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5.9 Working with SmartGripper

5.9.1 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 installation manager,

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 installation manager, 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

Description

Parameter

Group

Closes the gripper with the defined force and
speed.

Close gripper

Move gripper

Opens the gripper with the defined force and
speed.

Open gripper

Sets a precise position value to move the gripper.

Move gripper to pos-
ition

Sets the gripping force for the gripper fingers.

Force

Gripper force

Sets the movement speed for the gripper fingers.

Speed

Move speed

Displays the current pressure of the gas.

Gas pressure

Sets the suction on or off.

On/Off

Suction

Sets the blow-off on or off.

On/Off

Blow off

Continues on next page

Operating manual - OmniCore

3HAC065036-001 Revision: E

5 Jogging

5.9.1 Introduction

Summary of Contents for OmniCore C30

Page 1: ...ROBOTICS Operating manual OmniCore ...

Page 2: ...Trace back information Workspace RW 7 1 version a5 Checked in 2020 10 25 Skribenta version 5 3 075 ...

Page 4: ...nty 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 ...

Page 5: ...t 47 2 4 3 Capturing screenshots 48 2 4 4 Filtering data 49 2 4 5 Settings search 50 2 4 6 Granting access for RobotStudio 51 2 4 7 Logging on and off 53 2 5 Updating the applications 55 3 OmniCore controller operating modes 55 3 1 Introduction 56 3 2 Changing operating modes 57 3 3 Locking and unlocking operating modes 61 4 Calibration 61 4 1 Introduction 62 4 2 How to check if the robot needs ca...

Page 6: ...efining the work object coordinate system 142 6 7 6 Editing the work object data 143 6 7 7 Deleting a work object 144 6 7 8 Setup stationary work object 145 6 8 Payloads 145 6 8 1 Overview 146 6 8 2 Creating a payload 148 6 8 3 Copying a payload 149 6 8 4 Editing the payload data 151 6 8 5 Deleting a payload 152 6 9 Testing 152 6 9 1 Using the hold to run function 154 6 9 2 Running the program fro...

Page 7: ...gnals 212 8 4 Simulating the signals and changing the signal values 213 8 5 I O devices 215 9 Handling the event log 215 9 1 Introduction 216 9 2 Accessing the event log 217 9 3 Saving log entries 218 9 4 Clearing the log entries 219 10 Install update restart and other configuration 219 10 1 Introduction 220 10 2 Start installer 221 10 3 Restart 223 10 4 Back up the system 225 10 5 Restore the sys...

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Page 9: ...ual 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 References Documentation referred to in the manual is listed in the table below Document ID Document name 3HAC060860 001 Product manual OmniCore C30 3HAC065037 001 ...

Page 10: ...o To position on page 202 Updated the section QuickSet window on page 26 Updated the section Connecting and detaching a FlexPendant on page 205 Updated the section Creating new data instance on page 112 The directory of BC_config_IO sys file is corrected in the section Description of the I O setup on page 177 D Released with RobotWare 7 1 The following updates are made in this revision Removed inf...

Page 11: ...ioning 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 ...

Page 12: ...s The manuals are aimed at those having first hand operational contact with the product that is production cell operators programmers and troubleshooters 12 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved Product documentation Continued ...

Page 13: ... 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 Operating manual OmniCore 13 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 1 Introduction to Omni...

Page 14: ...e 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 ...

Page 15: ...ntal 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 Main parts These are the main parts of the FlexPendant 3 4 8 2 1 7 6 5 xx1700001891 Connector 1 Touch screen 2 Emergency stop hard button 3 Joystick 4 Reset button 5 USB port 6 Three position enabling device 7...

Page 16: ...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 Following are the dedicated hard buttons on the FlexPendant You can assign your own functions to four of the buttons 1 5 2 4 3 6 7 10 9 11 8 12 xx1700001892 Description Label Mechanical unit button Allows you to select a mechanical unit 1...

Page 17: ... other hazards controlled by the robot The three position enabling device is a manually operated constant pressure push button which when in center enabled position allows potentially hazardous functions The three position enabling device will when continuously held in center enabled position permit robot motion and any hazards controlled by the robot Release of or compression past the center enab...

