
The following illustration shows an example of an operator message:

xx2000000866

QuickSet window
When you tap on the QuickSet button the QuickSet window is displayed. The
QuickSet window has the following tabs:
• Control
• Jog
• Execution
• Visual
• Info
• ABB Ability
• Logout/Restart

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Continued

Control Panel
The Control tab displays the Control Panel. The Control Panel allows you to
change the operating modes and turn the motors on and off. It also displays the
program control buttons.

xx1900000622

Button/Section Description
Lock/Unlock buttons Locks or unlocks the operating mode. For more details, see Locking
and unlocking operating modes on page 75.
Mode Changes the operating mode.

(Auto mode): Select this mode to move the manip-

ulator or run a program without human intervention. In this mode
the safety function of the three-position enabling device is bypassed.

(Manual mode): Select this mode to move the

manipulator or run a program with human intervention. In this mode
to make the motors on, select the Motors on button from the Motors
section. You can also press the three-position enabling device to
activate the motors.

(Manual FS or Manual Full Speed mode): Select

this mode to run the program at full speed while still having access
to all the debugging functions available in the program editor.
Motors Turns the motors on or off.
Motors off: Turns the motors off.
Motors on: Turns the motors on.
Speed Controls the speed of program execution. Drag the scroll bar to
control the speed. The speed of 100% indicates that the program is
running at full speed.
Reset Program Sets the program pointer to main.
Cancel routine Cancels the execution of a service routine.

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Continued

Button/Section Description
Play Starts the program execution.
Stop Stops the program execution.
Prev Executes one instruction backward.
Next Executes one instruction forward.

Jog Settings
The Jog tab displays the Jog Settings.

xx1900000623

Section/List/Button Description
Mechanical Unit Selects a mechanical unit from the list.
Coordinate System Selects a coordinate system from the list.
Jog Mode Selects a Jog mode from the section.
Jog Speed Controls the jog speed. Drag the scroll bar to set the jog speed. The
speed of 100% indicates that the jogging is at full speed.
Tool Selects a tool from the list.
Work Object Selects a work object from the list.
Load Selects a load from the list.
Incremental mode Jogs the robot in small steps, which enables very precise positioning.

Lead-through
The Lead-through tab displays the settings required for the lead-through
functionality.

Note

The Lead-through tab is available only for the CRB 15000 robot.

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xx2200000306

Section/List/Button Description
Enable Lead-through Enables or disables the lead-through functionality.
Coordinate System Selects a coordinate system from the list.
Lead-through Mode Selects a Lead-through mode from the list.
Lead-through Speed Controls the Lead-through speed. Drag the scroll bar to set the Lead-
scroll bar through speed. The speed of 100% indicates that the Lead-through
jogging is at full speed.
Lead-through Lock Lock or unlocks the movement of an axis by enabling or disabling
the lock button next to the axis.

Note

The Lead-through lock section is disabled for the Axis 1-6 mode.

Tool Selects a tool from the list.

Work Object Selects a work object from the list.
Load Selects a load from the list.

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Continued

Section/List/Button Description
Update Load Refreshes the mass of the current active load (the mass as measured
by the controller).
The Update Load button is enabled only if all the following conditions
are valid:
• the robot is CRB15000.
• the logged in user has Edit RAPID code and Modify position
grants.
• the Motors are on.

Note

When you press the Update Load button, the lead-through function
will be turned off (if it is active). Lead-through will be reactivated
once the operation is complete(if it was active before).

Execution Settings
The Execution tab displays the Execution Settings.

xx1900000624

Button/Section Description
Run Mode Selects the program run mode.
• Single: Runs one cycle and then stops the execution.
• Continuous: Runs continuously.

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Button/Section Description
Step Mode Selects the program step mode.
• Step Over: The called routines are executed in one single
step.
• Step Into: Steps into the called routines and executes them
step-by-step.
• Step Out: Executes the remaining part 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.
• Step Move: Steps to the next move instruction. Stops before
and after movement instructions, for example, to modify pos-
itions.
Non Motion Execu- This is used to run a RAPID program without the robot motion.
tion
Enable/Disable tasks This is used to enable or disable the selected task.

Visualization
The Visual tab displays the visualization details based on the actual robot
movement.

xx1900000625

Section Description
Motion Mode Displays the selected motion mode.
Coordinate System Displays the selected coordinate system.
Mechanical Unit Displays the selected mechanical unit.
Axes Displays the position of each axis.
Colored arrows Displays the direction in which the jog stick needs to be moved for
jogging the selected axis.

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Continued

Info
The Info tab displays the information about the system.

xx1900000626

Section Description
System Displays the name of the system.
RobotWare Displays the version number of the RobotWare selected in the sys-
tem.
IP Address Displays the IP address of the management port.
Controller Id Displays the identity of the controller.
App version Displays the version information of the FlexPendant application.
Options Displays the options selected in the system.

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Continued

ABB Ability

Note

ABB Connect is the new name for previously known ABB Ability. During a period
of time, both ABB Connect and ABB Ability will appear on our products.
The ABB Ability TM tab displays information about the Connected Services in the
Connected Services Summary section.

xx2000000132

Button/Section Description
Status Displays whether the connected service connection is active or not.
Connection Status Displays the name of the server where Connected Services is con-
nected.
Registration Status Displays whether the Connected Services is registered in the server
or not.
Data Collector Displays whether the data collector is started or not.
Bytes sent/received Displays the amount of bytes sent or received.
QR code Scan the QR code to navigate to https://new.abb.com/products/ro-
botics/service/connected-services, where you can contact ABB to
create a customer account for ABB Connected Services.

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Continued

Logout/Restart
The Logout/Restart tab allows you to disconnect the FlexPendant, restart the
controller and FlexPendant, and so on.

xx1900000627

Button/Section Description
Current User Displays the name of the current logged in user.
Log out: Logs out the current user from the FlexPendant.
Controller Restart: This is used to restart the controller.
FlexPendant Detach FlexPendant: This is used to detach the FlexPendant from
the controller without stopping the current program execution. For
more details, see Detaching and attaching a FlexPendant on page 244.
Restart FlexPendant: This is used to restart the FlexPendant.
Restart Application: This is used to restart the FlexPendant applic-
ation.
Exit Application: This is used to exit the FlexPendant application.
Screen orientation Rotate 180°: This is used to rotate the FlexPendant screen by 180°.
This functionality is useful for left hand users. For more details, see
the section Adapting the FlexPendant for left-handed users on
page 60.

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2 Navigating and handling the FlexPendant
2.2.3 FlexPendant applications

2.2.3 FlexPendant applications

The FlexPendant applications

The FlexPendant contains applications for controlling the robot. There are different
application packages depending on the options selected for the robot. The Limited
App Package is always included, unless another app package is selected.
There are more applications available than those listed below. These can be specific
for the selected products and options, for example, application software, or
applications for controlling grippers and tools.

Code
The Code application is used to create new programs, modify existing programs,
and so on.
Feature Limited App Essential App Program Pack-
Package [3120-1] Package [3120-2] age [3151-1]
Create new programs, edit existing ✓
programs
View and edit RAPID modules and ✓
RAPID routines
Debug Options ✓
PP to main, cursor to program
pointer, goto position, call routine,
cancel routine, check program, view
system data, next move instruction
Teach position (ModPos) ✓
Check for syntactic and semantic ✓
error

If the option Program Package is not selected then programs must be created and
edited using RobotStudio.

Program Data
The Program Data application is used to view and edit RAPID data.
Feature Limited App Essential App Program Pack-
Package [3120-1] Package [3120-2] age [3151-1]
View and edit RAPID data (program ✓
data)
Manage payload data ✓ ✓
Manage tool data ✓ ✓
Manage work object data ✓ ✓

Jog
The Jog application is used to jog the ABB industrial robot using an intuitive touch
based user interface or using a joystick.
Feature Limited App Essential App Program Pack-
Package [3120-1] Package [3120-2] age [3151-1]
Joystick jog ✓ ✓

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Feature Limited App Essential App Program Pack-

Package [3120-1] Package [3120-2] age [3151-1]
Touch jog ✓
Align tool ✓
Lead-through ✓1 ✓1
Jog supervision ✓ ✓
GoTo (jog to target) ✓
3D visualization ✓ ✓

Settings
The Settings application is used to configure the general settings of OmniCore
controller and FlexPendant. Controller configuration includes Network, ABB Ability,
Time and Language, Backup, Restore, System diagnostics and so on. FlexPendant
configuration includes background settings and programmable keys.
Feature Limited App Essential App Program Pack-
Package [3120-1] Package [3120-2] age [3151-1]
System ✓ ✓
About, hardware devices, software
resources
Network ✓ ✓
Status, WAN settings, DNS Client
Ability ✓ ✓
Status, Ability status, configure
3G/WiFi/wired
Configure Connected Services ✓ ✓
Backup and Recovery ✓ ✓
Backup, restore, system dia-
gnostics, restart, reset user data,
RobotWare Installation Utilities
Date & time ✓ ✓
Region & language ✓ ✓
Programmable keys ✓ ✓

I/O
The I/O application is used to manage the I/O signals. Signals are configured with
system parameters.
Feature Limited App Essential App Program Pack-
Package [3120-1] Package [3120-2] age [3151-1]
Show industrial networks ✓ ✓
View all I/O signals ✓ ✓
Display I/O signals with respect to ✓ ✓
category
Filter signals ✓ ✓
Sort signals ✓ ✓
1 Only applicable for compatible manipulators, currently IRB 14050 and CRB 15000.

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Feature Limited App Essential App Program Pack-

Package [3120-1] Package [3120-2] age [3151-1]
Set signals ✓ ✓
Bit values ✓ ✓
Navigate to device specific signals ✓ ✓
Identify device ✓ ✓
Scan EDS ✓ ✓
Activate and deactivate devices ✓ ✓
Start ✓ ✓
Scan ✓ ✓
Firmware upgrade ✓ ✓

Operate
The Operate application is used to view the program code while the program is
running. Controller data can be configured for viewing the data in the form of
dashboards. Updates during production are shown here.
Feature Limited App Essential App Program Pack-
Package [3120-1] Package [3120-2] age [3151-1]
View dashboards ✓
Configure dashboards ✓
Load and execute RAPID programs ✓ ✓
View loaded RAPID programs ✓ ✓
Teach position (ModPos) of robtar- ✓ ✓
gets in loaded RAPID programs
Reset program pointer to Main ✓ ✓
Show program pointer position ✓ ✓
Show motion pointer position ✓ ✓
Execute service routines ✓ ✓

Calibrate
The Calibrate application is used for calibration and definition of frames for ABB
robots.
Feature Limited App Essential App Program Pack-
Package [3120-1] Package [3120-2] age [3151-1]
Mechanical unit calibration ✓ ✓
Update revolution counters ✓ ✓
Edit motor offset values ✓ ✓
Load motor offset values ✓ ✓
Fine calibration ✓ ✓
Robot memory ✓ ✓
Base frame calibration ✓ ✓

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Feature Limited App Essential App Program Pack-

Package [3120-1] Package [3120-2] age [3151-1]
Execute calibration specific service ✓ ✓
routines

File Explorer
The File Explorer is a file manager, similar to Windows Explorer, with which you
can view, rename, delete, or move files and folders on the controller or on a
connected external USB drive.

Note

The file explorer supports operations on the following file formats: TXT, CFG,
PNG, XML, ZIP, JPG, MOD, PGF, LOG, and MODX.
To manage files and folders, from the Home screen, open File Explorer. The file
explorer window is displayed. The following image and table provides information
regarding the functions available in the file explorer window.

xx2100000050

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Label Description
A Displays the available drives. If a USB drive is connected to the FlexPendant
that is also displayed here.
B Navigates to the folder up by one level.
C Refreshes the files and folders.
D Displays the path of the selected folder.
E Displays the options available for a selected folder.
• Create new folder: Creates a new folder in the selected folder.
• Paste: Pastes the copied files or folders in the selected folder.
• Select/Deselect: Selects or clear the selection for a set of files and folders.
• Remove Selected Items: Removes the selected items.
• Copy Selected Items: Copies the selected items.
F Displays the options available for a selected item.
• View: Allows you to view the selected text or picture files.
• Copy: Copies the selected item.
• Cut: Cuts the selected item.
• Remove: Deletes the selected item.
• Rename: Changes the name of the selected item.
• Properties: Displays the properties of the selected item.

Note

The following grants are required for full access to controller disk:
• Read access to controller disks
• Write access to controller disks
Without the Read and Write access to controller disks grant you may get access
to some folders in controller disk like /TEMP but not all of them.

While moving the file and folders following are the possible scenarios:
• Moving files and folders within the controller disk.
• Moving files and folders from controller to USB drive and vice versa.

Note

It is not possible to move or copy files and folders within a USB drive.

SafeMove
The application SafeMove is used to configure some parts of SafeMove. See
Application manual - Functional safety and SafeMove. For full SafeMove
configuration, see Visual SafeMove in RobotStudio.

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2.3.1 Introduction

2.3 Personalizing the FlexPendant

2.3.1 Introduction

Overview
The FlexPendant can be personalized in a number of ways. This is described in
this chapter.

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2.3.2 System information

2.3.2 System information

Information
The information about the selected hardware devices, software resources, services,
and the features can be accessed from the System page of the Settings application.

Note

The only information that you can change from the System information page is
to edit the robot system name. For more details, see Configuring the identity
settings on page 49.

Use the following procedure to access the system information:

1 On the start screen, tap Settings.
2 Tap System.
The About page displayed. On the left sidebar tap the Hardware Devices
and Software Resources to access the respective information.

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2.3.3 Configuring the identity settings

2.3.3 Configuring the identity settings

Configuring the identity settings

You can define a name for the robot system according to your requirement.
Use the following procedure to configure the name of the robot system.
1 On the start screen, tap Settings.
2 Tap System.
3 In the Robot System Name field tap Edit.
4 Type or update the name of the robot.
5 Tap Apply.
The changes are saved and the name of the robot system is updated.

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2.3.4 Configuring date and time

2.3.4 Configuring date and time

Overview
It is possible to configure the date and time from the FlexPendant.

Note

When you change the Date and time using the following procedure the controller
clock is modified, not the FlexPendant clock.

Procedure
Use the following procedure to configure the date and time.
1 On the start screen, tap Settings.
2 Tap Time & Language.
3 On the left sidebar tap Date & Time.
4 Select Network Time or Manual Time.
• Network Time: Select this for configuring the robot controller for
automatic time synchronization using the NTP protocol of a time server.
The time server is identified by its IP address or DNS name.
• Manual Time: Select this if you do not have a time server that is
reachable from the controller.
5 If you select Network Time, in the Time Server Address field type the URL
or IP address of the time server.

Note

Tap the Test button next to the Time Server Address field to verify the
time server address.

6 If you select Manual Time, in the Select date and Select time fields manually
configure date and time.
7 In the Time Format section, select the format of the time as 24-hour or
12-hour.

Note

The default time format is 24-hour.

8 Tap Apply.
The selected settings are saved.

Note

It is important to correctly define the Time Zone including the country and sub
Zone, as this is used for different digital services.

Continues on next page

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2.3.4 Configuring date and time
Continued

Note

You can set the format of the time as 24-hour or 12-hour from the Time Format
section. The default time format is 24-hour.

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2.3.5 Configuring the interface language

2.3.5 Configuring the interface language

Overview
The FlexPendant user interface is available in twenty languages. The default
language is English. However, it is possible to change the interface language after
logging in to the controller.

Note

When you switch to another language, all the buttons, menus, and dialogs will
use the new language. But the interface language of RAPID instructions, variables,
system parameters, and I/O signals is not affected.

Note

The number of interface languages that FlexPendant supports depends on the

RobotWare version the system is using.

Configuring interface language after logging in to the controller

Use the following procedure to change the interface language:
1 On the start screen, tap Settings.
2 Tap Time & Language.
3 On the left sidebar, tap Language.
A list of supported user interface languages is displayed.
4 Tap on the desired language button.
5 Tap Apply.
The Change language confirmation window is displayed.
6 Tap Yes.
The FlexPendant is restarted and the interface language is changed to the
selected language.

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2.3.6 Configuring the default view during system events

2.3.6 Configuring the default view during system events

Overview
This feature is used to configure a particular app view during start up or when
switching to different operating modes.

Note

This configuration is disabled when the operating mode is Auto.

Procedure
Use the following procedure to configure the default view of FlexPendant for system
events:
1 On the start screen, tap Settings.
2 Tap FlexPendant.
3 On the left sidebar, tap Launch on System Event.
The Launch on System Event page is displayed.
4 For a system event, tap the list and select a desired view.
Following system events are available :
• Switching to Auto: Select this option to define the FlexPendant view
when switching to auto mode.
• Switching to Manual: Select this option to define the FlexPendant view
when switching to manual mode.
• Switching to Manual Full Speed: Select this option to define the
FlexPendant view when switching to manual full speed mode.
• FlexPendant Startup: Select this option to define the view when the
FlexPendant starts.

Note

Tap Clear to remove the current selected view.

5 Tap Save.
The changes are saved.

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2.3.7 Configuring the Joystick

2.3.7 Configuring the Joystick

Overview
This feature is used to configure the desired response of the joystick while using
the joystick jogging.

Procedure
Use the following procedure to configure the desired response of the joystick:
1 On the start screen, tap Settings.
2 Tap FlexPendant.
3 On the left sidebar, tap Joystick Configuration.
The Joystick Response page is displayed.
4 In the Joystick mode section, select a mode for the Joystick.
Following modes are available:
• Linear: The jog speed is directly proportional to the deflection of the
joystick.
• Progressive: The jog speed is calculated from the deflection using a
progressive function. For smaller deflections, the jog speed will be low
and increases slowly. The speed then ramps up quickly when getting
closer to 100% deflection. This makes it easier to jog the robot slowly.
5 Tap Apply.
The Joystick settings are saved.

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2.3.8 Configuring the display of event logs

2.3.8 Configuring the display of event logs

Overview
This feature is used to configure the display of event logs in FlexPendant.

Procedure
Use the following procedure to configure the event log display:
1 On the start screen, tap Settings.
2 Tap FlexPendant.
3 On the left sidebar, tap Event Log.
The Event Log page is displayed.
4 In the Error Focus Handling section, select an option for the display of event
log messages.
Following are the available options:
• Fewer interruptions: Only the important event logs will be displayed.
• Verbose: All the event logs will be displayed.
The event logs settings are saved.

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2.3.9 Configuring the display of Controller ID and System Name

2.3.9 Configuring the display of Controller ID and System Name

Overview
This feature is used to change the display format of Controller ID and System Name
in Home Screen.

Procedure
Use the following procedure to configure the display format of Controller ID and
System Name:
1 On the start screen, tap Settings.
2 Tap FlexPendant.
3 On the left sidebar, tap Controller Id and System Name.
The Controller Id and System Name page is displayed.
4 In the Select the preferred naming option section, select an option for the
display of Controller ID and System Name.
Following are the available options:
• Both Controller Id and System Name (Default): Displays both the
Controller ID and System Name. This is the default display format.
• Controller Id only: Displays only the Controller ID.
• System Name only: Displays only the System Name.
The settings are saved.

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2.3.10 Configuring the default paths

2.3.10 Configuring the default paths

Overview
This feature is used for setting individual default paths for the following actions:
• Saving and loading RAPID modules.
• Saving and loading RAPID programs.

Procedure
Use the following procedure to configure the default paths:
1 On the start screen, tap Settings.
2 Tap FlexPendant.
3 On the left sidebar, tap Default Path.
The Define default paths to the controller file system page is displayed.
4 Tap Browse and select the required path for the following options:
• Select folder to set default path for RAPID modules: Allows you to
configure a default path for RAPID modules.
• Select folder to set default path for RAPID programs: Allows you to
configure a default path for RAPID programs.
5 Tap Save.
The default path settings are saved.

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2.3.11 Configuring the programmable keys

2.3.11 Configuring the programmable keys

Overview
Programmable keys are the four hardware buttons on the FlexPendant that can
be used for dedicated, specific functions configured by the user.
The keys can be programmed to simplify programming or to test the programs.
They can also be used to activate menus on the FlexPendant.

Note

It is not mandatory to configure all the programmable keys.

Procedure
Use the following procedure to configure the programmable keys.
1 On the start screen, tap Settings.
2 Tap Personalization.
3 On the sidebar tap Programmable keys.
4 Tap on a key.
5 Type a name for the selected key in the Friendly Name field.

Note

This field is optional.

6 Tap the Type list and select the type of action.

7 If the type Input is selected:
• Tap to select an input signal from the Digital Input list.
• Tap the Allow in auto list to select if the function is also allowed in
automatic operating mode.

Note

An input cannot be set by using the programmable keys, its value can only
be pulsed. The pulse will be the inverted value of the input.

8 If the type Output is selected:

• Tap to select an output signal from the Digital Outputs list.
• Tap the Key Pressed list and define how the signal should behave
when the key is pressed.
• Tap the Allow in auto list to select if the function is also allowed in
automatic operating mode.
Following are the options available in the Key Pressed list.
• Toggle- switches the signal value from 0 to 1 or vice versa.
• Set to 1 - sets the signal value to 1.
• Set to 0 - sets the signal value to 0.

Continues on next page

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2.3.11 Configuring the programmable keys
Continued

• Press/Release - sets the signal value to 1 while the key is pressed

(note that an inverted signal will be set to 0).
• Pulse - the signal value pulses once.
9 If the type System is selected:
• Tap the Allow in auto list to select if the function is also allowed in
automatic operating mode.

Note

The value Move PP to Main is selected in the Key Pressed list.

10 Tap Apply.
The selected key is configured.
11 Configure the other keys, if needed.

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2.3.12 Adapting the FlexPendant for left-handed users

2.3.12 Adapting the FlexPendant for left-handed users

Overview
Left-handed users, normally prefers their left-hand for the touch screen. The
FlexPendant can easily be adapted to suit the needs of the left-handed users. They
can easily rotate the screen through 180 degrees and use their right-hand to support
the device.

Rotating the FlexPendant screen

Use the following procedure to adapt the FlexPendant to suit a left-handed user.
1 On the FlexPendant, tap QuickSet and select the Logout/Restart tab.
2 In the Screen orientation section, tap the Rotate 180° button.
The FlexPendant screen is rotated by 180 degrees and is adapted for the
left-handed users.