Page 18: ...uMi 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 Continues on next page 18 Operating manual OmniCore 3H...

Page 19: ...e the other hand performs operations on the touch screen A left hander however can easily rotate the display through 180 degrees and use his right hand to support the device xx1800000045 Continues on next page Operating manual OmniCore 19 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 1 Introduction to OmniCore 1 3 The FlexPendant Continued ...

Page 20: ...f the FlexPendant during startup Allows you to navigate to operator messages event logs and QuickSet window Status bar buttons B The applications that are required for operating the robot system are available in the Home Screen By default the Home screen displays all the applications available to you If you are in some other window tap the Applications button to view the Home screen Applications C...

Page 21: ...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 Installing and modifying RobotWar...

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Page 23: ...lements for navigation is illustrated in Touch screen elements on page 20 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 Operat...

Page 24: ...the FlexPendant interface A B C xx1900002308 The Application menu button is available when you select one of the applications on the FlexPendant start screen The menu content reflects the selected application Application menu button A The QuickSet menu button displays the QuickSet window QuickSet menu button B The context menu button displays a menu with available options for a selected row Contex...

Page 25: ...ponse in order to continue For more details see Messages win dow on page 26 Messages button A 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 Event logs button B Tapping the QuickSet button displays the QuickSet window For more details see QuickSet window on pag...

Page 26: ...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 Information ABB Ability Logout Restart Continues on next page 26 Operating manual OmniCore 3HAC065036 001 Revision E ...

Page 27: ...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 Mode Turns the motors on or off Motors Motors off Turns the motors off Motors on Turns the motors on Controls the speed of program execution Drag the scroll bar to control the spe...

Page 28: ...ool Displays the list of loads Load 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 Jog Speed Displays the list of jog modes Jog Mode Displays the list of coordinate systems Coordinate System Prevents the mechanical damage to the robot during jogging Jog Supervision Allows you to grab the robot arms and jog the robot manu...

Page 29: ...rent 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 Step Mode This is used to run a RAPID program without the robot motion Non Motion Execu tion This is used to enable or disable t...

Page 30: ...ordinate System Displays the selected mechanical unit Mechanical Unit Displays the position of each axis Axes Displays the direction in which the jog stick needs to be moved for jogging the selected axis Colored arrows Continues on next page 30 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 2 Navigating and handling the FlexPendant 2 2 2 Status bar C...

Page 31: ...e IP address of the management port IP Address Displays the identity of the controller Controller Id Displays the version information of the FlexPendant application App version Displays the options selected in the system Options Continues on next page Operating manual OmniCore 31 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 2 Navigating and handling the FlexPendant 2 2 2 St...

Page 32: ...ted services connection Status Connection status of Connected Services Connection Status Registration status of Connected Services Registration Status Continues on next page 32 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 2 Navigating and handling the FlexPendant 2 2 2 Status bar Continued ...

Page 33: ...his is used to detach the FlexPendant from the controller without stopping the current program execution For more details see Connecting and detaching a FlexPendant on page 205 FlexPendant Restart FlexPendant This is used to restart the FlexPendant Restart Application This is used to restart a FlexPendant applica tion Exit Application This is used to exit a FlexPendant application Operating manual...

Page 34: ... 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 Jog The Jog application is used to jog the ABB industrial robot using an intuitive touch based user interface or using a joystick Program Pack age 3151 1 Essential App Package 3120 2 Limited App Package 3120 1 Featur...

Page 35: ...kup 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 Program Pack age 3151 1 Essential App Package 3120 2 Limited App Package 3120 1 Feature Show industrial networks View all I O signals Display I O signals with resp...

Page 36: ... pointer position Show motion pointer position Execute service routines Calibrate The Calibrate application is used for calibration and definition of frames for ABB robots Program Pack age 3151 1 Essential App Package 3120 2 Limited App Package 3120 1 Feature Mechanical unit calibration Update revolution counters Edit motor offset values Load motor offset values Fine calibration Robot memory Base ...

Page 37: ...verview The FlexPendant can be personalized in a number of ways This is described in this chapter Operating manual OmniCore 37 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 2 Navigating and handling the FlexPendant 2 3 1 Introduction ...

Page 38: ...to edit the robot system name For more details see Identity settings on page41 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 38 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All ...

Page 39: ...u 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 Tap Apply The selected s...

Page 40: ...ignals is not affected Use the following procedure to change the interface language on the FlexPendant 1 On the start screen tap Settings 2 Tap Time Language 3 On the left sidebar tap Language 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 language of the user interface is changed 40 Operating man...

Page 41: ...he 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 Operating manual OmniCore 41 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 2 Navigating and handling the FlexPendant 2 3 5 Identity settings ...

Page 42: ...o 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 Presse...

Page 43: ...ist 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 Operating manual OmniCore 43 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 2 Navigating and handling the FlexPendant 2 3 6 Changing programmable keys Cont...

Page 44: ...ollowing 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 then tap If you need to move ...

Page 45: ...ackspace key top right to delete characters to the left of the insertion point xx2000000925 Operating manual OmniCore 45 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 2 Navigating and handling the FlexPendant 2 4 1 Using the soft keyboard Continued ...

Page 46: ...me 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 Robo...

Page 47: ...d 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 FlexPenda...

Page 48: ...haracter 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 48 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 2 Navigati...

Page 49: ...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 xx2000001757 Operating manual OmniCore 49 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 2 Navigating and handling the FlexPendant 2 4 5 Settings sea...

Page 50: ...w 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 50...

Page 51: ...lly 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 The selected user is logged in 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...

Page 52: ... 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 52 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 2 Navi...

Page 53: ... updated using the Update option For more details see Updating the FlexPendant applications on page 228 Operating manual OmniCore 53 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 2 Navigating and handling the FlexPendant 2 5 Updating the applications ...

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Page 55: ...turned 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 safegua...

Page 56: ... 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 will work only in the sequence Auto Manual Reduced Speed Manual Full speed It is ...

Page 57: ...atus bar tap the QuickSet button The Control Panel window is displayed 2 In the Mode section tap the Lock button 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 op...

Page 58: ...ow is displayed 2 In the Mode section tap the Lock button The Mode Selector PIN code window is displayed xx2000000186 3 Select the Request permanent lock check box Note The Request Permanent lock check box is displayed only for those users with the Key less 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 ...

Page 59: ... is displayed 2 In the Mode section tap the Lock button The Mode Selector PIN code window is displayed 3 Tap the 4 digit PIN code on the number pad Note If the permanent PIN code is enabled you must provide the PIN code configured by the Key less mode selector grant user Note If you are tapping a temporary PIN code you must provide the PIN code that you have configured using the procedure listed i...

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Page 61: ...ng 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 Operating manual OmniCore 61 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 4 Calibration 4 1 Introduction ...

Page 62: ... each axis What kind of calibration is needed then If the calibration status is Calibration is not needed Calibrated the robot must be fine calibrated by a qualified service technician Not calibrated 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 ...

Page 63: ...ER 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 Operating manual OmniCore 63 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 4 Calibration 4 2 How to check if the robot needs calibration Continu...

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Page 65: ...y 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 res...

Page 66: ...ystick 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 ...

Page 67: ... 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 Operating manual OmniCore 67 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 5 Jogging 5 1 Introduction to jogging Continued ...

Page 68: ... robot cell It is useful for jogging general movements and for handling stations and cells with several robots The base coordinate system 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...

Page 69: ...ferent 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 ...

Page 70: ...l 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 a...

Page 71: ...m 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 Continues on next page Operating manual Omni...

Page 72: ...ease 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 72 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 5 Jogging 5 2 Coordinate systems for jogging Continued ...

Page 73: ...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 t...

Page 74: ...es 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 move...

Page 75: ...ctive 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 ...

Page 76: ... The Position Format can be displayed relative the following frames World Base Workobject The Orientation format can be set to Quaternion Euler angles The Position angle format can be set to Angles The Presentation angle unit can be set to Degrees Radians 76 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 5 Jogging 5 4 Reading the exact position Conti...

Page 77: ...red 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 loa...

Page 78: ...bot arm moves along the path Note You can feel if an axis reaches its end position Do not try to force the axis beyond this position 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 i...