What is affected?
The following settings are affected when adapting the FlexPendant for a left- handed
user.
Setting Effect Information
Jogging directions The joystick directions are The illustrations of jogging
adjusted automatically. directions in the jogging menu
are adjusted automatically.
Hardware buttons and pro- No change. See Hard buttons on page 22.
grammable keys
Emergency stop No change.
Three-position enabling No change.
device

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2.4.1 Using the soft keyboard

2.4 Basic procedures

2.4.1 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.
The following illustration shows the soft keyboard on the FlexPendant.

xx2000000922

Using international characters

To access international characters, tap the Int’l key on the soft keyboard. All western
characters can be used, also in usernames and passwords.

Changing the insertion point

Tap the arrow keys to change the insertion point, for instance when correcting
typing errors.
If you need to move... then tap...
backward

xx2000000923

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2.4.1 Using the soft keyboard
Continued

If you need to move... then tap...

forward

xx2000000924

Deleting
1 Tap the Backspace key (top right) to delete characters to the left of the
insertion point.

xx2000000925

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2.4.2 Messages on the FlexPendant

2.4.2 Messages on the FlexPendant

Overview
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 255. All messages are also described in Technical reference
manual - Event logs for RobotWare 7.

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, for example,
while running a service routine. See, Messages window on page 33.
How to generate program messages is described in Technical reference
manual - RAPID Instructions, Functions and Data types.

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2.4.3 Capturing screenshots

2.4.3 Capturing screenshots

Overview
It is possible to capture the screenshot of a FlexPendant screen during operation.
This function is useful when you want to explain about a FlexPendant screen, to
report a FlexPendant issue, and so on.

Procedure
Use the following procedure to capture a FlexPendant screenshot:
1 Decide on the screen that you want to capture.
2 Press and hold the Messages hard button for a longer duration (around 1
second).
A toast notification is displayed and the screenshot of the current screen is
saved to the temp folder on the controller disk.

Note

Use the File Transfer function in RobotStudio to access the image. The name of
the file is in the format FlexPendantScreen_yyyy-MM-dd_HH-MM-ss-ms.png.

Note

For information regarding the FlexPendant hard buttons, see FlexPendant Main
parts on page 20.

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2.4.4 Filtering data

2.4.4 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 when there are many instances available.
By filtering instances starting with a specific character for example, the number of
items can be greatly reduced.
Depending on the type of data, you can filter data either alphabetically or
numerically.

xx2000000926

Note

When filtering I/O signals there are more options than other types of data. For
example, you can filter data by Name or Type

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2.4.5 Searching the settings

2.4.5 Searching the settings

Searching the settings

From the Settings application main page you can easily navigate to a particular
settings by making use of the instant search feature. As you type few letters of a
keyword in the settings search bar, the instant search feature starts listing the
results in the search bar as shown in the following figure. Select the desired settings
result to navigate to the corresponding settings window.

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2.4.6 Granting access for RobotStudio

2.4.6 Granting access for RobotStudio

About write access on the controller

The controller accepts only 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 can be accepted or rejected on the FlexPendant.

Granting access for a RobotStudio user

The following procedure describes how to grant access for a RobotStudio user.
1 When a user in RobotStudio requests access, a message is displayed on
the FlexPendant. Decide whether to grant or reject the access.
2 If you want to grant access, tap Grant. The user holds write access until he
disconnects or until you reject the access.
If you want to reject access, tap Deny.

Note

If you have granted the access and want to revoke it, tap Deny.

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2.4.7 Logging on and off

2.4.7 Logging on and off

Login procedure
Use the following procedure to log on to the controller, using the User Authorization
System (UAS). For more details about User Authorization System, see Operating
manual - RobotStudio.

xx2000000931

1 Tap on the Username field.

The soft keyboard is displayed.

Note

If you select the Use credentials for Default User checkbox then no
password is required, and you are logged on automatically.

2 Type a valid username using the soft keyboard.

3 Tap on the Password field and type password for the selected user using
the soft keyboard.
4 Tap Log in.

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2.4.7 Logging on and off
Continued

The selected user is logged in.

Note

If you try to login with wrong password for more than 5 times in a row, the
user account will be locked for two minutes. During that time all login
attempts will be rejected. After two minutes you will get one new attempt
for login and if that also fails another two minutes lockout is initiated. In
case you forgot the password, contact system administrator for resetting
the password.

Note

After a log off, the Log in to controller window is displayed.

Logout procedure
You can logout from the controller using one of the following procedures:
Using the QuickSet menu
1 Tap on the QuickSet button and select the Logout/Restart tab.
The Logout/Restart page is displayed.
2 In the Current User section tap Logout.
The current active user is logged off from the controller and the Log in to
controller window is displayed.
Using the Settings application
1 On the start screen, tap Settings.
The Settings page is displayed.
2 At the bottom of the Settings page tap Logout.
The current active user is logged off from the controller and the Log in to
controller window is displayed.

Handling users and authorization levels

Read more on how to add users or set the authorization in Operating
manual - RobotStudio.

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2.4.8 Changing the user password

2.4.8 Changing the user password

Overview
It is possible to change the password of the logged in user from the FlexPendant.

Changing password procedure

Use the following procedure to change password of the logged in user.
1 On the start screen, tap Settings.
2 Tap System.
3 On the left sidebar, tap Change User Password.
The Change User Password window is displayed.
4 In the Old Password field type the current password.
5 In the New Password field type a new password.

Note

The number of characters in the password should be between 6 and 16.

6 In the Confirm New Password field type the same password that you typed
in the New Password field.
7 Tap Change Password.
The new password is validated and saved.

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2.5 Updating the applications

2.5 Updating the applications

Overview
The FlexPendant applications are updated using the Update option. For more
details, see Updating the FlexPendant applications on page 273.

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 3 OmniCore controller operating modes
3.1 Introduction

3 OmniCore controller operating modes

3.1 Introduction

Overview
The OmniCore controller is delivered with the Keyless Mode Selector option. Using
this you can change the operating modes from FlexPendant.
The following operating modes are available:
• Manual mode, also known as Manual reduced speed mode.
• Manual high speed mode (not available in USA or Canada).
• Automatic mode.
The operating modes are described in the product manual for the robot controller.

Note

This behavior of OmniCore controller is different compared to IRC5.

CAUTION

Suspended safeguards shall be returned to full functionality prior to selecting

automatic mode.

Safety aspects of the Keyless Mode Selector

DANGER

Since the mode change and motors on operations are handled from the
FlexPendant, it is physically possible to perform these operations within the
safeguarded space. The user must always make sure to have safety equipment
that is blocking automatic operation while being inside the safeguarded space,
for example an auto stop connected to a gate.

Note

The Keyless Mode Selector is only a part of the robot. It is the responsibility of
the integrator to do a risk assessment of the robot system.

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3 OmniCore controller operating modes
3.2 Changing operating modes

3.2 Changing operating modes

Procedure
Use the following procedure to change the operating mode on the robot controller:
1 On the FlexPendant status bar, tap the QuickSet button.
The Control Panel window is displayed.

xx1800000635

2 Navigate to the Mode section. If the operating mode is locked, unlock it by

following the procedure Unlocking the operating mode on page 77.
3 Select the required operating mode.
When changing to automatic operating mode, a dialog is displayed with an
acknowledge button. This does not apply to YuMi robots.
The operating mode is changed.

Note

OmniCore goes to motors OFF state when the operating mode is changed.
This does not apply to YuMi robots.
For YuMi robots the motors are automatically ON after changing to auto
mode.

Note

The operating mode change works only in the sequence Auto <> Manual (Manual
Reduced Speed) <> Manual FS (Manual Full speed). It is not possible to change
the operating mode directly from Auto to Manual FS.

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3.3 Locking and unlocking operating modes

3.3 Locking and unlocking operating modes

Introduction
It is possible to restrict an unauthorized change in operating mode by locking it.
This is done by configuring a temporary or permanent PIN-code.

xx2100000749

If a permanent PIN-code is not configured, then all users can configure a temporary
PIN-code.
The permanent PIN-code can only be configured by a user with the grant Lockable
Mode Selector.

Configuring a temporary PIN-code

Use the following procedure to configure a temporary PIN-code:
1 On the FlexPendant status bar, tap the QuickSet button.
The Control Panel window is displayed.
2 Tap the Lock button.

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3.3 Locking and unlocking operating modes
Continued

The Mode Selector PIN-code window is displayed.

xx2000000187

3 Tap a 4 digit PIN-code on the number pad.

4 Tap OK.
The operating mode is locked.
Once a temporary PIN-code is enabled, the user must provide the correct PIN-code
to change the operating mode. For more details, see Unlocking the operating mode
on page 77.

Note

Since the temporary PIN-code is reset every time the operator unlocks it, this
procedure must be repeated every time to set a temporary PIN-code.

Configuring a permanent PIN-code

A user with the Lockable Mode Selector grant can configure a permanent PIN-code
for other users to lock the operating mode.

Note

A user with the Lockable Mode Selector grant can unlock the Lock button at
any time without providing a PIN-code.
Use the following procedure to configure a permanent PIN-code:
1 On the FlexPendant status bar, tap the QuickSet button.
The Control Panel window is displayed.
2 Tap the Lock button.

Continues on next page

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3.3 Locking and unlocking operating modes
Continued

The Mode Selector PIN-code window is displayed.

xx2000000186

3 Select the Request permanent lock check box.

The Request Permanent lock check box is displayed only for those users
with the Lockable Mode Selector grant enabled.
4 Tap a 4 digit PIN-code on the number pad.
5 Tap OK.
The permanent PIN-code is saved and is applicable for all the users.
Once a permanent PIN-code is enabled, the users must provide the correct PIN-code
to change the operating mode. For more details, see Unlocking the operating mode
on page 77.

Note

For permanent PIN-code, after an unlock, if the operating mode is changed, the
mode change will again be locked immediately.

Note

A saved permanent PIN-code is valid until a user with the Lockable Mode
Selector grant resets the permanent PIN-code.

Unlocking the operating mode

If the operating mode is locked you can unlock it using a temporary or a permanent
PIN-code.

Continues on next page

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3.3 Locking and unlocking operating modes
Continued

Use the following procedure to unlock:

1 On the FlexPendant status bar, tap the QuickSet button.
The Control Panel window is displayed.
2 Tap the Unlock button.
The Mode Selector PIN-code window is displayed.
3 Tap the 4 digit PIN-code on the number pad.
For permanent PIN-code, the users will have one minute time to change the
operating mode before it is locked again.
4 Tap OK.
The operating mode is unlocked.

Note

The temporary PIN-code is reset every time the user unlocks it.

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4.1 Introduction

4 Calibration
4.1 Introduction

Overview
This section provides an overview of the calibration information and about updating
the revolution counter value for each axis, using the FlexPendant. Detailed
information about calibration, revolution counter update, and so on can be found
in the respective robot product manual.

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4 Calibration
4.2 How to check if the robot needs calibration

4.2 How to check if the robot needs calibration

Check robot calibration status

Use the following procedure to check the calibration status of the robot:
1 On the start screen, tap Calibrate, and then Calibration.
2 The Mechanical Unit page is displayed.

Note

This step is required only if you are not already in the Mechanical Unit
page when you open Calibrate.

Note

The Mechanical Unit page is displayed only if there are more than one
mechanical unit available. Otherwise, the calibration summary page for
the available mechanical unit is displayed.

3 Select the unit that needs to be calibrated from the Mechanical Unit list.
The calibration summary page for the selected mechanical unit is displayed.
The Calibration Status column displays the status of calibration for each
axis.

What kind of calibration is needed?

If the calibration then...

status is...
Calibrated Calibration is not needed.
Not calibrated the robot must be fine calibrated by a qualified service technician.
Performing a fine calibration is described in the product manual for
the robot.

DANGER

Do not attempt to perform the fine calibration procedure without

proper training and tools. Doing so may result in the incorrect posi-
tioning that may cause injuries and property damage. Always consult
a qualified service technician.

Not updated update the revolution counters or perform the calibration.

Note

For IRB 14050 when you select update the revolution counters, you
are recommended to perform the calibration.
Updating the revolution counters is described in the product manual
for the robot.

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4.2 How to check if the robot needs calibration
Continued

If the calibration then...

status is...
Not commutated the robot must be fine calibrated by a qualified service technician.
Performing a fine calibration is described in the product manual for
the robot.

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. Always consult a
qualified service technician.

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 5 Jogging
5.1 Introduction to jogging

5 Jogging
5.1 Introduction to jogging

What is jogging?
Jogging is the process of manually positioning or moving the manipulator or
additional axes in manual mode.

Prerequisites
You can jog the robot under the following conditions:
• The system has been started as detailed in this manual.
• Define the working range for the robots as well as for any other pieces of
equipment working in the robot cell. The robot’s working range is defined by
system parameters. For more details, see Technical reference
manual - System parameters.
• No programmed operation is running
• The controller is in manual mode.
• The three-position enabling device is pressed and the system is in Motors
ON state.

Note

YuMi robots with SafeMove requires using the enabling device.

On YuMi robots without SafeMove the enabling device is disabled, hence,
not used.

There might be restrictions to how you can jog, see section Restrictions to jogging
on page 96.

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5 Jogging
5.1 Introduction to jogging
Continued

Jogging the robot

Use the following procedure to jog the robot.
1 On the start screen, tap Jog, and then select Joystick Jog or Touch Jog
from the menu.

xx2000001001

2 From the Mechanical unit list, select a mechanical unit.

3 From the Motion mode section, select an axis-set that need to be jogged.
For example, to jog axis 2, select the axis set Axis 1-3.
4 Press and hold the three-position enabling device to enable the motors.
5 If you have selected Joystick Jog, refer the Joystick Movements section to
understand the direction of the axis that you want to move and move the
joystick.
If you have selected Touch Jog, tap on the axis that you want to move and
drag it to the positive or negative direction.
The axis is moved according to the movement.

About motion modes and robots

The selected motion mode or coordinate system determines the way the robot
moves.
In linear motion mode, the tool center point moves along straight lines in space,
that is, it moves from "point A to point B". The tool center point moves in the
direction of the selected coordinate system’s axes.
Axis-by-axis motion mode moves one robot axis at a time. It is then hard to predict
how the tool center point moves.

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 5 Jogging
5.1 Introduction to jogging
Continued

About motion modes and additional axes

Additional axes can be jogged only 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 and rotational motion is used in many kinds of
workpiece handlers.
Additional axes are not affected by the selected coordinate system.

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5 Jogging
5.2 Coordinate systems for jogging

5.2 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 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.
• The Wobj (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 defines the robot cell. It is useful for jogging,
general movements, and for handling stations and cells with several robots.

The base coordinate system

xx0300000495

The base coordinate system has its zero point at the base of the robot, which
makes the movement 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 the better
choices.

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5.2 Coordinate systems for jogging
Continued

When you are standing in front of a 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 work object coordinate system

xx0600002738

A World coordinate system

B Work Object coordinate system 1
C 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 the work object coordinate system you create targets and paths when
programming the robot. This gives the following 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.
Following are two examples of work object coordinate system in use:
• To determining the positions of a number of holes to be drilled along the
edge of the work object.
• To create a weld between two walls in a box.

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5 Jogging
5.2 Coordinate systems for jogging
Continued

The tool coordinate system

en0300000497

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 that moves to the programmed positions, when executing programs.
This means that if you change the tool (and the tool coordinate system) the robot’s
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 be defined
as offsets from tool0.
When jogging a robot the tool coordinate system is useful when you don’t want to
change the orientation of the tool during the movement. For example, moving a
saw blade without bending it.
Following is an example of tool coordinate system in use:
• Use the tool coordinate system when you need to program or adjust
operations for threading, drilling, milling, or sawing.

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5.2 Coordinate systems for jogging
Continued

The world coordinate system

en0300000496

A Base coordinate system for robot 1

B World coordinate
C 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.

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
5.2 Coordinate systems for jogging
Continued

Illustration of axes and joystick directions

The axes of a generic six axis robot 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.

xx0300000520

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 5 Jogging
5.3 Basic settings for jogging

5.3 Basic settings for jogging

Selecting mechanical unit for jogging

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.
Each mechanical unit that can be jogged is represented in the Mechanical unit
list. The name of the unit is defined in the system configuration.
Please consult your plant or cell documentation to see which mechanical units are
available in your robot system.

Note

The selected mechanical unit is active until you select another unit.

Selecting Motion mode

Navigate to the Movement Types section and tap on the movement type that you
want to select.

Selecting tool, work object, and payload

It is important to choose the proper tool, work object, or payload. This is required
when you create a program by jogging to the target positions. Failing to do this
may results in overload errors or incorrect positioning either when you jog or when
you run the program.
Select tool, workobject, or payload from the Active tool, Active workobject, or
Active Payload list respectively according to the requirement.

Setting the tool orientation

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.
The tool orientation is relative to the currently selected coordinate system. From
a user perspective however this is not noticeable.
Select Align Tool from the menu.

Jogging axis by axis

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.

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5.3 Basic settings for jogging
Continued

Use the following procedure to select axis group in the Jogging window.
1 On the start screen, tap Jog, and then select Joystick Jog or Touch Jog
from the menu.
2 Navigate to the Motion mode section and select the axis set.
3 Press and hold the three-position enabling device to enable the motors.
4 Jog the axis according to your requirement.
The selected axis is moved according to your hand gestures.

CAUTION

The orientation of any mounted tool is affected by this procedure. If the resulting
orientation is important, perform the procedure described in Setting the tool
orientation on page 91.

Incremental movement for precise positioning

Use incremental movement to jog the robot in small steps, which enables very
precise positioning.
This means that once the increment setting is configured, the robot moves one
step when you swipe on the graphical window. If you swipe for more time, a
sequence of steps, (at a rate of 10 steps per second), is performed as long as you
swipe the axis along the user interface.
You can use the jog app for precise movement.
Use the following procedure to select the incremental movement size using the
Jog app.
1 On the start screen, tap Jog, and then select Joystick Jog from the menu.
2 Navigate to the Motion mode section and select the axis set.
3 In the Joystick Movements section, navigate to the Increment Mode list,
and select the increment type.
4 Jog the selected axis.
The robot axis is moved according to the selected increment mode.

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 5 Jogging
5.4 Reading the exact position

5.4 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 robot memory 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 robot memory. You must update the
revolution counters before a program can be started. For more details about
revolution counter update refer the respective robot product manual.

Note

If no positions are displayed then the mechanical unit is uncalibrated. Instead

the text Selected mechanical unit is not calibrated is displayed.

Note

When updating the revolution counters, the ongoing RAPID instruction or function
is interrupted, and the path is cleared.

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.
1 On the start screen, tap Jog.

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5 Jogging
5.4 Reading the exact position
Continued

2 The position of each axis is displayed in the Position Information section.

Position format
The position can be displayed in different formats using the Jog application. To
configure the position formats, in the Position Information section, tap Position
Format.
The Position Format can be displayed relative to the following frames:
• World
• Base
• Workobject
Enable the Display Orientation Values option to configure the Orientation fomats.
The Orientation format can be set to:
• Quaternion
• Euler angles
The Presentation angle unit can be set to:
• Degrees
• Radians

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5.5 Incremental movement for precise positioning

5.5 Incremental movement for precise positioning

Incremental movement
Use the increment mode 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.

Selecting the increment mode

To manage the incremental movement, open Jog and use the list available in the
Increment Mode section.
Choose between Small, Medium, Large or User increments. Select the User option
and tap Edit to define the values within in a certain range for each robot.

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5.6 Restrictions to jogging

5.6 Restrictions to jogging

Jog additional axes

Additional axes can be jogged only axis-by-axis. See Application manual - Additional
axes for OmniCore.

Jog mechanical units that are not calibrated

If the mechanical unit is not calibrated the text Unit not calibrated will be displayed
in the Position area 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 performs 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.

Jog while using world zones

With the option World Zones installed, defined zones will restrict the motion while
you jog.

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.

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5.7 Lead-through

5.7 Lead-through

What is lead-through?
The lead-through functionality is available for robots designed for collaborative
applications. If lead-through is available, this is shown on the FlexPendant.
Using lead-through, you can grab the robot arm and move it manually to a desired
position, as an alternative to jogging.

Using lead-through
Use the following procedure to jog the robot using the lead-through functionality:
1 Enable lead-through in one of the following ways:
• Press the thumb button on the FlexPendant.

xx2100000331

• On the start screen, tap Jog and select the Lead-through menu.
• In the QuickSet menu, select the Lead-through tab.

Note

If the robot is in motors off state, it will automatically go to the motors on

state when the lead-through is enabled.

2 In the Jog Mode section select a mode.

3 If required, in the Lead-through lock section use the lock button next to a
axis to lock it.

Note

The Lead-through lock section is disabled for the Axis 1-6 mode.

4 Gently pull the robot arm to the desired position.

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5.7 Lead-through
Continued

The robot moves to the selected position. If the Lead-through lock option is
selected, the robot moves in such a way that the movement is restricted in
the locked direction.

Note

You can feel if an axis reaches its end position. Do not try to force the axis
beyond this position.

5 If desired, save the position.

Note

The speed at which the robot moves when using the Lead-through functionality
is managed using the horizontal scroll bar available in the Lead-through Speed
section.

Note

If lead-through is enabled, it will be temporarily disabled during program execution

and jogging. This means that it is possible to combine lead-through, jogging,
and testing the RAPID program without having to disable the lead-through.

Note

When using lead-through, it is important that the load is correctly defined. If the
load is heavier than defined, the effect will be the same as if you are pulling the
robot arm downwards. If the load is lighter than the defined load, the effect will
be the same as if you are pulling the robot arm upwards.
For the CRB 15000, there is a button for updating/refreshing the load while
lead-through is active.
For the CRB 15000, if varying loads from cables and other disturbances are
causing the robot to drift during lead-through, this can often be improved by
setting the system parameter Lead through load compensation to Always. See
Technical reference manual - System parameters, section Motion, type Robot.

Note

For Yumi robots with SafeMove, some different behaviors apply, see the product
manual for the robot.