Page 79: ...s 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 in automatic and manual full speed mode is used to prevent mechanical damage due to the robot running into an obstacle during p...

Page 80: ...ommand 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...

Page 81: ...e options available in the SmartGripper page when a gripper with the type vacuum is selected xx2000001338 Description Parameter Group Closes the gripper with the defined force and speed Close gripper Move gripper Opens the gripper with the defined force and speed Open gripper Sets a precise position value to move the gripper Move gripper to pos ition Move gripper to pos ition Sets the gripping for...

Page 82: ...on page of SmartGripper settings xx2000001323 Description Group Allows you select the type of gripper Gripper Type Displays the current version details of the gripper firmware Firmware upgrade Enables Disables the power to the gripper Enable Disable Power to Gripper Continues on next page 82 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 5 Jogging 5 ...

Page 83: ...ote 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 Jog Stop Grip Grip Move to Command Displays the calibration status of the gripper Calibration Status Displays the current position of the gripper Current position Indicates the state of the gripper For details about the gripper states see Returned value in IRB 14050...

Page 84: ...ns 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 8...

Page 85: ...st 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 scree...

Page 86: ...ed 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...

Page 87: ...on Overview This chapter provides you information about creating programs and testing those programs Operating manual OmniCore 87 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 1 Introduction ...

Page 88: ...ncorrect 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 coo...

Page 89: ...he position of the program pointer The same behavior applies to Advanced View in Operate About program files When saving a program to the controller hard disk it is by default saved to the directory HOME in the system s folder unless otherwise stated How to set another default path is detailed in section How to set default paths in Operating manual OmniCore The program is saved as a folder named a...

Page 90: ...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 Saving a program This section describes how to save a loaded program to the controller hard disk A loaded program is automatically saved in the program memory but saving to the controller hard disk is an e...

Page 91: ... 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 Continues on next page Operating manual OmniCore 91 3HAC065036 001 Revision...

Page 92: ...n window tap OK to delete or Cancel to keep the program intact xx1900000225 92 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 3 1 Handling of programs Continued ...

Page 93: ...ge 95 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 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 By...

Page 94: ...tart screen tap Code and then select Modules from the menu 2 Tap Save as on the Context menu for the module 3 The Save Module as window is displayed xx1900000229 Tap and select a location for saving the module Continues on next page 94 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 3 2 Handling of modules Continued ...

Page 95: ...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...

Page 96: ...ayed xx1900000231 4 Tap OK The selected module is deleted and removed from the module list 96 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 3 2 Handling of modules Continued ...

Page 97: ... 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 Code editor from the menu 2 Tap Routines in the menu to the right xx1900000232 Continues on next page Operating manual OmniCore 97 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 3 3 Handling of rout...

Page 98: ...tine Name 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 Continues on next page 98 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 3 3 Handling of routines Continued ...

Page 99: ...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 2 Tap View Routines on the Context menu for the module xx1900000228 Continues on next page...

Page 100: ...n 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 th...

Page 101: ...ing a new routine on page 97 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 Code 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...

Page 102: ...he 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 Code editor from the menu 2 Tap View Routines on the Cont...

Page 103: ...ruction 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 Editing instructions Use the following procedure to edit an instruction 1 On the start screen tap Code and then select Modules from the menu 2 Open...

Page 104: ...tion 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 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 modif...

Page 105: ... 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 5 Tap Delete The selected instruction is deleted from the module Commenting instruction rows Use the following procedure to comment an instruction 1 On the start screen tap Code and th...

Page 106: ...nu 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 Result Your program c...

Page 107: ...oveL v50 z50 tool0 MoveL v50 fine tool0 End Proc Operating manual OmniCore 107 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 3 5 Example Add movement instructions Continued ...

Page 108: ...ft of a line in program code in Code 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 th...

Page 109: ...articular 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 programe...

Page 110: ...ossible 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 rou...

Page 111: ...xecution 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 following options are available Only used...

Page 112: ...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 Storage type Set the type of memory used for the data instance from the following options Persistent to retain the dat...