Align to a coordinate system

It is possible to align the robot to a coordinate system either in Auto or Manual
mode from the lead-through page for a CRB 15000 robot.
Use the following procedure to align the robot to a coordinate system:
1 In the Lead-through page select the a mode in the Lead-through Mode
section.

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5.7 Lead-through
Continued

2 In the Align to coordinate system section, select the required coordinate

system.
3 Enable the motors.

Note

For collaborative robots, the motors are on by default unless extra safety
options are selected in the system.

4 Tap and hold the Press and Hold Align button.

The robot is aligned to the selected coordinate system.

Limitations
When using lead-through, the path planner is not updated until the program is
resumed/restarted or jogging is used. For example, this means that World Zones
supervision is not accessible when using lead-through.

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5.8 Motion supervision

5.8 Motion supervision

Overview
The controller software has the motion supervision 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 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 Motors on state 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 the QuickSet icon on the status bar, tap the Info tab, and look
for the option 3107-1 Collision Detection. For more information on Collision
Detection, see Application manual - Controller software OmniCore.

Functions in RobotWare base

• Path Supervision is used (in automatic and manual full speed mode) to
prevent the mechanical damage due to the robot running into an obstacle
during program execution.
• Non motion execution is used to run a program without robot motion.

Functions in Collision Detection

A RobotWare system with Collision Detection option has the following additional
functionalities:
• Path Supervision in manual mode and the possibility to tune supervision in
all modes.
• Jog Supervision is used to prevent mechanical damage to the robot during
jogging.
• RAPID instruction MotionSup is used to activate or deactivate collision
detection and to tune sensitivity during program execution.

Configuring motion supervision

Note

The motion supervision configuration is allowed only in manual operating mode.

Use the following procedure to configure the motion supervision settings:
1 Open Settings > Advanced.
2 From the left panel select Path supervision or Jog supervision.
3 From the Task Name list select the task.
4 In the Enable for selected task option slide the bar and enable it.
5 In the Sensitivity section slide on the bar and select sensitivity.

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Continued

The selected sensitivity value is displayed near the section name.

The selected settings are automatically applied.

Note

All motion supervision must be set for each task separately.

Configuring Jog supervision using Jog application

Use the following procedure to configure Jog supervision from Jog application.
1 Open Jog.
2 Tap on Supervision.
The Jog supervision window is poped down.
3 From the Task Name list select the task.
4 In the Enable for selected task option slide the bar and enable it.
5 In the Sensitivity section slide on the bar and select sensitivity.
The selected sensitivity value is displayed near the section name.
The selected settings are automatically applied.

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
and so on.
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.

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5.9 Align tool

5.9 Align tool

Overview
A tool can be aligned with a selected coordinate system.
When aligning a tool, the tool's z-axis is aligned to the nearest axis of the selected
coordinate system. Therefore, it is recommended to first jog the tool so that it is
close to the desired coordinates. When aligning a tool the tool's data is not changed.

Procedure
Use the following procedure to align a tool:
1 On the start screen, tap Jog.
2 On the command bar, tap Align.
The Align window is displayed. The current active tool and work object are
displayed at the top of the window.
3 In the Align to coordinate system section, select the required coordinate
system.
4 Press and hold the three-position enabling device to activate the motors.

Note

For collaborative robots, the motors are on by default unless extra safety
options are selected in the system.

5 Continue holding the three-position enabling device and tap and hold the
Press and Hold Align button.
The tool is aligned to the selected coordinate system.

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5.10.1 Introduction

5.10 Working with SmartGripper

5.10.1 Introduction

Overview
SmartGripper is a RobotWare option that is used for facilitating the operation and
programming of the ABB smart gripper. When you select the SmartGripper Support
option in the System Options while creating a system using the Modify Installation
function, the SmartGripper tab is displayed in the Jog application. Also, the settings
for configuring the gripper is displayed in the Settings application. For more details
about robot systems and the Modify Installation function, see Operating
manual - RobotStudio.

SmartGripper - Jog user interface

The following figure and table describes the options available in the SmartGripper
page when a gripper with the type vacuum is selected:

xx2000001338

Group Parameter Description

Move gripper Close gripper Closes the gripper with the defined force and
speed.
Open gripper Opens the gripper with the defined force and
speed.
Move gripper to pos- Move gripper to pos- Sets a precise position value to move the gripper.
ition ition
Gripper force Force Sets the gripping force for the gripper fingers.

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5.10.1 Introduction
Continued

Group Parameter Description

Move speed Speed Sets the movement speed for the gripper fingers.
Gas pressure Gas pressure Displays the current pressure of the gas.
Suction On/Off Sets the suction on or off.
Blow off On/Off Sets the blow-off on or off.

SmartGripper - Settings user interface

Configuration page
When you open the SmartGripper settings, by default the Configuration page is
displayed.
The following figure and table describes the options available in the Configuration
page of SmartGripper settings.

xx2000001323

Group Description
Gripper Type Allows you select the type of gripper.
Firmware upgrade Displays the current version details of the gripper firmware.
Enable/Disable Power to Enables/Disables the power to the gripper.
Gripper

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5.10.1 Introduction
Continued

Servo module page

The following figure and table describes the options available in the Servo module
page of the SmartGripper settings.

xx2000001328

Group Parameter Description

Setup Calibrate Calibrates the gripper at the current position.
Speed Sets the movement speed of the gripper fingers.
Force Sets the gripping force of the gripper fingers.
Command Jog/Stop/Grip+/Grip- Allows you to manage the gripper finger move-
/Move to ment.

Note

If the gripper is not calibrated, only the functions

Jog and Stop can be used, and the functions
Grip+, Grip- and Move To are disabled.

Status Calibration Displays the calibration status of the gripper.

Current position Displays the current position of the gripper.
Current state Indicates the state of the gripper. For details
about the gripper states, see Returned value in
IRB 14050 gripper Product manual.

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5.10.1 Introduction
Continued

Pneumatic module page

The following figure describes the options available in the Pneumatic module page
of SmartGripper settings. This is used for instructing the built-in valves to finish
vacuum-sucking and blow-off operations.
Two pneumatic block parts are available for different variants of the gripper. Suction
and blow-off functions are exclusive to each other. That is, if one function is turned
on, the other will be turned off.

xx2000001341

Camera module page

The following figure and table describes the options available in the Camera module
page of the SmartGripper settings. This can be configured only from RobotStudio
now. For more information of the camera module, see the Application manual of
Integrated Vision.

xx2000001342

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 5 Jogging
5.10.2 Gripper configuration

5.10.2 Gripper configuration

Configuring the power of the SmartGripper

The following requirements must be met before configuring the power:
• The gripper has been installed onto the robot arm correctly.
• The RobotWare is RobotWare 7.0 or later
• The SmartGripper Support option must be chosen while creating the system.
• The system is in manual operating mode.
Use the following procedure to configure the power of the SmartGripper:
1 On the start screen, tap Settings.
The Settings application home page is displayed.
2 Tap the SmartGripper icon.
The SmartGripper settings Configuration page is displayed.
3 Select the gripper type that has been mounted on the robot from the Gripper
Type list.
4 Tap the Enable Power of Gripper button.
The gripper has been powered on and the communication is established.

Calibrating the SmartGripper

The following requirements must be met before calibrating the gripper:
• The gripper has been installed onto the robot arm correctly.
• The RobotWare is RobotWare 7.0 or later
• The SmartGripper Support option must be chosen while creating the system.
• The system is in manual operating mode.
• The gripper has been powered on and the communication is established.
Use the following procedure to calibrate the SmartGripper:
1 On the start screen, tap Settings.
The Settings application home page is displayed.
2 Tap SmartGripper.
The SmartGripper settings Configuration page is displayed.
3 On the left sidebar, tap Servo Module.
The Servo Module page is displayed.
4 In the Command section, tap and hold the Grip - button until the two fingers
of the gripper are in direct contact with each other, which is the zero position
used for calibration.
5 Tap the Calibrate button.
When the button color turns blue from gray, the gripper is calibrated and the
status is updated.

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5.10.3 Smart Gripper function

5.10.3 Smart Gripper function

Procedure
Use the following procedure to work with the SmartGripper function:
1 On the start screen, tap Jog.
2 Tap SmartGripper tab.
The SmartGripper page is displayed.
3 If required, enter the value for the gripper force and gripper speed in the
Gripper force and Move speed fields.
4 Tap Open gripper to open the gripper with the defined gripper speed.
5 Tap Close gripper to close the gripper with the defined gripper force and
speed.
6 If required, enter the value in the Move gripper to position text box and tap
Move to button to move the fingers to a specific position.
7 Tap the On or Off button in the Suction section to start or stop the suction
tool picking up the objects.
8 Tap the On or Off button in the Blow Off section to start or stop the suction
tool dropping down the objects.

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6.1 Introduction

6 Programming and testing

6.1 Introduction

Overview
This chapter provides you information about creating programs and testing those
programs.

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6.2 Before you start programming

6.2 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.
See Creating a tool on page 150.

WARNING

It is important to always define the actual tool load and, when used, the payload
of the robot (for example, a gripped part). Incorrect definitions of load data can
result in overloading of the robot mechanical structure. There is also a risk that
the speed in manual reduced speed mode can be exceeded.
When incorrect load data is specified, it can often lead to the following
consequences:
• The robot may not use its maximum capacity.
• Impaired path accuracy including a risk of overshooting.
• Risk of overloading the mechanical structure.
The controller continuously monitors the load and writes an event log if the load
is higher than expected. This event log is saved and logged in the controller
memory.

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 before you start programming. As
you add more objects later you also need to define the corresponding coordinate
systems.

Tip

For more details 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 Programming and testing
6.3.1 Handling of programs

6.3 Programming concept

6.3.1 Handling of programs

Overview
This section provides information about the handling of robot programs. It describes
how to:
• create a new program
• load an existing program
• save a program
• rename a program
• delete a program

Note

Each task must contain one program. The procedures in this section describes
a single task system.
How to create a new program when no program is available is detailed in section
Creating a new program on page 112.

Program Editor
In FlexPendant the RAPID programs are created and edited using Program Editor
in Code.
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 Advanced View in Operate.

Note

When you open Code, the name of the module where the program pointer is in
is displayed in the Program Pointer location section.

About program files

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.

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Creating a new program

This section describes how to create a new program.
1 On the start screen, tap Code, and then select Modules from the menu.
2 On the Context menu, tap New Program.

xx1900000214

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.
3 Tap Main Module.
4 Add instructions to the program.
For details regarding adding instructions, see Adding instructions on page 129.
5 Tap Check Program.
6 Tap Modules.
7 On the Context menu, tap Save as.
8 Tap a name for the program in the File Name field.
9 Select the location for saving the new program file.
10 Tap Save.
The program is saved.
Once a program is created you can run the program. For details regarding running
a program, see Starting programs on page 222.

Saving a program
This section describes how to save a loaded program to the controller hard disk.
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Continued

A loaded program is automatically saved in the program memory, but saving to

the controller hard disk is an extra precaution.
1 On the start screen, tap Code, and then select Modules from the menu.
2 On the Context menu, tap Save as.
3 Use the suggested program name or type a new name in the File Name field.

xx1900000223

4 Tap Save.
The program is saved.

Renaming a loaded program

This section describes how to rename a loaded program.
1 On the start screen, tap Code, and then select Modules from the menu.
2 On the Context menu, tap Rename.

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3 In the Enter New Name field, type a new name for the selected program.

xx1900000224

4 Tap Apply.
The program is renamed.

Deleting a program
This section describes how to delete a program.

Note

You can only delete a loaded program.

1 On the start screen, tap Code, and then select Modules from the menu.
2 On the Context menu, tap Delete.

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3 In the Delete Program confirmation window, tap OK to delete, or Cancel to

keep the program intact.

xx1900000225

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6 Programming and testing
6.3.2 Handling of modules

6.3.2 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.
1 On the start screen, tap Code, and then select Modules from the menu.
2 On the Context menu, tap New Module.
3 In the Create New Module window, enter a Module Name, and select if
Module Type should be Program or System.

Note

How to later switch between these types is detailed in section Changing

type of module on page 119.

4 Tap Apply.
The module is created and displayed in the Modules section.

File format for modules

Note

In RobotWare 7.0 and earlier, the formats were .mod and .sys. When loading
these in a RobotWare 7.1 controller or later using RobotStudio, they are
automatically converted when saved. When saved, the new file extensions are
.sysx and .modx. Note that the files must be converted, not just renamed.
To convert a file manually, the file must be saved as UTF-8 without BOM (Byte
Order Mark).

Loading an existing module

Use the following procedure to load an existing module.
1 On the start screen, tap Code, and then select Modules from the menu.
2 On the Context menu, tap Load Module.

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3 Navigate and select the module from the location where it is saved.

xx1900000227

4 Tap Load.
The selected module is loaded.

Saving a module
This section describes how to save a module.
1 On the start screen, tap Code, and then select Modules from the menu.
2 Tap Save as on the Context menu for the module.

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3 The Save Module as window is displayed:

xx1900000229

Tap and select a location for saving the module.

Use the suggested module name or enter a File Name.
4 Tap Save.
The module is saved in the selected location.

Renaming a module
This section describes how to rename a module.
1 On the start screen, tap Code, and then select Modules from the menu.
2 Tap Change Declaration on the Context menu for the module.

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The Change Declaration window is displayed.

xx1900000230

3 In the Module Name field type a new name for the module and then tap
Apply.
The module is renamed.

Changing type of module

This section describes how to change the type of module.
1 On the start screen, tap Code, and then select Modules from the menu.
2 Tap Change Declaration on the Context menu for the module.
The Change Declaration window is displayed.
3 In the Module Type list select a type and then tap Apply.
The module type is changed.

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.
1 On the start screen, tap Code, and then select Modules from the menu.
2 Tap Delete on the Context menu for the module.

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3 The Delete Module confirmation window is displayed:

xx1900000231

4 Tap OK.
The selected module is deleted and removed from the module list.

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 6 Programming and testing
6.3.3 Handling of routines

6.3.3 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.
1 On the start screen, tap Code, and then select Program editor from the
menu.
2 Tap Routines in the menu to the right.

xx1900000232

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3 Tap Create New Routine.

xx1900000251

4 The Create New Routine page is displayed:

xx1900000254

Complete the routine declaration by entering the following information:

• Routine Name
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• Routine Type
- Procedure: used for a normal routine without return value
- Function: used for a normal routine with return value
- Trap: used for an interrupt routine
• Parameters
Tap Edit to add parameters to the routine. See section Defining
parameters in routine on page 123 for more information.
• Task
• Module
• Options
- Local Declaration
Tap the checkbox to select Local declaration if the routine should
be local.
A local routine can only be used in the selected module.
- Undo Handler
- Error Handler
- Backward Handler

Note

Use the Preview button to preview the values selected for the new routine.

5 Tap Apply
The new routine is created and displayed in the Routines list for the selected
module.

Defining parameters in routine

This section describes how to define parameters in a routine.
1 On the start screen, tap Code, and then select Modules from the menu.

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2 Tap View Routines on the Context menu for the module.

xx1900000228

3 Tap Change declaration on the Context menu for the routine.

xx1900000271

The Change Declaration page is displayed.

4 If no parameters are shown, tap the Edit button next to the Parameters field.

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The Edit Routine Parameters page is displayed.

xx1900000272

5 Tap Add Parameter and select Mandatory Parameter or Optional Parameter

according to your requirement.
The selected parameter is added to the Edit Routine Parameters list.

Note

Select an optional parameter and tap Add Parameter > Optional Mutual
Parameter to add a parameter that is mutually optional with another
parameter.
Read more about routine parameters in the RAPID reference manuals.
6 Type a Name for the parameter and tap Apply.
7 The new parameter is displayed in the list. Tap to select a parameter. To edit
values, tap the value.
8 Tap Apply.
The selected parameters are added to the Parameters field in the routine
declaration window.

Creating the copy of a routine

This section describes how to create a copy of a routine.
1 On the start screen, tap Code, and then select Program Editor from the
menu.
2 Tap View Routines on the Context menu for the module.

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The Routines window is displayed.

xx1900000271

3 Tap Copy Routine on the Context menu for the routine.

The Copy Routine dialog is displayed.
4 Edit the name or other parameters according to your requirement.
5 Tap Apply.
A copy of the selected routine is created.
How to make all declarations is detailed in section Creating a new routine
on page 121.

Changing the declaration of a routine

This section describes how to change the declaration of a routine.
1 On the start screen, tap Code, and then select Program Editor from the
menu.
2 Tap View Routines on the Context menu for the module.
3 Tap Change Declaration on the Context menu for the routine.
The Change Declaration dialog is displayed.
4 Edit the values according to your requirement.
5 Tap Apply.
The changes to the routine are saved.
How to make all declarations is detailed in section Creating a new routine
on page 121.

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Moving a routine
This section describes how to move a routine to another module.
1 On the start screen, tap Code, and then select Program Editor from the
menu.
2 Tap View Routines on the Context menu for the module.
3 Tap Move Routine on the Context menu for the routine.
The Move Routine dialog is displayed.

xx1900000310

4 Select the Task and Module to which the routine should be moved. Then tap
Apply.

Renaming a routine
This section describes how to rename a routine.
1 On the start screen, tap Code, and then select Program Editor from the
menu.
2 Tap View Routines on the Context menu for the module.
3 Tap Rename on the Context menu for the routine.
4 Type a new name for the routine in the Enter New Name field.
5 Tap Apply.
The selected routine is renamed.

Deleting a routine
This section describes how to delete a routine from memory.
1 On the start screen, tap Code, and then select Program Editor from the
menu.

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2 Tap View Routines on the Context menu for the module.

3 Tap Delete on the Context menu for the routine.
The Delete Routine conformation window is displayed.
4 Tap OK.
The selected routine is deleted.

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 6 Programming and testing
6.3.4 Handling of instructions

6.3.4 Handling of instructions

Instructions
A RAPID program consists of instructions. An instruction can, for example, move
the robot, set an I/O signal, or display 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.

Adding instructions
Use the following procedure to add instructions to a module:
1 On the start screen, tap Code, and then select Modules from the menu.
2 Open the module on which instruction needs to be added.
3 Tap on the location where the instruction needs to be inserted.
4 Tap Add Instruction.
The Add Instruction panel is displayed.
5 Select an instruction from Common or Groups tab according to your
requirement.
The selected instruction is displayed with its parameters.
6 Modify the instruction parameters according to requirement and tap Add.
The selected instruction is inserted after the selected location on the module.
7 Tap Check Program.
The validity of the program is verified.

Modifying instructions
Use the following procedure to modify an instruction:
1 On the start screen, tap Code, and then select Modules from the menu.
2 Open the module on which instruction need to be edited.
3 Tap on the instruction that needs to be edited.
4 Tap Modify Instruction.
The selected instruction is displayed with its arguments.
5 Edit the instruction arguments.

Note

Tap Expression Editor to open and edit the selected instruction in

Expression Editor window.

Note

For the block instructions (FOR, IF, CompactIF, TEST, and WHILE), tap
the menu next to an expression, and select Modify Expression to edit it.

6 Tap Apply.

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The changes are updated in the selected instruction.

7 Tap Check Program.
The validity of the modified program is verified.

Editing an instruction argument that has array data

The programs that are created using RobotStudio may have instruction arguments
that has array data. This section provides information regarding modifying an
instruction argument that has array data:
1 Tap on the instruction that needs to be edited.
2 Tap Modify Instruction.
The selected instruction is displayed with its arguments. The argument item
that has array data displays a down arrow next to it.

xx2000001284

3 Tap on this arrow to expand the list.

The elements in the array are displayed.
4 Tap on an array element.
5 Make the required changes.
6 Tap Apply.
The changes are updated in the selected instruction.

Update position
When you edit an instruction that has a position argument, and in case you jog the
robot to a different position, the change in position will not be automatically updated
in position argument. To update the position argument with the current position
values, the Update Position function is used.

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Use the following procedure to update position while editing an instruction:

1 Tap on the instruction that has a position argument that needs to be modified.
2 Tap Modify Instruction.
3 Jog the robot to a new position according to your requirement.
4 Tap on the button available next to the position argument and select Update
Position.
The Update Position window is displayed.
5 Tap Update.
The current robot position value is set in the selected position argument.
6 Tap Apply.
The selected instruction (with the updated position values) is updated.

Note

The Update Position function is not available for array data position argument.

Edit options
To edit programs in Program Editor you can use edit options. The edit options are
available in Edit under Edit and Debug section.
The following image and table provides information regarding edit options and its
description.

xx2100000046

Edit options Description

Cut Cuts a selected instruction and save it in clipboard.

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Edit options Description

Copy Copies a selected instruction and save it in clipboard.
Paste Pastes the copied instruction below a selected instruction.

Note

If the selected instruction is the first line of the program, an option

to paste the copied instruction Above or Below the first line is dis-
played.

Comment Comments a selected instruction. The commented instruction is

skipped during the program execution.

Note

Once you enable the Comment option in an instruction the name

of the option is changed to Uncomment. This option which allows
you to remove the Comment from the instruction.

Delete Deletes a selected instruction.

Undo Cancels the previous edit operation. You can undo a maximum of
three steps.
Redo Reverts the previous undo operation. You can redo a maximum of
three steps.

Note

Redo option is enabled only after an undo operation.

Change to <shift in- Changes the selected instruction to its shift instruction.
struction name>
Select Range For selecting a range of instructions for editing, tap on the first in-
struction of the range, tap Select Range, and then tap on the last
instruction of the range. You can then perform various edit opera-
tions like Cut, Copy, Paste, and Delete for the selected range.
Edit selection with Opens the selected instruction in advanced editor for editing.
keyboard
Note

For a block/conditional instruction it is possible to edit only a selected

expression.

Copying and pasting instructions or arguments

This section describes how to paste instructions or arguments.
1 On the start screen, tap Code, and then select Modules from the menu.
2 Open the module.
3 Tap on the instruction that needs to be copied.
4 Tap Edit.
The edit options window is displayed.
5 Tap Copy.
6 Tap and select the instruction after which you want to paste the copied
instruction.

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7 Tap Paste.
The copied instruction is pasted below the selected instruction.

Note

If the selected instruction is the first line of the program, an option to paste
the copied instruction Above or Below the first line is displayed.