Page 113: ...e Initial Value tab select the values according to the selected data type 6 Tap Apply The new data instance is created Operating manual OmniCore 113 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 5 2 Creating new data instance Continued ...

Page 114: ... 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 Editor will still show the old value until the program stops The RAPID Data view however always shows the current value of persistent variables See Persistent declaration in the Technical reference manual RAPID Overview f...

Page 115: ...start screen tap Code and then select RAPID Data from the menu 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 origin...

Page 116: ...rt 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 s...

Page 117: ...lustration en0400000803 Tool side A Robot side B Operating manual OmniCore 117 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 6 1 What is a tool Continued ...

Page 118: ...r 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 manipul...

Page 119: ...lding gun is used In such cases the TCP can be defined in relation to the stationary equipment instead of the moving manipulator Operating manual OmniCore 119 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 6 2 What is the tool center point Continued ...

Page 120: ...er 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 118 A en0400000779 Tool center point TCP for tool0 A 1 On the start screen tap Calibrate and then select Tool from the menu 2 Tap Create New Data in the menu to the right Th...

Page 121: ... drop down list the scope Tool variables must always be persistent select the value from the Storage Type drop down list the storage type select the value from the Task drop down list the task select the module in which this tool should be declared from the Module drop down list the module select the value from the Routine drop down list the routine select the value from the Di mension drop down l...

Page 122: ...e For this on the start screen tap Calibrate select Tool from the menu and continue with the following steps 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 122 Operating manual OmniCore 3HAC065036 001 Revis...

Page 123: ...ed then select If you want to TCP default orient set the orientation the same as the orientation of the robot s mounting plate TCP Z set the orientation in Z axis TCP Z X set the orientation in X and Z axes How to define position and orientation This procedure describes how to select the method to be used when defining the tool frame 1 On the start screen tap Calibrate and then select Tool from th...

Page 124: ...hen defining all of them xx1900000353 5 Tap Modify to define the points See How to proceed with tool frame definition on page 126 6 Tap Next The Tool TCP Definition Define Orientation window is displayed Continues on next page 124 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 6 5 Defining the tool frame Continued ...

Page 125: ...Next The Tool TCP Definition Calibration Result window is displayed 9 Tap Finish to save the calibration Continues on next page Operating manual OmniCore 125 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 6 5 Defining the tool frame Continued ...

Page 126: ...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 127 5 If for some reason you want to redo the calibration procedure described in step 1 ...

Page 127: ...erage 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 ...

Page 128: ...p the tool you want to edit The Edit Tool dialog is displayed 3 In the Declaration and Value tabs edit the parameters according to your requirement 4 Tap Save 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 123 If you use this method you do not have to write any values for the f...

Page 129: ...tion mm tframe trans x Enter the cartesian coordinates of the tool center point s position 1 tframe trans y tframe trans z None tframe rot q1 If necessary enter the tool frame orientation 2 tframe rot q2 tframe rot q3 tframe rot q4 kg tload mass Enter the weight of the tool 3 mm tload cog x If necessary enter the tool s center of gravity 4 tload cog y tload cog z None tload aom q1 If necessary ent...

Page 130: ...d 4 Tap Delete 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 tool work object or payload is referenced by any program those programs cannot run without changes If you delete a tool you cannot continue the program from the current position 130 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192...

Page 131: ...ap Calibrate and then select Workobject from the menu 2 Tap the work object you want to edit The Edit Workobject dialog is displayed 3 Tap Value The data that defines the work object appears 4 Set robhold to On TRUE 5 Tap Save to use the new setup Cancel to leave the work object unchanged Set up the tool coordinate system You use the same measurement methods to set up a stationary tool coordinate ...

Page 132: ... stationary tool s definition manually en0400000990 132 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 6 8 Setup for stationary tools Continued ...

Page 133: ...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...

Page 134: ...tion and value parameters and tap Apply The work object is created Work object declaration settings Recommendation then If you want to change 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 oc...

Page 135: ... For this on the start screen tap Calibrate select Workobject from the menu and continue with the following steps 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 Operating manual OmniCore 135 3HAC065036 00...