Commenting instruction rows

Use the following procedure to comment an instruction.
1 On the start screen, tap Code, and then select Modules from the menu.
2 Open the module.
3 Tap on the instruction that you want to comment.
4 Tap Edit.
The edit options window is displayed.
5 Tap Comment.
The selected instruction is commented and is skipped during the program
execution.

Deleting an instruction
This section describes how to delete an instruction.
1 On the start screen, tap Code, and then select Modules from the menu.
2 Open the module.
3 Tap on the instruction that needs to be deleted.
4 Tap Edit.
The editing options window is displayed.
5 Tap Delete.
The selected instruction is deleted from the module.

Shifting an instruction
It is possible to change a selected instruction to its equivalent shift instruction.

Note

Parameter restrictions are enabled for certain instructions. Shifting to an

equivalent instruction is not valid for such instructions.
Use the following procedure to shift an instruction.
1 On the start screen, tap Code, and then select Modules from the menu.
2 Open the module.
3 Tap on the instruction that you want to shift.
4 Tap Edit.
The editing options window is displayed.
5 Tap Change to <shift instruction name>.

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6.3.4 Handling of instructions
Continued

The selected instruction is changed to its shift instruction.

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6.3.4 Handling of instructions
Continued

Scenarios while editing a line that contains multiple instructions

Following are some scenarios while editing a line that contains multiple instructions
or comments:
• A line that has an instruction and a comment:
- Selecting the instruction and then adding a new instruction below the
current line moves the comment to the newly added instruction.
• A line that has multiple instructions:
- Selecting the first instruction and then adding a new instruction below
the current line adds the instruction after the selected instruction. It
also moves the rest of the instructions to the new line.
- Selecting the first instruction and then commenting or uncommenting
comments/uncomments the whole line.
- Selecting the second instruction or subsequent instructions and then
commenting or uncommenting comments/uncomments all the
instructions from the selection.

Edit selection with keyboard

It is possible to open a selected instruction in editor for editing.

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6 Programming and testing
6.3.5 Example: Add movement instructions

6.3.5 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.

A B

C
en0400000801

A First point
B Robot movement Speed data v50 = speed 50mm/s
C Zone z50 = (50mm)

Add movement instructions

Use the following procedure to write a simple program that makes the robot move
in a square:
1 On the start screen, tap Code, and then select Modules from the menu.
2 Open a module.
3 Jog the robot to the first point.
4 Tap Add Instruction.
5 Tap MoveL.
6 Tap Add.
7 Repeat the steps 4 to 7 and add the other three positions of the square.
The MoveL instructions for the selected points are added.

Note

For the first and last instruction, select the instruction and tap Edit
Instruction. Then change the Zone to Fine.

8 Tap Apply.
The program is saved.

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 6 Programming and testing
6.3.5 Example: Add movement instructions
Continued

Result
Your program code should look like this:
Proc main()
MoveL *, v50, fine, tool0;
MoveL *, v50, z50, tool0;
MoveL *, v50, z50, tool0;
MoveL *, v50, z50, tool0;
MoveL *, v50, fine, tool0;
End Proc;

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6 Programming and testing
6.3.6 Program and motion pointers

6.3.6 Program and motion pointers

The Program pointer

The Program Pointer (PP) indicates the instruction with which the program will
start when you press the Start, Forward, or Backward buttons on the FlexPendant.
Program execution continues from the instruction where the Program Pointer is
placed. 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
that position.
When you open Code, the name of the module where the program pointer is in is
displayed in the Program Pointer location section.
The Program Pointer is shown as an arrow to the left of a line in program code in
Program Editor of Code and in Advanced View of Operate.

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
Program Editor of Code and in Advanced View of Operate.

The cursor
The cursor indicates a complete instruction or any of the arguments.
The cursor is shown as blue highlighting of the program code in Program Editor
of Code.

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 6 Programming and testing
6.4 Debugging the program

6.4 Debugging the program

Introduction
The Debug option allows you to navigate through a RAPID program for
understanding the execution flow, viewing the values of a data instance, and to
run the routines.

Moving the pointers

The pointers helps you to navigate through a program. For more information about
pointers, see Program and motion pointers on page 138.
The following table provides the description of the options available under Debug
in Program Editor for the movement of pointers:
Pointer position Description
PP to Main Moves the program pointer to main
PP to Cursor Moves the program pointer to cursor.
PP to Routine Moves the program pointer to routine.
Cursor to PP Moves the cursor to program pointer.
Cursor to MP Moves the cursor to motion pointer.

Moving the robot

While navigating through the program you may need to move the robot to a
particular programed position. The Go To Position option allows you to move the
robot to a programed position.

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.
Use the following procedure to move the robot to a particular programed position:
1 On the program select a programmed position.
2 Tap Debug.
3 Tap Go To Position.
The Go to position window is displayed.
4 Press and hold the three-position enabling device and then tap and hold the
Press and hold to Go To button.
The robot is moved from the current position to the selected programmed
position.

Note

For collaborative robots, after selecting a programmed position, you need to just
press and hold the Press and hold to Go To button to move the robot.

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6 Programming and testing
6.4 Debugging the program
Continued

Editing the values of a data instance

While navigating through a RAPID program you may need to edit or view the values
of a data instance used in a RAPID program.
Use the following procedure to edit (or view) the values of a data instance in a
program:
1 On the program select the data instance for which you want to edit the values.
2 Tap Debug.
3 Navigate to the Others section and tap View Value.
The values of the selected data instance are displayed.
4 Edit or view the values according to your requirement.

Note

For information regarding Viewing or editing values of a data instance that

has array data, see Editing an instruction argument that has array data on
page 130.

5 Tap Apply.
The changes are saved.

Calling a routine
You can call a routine and check the execution flow from the Debug menu. It is
possible to call the default service routines as well as the custom routines.
Use the following procedure to call a routine and check the execution flow:
1 In the Debug menu navigate to the Others section and tap Call Routine.
The Call Routine window is displayed. By default the service routines are
displayed. Select the All Routines option to list all the routines.
2 Select a routine.
3 Tap Go to.
The routine code is displayed.

Note

For service routines the code is not displayed.

4 Tap QuickSet and run the routine.

5 Tap Cancel Call Routine.
The selected routine is cancelled.

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 6 Programming and testing
6.5.1 Edit data in specific tasks, modules, or routines

6.5 Data types

6.5.1 Edit data in specific tasks, modules, or routines

Editing data in specific tasks, modules, or routines

It is possible to view, copy, modify, or delete selections of data types by selecting
a specific scope.
Use the following procedure to view data instances in specific modules or routines:
1 On the start screen, tap Program Data.
2 Select the required scope. The following options are available:
• Built-In Data Only: Displays all the data types used by the specific
system.
• Current Execution: Displays all the data types used in the current
execution.
The following sub options are available. To access the sub options tap
on Change.
- Task: Displays all the data types used by a specific task.
- Module: Displays all the data types used by a specific module.
- Routine: Displays all the data types used by a specific routine.
3 Select the required view. The data type based on the selected view is
displayed.
The following view options are available:
• Only used types: Displays only the used data types.
• All data types: Displays all the data types.
4 Tap on a data type.
The items for the selected data type is displayed.
5 Tap on the context menu for an item.
The following options are available:
• Edit: Allows you to modify values in the selected item.
• Copy: Creates a copy of the selected item with a new name.
• Delete: Deletes the selected item.
•
Note

For the data type robtarget the option Update Position is also
displayed. This option helps you to update the position argument
with the position values of the selected robtarget.

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6 Programming and testing
6.5.2 Creating new data instance

6.5.2 Creating new data instance

Creating new data instance

This section details how to create new data instances of data types.
1 On the start screen, tap Program Data.
The Data Types dialog is displayed.

Tip

Define what data to be displayed by selecting either Only used types or

All data types.

2 Tap the data instance type to be created, for example, bool.

3 Tap the context menu, and select Create New Data.
The Create New Data dialog is displayed.
4 In the Declaration tab, complete the following fields for the new data type:

xx1900000351

• Name: Type a new name.

• Scope: Set the accessibility for the data instance from the following
options:
- Global - reachable by all the tasks.
- Local - reachable within the module.
- Task - reachable within the task.

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6.5.2 Creating new data instance
Continued

• Storage type: Set the type of memory used for the data instance from
the following options:
- Persistent to retain the data between sessions.
- 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.
5 In the Initial Value tab, select the values according to the selected data type.
6 Tap Apply.
The new data instance is created.

Note

Creation of new data type is described in the manual Operating

manual - Integrator's guide OmniCore.

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6.5.3 Editing data instances

6.5.3 Editing data instances

Overview
This section describes how to view data instances in the Program Data application.
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 146, Work objects on page 163 or Payloads on page 174.

Viewing and editing data instances

This section details how to view the available instances of a data type.
1 On the start screen, tap Program Data.
2 Tap the data instance type for which the data instances need to be viewed
or edited. For example, tooldata.
The data instances for the selected type are displayed.
3 Tap on the data instance that needs to be edited.
4 Tap the Declaration tab, Initial Value, and Current Value tab and edit the
parameters according to your requirement.
5 Tap Apply.
The changes to the selected data instance are saved.

Note

If the value of a persistent variable is changed at any point in a running program,

the Code will still show the old value until the program stops. The Program Data,
however, always shows the current value of persistent variables. See Persistent
declaration in the Technical reference manual - RAPID Overview for further
information.

Deleting a data instance

Use the following procedure to delete a data instance.
1 On the start screen, tap Program Data.
2 Tap the data instance type for which you need to delete the data instance.
For example, tooldata.
The data instances for the selected type are displayed.
3 Tap Delete on the context menu for the data instance that you want to delete.
4 Tap Yes.
The selected data instance is deleted.

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6.5.3 Editing data instances
Continued

CAUTION

A deleted tool, work object, or payload cannot be recovered, and all related data
will be lost. If the deleted tool, work object, or payload is referenced by any
program, those programs need to be edited before executing.
If you delete a tool you cannot continue the program from the current position.

Copying a data instance

Use the following procedure to create the copy of a data instance.
1 On the start screen, tap Program Data.
2 Tap the data instance type for which you need to create a copy of the data
instance. For example, tooldata.
3 Tap Copy on the context menu for the data instance that you want to copy.
A confirmation window is displayed.
4 Tap OK.
A copy of the selected data instance is created.

Note

The copied data instance has the same values as the original, but the name is
unique.

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6 Programming and testing
6.6.1 What is a tool?

6.6 Tools

6.6.1 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.

Note

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.

WARNING

It is important to always define the actual tool load and, when used, the payload
of the robot (for example, a gripped part). Incorrect definitions of load data can
result in overloading of the robot mechanical structure. There is also a risk that
the speed in manual reduced speed mode can be exceeded.
When incorrect load data is specified, it can often lead to the following
consequences:
• The robot may not use its maximum capacity.
• Impaired path accuracy including a risk of overshooting.
• Risk of overloading the mechanical structure.
The controller continuously monitors the load and writes an event log if the load
is higher than expected. This event log is saved and logged in the controller
memory.

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6.6.1 What is a tool?
Continued

Illustration

en0400000803

A Tool side
B Robot side

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6 Programming and testing
6.6.2 What is the tool center point?

6.6.2 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.

CAUTION

Incorrect settings for the TCP will result in incorrect speed. Always verify the
speed after changing the settings.
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.

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6.6.2 What is the tool center point?
Continued

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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6 Programming and testing
6.6.3 Creating a tool

6.6.3 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 tool center points, see What is the tool center point? on page 148.

A
en0400000779

A Tool center point, TCP, for tool0

1 On the start screen, tap Program Data.

2 Select tooldata from the Data Types list.
3 Tap Create New Data in the menu to the right.
The Create New Data window is displayed.
4 Complete the tool information by typing or selecting information in the fields
available under the Declaration and Initial Value tabs (see Tool declaration
settings on page 151).

Note

In the Mass field under Initial Value tab, make sure to provide the mass
of the attached tool in kg units.

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6.6.3 Creating a tool
Continued

5 Tap Apply.
The tool is created.

Tool declaration settings

If you want to change... then... Recommendation

the name of the tool tap on the Name field and Tools are automatically
change name using the soft named tool followed by a
keyboard that appears. 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.

the scope select the preferred scope Tools should be global, if it

from the Scope drop-down should be available to all the
list. modules in the program.

the storage type select the value from the Tool variables must always
Storage Type drop-down list. be persistent.
the task select the value from the Task
drop-down list.
the module select the module in which
this tool should be declared
from the Module drop-down
list.
the routine select the value from the
Routine drop-down list.
the size of the data array's select the value from the Di-
axes mension drop-down list.

Note

The created tool is not useful until you define the tool data (TCP coordinates,
orientation, weight, and so on). For more details, see Editing the tool data on
page 157 and LoadIdentify, load identification service routine on page 195.

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6 Programming and testing
6.6.4 Copying a tool

6.6.4 Copying a tool

Procedure
Use the following procedure to create the copy of a tool.
1 On the start screen, tap Program Data, and tap the tooldata data instance
type.
The data of type tooldata are displayed.
2 Tap Copy on the context menu for the tooldata that you want to copy.
A confirmation window is displayed.
3 Tap OK.
A copy of the selected tooldata is created.

Note

The copied tooldata has the same values as the original, but the name is unique.

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 6 Programming and testing
6.6.5 Defining the tool frame

6.6.5 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 robot’s mounting plate
set the orientation in Z axis TCP&Z
set the orientation in X and Z axes TCP&Z,X

How to define position and orientation

The following procedure describes how to select the method to be used when
defining the tool frame:
1 On the start screen, tap Program Data, and then select tooldata.
The data of type 'tooldata' is displayed.
2 Tap on the context menu of the tool that you want to edit, and select Define.
The Tool TCP Definition window for the selected tool is displayed.

xx1900000353

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6.6.5 Defining the tool frame
Continued

3 Select the number of approach points from the Number of points field.
Usually 4 points are enough. If you choose more points to get a more accurate
result, you should be equally careful when defining all of them.
4 Select a point, jog the robot to a required position, and then tap Modify to
define the selected points. Repeat this step for all the points. See How to
proceed with tool frame definition on page 155.
5 Tap Next.
The Tool TCP Definition, Define Orientation window is displayed.

xx1900000354

6 Select the Method to be used.

7 Select a point and tap Modify to modify the positions.
8 Tap Next.
The Tool TCP Definition, Calibration Result window is displayed.
9 Tap Finish to save the calibration.

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6.6.5 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.

en0400000906

1 Jog the robot to an appropriate position, A, for the first approach point.
Use small increments to accurately position the tool tip as close to the
reference point as possible.
2 Tap Modify to define the point.
3 Repeat step 1 and 2 for each approach point to be defined, positions B, C,
and D.
Jog away from the fixed world point to achieve the best result. Just changing
the tool orientation will not give as good a result.
4 If the method you are using is TCP&Z or TCP&Z,X orientation must be defined
as well.
Follow the instructions in How to define elongator points on page 156.
5 If, for some reason, you want to redo the calibration procedure described in
step 1-4, tap Cancel.

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6.6.5 Defining the tool frame
Continued

6 Tap Next. The Calculation Result dialog box will now be displayed, asking
you to cancel or to confirm the result before it is written to the controller.
For further information see Is the calculated result good enough? on page 156

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 158.
1 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.
2 Tap Modify to define the point.
3 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 robot’s 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.

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6.6.6 Editing the tool data

6.6.6 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
the sections Running a service routine on page 188 and LoadIdentify, load
identification service routine on page 195.

CAUTION

If the tooldata is incorrectly defined there is a risk that the speed is higher than
expected. This is particularly important in manual mode.

Editing the tool data

This section details how to edit the tool data.
1 On the start screen, tap Program Data,
2 Select tooldata from the list of data types.
3 Tap on the menu button next to the tool that you want to edit.
The context menu is displayed.
4 Tap Edit.
The Edit Data page is displayed.
5 In the Declaration, Initial Value, and Current Value tabs edit the parameters
according to your requirement.
6 Tap Apply.
The changes are saved.

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6.6.6 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 153. 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.

en0400000881

X0 X axis for tool0

Y0 Y axis for tool0
Z0 Z axis for tool0
X1 X axis for the tool you want to define
Y1 Y axis for the tool you want to define
Z1 Z axis for the tool you want to define

1 Measure the distance from the center of the robot's mounting flange to the
tool's center point along the X axis of tool0.
2 Measure the distance from the center of the robot's mounting flange to the
tool's center point along the Y axis of tool0.
3 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 Instance Unit

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

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6.6.6 Editing the tool data
Continued

Action Instance Unit

2 If necessary, enter the tool frame orientation. tframe.rot.q1 None
tframe.rot.q2
tframe.rot.q3
tframe.rot.q4
3 Enter the weight of the tool. tload.mass [kg]
4 If necessary, enter the tool's center of gravity. tload.cog.x [mm]
tload.cog.y
tload.cog.z
5 If necessary, enter the orientation of the axis tload.aom.q1 None
of moment tload.aom.q2
tload.aom.q3
tload.aom.q4
6 If necessary, enter the tool's moment of inertia. tload.ix [kgm 2 ]
tload.iy
tload.iz
7 Tap Save to use the new values, Cancel to
leave the definition unchanged.

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6 Programming and testing
6.6.7 Deleting a tool

6.6.7 Deleting a tool

Deleting a tool
Use the following procedure to delete a tool:
1 On the start screen, tap Program Data,
2 Select tooldata from the list of data types.
3 Tap on the menu button next to the tool that you want to edit.
The context menu is displayed.
4 Tap Delete.
5 The Delete Data confirmation message is displayed.
6 Tap Yes.
The selected tool is deleted.

CAUTION

A deleted tool, work object, or payload cannot be recovered, and all related data
will be lost. If the deleted tool, work object, or payload is referenced by any
program, those programs need to be edited before executing.
If you delete a tool you cannot continue the program from the current position.

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6.6.8 Setup for stationary tools

6.6.8 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.
1 On the start screen, tap Program Data,
2 Select tooldata from the list of data types.
3 Tap on the menu button next to the tool that you want to edit.
The context menu is displayed.
4 Tap Edit.
The Edit Data page is displayed.
5 Tap the Current Value tab.
The data that defines the selected tool is displayed.
6 In the robhold field set the value to FALSE.
7 Tap Apply.
The selected tool is made stationery.

Make a work object robot held

This section describes how to make a work object robot held.
1 On the start screen, tap Program Data,
2 Select wobjdata from the list of data types.
3 Tap on the menu button next to the workobject that you want to edit.
The context menu is displayed.
4 Tap Edit.
The Edit Data page is displayed.
5 Tap the Current Value tab.
The data that defines the selected tool is displayed.
6 In the robhold field set the value to TRUE.
7 Tap Apply.
The changes are saved.

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 tip’s measurements when you create approach points.

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6.6.8 Setup for stationary tools
Continued

You also need to attach elongators to the stationary tool if you need to set up the
orientation.
You should enter the reference tip’s tool definition manually to minimize errors
when calculating the stationary tool’s coordinate system.
You may enter the stationary tool’s definition manually.

en0400000990

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6.7.1 What is a work object?

6.7 Work objects

6.7.1 What is a work object?

Illustration

Z Y
Z

Y X
Y

X
X

en0400000819

Description
A work object is a coordinate system with specific properties attached to it. It is
mainly used to simplify programming 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 object’s 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.

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6.7.2 Creating a work object

6.7.2 Creating a work object

What happens when I create a work object?

A variable of the type wobjdata is created. The variable’s 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.
This is detailed in section What is a work object? on page 163.

Creating a work object

The work object’s coordinate system is now identical with the world coordinate
system.
To define the position and orientation of the work object’s coordinate system, see
Work object declaration settings on page 164.
1 On the start screen, tap Program Data.
2 Select wobjdata from the menu.
The list of data of type wobjdata is displayed.
3 Tap Create New Data in the menu to the right.
4 In the Declaration, Initial Value tabs select the parameters according to your
requirement.
5 Tap Apply
The work object is created.

Work object declaration settings

If you want to change... then... Recommendation

the work object’s name enter a name in Name Work objects are automatic-
ally named wobj followed by
a running number, for ex-
ample wobj10, wobj27.
You should change this to
something more descriptive.
If you change the name of a
work object after it is refer-
enced in any program you
must also change all occur-
rences of that work object.
the scope select the scope of choice Work objects should always
from the menu be global to be available to all
modules in the program.
the storage type - Work object variables must
always be persistent.
the task select the preferred task from
the menu
the module select the module in which
this work object should be
declared from the menu

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 6 Programming and testing
6.7.3 Copying a workobject

6.7.3 Copying a workobject

Procedure
Use the following procedure to create the copy of a workobject:
1 On the start screen, tap Program Data, and tap the wobjdata data instance
type.
The data of type wobjdata are displayed.
2 Tap Copy on the context menu for the workobject that you want to copy.
A confirmation window is displayed.
3 Tap OK.
A copy of the selected wobjdata is created.

Note

The copied wobjdata has the same values as the original, but the name is unique.

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6 Programming and testing
6.7.4 Defining a work object

6.7.4 Defining a work object

Overview
Defining a workobject 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 workobject 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.

en0400000887

Defining a work object

Use the following procedure to define a work object:
1 On the start screen, tap Program Data, and tap the wobjdata from the list of
data types.
The data of type wobjdata are displayed.
2 Tap on the context menu next to the workobject that you want to define and
select Define.
The Workobject Definition page is displayed. The Define User frame tab is
displayed by default.
3 In the User method list select the method User defined with 3 points.
4 Select each point, jog the robot to the approach point, and tap Modify.
The message Modified is displayed for the selected point.
Repeat this step for each point.
5 Tap Next.
The Define Object frame tab is displayed.

Continues on next page

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6.7.4 Defining a work object
Continued

6 In the Object Method list select the User defined with 3 points method.
7 Select each point, jog the robot to the approach point, and tap Modify.
The message Modified is displayed for the selected point.
Repeat this step for each point.
8 Tap Next.
The Results tab is displayed.
9 Verify the calculation result. If any change is required tap the Back button
and redefine the parameters.
10 Tap Finish.

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6 Programming and testing
6.7.5 Defining the work object coordinate system

6.7.5 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 define the work object coordinate system

This procedure describes how to define the work object coordinate system. Note
that this only works for a user created work object, not the default work object,
wobj0.
1 On the start screen, tap Program Data, and then select Workobject from the
list of data types.
2 Tap on the context menu next to the workobject that you want to define and
select Define.
The Workobject Definition page is displayed. The Define User frame tab is
displayed by default.
3 Select method from the User method drop down menu.

xx1900000451

4 Tap Modify to define the points. See How to define the user frame on page 169.
5 Tap Next.
The Workobject Definition, Define Object frame window is displayed.
6 Select the Object Methods to be used.

Continues on next page

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6.7.5 Defining the work object coordinate system
Continued

7 Tap Modify to modify the positions. See How to define the object frame on
page 170.
8 Tap Next.
The Workobject Definition, Calculation Result window is displayed.
9 Tap Finish to save the calibration.

How to define the user frame

This section details how to define the user frame.

en0400000887

The x axis will go through points X1-X2, and the y axis through Y1.
1 In the User method drop down menu, select User defined with 3 points.
2 Press the three-position enabling device and jog the robot to the first (X1,
X2 or Y1) point that you want to define.
Large distance between X1 and X2 is preferable for a more precise definition.
3 Select the point in the list.
4 Tap Modify to define the point.
5 Repeat steps 2 to 4 for the remaining points.

Continues on next page

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6.7.5 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.

en0400000899

The x axis will go through points X1-X2, and the y axis through Y1.
1 In the Object Methods drop down menu, select User defined with 3 points.
2 See steps 2 to 4 in the description of How to define the user frame on page 169.

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 6 Programming and testing
6.7.6 Editing the work object data

6.7.6 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

1 On the start screen, tap Program Data, and then select Workobject from the
list of data types.
2 Tap on the context menu next to the workobject that you want to edit and
select Edit.
The Edit Data page is displayed.
3 Tap the Declaration, Initial Value, and Current Value tabs.
4 View the values according to your requirement.

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 168.
You can however edit the values manually using the following guide.
Values Instance Unit
The cartesian coordinates of the position of the object oframe.trans.x mm
frame oframe.trans.y
oframe.trans.z
The object frame orientation oframe.rot.q1 -
oframe.rot.q2
oframe.rot.q3
oframe.rot.q4
The cartesian coordinates of the position of the user uframe.trans.x mm
frame uframe.trans.y
uframe.trans.z
The user frame orientation uframe.rot.q1 -
uframe.rot.q2
uframe.rot.q3
uframe.rot.q4

Note

Editing work object data can also be done from the Code window.

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6.7.7 Deleting a work object

6.7.7 Deleting a work object

Deleting a work object

Use the following procedure to delete a work object:
1 On the start screen, tap Program Data, and then select Workobject from the
list of data types.
The Data of type 'wobjdata' page displays the available work objects.
2 Tap on the context menu next to the workobject that you want to delete and
select Delete.
The Delete Data confirmation window is displayed.
3 Tap Yes.
The selected work object is deleted.

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 6 Programming and testing
6.7.8 Setup stationary work object

6.7.8 Setup stationary work object

Make a work object robot held

Use the following procedure to make a workobject stationery:
1 On the start screen, tap Program Data, and then select Workobject from the
list of data types.
The Data of type 'wobjdata' page displays the list of available work objects.
2 Tap on the context menu next to the workobject that you want to make
stationery and select Edit.
The Edit Data page is displayed.
3 Tap the Current Value tab.
4 Set the value in robhold field to TRUE.
5 Tap Apply
The changes are saved.

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6 Programming and testing
6.8.1 Overview

6.8 Payloads

6.8.1 Overview

Description
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.

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6.8.2 Creating a payload

6.8.2 Creating a payload

What happens when I create a payload?

When you 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.
1 On the start screen, tap Program Data, and then select loaddata.
The loaddata items are displayed.
2 Tap Create New Data in the menu to the right.
The Create New Data window is displayed.
3 Complete the payload information (see Payload declaration settings on
page 176).
4 Tap Apply.
The payload is created.

WARNING

It is important to always define the actual tool load and, when used, the payload
of the robot (for example, a gripped part). Incorrect definitions of load data can
result in overloading of the robot mechanical structure. There is also a risk that
the speed in manual reduced speed mode can be exceeded.
When incorrect load data is specified, it can often lead to the following
consequences:
• The robot may not use its maximum capacity.
• Impaired path accuracy including a risk of overshooting.
• Risk of overloading the mechanical structure.
The controller continuously monitors the load and writes an event log if the load
is higher than expected. This event log is saved and logged in the controller
memory.

Continues on next page

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6.8.2 Creating a payload
Continued

Payload declaration settings

If you want to change... ...then... Recommendation

the payload’s name enter a name in Name 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
payload’s name.
the scope select the scope of choice Payloads should always be
from the menu global to be available to all
modules in the program.
the storage type - Payload variables must al-
ways be persistent.
the task select the preferred task from
the menu
the module select the module in which -
this payload should be de-
clared from the menu

Setting the value for ModalPayLoadMode

The ModalPayLoadMode is defined in RobotStudio. See Operating
manual - RobotStudio.

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 6 Programming and testing
6.8.3 Copying a payload

6.8.3 Copying a payload

Procedure
Use the following procedure to create the copy of a workobject:
1 On the start screen, tap Program Data, and tap the loaddata data instance
type.
The data of type loaddata are displayed.
2 Tap Copy on the context menu for the loaddata that you want to copy.
A confirmation window is displayed.
3 Tap OK.
A copy of the selected loaddata is created.

Note

The copied loaddata has the same values as the original, but the name is unique.

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6.8.4 Editing the payload data

6.8.4 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
the sections Running a service routine on page 188 and LoadIdentify, load
identification service routine on page 195.

Displaying the payload definition

1 On the start screen, tap Program Data, and then select loaddata from the
list of data types.
The Data of type 'loaddata' page displays the list of available loaddata.
2 Tap on the context menu next to the loaddata that you want to edit and select
Edit.
3 Tap the payload for which you want to view the values.
The Edit Data window is displayed.
4 Tap the Current Value tab and view the values.

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.
Action Instance Unit
1 Enter the weight of the payload. load.mass [kg]
2 Enter the payload’s center of gravity. load.cog.x [mm]
load.cog.y
load.cog.z
3 Enter the orientation of the axis of moment. load.aom.q1
load.aom.q2
load.aom.q3
load.aom.q3
4 Enter the payload’s moment of inertia. ix [kgm 2 ]
iy
iz
5 Tap Apply to use the new values, Cancel to leave - -
the data unchanged.

Using the PayLoadsInWristCoords parameter

By using the PayLoadsInWristCoords parameter, the loaddata for payloads can
be specified relative to the wrist instead of the active TCP or work object. This can
be useful if several tool or TCP or work objects (when tool is stationary) are used
for one payload. In this case only one load identification is needed instead of one
for each tool or TCP or work object. Thus it is possible to use the same payload
loaddata for any robhold or stationary tool being active. This saves the time (for
example, during commissioning).
Continues on next page
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6.8.4 Editing the payload data
Continued

For more information about PayLoadsInWristCoords, see Technical reference

manual - System parameters and Technical reference manual - RAPID Instructions,
Functions and Data types.

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6 Programming and testing
6.8.5 Deleting a payload

6.8.5 Deleting a payload

Deleting a payload
Use the following procedure to delete a payload:
1 On the start screen, tap Program Data, and then select loaddata from the
list of data types.
The Data of type 'loaddata' page displays the list of available loaddata.
2 Tap on the context menu next to the loaddata that you want to delete and
select Delete.
3 Tap Delete on the context menu for the payload that you want to delete.
The Delete Data confirmation window is displayed.
4 Tap Yes.
The selected payload is deleted.

CAUTION

A deleted tool, work object, or payload cannot be recovered, and all related data
will be lost. If the deleted tool, work object, or payload is referenced by any
program, those programs need to be edited before executing.
If you delete a tool you cannot continue the program from the current position.

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 6 Programming and testing
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
operating mode, in combination with the thumb button and the three-position
enabling device. The location of the thumb button is illustrated in the section,
FlexPendant Main parts on page 20.
To run a program in manual full speed mode it is necessary, for safety reasons, to
keep pressing both the three-position enabling device and the thumb button. This
also applies when stepping through a program in manual full speed mode.

Note

For robots in collaborative applications, the motors are on by default. There is

no need to press the three-position enabling device. Other safety measures apply
if SafeMove is selected in the system.
The following table provides the relation between the controller operating mode
and the hold-to-run function.
Operating mode Function
Manual full speed mode Pressing the three-position enabling device the thumb button
enables running a program. It may run continuously or step-by-
step.
Releasing the thumb button in this mode immediately stops the
manipulator movement as well as program execution. When
pressing it again, the execution is resumed from that position.
Manual reduced speed Normally, hold-to-run has no effect in the manual reduced speed
mode mode. However, it is possible to activate for manual reduced
speed mode by changing a system parameter.
Automatic mode Hold-to-run is not used in automatic mode.

Using the hold-to-run function

Use the following procedure to use the hold-to-run function in manual full speed
mode.
1 Open the program and set the program pointer to main.
2 Press the three-position enabling device to center-position.
3 Choose the execution mode by pressing one of the following buttons:
• Start (for continuous program execution)
• Forward (for step-by step program execution forwards)
• Backward (for step-by step program execution backwards)
4 Press and hold the thumb button.
If Start was pressed, the program execution continues as long as you hold
the thumb button.

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6.9.1 Using the hold-to-run function
Continued

If Forward or Backward was pressed, the program is executed step-by-step

by alternately releasing and pressing the Forward/Backward button.

Note

The thumb button must be pressed and held to continue running the
program. If the button is released, the program execution will stop
immediately.

5 If the three-position enabling device is released, intentionally or by accident,

the procedure must be repeated to enable running.

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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

1 Open Code and open the program.
2 Tap on the program step where you want to start, then tap Debug and then
PP to Cursor.

DANGER

Make sure that no personnel are in the safeguarded space.

Before running the robot, read the safety information in the product manual
for the controller.

3 Press the Start button on the FlexPendant.

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6 Programming and testing
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 another routine, 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.
1 On the start screen, tap Code, and then select Program Editor from the
menu.
2 Tap Debug and then PP to Routine to place the program pointer at the start
of the routine.
3 Press the Start button on the FlexPendant.

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 6 Programming and testing
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 Select step mode using the Quickset menu.
For more details, see Execution Settings on page 37.

Stepping
This section details how to step forwards and backwards.
If you want to step... then press...
forward Forward button on FlexPendant
backward 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.

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6.9.4 Stepping instruction by instruction
Continued

Example of backward execution

The following 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.

xx1900000881

A Program pointer
B Motion pointer

When... then...
stepping forward until the motion pointer will indicate p50 and the program pointer will in-
the robot is in p50 dicate the next move instruction (MoveL p60).
pressing the Back- the robot will not move but the program pointer will move to the
ward button once previous instruction (MoveC p30, p40). This indicates that this is
the instruction that will be executed the next time Backward is
pressed.
pressing the Back- the robot will move to p40 linearly with the speed v1000.
ward button again The target for this movement (p40) is taken from the MoveC instruc-
tion. The type of movement (linear) and the speed are taken from
the instruction below (MoveL p50).
The motion pointer will indicate p40 and the program pointer will
move up to MoveL p20.
pressing the Back- the robot will move circularly, through p30, to p20 with the speed
ward button again v1000.
The target p20 is taken from the instruction MoveL p20. The type
of movement (circular), the circular point (p30) and the speed are
taken from the MoveC instruction.
The motion pointer will indicate p40 and the program pointer will
move up to MoveL p10.

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6.9.4 Stepping instruction by instruction
Continued

When... then...
pressing the Back- the robot will move linearly to p10 with the speed v1000.
ward button again The motion pointer will indicate p10 and the program pointer will
move up to MoveJ p10.
pressing the Forward the robot will not move but the program pointer will move to the next
button once instruction (MoveL p20).
pressing the Forward the robot will move to p20 with the speed v1000.
button again

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6 Programming and testing
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. The service routines
available to you depends on your system setup and available options.
The service routines described in this manual are some of the commonly available.

Prerequisites
Service routines can only be started in manual reduced speed mode or in manual
full speed mode.
The program must be stopped and there has to be a program pointer.
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.

WARNING

If a service routine is started in the middle of a stopped movement instruction

(that is, before the end position is reached), then the movement will be resumed
when the execution of the service routine starts.

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

Use the following procedure to execute a service routine:

Note

Before running the service routine change the operating mode to Manual (manual
reduced speed) mode or Man FS (manual full speed) mode.
1 On the start screen, tap Operate, and then select Service Routines from the
menu.

Note

You can also find calibration related service routines in the Calibrate menu.

2 The available service routines are displayed.

3 Select the routine according to your requirement.
4 In the confirmation window tap Yes.

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 6 Programming and testing
6.10.1 Running a service routine
Continued

5 Press the three-position enabling device to bring the controller to Motors

On state.

Note

For YuMi robots you do not need to press the three-position enabling device
since the motors are ON by default.

6 Press the Play button on the Control Panel.

Note

You can also press the START hard button on the FlexPendant.

7 The service routine is executed.

Note

After the execution of the routine, the program pointer is returned to where
it was before.

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 229 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.

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6.10.1 Running a service routine
Continued

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 192.
LoadIdentify, load identification service routine on page 195.
Service Information System, ServiceInfo service routine on page 194.
For more information about StorePath and RestoPath, see Technical reference
manual - RAPID Instructions, Functions, and Data types.

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 6 Programming and testing
6.10.2 Connected Services Reset service routine

6.10.2 Connected Services Reset service routine

Overview
It is possible to reset the software agent for Connected Services. When you reset,
the software agent erases all its internal information including the registration
information, the data collector script, and all the locally stored service information.
The configuration will not be reset, but a new registration is required to reactivate
the connected services.

Procedure
Use the following procedure to reset the software agent using FlexPendant:
1 On the start screen, tap Operate, and then select Service Routines from the
menu.
2 Tap Connected Services Reset.
The ConnectedServicesReset window is displayed.
3 Tap Yes.
4 Press the START button on the FlexPendant.
A confirmation page is displayed with operator messages.
5 Tap Reset.
The software agent is reset.

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6 Programming and testing
6.10.3 Battery shutdown service routine

6.10.3 Battery shutdown service routine

When to use this service routine

For SMB units with 2-pole battery contact, it is possible to shut down the battery
backup of the serial measurement board to save battery power during transportation
or storage. This is the BatteryShutDown service routine.
For SMB units with 3-pole contact, this function shall not be used since the power
consumption is so low that it is not needed.

Tip

The service routine was earlier called Bat_Shutdown.

BatteryShutDown
When the system is powered on again, the function is reset. The revolution counters
will be lost and need an update but the calibration values will remain.
The consumption in ordinary shutdowns is then approximately 1 mA. When using
sleep mode the consumption is reduced to 0.3 mA. When the battery is nearly
discharged, with less then 3 Ah left, an alert is given on the FlexPendant and the
battery should be replaced.

Tip

Before starting the service routine BatteryShutDown, 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 188.

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 6 Programming and testing
6.10.4 Axis Calibration service routine

6.10.4 Axis Calibration service routine

Description of the service routine

Axis Calibration is a standard calibration method for calibration of ABB robots and
is the most accurate method for the standard calibration.
The following routines are available for the Axis Calibration method:
• Fine calibration
• Update revolution counters
• Reference calibration
The calibration equipment for Axis Calibration is delivered as a toolkit.
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.

Related information
Running a service routine on page 188.
A more detailed description of the calibration method is given in the product manual
for the respective manipulator.

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6 Programming and testing
6.10.5 Service Information System, ServiceInfo service routine

6.10.5 Service Information System, ServiceInfo service routine

When to use this service routine

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.

ServiceInfo
Maintenance is scheduled by setting the system parameters of the type SIS
Parameters. All system parameters are described in Technical reference
manual - System parameters.
More details about SIS is described in Operating manual - Integrator's guide
OmniCore.

Supervised functions
The following counters are available:
• Calender time counter
• Operation time counter
• Gearbox operation time counters
• Moved distance counter I
I The moved distance value cannot be reset through the service routines.
Counters are reset when maintenance has been performed.

CAUTION

Resetting counters cannot be undone.

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. Status NOK indicates that service interval limit has been exceeded
by that counter.

Related information
Running a service routine on page 188.

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 6 Programming and testing
6.10.6 LoadIdentify, load identification service routine

6.10.6 LoadIdentify, load identification service routine

When to use this service routine

The service routine LoadIdentify is used to automatically identify the data of loads
mounted on the robot. The data can also be entered manually, but this requires
information that may be difficult to calculate.
To run LoadIdentify, there are a number of things to consider. These are described
on the following pages. There is also information on error handling and limitations
described in this chapter.

WARNING

It is important to always define the actual tool load and, when used, the payload
of the robot (for example, a gripped part). Incorrect definitions of load data can
result in overloading of the robot mechanical structure. There is also a risk that
the speed in manual reduced speed mode can be exceeded.
When incorrect load data is specified, it can often lead to the following
consequences:
• The robot may not use its maximum capacity.
• Impaired path accuracy including a risk of overshooting.
• Risk of overloading the mechanical structure.
The controller continuously monitors the load and writes an event log if the load
is higher than expected. This event log is saved and logged in the controller
memory.

Note

When using LoadId or LoadIdentification to identify the load of a tool or

payload with unknown mass, the mass is estimated using the manipulator and
the result can deviate from the actual mass. This is due to tolerances and
variations between mechanical units. This does not necessarily mean that the
identified payload or tool will cause issues with motion performance. If a very
accurate value for the mass is required, it is recommended to weigh the tool or
payload and use known mass in the identification.

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6.10.6 LoadIdentify, load identification service routine
Continued

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 Upper arm load

B Tool load
C Payload

Before running the load identification for the payload, make sure that the tool load
data is correctly defined first, for example by running LoadIdentify for the tool.
To identify the mass of B and C, axis 3 has to perform some movement. This means
that to identify the mass, the upper arm load A must be known and correctly defined
first.
To improve accuracy if the upper arm load A is mounted, input the known mass
of B and C and choose the known mass method when identifying.

Configuration 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 and for axis 5 it is approximately
±30 degrees. For axis 6 the motion is performed around two configuration points.
The optimum value for the configuration angle is either +90 degrees or -90 degrees.

30°
C
30°

30° 30° B
A
en0500001537

A Configuration 1 (start position)

B Configuration angle

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 6 Programming and testing
6.10.6 LoadIdentify, load identification service routine
Continued

C Configuration 2

LoadIdentify with arm loads mounted

The best way to perform load identification is to use 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 Cable 1
B Load 1
C Cable 2
D 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 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, the total weight
and center of gravity have to be calculated.
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 defined, if the tool mass is to be identified.
• The axes 3, 5, and 6 are not close to their corresponding working range limits.

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6.10.6 LoadIdentify, load identification service routine
Continued

• The speed is set to 100%.

• The system is in manual mode.
Note that LoadIdentify cannot be used for tool0.

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 defined, if the payload 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. Also the tool and payload that you want to identify must be defined
and active in Jog.

Tip

Always run load identification with cold motors (no warm-up).

1 On the start screen, tap Operate, and then select Service Routines from the
menu.
2 Tap LoadIdentify.
3 Press the three-position enabling device.
4 In the Control Panel tap Play. You can also press the START hard button
on the FlexPendant.
The Load Identification operator message window is displayed.
5 Tap OK to confirm that current path will be cleared and that the program
pointer will be lost.
6 In the operator message window, tap Tool or PayLoad.

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6.10.6 LoadIdentify, load identification service routine
Continued

7 Tap OK to confirm that the correct tool or payload is active in the jogging
menu and that the tool or payload is correctly mounted.

Note

If it is not correct, release the three-position enabling device and select

the correct tool/payload in the Jogging menu. Then return to LoadIdentify,
press the three-position enabling device, and press Start. Tap Retry and
confirm that the new tool/payload is correct.

8 When identifying tool loads, confirm that the tool is active.

When identifying payloads, confirm that the payload’s tool is active and
calibrated.
9 When identifying payloads with stationary TCP, confirm that the correct work
object is active and (preferably) calibrated. If it is correct, tap OK to confirm.
10 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.
11 Select the configuration angle. The optimum is +90 or -90 degrees. If this is
impossible, tap Other and set the angle. The minimum is +30 or -30 degrees.
12 If the robot is not in a correct position for load identification, you will be asked
to jog one or more axes roughly to a specified position. When you have done
this tap OK 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.

Note

Axis 1 to 3 must not be more than 10 degrees from proposed position.

13 The robot can go through the load identification movements slowly before
performing the load identification (slow test). Tap Yes if you want a slow test
and No to proceed to the identification.

Note

This is useful for ensuring that the robot will not hit anything during the
identification. However, this will take a lot longer time.

Note

If the load identification is planned to be run in manual full speed, then the
slow test is required before the actual measurement can start.

14 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.

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6.10.6 LoadIdentify, load identification service routine
Continued

15 When the identification is finished, switch back to manual mode, press the
three-position enabling device and the Start button. Tap OK to confirm.
16 The result of the load identification is now presented on the FlexPendant.
For robots that support the Load diagram check functionality, there is a
message if the load is approved or not, and an Analyze button to view more
information.
17 Tap Yes to update the selected tool or payload with the identified parameters.
Tap No to exit LoadIdentify without saving the parameters.

Load diagram check

For robots that support the Load diagram check functionality, the combination of
the arm load, tool and payload, will be assessed against the load diagram. The
ratings of total handling weight as well as of the center of gravity distance to the
load diagram in Z and L directions will be provided both for wrist-up and wrist-down
configurations.
There is a message if the load is approved or not, and an Analyze button to view
more information.
• Load approved
• Load not approved
• Load approved only with wrist down

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 the 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.

Tip

Always run load identification with cold motors (no warm-up).

1 On the start screen, tap Operate, and then select Service Routines from the
menu.
2 Tap LoadIdentify.
3 Press the three-position enabling device.