Page 136: ...n the workobject that you want to define The Edit Workobject page is displayed 3 In the Edit Workobject command bar tap Define The Define User frame tab is displayed 4 In the User method list select the method User defined with 3 points 5 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 6 T...

Page 137: ...sults tab is displayed 10 Verify the calculation result If any change is required tap the Back button and redefine the parameters 11 Tap Finish Operating manual OmniCore 137 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 7 4 Defining a work object Continued ...

Page 138: ... Note that this only works for a user created work object not the default work object wobj0 1 On the start screen tap Calibrate and then select Workobject from the menu 2 Tap the work object you want to edit The Edit Workobject window is displayed 3 Tap Define in the menu The Workobject Definition Define User frame window is displayed 4 Select method from the User method drop down menu xx190000045...

Page 139: ...page 141 9 Tap Next The Workobject Definition Calibration Result window is displayed 10 Tap Finish to save the calibration Continues on next page Operating manual OmniCore 139 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 7 5 Defining the work object coordinate system Continued ...

Page 140: ...ce 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 140 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming ...

Page 141: ...oints 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 page140 Operating manual OmniCore 141 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 7 5 Defining the work object coordinate system Continued ...

Page 142: ... coordinate systems position is to use the method described in Defining the work object coordinate system on page138 You can however edit the values manually using the following guide Unit Instance Values mm oframe trans x The cartesian coordinates of the position of the object frame oframe trans y oframe trans z oframe rot q1 The object frame orientation oframe rot q2 oframe rot q3 oframe rot q4 ...

Page 143: ...he Workobject page displays the available work objects 3 Tap Delete on the context menu for the work object that you want to delete 4 The Confirm deletion of data window is displayed 5 Tap Delete The selected work object is deleted Operating manual OmniCore 143 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 7 7 Deleting a work object ...

Page 144: ...2 Tap the work object you want to make stationery The Edit Workobject page is displayed 3 Tap Value The data that defines the work object appears 4 Set robhold to On TRUE 5 Tap Save to use the new setup Cancel to leave the work object unchanged 144 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 7 8 Setup stationary work ob...

Page 145: ...s 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 Operating manual OmniCore 145 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 8 1 Overview ...

Page 146: ...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 m...

Page 147: ...torage type select the preferred task from the menu the task select the module in which this payload should be de clared from the menu the module Setting the value for ModalPayLoadMode The ModalPayLoadMode is defined in RobotStudio See Operating manual RobotStudio Operating manual OmniCore 147 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 8 2 Crea...

Page 148: ...te For this on the start screen tap Calibrate select Payload from the menu and continue with the following steps 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 148 Operating manual OmniCore 3HAC065036 001 R...

Page 149: ... load cog x Enter the payload s center of gravity 2 load cog y load cog z load aom q1 Enter the orientation of the axis of moment 3 load aom q2 load aom q3 load aom q3 kgm2 ix iy Enter the payload s moment of inertia 4 iz Tap Save to use the new values Cancel to leave the data unchanged 5 Using the PayLoadsInWristCoords parameter By using the PayLoadsInWristCoords parameter the loaddata for payloa...

Page 150: ...ence manual System parameters and Technical reference manual RAPID Instructions Functions and Data types 150 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 8 4 Editing the payload data Continued ...

Page 151: ...etion of data window is displayed 5 Tap Delete 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 tool work object or payload is referenced by any program those programs cannot run without changes If you delete a tool you cannot continue the program from the current position Operating manual OmniCore 151 3HAC06...

Page 152: ...usly or step by step Manual full speed mode 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 Normally hold to run has no effect in the manual reduced speed mode However it is possible to activate for manual reduced speed mode by changing a system parameter Manual reduce...

Page 153: ...nue 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 Operating manual OmniCore 153 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 9 1 Using the hold to run function Continued ...

Page 154: ...nto 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 154 Operatin...

Page 155: ... 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 Code 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 Operating manual OmniCore 155 3HAC065036 001 Revision E...

Page 156: ... 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...

Page 157: ... v1000 pressing the Back 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 the robot will move circularly through p30 to p20 with the speed v1000 pressing the Back ward button again The ...

Page 158: ...L p20 pressing the Forward button once the robot will move to p20 with the speed v1000 pressing the Forward button again 158 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 9 4 Stepping instruction by instruction Continued ...