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6.10.6 LoadIdentify, load identification service routine
Continued

4 In the Control Panel tap Play. You can also press the START hard button
on the FlexPendant.
The Load Identification operator message window is displayed.
5 Tap OK to confirm that current path will be cleared and that the program
pointer will be lost.
6 In the operator message window, tap Tool or PayLoad.
7 Tap OK to confirm that the correct tool or payload is active in the jogging
menu and that the tool or payload is correctly mounted.

Note

If it is not correct, release the three-position enabling device and select

the correct tool/payload in the Jogging menu. Then return to LoadIdentify,
press the three-position enabling device, and press Start. Tap Retry and
confirm that the new tool/payload is correct.

8 When identifying tool loads, confirm that the tool is active.

9 Select the 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.
10 Select the configuration angle. The optimum is +90 or -90 degrees. If this is
impossible, tap Other and set the angle. The minimum is +30 or -30 degrees.
11 If the robot is not in correct position for load identification, you are asked to
jog one or more axes roughly to a specified position. When you have done
this tap OK 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.

Note

Axis 1 to 3 must not be more than 10 degrees from proposed position.

12 The robot can go through the load identification movements slowly before
performing the load identification (slow test). Tap Yes if you want a slow test
and No to proceed to the identification.

Note

This is useful for ensuring that the robot will not hit anything during the
identification. However, this will take a lot longer time.

Note

If the load identification is planned to be run in manual full speed, then the
slow test is required before the actual measurement can start.

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6.10.6 LoadIdentify, load identification service routine
Continued

13 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.
14 When the identification is finished, switch back to manual mode, press the
three-position enabling device and the Start button. Tap OK to confirm.
15 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.
16 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 three-position enabling device is released during the load identification (before
the movements start), the routine can always be restarted by pressing the
three-position 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
confirming the error. To interrupt and leave the load identification procedure, tap
Cancel Call Routine in Program Editor 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.

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6.10.6 LoadIdentify, load identification service routine
Continued

Tip

If the mass of the tool or payload is unknown, the service routine LoadIdentify
can in some cases identify a 0 kg mass. If the load is very small compared to the
maximum load for the robot, then a 0 kg mass can be ok. Otherwise, try the
following to identify the mass.
• Check that the arm loads are correctly defined and redo the identification.
• Find the weight of the load in some other way and perform a load
identification with known mass to remove the dependency on arm loads.

LoadIdentify for 4-axis palletizing and SCARA 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 IRB 260, IRB 460, IRB 660, IRB 760, or IRB 910SC.
The main differences are:
• The used axes are:
- 1 (or 2 for some robot models)
- 3 (for all robot models)
- 6 (or 4 for some robot models)
• Because the first axis (axis 1 or 2) is used, the resulting movements can be
large.
• Not all load parameters can be identified.
The first axis (axis 1 or 2) will move approximately ±23 degrees from its current
position. Therefore, the load can move a large distance during the identification.
Axes 3 and 6 (or 4) will move as for 6-axis robots. The configuration angle for axis
6 (or 4) 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.

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6.10.6 LoadIdentify, load identification service routine
Continued

However, for this type of robot the above parameters have negligible effect on the
motion performance. See the definition of the load coordinate system in the
following figure.

xx0900000021

Tip

It is possible that the identification procedure fails to estimate the center of gravity
if the measured torque data has too high variance. If this happens, it should still
be possible to get good results by running the LoadIdentify routine again,
preferably with another position of the last axis.

LoadIdentify for 4-axis delta robots

When running LoadIdentify on a delta (picker/packer) robot with 4 axes, there are
some differences. In this description of the differences the robot type is assumed
to be similar to IRB 360, IRB 365, or IRB 390.
The main differences are:
• The used axes are:
- 3 (for all robot models)
- 4 (for all robot models)
• Not all load parameters can be identified.
Axis 4 will move approximately +60 degrees from its current position. Therefore,
the load will move a large rotational distance during the identification.
Because there is not 6 axes, a 4-axis delta robot cannot identify all parameters of
the load. In fact, only the following parameters are possible to identify:
• Iz, the inertia around the z-axis.
• m, the total mass.

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6.10.6 LoadIdentify, load identification service routine
Continued

However, for this type of robot the total mass and the inertia around the z-axis is
enough to give good motion performance. All other loaddata parameters will be
set to zero.

Note

An x,y-offset in the mass center (mx,my) should not be manually entered since
this information will be included in the identified Iz.
(However, if known, an offset mz (z-coordinate for the center of mass) can be
manually entered to slightly enhance motion performance.)
See the resulting loaddata from LoadIdentify for 4-axis delta robots in the following
figure.

xx2100002581

LoadIdentify for 5-axis delta robots

When running LoadIdentify on a delta (picker/packer) robot with 5 axes, there are
some differences. In this description of the differences the robot type is assumed
to be similar to IRB 365 or IRB 390.
The main differences are:
• The used axes are:
• - 3 (for all robot models)

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6.10.6 LoadIdentify, load identification service routine
Continued

- 4 (for all robot models)

- 5 (for all robot models)
• Not all load parameters can be identified.
Axis 4 will move approximately +45 degrees from its current position. Therefore,
the load will move a large rotational distance during the identification.
Axis 5 will move approximately +35 degrees from its current position. Therefore,
the load will move a large rotational distance during the identification.
Instead of the usual 0-90 degree configuration movement, the axis 5 will move ±45
degrees.
Because there is not 6 axes, a 5-axis delta robot cannot identify all parameters of
the load. The following parameters are possible to identify:
• Iy, the inertia around the y-axis.
• Iz, the inertia around the z-axis.
• mx, the x-coordinate for the center of mass.
• mz, the z-coordinate for the center of mass.
• m, the total mass.
See the resulting loaddata from LoadIdentify for a 5-axis delta robot in the
following figure.

xx2100002620

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 6 Programming and testing
6.10.6 LoadIdentify, load identification service routine
Continued

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.
The product manual for the robot contain information on how and where to mount
the loads.
How to define the system parameters for arm loads is described in Technical
reference manual - System parameters.

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6 Programming and testing
6.10.7 Brake check service routine

6.10.7 Brake check service routine

Overview
The BrakeCheck service routine is used to verify whether the mechanical brakes
work correctly.
The BrakeCheck service routine is included in the RobotWare installation if the
controller does not have SafeMove option.

Note

If the controller has SafeMove option, the RobotWare installation includes Cyclic
Brake Check service routine. For more details, see Application
manual - Functional safety and SafeMove.
While running the BrakeCheck service routine the brakes are tested in consecutive
order and each test takes 10-15 seconds.

Prerequisites for running the BrakeCheck service routine

Following are the prerequisites for running the BrakeCheck service routine:
• The robot and all additional axes must be moved to a safe and relaxed
position (away from people, equipment and not too much stretched) before
performing a brake check. Normally the robot moves only a few centimeters
during the brake check.
• Move the robot to a stop point before performing a brake check.
• The brake check can be performed only at normal execution level (not from
a trap routine, error handler, event routine, or store path level).

Exclude individual axes from the brake check

It is possible to exclude individual axes from the brake check. For this, set the
value of system parameter Deactivate Cyclic Brake Check for axis to
On. For more details, see Configure system parameters on page 213.

Running the brake check

Following are the two ways to initiate a BrakeCheck service routine:
• Call the BrakeCheck service routine from FlexPendant. The controller must
be in manual mode.
• Call the procedure BrakeCheck from the RAPID program.

WARNING

While the brake check routine is active, do not change the speed from the
FlexPendant and do not use the instructions VelSet, AccSet, SpeedRefresh,
or any other instruction that affects the motion performance in trap routines or
event routines.

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6.10.7 Brake check service routine
Continued

Note

The RAPID function IsBrakeCheckActive can be used to check if BrakeCheck

is active.

Interrupt the brake check

It is not recommended, but it is possible to stop the execution while running a
brake check.
If the brake check is interrupted, it will be resumed when the program execution
starts again. The brake check can be resumed up to 3 times.

Brake maintenance
Brake maintenance is a feature in the brake check functionality.
The BrakeCheck routine automatically detects if maintenance of the mechanical
brakes is needed and activates the Brake maintenance functionality during
execution. Brake maintenance applies the brake and turns the motor shaft 1 radian
five times, which gives a movement of the robot arm of less than 1 degree.
There are event logs that tell if Brake maintenance is needed, and if it has been
run.
For more information see parameter Brake Maintenance, type General Rapid, topic
Controller, in Technical reference manual - System parameters.

Event logs
When BrakeCheck is executed, the following event logs will be shown:
Event log Title
10272 Brake Check Done
10273 Brake Check Started

If there is a problem with one or several mechanical brakes, an event log that is
describing which mechanical unit and which axis that has bad brakes will be shown:
Event log Title
37234 Brake Performance Warning
37235 Brake Performance Error

Brake check on additional axes

To be able to run brake check on additional axes, the parameter Max Static Arm
Torque (in topic Motion and type Brake) needs to be calculated for the additional
axis and entered into the configuration. Brake check uses this value when testing
the brake at error-level.
The parameter should be the maximum static torque that the brake needs to
withstand when the additional axis is positioned in maximum gravity. The following
formula should be used:
Max Static Arm Torque = (M*L*g)/n

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6 Programming and testing
6.10.7 Brake check service routine
Continued

Length to mass (L)

L Mass (M) * Gravity constant (g)
1
Transmission (n)
2
3 Motor (1)
Gearbox (2)

M*g
Arm (3)
xx1600001289

To calculate the parameter for an axis that has no gravity, for example a track, the
below formula may be used:
Max Static Arm Torque = Tbrake min/1.35

Tbrake min for ABB motor units can be found in the product specification for the
specific motor unit, see Product specification - Motor Units and Gear Units.
For more information about parameter Max Static Arm Torque, see topic Motion,
type Brake in Technical reference manual - System parameters.

Note

Note that the calculated value should be entered in [Nm] and calculated to the
motor side.

Description of the I/O setup

Signal configuration
It is possible to configure digital output signals that reflect the status of the
mechanical brakes in an open RAPID module. The digital output signals that can
be configured are OK, WARNING, ERROR, and ACT (brake check active) for each
drive module.
The signal configuration should be done in the RAPID module BC_config_IO.sys,
see Description of the I/O setup on page 210.
The file BC_config_IO.sys can be found in directory
/products/RobotControl_7.x.xxxx/utility/BrakeCheck/, and must then be copied to
the HOME directory of the active system.

Note

Remember to update the I/O configuration with the digital output signals.

Note

If the signals should keep their values after a power fail, the power fail settings
in the system parameters must also be updated, see Description of the I/O setup
on page 210.

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6.10.7 Brake check service routine
Continued

Description of the BC_config_IO module

MODULE BC_config_IO(SYSMODULE,NOVIEW)
PROC BC_config_IO_proc(VAR string user_io_names{*,*})
!TPWrite "BC_config_IO_proc";
! Define your own signals. The signal
! names must be signals defined in EIO.cfg

! If 1 drive module
user_io_names{1, 1}:="BCACT1";
user_io_names{1, 2}:="BCOK1";
user_io_names{1, 3}:="BCWAR1";
user_io_names{1, 4}:="BCERR1";

! If 2 drive modules
!user_io_names{2, 1}:="BCACT2";
!user_io_names{2, 2}:="BCOK2";
!user_io_names{2, 3}:="BCWAR2";
!user_io_names{2, 4}:="BCERR2";

! If 3 drive modules
!user_io_names{3, 1}:="BCACT3";
!user_io_names{3, 2}:="BCOK3";
!user_io_names{3, 3}:="BCWAR3";
!user_io_names{3, 4}:="BCERR3";

! If 4 drive modules
!user_io_names{4, 1}:="BCACT4";
!user_io_names{4, 2}:="BCOK4";
!user_io_names{4, 3}:="BCWAR4";
!user_io_names{4, 4}:="BCERR4";
ENDPROC
ENDMODULE

Description of the EIO.cfg file

EIO:CFG_1.0:6:1::
...
#
EIO_SIGNAL:

-Name "BCACT1" -SignalType "DO"

-Name "BCOK1" -SignalType "DO"

-Name "BCWAR1" -SignalType "DO"

-Name "BCERR1" -SignalType "DO"

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6.10.7 Brake check service routine
Continued

Brake check signal description

Introduction
Description of different signal states for brake check in the BrakeCheck routine.
The signal names are according to Description of the I/O setup on page 210.

Timing sequence for brake check signals

Description of which signals are set at different times during the BrakeCheck
execution.

Beginning of brake check

The following signals are set in the beginning of the BrakeCheck execution.
Signal Set to
BCOK 0
BCACT 1
BCERR 0
BCWAR 0

End of brake check

The following signals are set in the end of the BrakeCheck execution.

Signal BrakeCheck test OK BrakeCheck test BrakeCheck test ER-

Set to WARNING ROR
Set to Set to
BCOK 1 0 0
BCERR 0 0 1
BCWAR 0 1 0
BCACT 0 0 0

Program Pointer moved to Main after interrupted brake check

When the program pointer is moved to Main after an interrupted BrakeCheck
execution, the following signals are set.
Signal Set to
BCOK 0
BCACT 0

During the first brake check test

Signal Signal state

BCOK 0
BCERR 0
BCWAR 0
BCACT 1

Interrupted brake check test, program pointer still in BrakeCheck routine

Signal Signal state

BCOK 0

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 6 Programming and testing
6.10.7 Brake check service routine
Continued

Signal Signal state

BCERR 0
BCWAR 0
BCACT 1

Interrupted brake check test, program pointer moved from BrakeCheck routine

Signal Signal state

BCOK 0
BCERR 0
BCWAR 0
BCACT 0

Configure system parameters

About the system parameters
The configuration of system parameters required for a robot system should be
made before running the brake check.

Note

The controller must be restarted after changing the system parameters.

Type Mechanical Unit

All mechanical units for additional axes that shall be supervised must have the
parameters Activate at Start Up and Deactivation Forbidden set to On. (Supervised
mechanical units must always be active.)

Type Arm
If an axis should be excluded from brake check, set the parameter Deactivate
Cyclic Brake Check for axis to On.

Type Brake
If brake check is executed on an additional axis, a lowest safe brake torque must
be defined. A 5% margin is added during the test for setting the fail limit. The
parameter used is Max Static Arm Torque defined in on motor side. A warning
limit is set with a higher torque value (depending on the brake).

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6 Programming and testing
6.10.8 Cyclic Brake Check service routine

6.10.8 Cyclic Brake Check service routine

Introduction
Cyclic Brake Check is a function that verifies that the brakes work correctly.
The Cyclic Brake Check service routine is included in the RobotWare installation
if the controller has the option SafeMove. For details about working with Cyclic
Brake Check and SafeMove, see Application manual - Functional safety and
SafeMove.

Functionality
The Cyclic Brake Check is initiated by the robot controller or an external PLC. The
robot moves to a safe position where the brakes are locked with servos engaged.
The motors of the robot are then used to generate the torque. If any axis moves,
the system is set in reduced speed mode. A new successful Cyclic Brake Check
must be performed before the robot can be used again with normal speeds.
With a defined interval (brake cycle time), the robot must move to the safe position
and perform a Cyclic Brake Check. If Cyclic Brake Check is not performed within
the brake cycle time an error message is generated, and depending on configuration
the robot will be set to reduced speed or keep its normal supervision levels. A
predefined time (pre-warning time) warning appears on the FlexPendant before
the brake cycle time has passed.

Pre-requisites for Cyclic Brake Check

Pre-requisites for Cyclic Brake Check:
• The robot and all the additional axes must be moved to a safe and relaxed
position (away from people, equipment, and not too much stretched) before
performing a brake check. Normally the robot moves only a few centimeters
during the brake tests.
• Move the robot to a stop point before performing a Cyclic Brake Check.
• A Cyclic Brake Check can only be performed at normal execution level (not
from a trap routine, error handler, event routine or store path level).
• Brakes are tested in consecutive order and each test takes about 10-15
seconds.
• Do not change the speed from the FlexPendant and do not use VelSet,
AccSet, SpeedRefresh, or any other instruction that affects motion
performance in trap routines or event routines while Cyclic Brake Check is
active.

Note

The RAPID function IsBrakeCheckActive can be used to check if Cyclic Brake

Check is active.

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6.10.8 Cyclic Brake Check service routine
Continued

Activate Cyclic Brake Check

Cyclic Brake Check can be initiated in the following way:
• Run the Cyclic Brake Check service routine from FlexPendant. The controller
must be in manual mode.
• Run the RAPID program procedure CyclicBrakeCheck.

Note

Cyclic Brake Check cannot be dynamically activated or deactivated. If it is

configured to be active, it is always active. That is, a constant supervision to
verify the brake check has been performed within the configured time interval.

Cyclic Brake Check configuration

Use the following procedure to configure Cyclic Brake Check:
Action Note/illustration
1 In the Visual SafeMove tab ribbon, navig-
ate to the Create group, and click on the
Cyclic Brake Check button.
The Cyclic brake check properties win-
xx1700001355
dow is displayed.

WARNING

The Warning only, no stop check box

should not be selected under any circum-
stances.

xx1700001098

2 In Max CBC test interval (h), set the

maximum allowed time (in hours) between Note
the cyclic brake checks.
It is recommended to configure the maxim-
um value in Max CBC test interval (h) as 8
hours.

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6.10.8 Cyclic Brake Check service routine
Continued

Action Note/illustration
3 In Pre warning time (h), set how long
before the end of the interval a warning
should be displayed on the FlexPendant.
4 Standstill tolerance is used for Stand Still Do not change the default value for Stand-
Supervision during brake test. The motor still tolerance.
is in regulation during brake test, and a
small movement may be allowed. The size
of the allowed movement is specified in
Standstill tolerance (in radians on motor
side). The default value is 2 radians.
5 Supervision threshold defines the Do not change the default value for Super-
threshold to verify that a brake check has vision threshold.
been made. The default value is 0.02 radi-
ans.
6 Make sure axes 1 to 6 are selected. If not,
select the appropriate check box for the WARNING
corresponding axis.
An axis can be excluded only after an appro-
priate safety analysis has been performed.
This must correspond with the axis that has
the system parameter Deactivate Cyclic
Brake Check for axis set to On.
For the axes not included in SafeMove, de-
activation of the axes must be done by set-
ting the parameter Deactivate Cyclic Brake
Check for axis to On through RobotStudio.

Note

An error or warning message is logged for each axis with low brake torque. A
status message is also logged for each complete brake cycle.

Example of RAPID program

A signal diPSC1CBCPREWARN is defined and cross connected to the safety signal
PSC1CBCPREWARN in the I/O parameters. This cross connection is required because
there is a restricted usage of safety signals in the RAPID program. The
PSC1CBCPREWARN signal will be set to a logical high state when the prewarning
time interval expires. It will be kept high until a successful brake check has been
carried out. The status of the diPSC1CBCPREWARN signal is checked in the Main
loop in the application program.
PROC main()
IF diPSC1CBCPREWARN=1 THEN
MoveAbsJ *, v1000, fine, tool1;
! Call to the predefined service routine CyclicBrakeCheck
CyclicBrakeCheck;
ENDIF
....
ENDPROC

Brake maintenance
Brake maintenance is a feature in the Cyclic Brake Check functionality.

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6.10.8 Cyclic Brake Check service routine
Continued

Cyclic Brake Check automatically detects if maintenance of the mechanical brakes

is needed and activates the Brake maintenance functionality during execution.
Brake maintenance applies the brake and turns the motor shaft 1 radian five times,
which gives a movement of the robot arm of less than 1 degree.
There are event logs that tell if Brake maintenance is needed, and if it has been
run.
For more information see parameter Brake Maintenance, type General Rapid, topic
Controller, in Technical reference manual - System parameters.

Interrupted Cyclic Brake Check

It is not recommended, but it is possible to stop the execution while running a
Cyclic Brake Check.
If the Cyclic Brake Check is interrupted, it will be resumed when the program
execution starts again. The Cyclic Brake Check can be resumed up to 3 times.
If the Cyclic Brake Check is interrupted more than 3 times, a new cyclic brake
check is required. Only reduced speed can be used until a new Cyclic Brake Check
is performed.

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6 Programming and testing
6.10.9 Wrist optimization service routine

6.10.9 Wrist optimization service routine

Overview
The wrist optimization service routine is used to improve the TCP reorientation
performance. More information is available in the product manual for the
manipulator.

Note

For advanced users, it is also possible to use the do the wrist optimization using
the RAPID instruction WristOpt, see Technical reference manual - RAPID
Instructions, Functions and Data types.

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 6 Programming and testing
6.10.10 SkipTaskExec service routine

6.10.10 SkipTaskExec service routine

Overview
The SkipTaskExec service routine is used for debugging if there are problems
with synchronizing tasks during Multitasking. It also makes it possible to run a
program in automatic mode and exclude one task from the execution.

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 7 Running in production
7.1 Introduction

7 Running in production
7.1 Introduction

Overview
The content in this section applies to a robot and not a robot system. It is the
responsibility of the integrator to provide a safety and users manual for the robot
system.

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7 Running in production
7.2.1 Starting programs

7.2 Basic procedures

7.2.1 Starting programs

Starting programs
Use the following procedure to start a program or to continue running a program
that has been stopped.
1 Check that all the necessary preparations are done to the robot and make
sure no obstacles exist within the safeguarded space.
2 Make sure no personnel are inside the safeguarded space.
3 On the FlexPendant, tap QuickSet and select a controller operating mode
from the Mode section.

Note

For more details about controller operating modes, see OmniCore controller
operating modes on page 73.

4 In the Motors section, tap Motors on.

In Auto mode:
• On the status bar, tap the QuickSet button, tap the Control tab, and
tap Motors On in the Motors section.
In manual mode and manual high speed mode:
• Press and hold the three-position enabling device.

Note

YuMi robots with SafeMove requires using the enabling device.

On YuMi robots without SafeMove the enabling device is disabled,
hence, not used.

5 Open Operate.
The Advanced View page is displayed.
6 Tap and make a selection based on the following scenarios:
• If there is no loaded program:
- a list of recent programs is displayed in the Recently used
programs section. Select a recently used program to load it, and
proceed to step 8.

Note

Tap the Load Other Program button to load a program that is

not listed in the Recently used programs section.

- tap the Load Program button if there is no list of recently used

programs.

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7.2.1 Starting programs
Continued

• If there is already a program loaded: On the command bar, select Load

Program from the context menu.
- Tap Yes to continue loading a new program.
- Tap No to continue with the existing program and proceed to
step 8.
7 Browse to the location, select a program file, and tap Load.
The selected program is loaded.
8 Tap Advanced and select Reset Program Pointer to Main.
The program pointer is set to main. For more information about program
pointer, see Program and motion pointers on page 138.
9 Tap QuickSet and tap on the Play button.
The program execution starts.

Note

You can also press the Start hard button on the FlexPendant to start the
program.

Continue running after the program is changed

You can continue running 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 Operate or Code.

Note

Resetting the program pointer will reset the program pointer in all the normal
tasks and the background tasks.
Use the following procedure to restart a program from Operate.
1 On the start screen, tap Operate, and then select Advanced View from the
menu.
2 The selected program is loaded.
3 Tap Advanced and select Reset Program Pointer to Main.
The program pointer is set to main.

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7 Running in production
7.2.1 Starting programs
Continued

Use the following procedure to restart a program from Code.

1 On the start screen, tap Code, and then select Program Editor from the
menu.
2 On the right menu tap Debug.
3 Select PP to Main
The program pointer is set to main.

Limitations
Only one program can be executed at a time, unless your system has the
Multitasking option. If so several programs can be executed simultaneously.
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 Running in production
7.2.2 Stopping programs

7.2.2 Stopping programs

Stopping programs
Use the following procedure to stop a program:
1 Check that the ongoing operation is in such a state that it can be interrupted.
2 Make sure it is safe to stop the program.
3 Press the Stop button on the FlexPendant.
The program is stopped.

Note

If your robot system has the Multitasking option installed, see Using multitasking
programs on page 226.

DANGER

In case of an emergency use the emergency stop button instead of the 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 Action Information
Operation with hold-to-run Press the Stop button. The hold-to-run function is
described in section The
FlexPendant on page 20.
Step-by-step mode The robot will stop after ex- If you press the STOP button
ecuting each instruction. while executing a move in-
Execute the next instruction struction, the robot will stop
by pressing the Forward but- without completing the move.
ton again.

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7 Running in production
7.2.3 Using multitasking programs

7.2.3 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).

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. For information about system parameters, see Technical reference
manual - System parameters.
You need detailed information to set up tasks manually, see 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.

Load, run, and stop multitasking programs

Use the following procedure to load, run, and stop multitasking programs.
1 Make sure there is more than one task set up. This is done using system
parameters, see Technical reference manual - System parameters.
2 Load programs to the respective task using Operate or Code. This is
described in the section Loading programs to a task on page 227.
3 If one or more task should be disabled, on the status bar, tap the QuickSet
menu, select the Execution tab, and disable the required tasks in the
Enable/Disable tasks section.
Disabling the tasks can be done only in manual mode.
4 Start program execution by pressing the Start button on the FlexPendant.
All the active tasks are started.
5 Stop program execution by pressing the Stop button on the FlexPendant.
All the active tasks are stopped.

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7.2.3 Using multitasking programs
Continued

Loading programs 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 in Operate

Use the following procedure to load a saved program in Operate:
1 On the start screen, tap Operate, and then select Advanced View from the
menu.
• If there is no loaded program: The recent programs are displayed in
the Recently used programs section. Select a recently used program
to open it. Otherwise, tap on the Load Other Program button.
• If there is already a loaded program: On the command bar, select Load
Program in the context menu.
- Tap Yes to continue loading a new program.
- Tap No to continue with the existing program.
2 From the Location section, select the device where the program is saved.
The folders and files available in the selected device are displayed.
3 Navigate and choose the required program file.

Note

The supported file format is .pgf

4 Tap Load.
The selected program is loaded to the selected task.

Load a program in Code

Use the following procedure to load a saved program in Code:
1 On the start screen, tap Code, and then select Modules from the menu.
2 On the command bar, select Load Program in the context menu.
If there is already a program loaded, the Load Program window appears.
• Tap Save to save the loaded program. Once the loaded program is
saved the Load Program page is displayed.
• Tap Don't save to close the loaded program without saving it, that is,
delete from the program memory. Once the loaded program is closed
the Load Program page is displayed.
• Tap Cancel to keep the currently loaded program.
3 From the Location section select the device where the program is saved.
The folders and files available in the selected device are displayed.
4 Navigate and choose the required program file.

Note

The supported file format is .pgf

5 Tap Load.

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7.2.3 Using multitasking programs
Continued

The selected program is loaded in Program Editor.

Viewing multitasking programs

In Operate, there is one tab for each task. To switch between viewing the different
tasks, tap on the tabs.
To edit several tasks in parallel, use the Program Editor in Code.

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7.2.4 Returning the robot to the path

7.2.4 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, see Technical reference
manual - System parameters, Type Path Return Region.

Returning to path
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.

Note

On YuMi robots with SafeMove, axes 5 and 6 can drop slightly when releasing
the enabling device, because there are no brakes on these axes. There is a risk
that mounted tools or workpieces are damaged.
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.
1 Make sure there are no obstacles blocking the way and that payload and
work objects are properly placed.
2 If necessary, put the system in automatic mode and press the Motors on
button on the controller to activate the robot motors.
3 Press the Start button on the FlexPendant to continue execution from where
it stopped. One of these things will happen:
• The robot or axis slowly returns to the path and the execution continues.
• The Regain Request dialog will be displayed.
4 If the Regain Request dialog is displayed, select the proper action.
• Tap Yes to return to the path and continue the program.
• Tap No to return to the next target position and continue the program.
• Tap Cancel to cancel the program.

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7.2.5 Using motion supervision and non motion execution

7.2.5 Using motion supervision and non motion execution

Motion supervision
The controller software has the functionality aiming at reducing collision impact
forces on the robot. This helps in protecting the robot and the external equipment
from severe damage if a collision occurs.
Motion supervision during program execution is active by default and is always
active, regardless which options are installed in the controller. When a collision is
detected, the robot stops immediately and relieve the residual forces by moving a
short distance in reversed direction along its path. The program execution stops
with an error message. The robot remains in the Motors on state so that program
execution can be resumed after the collision error message has been
acknowledged.
Moreover, Collision Detection software option has extra features such as
supervision during jogging. To find out if your system has this option installed,
open the Settings app. Tap System >About > Options section which displays the
available options.

Functions in Collision Detection

A RobotWare system with Collision Detection has the following additional
functionality:
• Path Supervision used to prevent the mechanical damage due to the robot
running into an obstacle during program execution.
• Jog Supervision used to prevent mechanical damage to the robot during
jogging.

Note

All motion supervision must be set for each task separately.

Non motion execution

Non motion execution enables you to run a RAPID program without robot motion.
All other functions like current cycle times, I/O, TCP speed calculation, and so on
work normally.
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

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7.2.5 Using motion supervision and non motion execution
Continued

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 damages the robot or other equipment.

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7.3 Managing Dashboards

7.3 Managing Dashboards

Overview
Dashboards are used to display the controller parameters, RAPID data, live values
from I/O signals, and so on.
The values are displayed through dashboards. The dashboards are made up of
cards. Each card displays a value based on its defined properties. A dashboard
can hold a maximum of 6 cards.

xx1800001860

Defining cards
Use the following procedure to define a card:
1 On the start screen, tap Operate, and then select Define Cards from the
menu.
2 Tap Create New Card on the context menu.
The Add Card page is displayed.
3 Type or select the values in the title, Label, Value, and Unit fields.
4 Tap Apply.
The new card is created and displayed on the Define Cards page.
Once a card is created you can associate the card to dashboards. For more details,
see Assigning cards to dashboard on page 233.

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7.3 Managing Dashboards
Continued

Defining dashboards
Use the following procedure to define a dashboard:
1 On the start screen, tap Operate, and then select Define Dashboards from
the menu.
2 Tap Create New Dashboard on the context menu.
The Add Dashboard page is displayed.
3 Type a name for the new dashboard in the Title field.
4 Tap Apply.
The new dashboard is created and displayed in the Define Dashboards and
Dashboards page.
Once a dashboard is created you need to associate cards to it. For more details,
see Assigning cards to dashboard on page 233

Assigning cards to dashboard

Use the following procedure to associate cards to a dashboard:
1 On the start screen, tap Operate, and then select Define Dashboards from
the menu.
2 The Define Dashboards page is displayed. The current available dashboards
are displayed on this page.
3 Tap on a dashboard for which cards needs to be associated.
The Edit Dashboard page is displayed.
4 Navigate to the Associated Cards section and tap Associate.
The Select Card(s) page is displayed with a list of available cards.
5 Select the cards that needs to be associated to the selected Dashboard.

Note

You can associate a maximum of 6 cards in each dashboard.

6 Tap OK.
The Edit Dashboard page is displayed with the list of selected dashboards.
7 Tap Apply.
The selected cards are associated with the Dashboard.

Assigning a card to multiple dashboards

You can assign a card to a multiple dashboards:
1 On the start screen, tap Operate, and then select Define Cards from the
menu.
2 The Define Cards page is displayed. The current available cards are displayed
on this page.
3 Tap on a card that needs to be associated with dashboards.
The Edit Card page is displayed.
4 Navigate to the Associated Dashboards section and tap Associate.
The Select Dashboards page is displayed with a list of available dashboards.

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7.3 Managing Dashboards
Continued

5 Select the dashboards that needs to be associated with the selected card.

Note

You can associate a maximum of 6 cards to each dashboard. So if a

dashboard already has 6 associated cards then you cannot associate the
selected card to that dashboard.

6 Tap OK.
The Edit Card page is displayed with the list of associated dashboards.
7 Tap Apply.
The selected card is associated with the selected dashboards.

Deleting cards from dashboards

Use the following procedure to delete the associate cards from a dashboard:
1 On the start screen, tap Operate, and then select Define Dashboards from
the menu.
2 The Define Dashboards page is displayed. The current available dashboards
are displayed on this page.
3 Tap on a dashboard for which the associated cards needs to be deleted.
The Edit Dashboard page is displayed. The Associated Cards section
displays the cards that are already associated to the selected dashboard.
4 Tap on the delete icon next to the card that you want remove from the selected
dashboard.
The card is deleted from the Associated Cards section.
5 Tap Apply.
The changes are saved.

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7.4.1 Introduction

7.4 Managing positions

7.4.1 Introduction

Overview
A robot program usually contains programmed positions. Positions are instances
of the data type robtarget. For details about creating a robtarget data instance, see
Creating new data instance on page 142. For more details about the RAPID variable
robtarget, see Technical reference manual - RAPID Instructions, Functions and
Data types.
The positions can be modified using the Teach position function where you jog
the robot to a new position and save that position. A modified position value
overwrites the original value. For more details, see Teach position on page 236.
It is also possible to move the robot to a programmed position using the GoTo
function. For more details, see Go To position on page 241.

CAUTION

Changing programmed positions may significantly alter the robot’s movement

pattern.
Always make sure the changes are safe for both equipment and personnel.

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7.4.2 Teach position

7.4.2 Teach position

Introduction
When modifying instructions it is possible to jog directly to a new position and
change the corresponding position argument of the instruction.
It is also possible to change the position values of the Program Data type
robtarget.

Note

If a named position is modified, all the instructions using that position will be
affected.

Note

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.

Prerequisite
Following are the prerequisite for modifying a programmed position:
• the system must be in manual mode
• the target position must have an 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

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 than the position is used in the
program.

Procedure
Teach position from the Program Editor main window
When modifying instructions, use the following procedure to jog directly to a new
position and change the corresponding position argument of the instruction:
1 On the start screen, tap Code.
2 Tap the menu button and select Program Editor.
The RAPID program is displayed.
3 In the program click and select the position that needs to be updated.
4 Using joystick jog the robot to a new position.

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7.4.2 Teach position
Continued

5 Tap Teach Position.

The Teach Position confirmation window is displayed.
6 Tap Teach.
The values of the selected position is updated with the current robot position
values.

Teach Position from Program data

It is possible to change the position values by modifying the RAPID data type
robtarget.
Use the following procedure to change the position values for the available
positions:
1 On the start screen, tap Program Data.
The Program data types are displayed.
2 Select the data type robtarget.
The robtarget data instances (positions) are displayed.
3 Using joystick jog the robot to a new position.
4 Tap on the position that you want to modify.
The context menu is displayed.
5 Tap Teach Position.
A confirmation window is displayed.
6 Tap Teach.
The values of the selected position is updated with the current robot position
values.

Note

Repeat steps 4 through 7 for the each position that you want to modify.

The programs that are created using RobotStudio may have array data position
arguments. You cannot directly use the teach position function in such position
arguments (robtargets). Use the following procedure to teach position for an array
data robtarget:
1 Tap on an array data robtarget.
The elements available in the array are displayed.
2 Using joystick jog the robot to a new position.
3 Select the element.

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7.4.2 Teach position
Continued

The context menu is displayed.

xx2000001285

4 Tap Teach Position.

The Teach Position confirmation window is displayed.
5 Tap Teach.
The position values of the selected array element is updated with the current
robot position values.

Teach position for an array data position argument

The programs that are created using RobotStudio may have position argument
with array data. This section provides information regarding teaching position for
a particular position array data item:
1 Tap on the position argument that has array data and that needs to be edited.
2 Tap Teach Position.
The elements available in the array are displayed.

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7.4.2 Teach position
Continued

3 Select the element for which the position needs to be modified and using
joystick jog the robot to a new position.

xx2000001296

4 Tap Teach.
The Teach Position confirmation window is displayed.
5 Tap Teach.
The values of the selected position is updated with the current robot position
values.

Examples
The following examples show how the planned path will be affected for different
types of movement 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.

xx0800000175

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7.4.2 Teach position
Continued

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).

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.

xx0800000176

In single robot systems, the system is 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.

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7.4.3 Go To position

7.4.3 Go To position

Moving the robot to a programmed position

It is possible to automatically move the robot to a programmed position.

DANGER

When moving the robot automatically, the robot arm may move without warning.
Make sure no personnel are in the safeguarded space and that no objects are
in the way between the current position and the programmed position.
Use the following procedure to move the robot automatically to a programmed
position:
1 On the start screen, tap Jog.
2 Tap the Menu button and select Go To.
A list of programmed positions (RobTargets and JointTargets) is displayed.
3 From the list, select a programmed position to which you want to move the
robot.

Note

If you have many programmed positions you can use a filter to narrow
down the visible positions. For details, see Filtering data on page 65.

4 Press and hold the three-position enabling device and then tap and hold the
Go To button.
The robot is moved from the current position to the selected programmed
position.

Note

For collaborative robots, after selecting a programmed position, you need

to just press and hold the Go To button to move the robot.

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7.4.4 Working with displacements and offsets

7.4.4 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 Coordinate systems
for jogging on page 86.

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.
This is detailed in section Defining the work object coordinate system on page 168.

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 168.

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 171.

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

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7.4.4 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 p10, v50...
MoveL Offs(p10, 100, 0, 0), v50...
MoveL Offs(p10, 100, 100, 0), v50...
MoveL Offs(p10, 0, 100, 0), v50...
MoveL p10, v50...

Creating position offsets

Use the following procedure to change a position to become an offset position.
1 In the home screen open Code.
2 Tap the Menu button and select Program Editor.
3 Tap and select a position instruction to edit.
4 Tap Modify Instruction.
5 Tap Expression Editor.
6 Tap the Functions tab and select Offs.
7 Tap to select each expression or argument,<EXP> or <ARG>, and then tap
any of the desired available data or functions.
You can tap on Change Data Type and the other buttons available on the
expression editor to fine tune the selected instruction.
8 Tap Apply.
The changes are saved.

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7.5 Detaching and attaching a FlexPendant

7.5 Detaching and attaching a FlexPendant

Introduction
With the option Hot swappable FlexPendant [3018-1] it is possible to detach and
attach the FlexPendant from an OmniCore controller in automatic mode, without
interrupting the ongoing process.
Detaching the FlexPendant in manual mode will always result in an emergency
stop.

Note

Detaching the FlexPendant is possible only if the logged in user has the Detach
the FlexPendant grant.

CAUTION

Before detaching the FlexPendant, another emergency stop shall be available.

How to configure emergency stops is described in the product manual for the
controller, see References on page 10.

CAUTION

With a detached FlexPendant, there is no visual identification of the operating

mode.

CAUTION

A FlexPendant that is not connected to the robot must be stored out of sight so
that it cannot be mistaken for being in use.

CAUTION

The FlexPendant connector shall only be used to connect the FlexPendant.

For details, see the product manual for the respective robot controller.

Detaching the FlexPendant in automatic mode

Use the following procedure to detach the FlexPendant in automatic mode:
1 On the status bar, tap the QuickSet button.
2 Tap the Logout/Restart tab.
3 In the FlexPendant section, tap Detach FlexPendant.

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7.5 Detaching and attaching a FlexPendant
Continued

The Detach FlexPendant window is displayed.

xx1900000403

4 Tap Detach.
A popup window with 30 seconds countdown timer is displayed.

xx1900000404

5 When the countdown is progressing, detach the FlexPendant.

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7.5 Detaching and attaching a FlexPendant
Continued

When detached, the FlexPendant will shut down.

Note

If the FlexPendant is not detached within 30 seconds, the process for

detach of the FlexPendant is aborted.

WARNING

If the FlexPendant is detached after the 30 seconds countdown has passed,

the controller will enter emergency stop state.

Attaching the FlexPendant

CAUTION

Always inspect the connector for dirt or damage before attaching. Clean or replace
any damaged parts.
Attach the connector to the controller and tighten the locking ring or screws.

CAUTION

Make sure that the emergency stop device is not pressed in before attaching the
FlexPendant.

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 8 Handling inputs and outputs, I/O
8.1 Introduction

8 Handling inputs and outputs, I/O

8.1 Introduction

Overview
The inputs and outputs signals can be managed using the I/O application or
RobotStudio.

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8.2 Viewing signal lists

8.2 Viewing signal lists

Overview
The Signals page is used to view the input and output signals and their values.

Procedure
Use the following procedure to view a list of I/O signals:
1 On the start screen, tap I/O, and then select Signals from the menu.
2 The Signals page is displayed.

Note

By default all the signals are displayed.

3 Tap on the Filter list.

xx1800001856

4 Select the category of the signal that you want to view.

The signals of the selected category are displayed.

Tip

You can use the search box to quickly filter and view a particular signal.

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 8 Handling inputs and outputs, I/O
8.3 Setting signals as favorite signals

8.3 Setting signals as favorite signals

Overview
You can set few signals from various signal categories as favorite signals if you
use it frequently.

Note

The signals can be set as favorite signals only when the operating mode is
Manual.

Procedure
Use the following procedure to set signals as favorite signals:
1 Change the operating mode to Manual.
2 On the start screen, tap I/O, and then select Favorite Signals from the menu.
3 The Favorite Signals page is displayed and it displays all the signals.

Note

You can use the Filter list to display a selected category of signals.

4 Use the check box to select the signals that need to be set as favorite signals.
5 Tap Apply.
The selected signals are saved as favorite signals.

Tip

The favorite signals are listed under the Favorite Signals category on the Signals
page. To view a selected category of signals, use the procedure Viewing signal
lists on page 248.

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8 Handling inputs and outputs, I/O
8.4 Simulating the signals and changing the signal values

8.4 Simulating the signals and changing the signal values

Simulating the signals

A signal can be simulated.

Note

You cannot simulate a signal if its access level is set to Read Only.

xx2100001551

Use the following procedure to simulate a signal:

1 On the start screen, tap I/O, and then select Signals from the menu.
2 Use the Filter list or use the search box to navigate to a particular signal.
3 Tap on the Simulate button available for the signal.
The signal is changed to a simulated signal.

Note

Once a signal is simulated the Remove Simulation button is displayed for

the signal.

Note

If there is a cross connection created between two signals, changing the value
of one signal automatically changes the value of the corresponding cross
connected signal.

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8.4 Simulating the signals and changing the signal values
Continued

Changing the signal values

The value of a signal can be changed.

Note

You can change the value of an input signal only if it is a simulated signal.
Use the following procedure to change the value of a signal:
1 On the start screen, tap I/O, and then select Signals from the menu.
2 Use the Filter list or use the search box to navigate to a particular signal.
3 To change the value of a signal:
• For a digital signal, in the Value column tap on the toggle button and
change the current value. 0 - False and 1 - True are the allowed values.
• For an analog signal, in the Value column, tap on the number pad icon,
type a value using the number pad within the allowed range, and then
tap OK.

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8 Handling inputs and outputs, I/O
8.5 I/O devices

8.5 I/O devices

Managing I/O devices

You can manage I/O devices from the I/O Devices page. To manage an I/O device,
use the context menu that is displayed for the devices.

xx1800001859

Following are the actions that you can perform using the context sensitive menu:
Action Output
Activate/Deactivate Activates or deactivates the selected I/O device.
Bit Values Displays the input and output bit values of the selected I/O
device.
Signals Displays the signals associated with the selected I/O device.
Actions Displays the MAC ID of the selected I/O device.

Note

Actions - Identify option is available only for the network type

EtherNet IP.

Configure Allows you to configure the selected I/O device.

Note

The Configure option is available only for the network type

EtherNet IP.

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8.5 I/O devices
Continued

Action Output
Firmware Update Allows you to upgrade the firmware.

Note

Actions - Firmware option is available only for the network type

EtherNet IP.

Upgrading firmware
You can upgrade the firmware of I/O device of type EtherNet IP.
Use the following procedure to upgrade the firmware.
1 On the start screen, tap I/O, and then select I/O Devices from the menu.
2 Select Firmware Update in the context menu for an EtherNet IP I/O device.
The I/O Modernization window is displayed with the details of the firmware
upgrade.

Note

The Firmware upgrade option is available only for the network type EtherNet
IP.

3 Tap Browse and select the firmware from the location it is stored.
4 Tap Upgrade.
The firmware for the selected EtherNet IP I/O device is upgraded.

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 9 Handling the event log
9.1 Introduction

9 Handling the event log

9.1 Introduction

Overview
Open the event log to:
• view the current event logs.
• study specific event log in detail.
• manage the log entries.
The log can be printed from RobotStudio.

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9 Handling the event log
9.2 Accessing the event log

9.2 Accessing the event log

Open and close an event log

Use the following procedure to open the event log:
1 Tap the Event log icon on the status bar.
The Event Log page is displayed. It displays the event log list. By default the
event logs from the Common domain (category) are displayed.
2 Select a category in the list to filter the event logs.
3 Tap a log entry.
The selected event log message is displayed.

Note

Tap the Back button to go back to the Event Log list.

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 9 Handling the event log
9.3 Saving log entries

9.3 Saving log entries

Overview
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 the solution of a problem.
• you want to keep log entries for future reference.

Note

The log can keep up to 20 entries in a category and up to 1000 entries in the all
the events list. When the buffer is full the oldest entries are overwritten. There
is no way to retrieve these overwritten log entries.

Save all log entries

Use the following procedure to save all the log entries.
1 Tap the Event log icon on the status bar.
2 Select Save Log from the context menu.
The Save window is displayed.
3 Select a location and select a folder to store the file.
4 In the File name text box, type a name for the file.
5 Tap Save.
The log entries are saved.

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9 Handling the event log
9.4 Clearing the log entries

9.4 Clearing the log entries

Why should you clear the log entries?

Logs can be cleared or deleted to increase the available disk space. Deleting the
log entries is often a good way to trace the faults since you can remove old or
insignificant log entries not related to the problem that you are trying to solve.

Clear the log entries of a specific domain

Use the following procedure to clear all the log entries.
1 Tap the Event log icon on the status bar.
2 In the Domain list select the domain for which you want to clear the log
entries.
3 On the command bar, select Clear Domain from the context menu.
A confirmation window is displayed.
4 Tap OK.
The log entries for the selected domain are deleted.

Clear all the log entries

Use the following procedure to clear all the log entries.
1 Tap the Event log icon on the status bar.
2 Select Clear all from the context menu.
A confirmation window is displayed.
3 Tap OK.
The log entries in all the domains are deleted.

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 10 Install, update, restart, and other configuration
10.1 Introduction

10 Install, update, restart, and other configuration

10.1 Introduction

Overview
This chapter provides information about installing a RobotWare system, updating
the FlexPendant applications, backup the system, and other configuration.

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10 Install, update, restart, and other configuration
10.2 Install RobotWare system

10.2 Install RobotWare system

Overview
For information about how to install a new RobotWare system, or how to update
an existing RobotWare system, see Operating manual - Integrator's guide OmniCore.

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 10 Install, update, restart, and other configuration
10.3 Restart

10.3 Restart

What happens with my RobotWare system?

The RobotWare system will be stopped.
All system parameters and programs will be saved to the controller mass memory.
During the restart process the system state will be resumed. Static and semistatic
tasks will be started. Programs can be started from the point they were stopped.
Restarting this way will activate any configuration changes entered using
RobotStudio.

Restart the controller

This section describes how to restart the controller and preserve the current
system/parameters and RAPID programs.
1 On the start screen, tap Settings.
2 At the bottom of the Settings screen tap Restart Controller.
The controller is restarted.

Restart the controller and/or FlexPendant

This section describes how to restart the Controller or Flexpendant and preserve
the current system/parameters and RAPID programs.
1 On the start screen, tap Settings, and then tap Backup & Recovery.
2 On the Backup & Recovery menu, tap Restart.
The restart dialog is displayed.

xx1900000123

Select Controller or FlexPendant.

3 Tap Restart.

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10 Install, update, restart, and other configuration
10.3 Restart
Continued

The Controller and/or Flexpendant is restarted.

Note

When the Controller is restarted the Flexpendant is also automatically

restarted.

Restart Controller through QuickSet menu

Use the following procedure to restart the controller using the QuickSet menu:
1 Tap on the QuickSet button and select the Logout/Restart tab.
The Logout/Restart page is displayed.
2 In the Controller section tap Restart.
The Restart window is displayed.
3 Tap OK.
The controller is restarted.

Restart FlexPendant through QuickSet menu

There are certain cases under which only the FlexPendant needs to be restarted.
For example, restart the FlexPendant while troubleshooting.

Note

If the FlexPendant freezes during operation, press the reset button to restart the
FlexPendant. For more details, see Reset button on page 21.

Use the following procedure to restart the FlexPendant using the QuickSet menu:
1 Tap on the QuickSet button and select Logout/Restart.
The Logout/Restart page is displayed.
2 In the FlexPendant section tap Restart FlexPendant.
The Restart window is displayed.
3 Tap OK.
The FlexPendant is restarted.

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 10 Install, update, restart, and other configuration
10.4.1 What is saved on backup?

10.4 Backup and restore systems

10.4.1 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.
The directory is divided into the following five subdirectories:
• ADDINDATA
• BACKINFO
• HOME
• License
• RAPID
• SYSPAR
The files hwsettings.rsf and system.xml are also saved in the ../backup (root
directory):
• hwsettings.rsf contains the serial number of the controller and the controller
type.
• system.xml contains information about installed SW and optional features
selected in the RobotWare System.
.../backup
ADDINDATA/
BACKINFO/
backinfo.txt
HOME/
controller.rsf
License/
sc_cfg.xml
RAPID/
sc_eio.cfg
SYSPAR/
sc_op_mode_pin.enc
hwsettings.rsf
scimageversion
system.xml
system.guid

template.guid
version.xml

vnextsystem.xml

xx1900000318

ADDINDATA
ADDINDATA contains a number of sub-directories used for the RobotWare add-ins.

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10 Install, update, restart, and other configuration
10.4.1 What is saved on backup?
Continued

BACKINFO
BACKINFO consists of the files backinfo.txt, program.id, and system.guid,
template.guid, and version.xml.
• backinfo.txt is used when the system is restored. The backup must never
be edited by the user!
• controller.rsf contains information about installed software and selected
optional features in the backed up system.
• sc_cfg.xml is the safety configuration.
• sc_eio.cfg is the eio configuration connected to the safety configuration.
• sc_op_mode_pin.enc contains information on the pin code used for locking
the operating mode.
• scimageversion contains information on which safety version the backup
was created.
• 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.
• vnextsystem.xml holds configuration data specific to the FlexPendant, such
as programmable keys and start app on system event.

HOME
HOME is a copy of the files in the HOME directory.

License
License directory contains a copy of the license file that are used and valid only
on the robot controller where the backup has been created. The license files can
be used when creating a new RobotWare system in RobotStudio Installation Manger.

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).

Limitations
It is not possible to move backups between controllers.

What is not saved?

A few things are not saved on backup, but can be useful to save separately:
• The current value of a PERS object in a installed module is not stored in a
backup.
• UAS, Certificates and SW installed in RobotWare System are not included
in the backup.

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 10 Install, update, restart, and other configuration
10.4.1 What is saved on backup?
Continued

Related information
Technical reference manual - System parameters.
Operating manual - RobotStudio.

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10 Install, update, restart, and other configuration
10.4.2 Backup the system

10.4.2 Backup 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.

Backup the system

This section describes how to backup the system.
1 On the start screen, tap Settings, and then Backup & Recovery.
2 On the Backup & Recovery menu, tap Backup.
The backup dialog is displayed.

xx1900000152

3 In the Backup Name field, type a name for the backup.

Note

By default, a backup name is suggested, but you can edit it. While renaming,
ensure that the name does not start with a space.
If the backup name starts with a space, a warning dialog appears.

Note

The backup name can have different formats depending on the parameter
setup. The name may contain the date, or the system name etc. See
information about backups in section Type System Input in Technical
reference manual - System parameters for detailed information.

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 10 Install, update, restart, and other configuration
10.4.2 Backup the system
Continued

4 In the Location field, tap the Browse button and select a location for saving
the backup.
5 Select the Backup to tar file checkbox if the backup need to be created as
a TAR file.

Note

If the backup location is USB or another disc, the Backup to tar file
checkbox is selected by default and you cannot change it.

6 Tap Backup.
A backup of the modules and system parameters is created in the selected
location.

Disable or queue backup

Backing up the system during production can interfere with the RAPID execution.
To avoid that a backup is taken during critical process steps or sensitive robot
movements, a system input (Disable Backup, type System Input) can be set during
these critical steps. When the critical steps are done, the input should be reset to
allow backups again.
If needed, the backup can be queued while Disable Backup is set, using the system
parameter General RAPID, with action value QueueBackup set to TRUE. Then the
backup will be queued until the signal is reset.
Disable Backup and QueueBackup are described in Technical reference
manual - System parameters.

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10 Install, update, restart, and other configuration
10.4.3 Important when performing backups

10.4.3 Important when performing backups

BACKUP directory
A local default backup directory, BACKUP, is automatically created by the system.
We recommend using this directory for saving backups.
Never change the name of the BACKUP directory.
Never change the name of the actual backup to BACKUP, since this will cause
interference with this directory.

When is backup possible?

A backup of a system can be performed during program execution, with a few
limitations:
• Do not create backups while performing critical process steps or sensitive
robot movements. This may affect the accuracy and performance of the
movement. To make sure that no backup is requested, use a system input
with the action value Disable Backup (type System Input). When the critical
steps are done, the input should be reset to allow backups again.
If needed, the backup can be queued while Disable Backup is set, using
the system parameter General RAPID, with action value QueueBackup set
to TRUE. Then the backup will be queued until the signal is reset.
(Queueing functionality available from RobotWare 7.1.)
Disable Backup and QueueBackup are described in Technical reference
manual - System parameters.
The system input signal can be set from RAPID for the parts of the code that are
critical for disturbances.

What happens during backup?

During the backup process, background tasks continue to execute.

Large data amount

Since the HOME directory is included in the backup, large files contained in this
folder will make the backup larger. To avoid this situation, you should either clean
the HOME directory on regular basis removing the unnecessary files, or keep large
files in some other location.

Faults during backup

If a fault occurs during the backup, for example full disk or power failure, the whole
current backup is deleted to make sure that only valid fully saved backups are
present on the disk.

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 10 Install, update, restart, and other configuration
10.4.4 Restore the system

10.4.4 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 the modules from
the backup directory are loaded.
The Home directory is copied back to the new system’s HOME directory during
the restart.

Procedure
1 On the start screen, tap Settings, and then Backup & Recovery.
2 On the Backup & Recovery menu, tap Restore.
The Restore page is displayed.

xx1900000153

3 Browse for the location where the backup is stored and select the backup
file.

Note

If the backup location is USB or another disc, the backup file is allowed
only in the TAR format.

4 If required select the Safety Settings options.

5 Tap Restore.
The restore is performed, and the system is restarted.

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10 Install, update, restart, and other configuration
10.5 Reset user data

10.5 Reset user data

Overview
It is recommended to perform a user data reset:
• when you want to reset the RAPID program in the system.
• when you want to restore the system to its original state by resetting RAPID
program and system parameters (except the topic SIO/Communication).
• when you want to remove the user configured safety settings and load the
default safety settings.

Resetting RAPID program

After restart, the system 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 current configuration.
System parameters will not be affected.

Resetting RAPID program and system parameters

After restart, the system returns to the default empty state and any changes done
to system parameters and RAPID programs will be lost. Instead, system parameters
and other settings are read from the originally installed system on delivery (except
the topic SIO/Communication).

CAUTION

When the controller is restarted, the content in the TEMP folder in the controller
is also emptied. To avoid problems, move any important content before resetting
these parameters and restarting the controller.

Resetting safety settings

The user defined safety settings will be replaced by an empty default configuration
and all safety information stored in the system will be erased. After the restart, a
new safety configuration will be needed, synchronization between the safety
controller and the robot controller needs to be performed and the safety
configuration needs to be locked.

Procedure
Use the following procedure to reset the user data:
1 On the start screen, tap Settings, and then Backup & Recovery.
2 On the Backup & Recovery menu, tap Reset user data.

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 10 Install, update, restart, and other configuration
10.5 Reset user data
Continued

The Reset user data dialog is displayed.

xx1900000124

3 Select one of the following options:

• Reset RAPID: To reset the RAPID data of the loaded system.
• Reset RAPID and System Parameters: To restore the system to its
original state by resetting the RAPID and system parameters (except
the topic SIO/Communication).

Note

If this option is selected, the content in the TEMP folder will be

emptied when the controller is restarted.

• Reset safety setting: To remove the user configured safety settings

and load the default safety settings.
4 Tap Reset.
A confirmation message is displayed.
5 Tap OK.
The controller is restarted and the system is updated according to the selected
reset data settings.

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10 Install, update, restart, and other configuration
10.6 FlexPendant logs

10.6 FlexPendant logs

Overview
This option is used to save the FlexPendant logs for troubleshooting analysis.

Procedure
Use the following procedure to save the FlexPendant log:
1 On the start screen, tap Settings, and then select Diagnostics from the menu.
2 On the left sidebar tap FlexPendant logs.
The FlexPendant logs page is displayed.
3 If required, in the File Name field edit the name of the file.
4 To change the storage path, in the Location field tap Browse and select the
required folder.
5 Tap Save.
The FlexPendant log is saved in the selected folder.

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 10 Install, update, restart, and other configuration
10.7 Update FlexPendant

10.7 Update FlexPendant

Updating the FlexPendant applications

If the installed system has updates for the FlexPendant applications, you can
update it.

Updating the FlexPendant applications from Settings

Use the following procedure to update the applications from Settings:
1 On the start screen, tap Settings, and then select Update from the menu.
2 If there are updates, the update files are displayed in the Available Updates
section.
3 Tap on the menu button next to an update.

xx2000002046

4 Tap Install this update.

The selected update is installed and the FlexPendant is restarted.

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10 Install, update, restart, and other configuration
10.7 Update FlexPendant
Continued

Updating the Flexpendant applications after a restart

After a restart if the FlexPendant detects a new version of applications in the
system, it displays the following message. Tap Install to update the FlexPendant
applications.

xx2000002047

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 10 Install, update, restart, and other configuration
10.8 Connection log

10.8 Connection log

Overview
This option is used to save the current connection state of the connectivity module.

Note

Connection log is available only for Connected Services Gateway 3G and Wi-Fi
but not for Wired.

Procedure
Use the following procedure to save the current connection state of the connectivity
module:
1 On the start screen, tap Settings, and then select Diagnostics from the menu.
2 On the left sidebar tap Connection log.
The View Connection log page is displayed with the available connection
logs on a window.

Note

Tap on the refresh button to view the updated log.

xx1900000976

3 Tap Export.
The Save Connection log page is displayed.
4 If required, in the File Name field edit the name of the file.
5 To change the storage path, in the Location field tap Browse and select the
required path.
6 Tap Save.
The current connection state of the connectivity module is saved in the
selected location.

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10 Install, update, restart, and other configuration
10.9 Connected Services log

10.9 Connected Services log

Overview
This option is used to save the Connected Services log.

Note

Connected Services log is available for all types of connectivity.

Procedure
Use the following procedure to save the Connected Services log:
1 On the start screen, tap Settings, and then select Diagnostics from the menu.
2 On the left sidebar tap Connected Services log.
The Connected Services log page is displayed.

xx2100001566

3 If required, in the File Name field edit the name of the file.
4 To change the storage path, in the Location field tap Browse and select the
required path.
5 Tap Save.
The Connected Services log is is saved in ZIP format in the selected path
and a confirmation message is displayed.
6 Tap OK.

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 10 Install, update, restart, and other configuration
10.10 Creating a system diagnostics file

10.10 Creating a system diagnostics file

When do I need this?

The diagnostic file can be useful when contacting ABB technical support personnel
for troubleshooting. The diagnostic file contains the setup and a number of test
results from your system. For more information, see Technical reference
manual - Event logs for RobotWare 7, section Instructions, how to correct faults -
Filling an error report.

Creating a system diagnostics file

1 On the start screen, tap Settings, and then Diagnostics.
2 On the left sidebar tap System diagnostics.
The System diagnostics page is displayed.

xx1900000151

Type a name for the file in the File Name section.

3 In the Location section, tap on the Browse button and select a folder to save
the file.
4 Tap Save
A system diagnostics file is saved in the selected folder.

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This page is intentionally left blank
 Index

Index emergency stop device

FlexPendant, 21
enabling device, 20–21, 23
A using, 181
applications
error messages, 63
overview, 42
Essential App Package [3120-2], 42
applications for FlexPendant, 42
expressions
approach points, 154
offs, 242
apps, 21
positions, 242
axes
illustration, 90 F
Axis Calibration File Explorer, 45
service routine, 193 files
programs, 111
B filtering
backup
about, 65
default file path, 57
data types, 65
directory, 268
files, 65
important, 268
programs, 65
system, 266
FlexPendant
backward button, 22
connecting, disconnecting, 244
backward execution
hardware buttons, 22
about, 185
how to hold, 24, 60
limitations, 185
left-hander, 24
battery shutdown
main parts, 20
service routine, 192
overview, 20
C screen, 31
calculation result, 156 forward button, 22
calender time counter, 194
Calibrate application, 44
H
hard buttons, 22
calibrating
hold-to-run, 24, 225
Axis Calibration, 193
using, 181
LoadIdentify, 195
calibration I
status, 80 I/O
characters changing values, 250
entering, 61 simulating, 250
international, 61 I/O, inputs and outputs, 248
Code application, 42 I/O application, 43
connector, 20 incremental movement
controller ID definition, 92, 95
configuring, 56 size settings, 95
coordinate systems insertion point, change, 61
overview, 86 instances
cursor data types, 142
about, 138 instructions
backward execution, 185
D copying and pasting, 132
data instance, 142
copying arguments, 132
data types
delete, 133
creating new, 142
editing arguments, 129
editing, 144
handling of, 129
date and time, 50
running from a specific, 183
debugging, 139
international characters, 61
default paths
IsBrakeCheckActive, 209, 214
setting, 57
detaching FlexPendant, 244 J
disable backup, 267 Jog application, 42
disconnecting FlexPendant, 244 jogging
displacements about, 83
about, 242 additional axes, 96
work object, 166, 168 axes in independent mode, 96
non calibrated mechanical units, 96
E restrictions, 96
elongator points
world zones, 96
define, 156
joystick, 20

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Index

using, 21 positions
joystick directions about, 93
illustration, 90 exact, 93
modifying, 235–236
L moving to, 241
lead-through, 97 offset, 242
left-handed, 60 reading, 93
Limited App Package [3120-1], 42 tuning, 235
load, 98 program data
LoadIdentify editing, 144
service routine, 195 Program Data application, 42
loads program directory, 111
identifying, 195 program execution start button, 23
locking operating mode, 75 programmable buttons
log off, 69 editing, 23, 58
log on, 68 programmable keys
editing, 23, 58
M Program Package [3151-1], 42
mechanical unit program pointer, PP, 186
selecting, 91 Program Pointer, PP
modifying positions, 236 about, 138
data instances, 144 programs
overview, 235 about files, 111
ModPos, 236 default file path, 57
modules handling of, 111
deleting, 119 multitasking, 226
handling of, 116 renaming, 113
loading, 116 saving, 112
renaming, 118 starting, 222
saving, 117 step by step execution, 185
Motion mode stopping, 225
selecting, 91
motion pointer, MP, 186 Q
Motion Pointer, MP queue backup, 267
about, 138
multitasking programs R
about, 226 reset button
loading, running and stopping, 226 location, 21
viewing, 228 using, 21
resolvers
O about, 93
offsets restore
about, 242 default file path, 57
creating, 243 system, 269
description, 242 revolution counters
Operate application, 44 about, 93
operation time counter, 194 battery shutdown, 192
operator messages, 31 RobotStudio
operator window, 33 overview, 25
routines
P changing declarations, 126
path copying, 125
returning to, 229 defining parameters, 123
path return region, 229 deleting, 127
payload, 98 handling of, 121
payloads moving, 127
creating, 175 renaming, 127
declarations, 176 running a specific, 184
deleting, 180 running service routines, 188
display definitions, 178 run button, 23
editing, 178
identifying, 195 S
selecting, 91 screenshot, 64
personalizing, 47 search settings, 66
PIN code service routines
permanent PIN code, 76 Axis Calibration, 193
temporary PIN code, 75 BatteryShutDown, 192

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 Index

LoadIdentify, 195 calculation result, 156

running, 188 define, 155
ServiceInfo, 194 defining, 156
Settings measuring, 158
search, 66 TCP, 150
Settings application, 43 working area variations, 156
signals tool frame
changing values, 250 defining, 153
simulating, 250 methods, 153
viewing, 248 reorientation test, 156
SIS, Service Information System tool orientation, 156
counters, 194 setting, 91
service routine, 194 tool orientation, definition, 91
SkipTaskExec, 219 tools
SmartGripper aligning, 102
configuring, 107–108 creating, 150
SMB deleting, 160
battery shutdown, 192 editing definitions, 158
soft keyboard, 61 identifying loads, 195
start button, 22 make stationary, 161
step backward button, 22 selecting, 91
step by step execution, 185 setting up tool coordinate system, 161
step forward button, 22 TPU
stop button, 22 connecting, disconnecting, 244
system tuning
backup, 266 positions, 235
restore, 269 targets, 235

T V
targets viewing messages in programs, 33
modifying, 235–236 view settings
moving to, 241 configuring, 53–55
tuning, 235
tasks W
loading program to, 227 work objects
normal, static, semistatic, 226 declarations, 164
setting up, 226 defining, 166
starting and stopping, 226 deleting, 172
teach pendant displacements, 166, 168
detach, attach, 244 editing work objects data, 171
teach position, 236 selecting, 91
three-position enabling device, 21, 23 wrist optimization, 218
thumb button write access
using, 24 granting, 67
tool center point message, 63
about, 150 rejecting, 67

Operating manual - OmniCore 281

3HAC065036-001 Revision: Q
© Copyright 2019-2023 ABB. All rights reserved.
ABB AB
Robotics & Discrete Automation
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Telephone +46 10-732 50 00

ABB AS
Robotics & Discrete Automation
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000

ABB Engineering (Shanghai) Ltd.

Robotics & Discrete Automation
No. 4528 Kangxin Highway
PuDong New District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666

ABB Inc.
Robotics & Discrete Automation
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000

abb.com/robotics
3HAC065036-001, Rev Q, en

© Copyright 2019-2023 ABB. All rights reserved.

Specifications subject to change without notice.