Page 159: ...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 Once a service routine is started aborting it might not resume the system to its previous state as the routine might have moved the robot arm Running a service routine Use the following procedure to execute a service r...

Page 160: ...tion See Returning the robot to the path on page 193 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 ...

Page 161: ...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 Operating manual OmniCore 161 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming and testing 6 10 ...

Page 162: ...ted 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 ...

Page 163: ...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 routi...

Page 164: ...n order to achieve proper performance Note Calibration Pendulum is described in the manual Operating manual Calibration Pendulum Specific information for each robot is described in the robot s product manual CalPendulum The calibration equipment for Calibration Pendulum is delivered as a complete toolkit including the manual Operating manual Calibration Pendulum 164 Operating manual OmniCore 3HAC0...

Page 165: ...Service Information System Supervised functions The following counters are available Calender time counter Operation time counter Gearbox operation time counters Moved distance counter Counters are reset when maintenance has been performed CAUTION Resetting counters cannot be undone Note The moved distance value cannot be reset through the service routines The counter status is displayed after run...

Page 166: ...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 LoadIdentify LoadIdentify can identify the tool load and the pa...

Page 167: ...he optimum value for the configuration angle is either 90 degrees or 90 degrees A B C 30 30 30 30 Configuration 1 start position A Configuration angle B Configuration 2 C 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 ...

Page 168: ...r 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 The speed is set to 100 The system is in manual mode Note LoadIdentify cannot be used for tool0 Prerequisites for payloads Bef...

Page 169: ...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 c...

Page 170: ...ition 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 LoadIden...

Page 171: ...ling 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 7 Tap OK to confirm that the correct tool or payload is active in the jogging menu and...

Page 172: ...l 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 ...

Page 173: ...nd 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 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 IR...

Page 174: ...ssible 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 174 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 6 Programming ...

Page 175: ...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 m...

Page 176: ...l reference manual System parameters Event logs When BrakeCheck is executed the following event logs will be shown Title Event log Brake Check Done 10272 Brake Check Started 10273 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 Title Event log Brake Performance Warning 37234 Brake Per...

Page 177: ... 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 177 The file BC_config_IO sys can be found in directory products RobotControl_7 x xxxx utilit...

Page 178: ...2 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 BCWA...

Page 179: ...BrakeCheck execution BrakeCheck test ER ROR Set to BrakeCheck test WARNING Set to BrakeCheck test OK Set to Signal 0 0 1 BCOK 1 0 0 BCERR 0 1 0 BCWAR 0 0 0 BCACT 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 Set to Signal 0 BCOK 0 BCACT During the first brake check test S...

Page 180: ...arameters 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 lim...

Page 181: ... 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 b...

Page 182: ...e Cyclic Brake Check button The Cyclic brake check properties win dow is displayed 1 WARNING The Warning only no stop check box should not be selected under any circum stances Note It is recommended to configure the maxim um value in Max CBC test interval h as 8 hours In Max CBC test interval h set the maximum allowed time in hours between the cyclic brake checks 2 In Pre warning time h set how lo...

Page 183: ...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 signa...

Page 184: ... 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 Bra...

Page 185: ...pplies 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 Operating manual OmniCore 185 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 7 Running in production 7 1 Introduction ...

Page 186: ...hout 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 ...

Page 187: ...without danger to equipment or personnel No are unsure of the consequences your changes might have and want 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 sc...

Page 188: ... 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 188 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 7 Running in production 7 2 1 Starting programs Continued ...

Page 189: ...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 Information Action Mode The hold to run function is described in section The FlexPendant on page 15 Press the Stop button Operation with hold to run If you press the STOP button while executing a move i...

Page 190: ... 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 i...

Page 191: ...le 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 On...

Page 192: ... for each task To switch between viewing the different tasks tap on the tabs To edit several tasks in parallel use the Code Editor in Code 192 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 7 Running in production 7 2 3 Using multitasking programs Continued ...

Page 193: ... 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 continue...

Page 194: ...alue 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 195 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...

Page 195: ... 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 ...

Page 196: ...ge 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 196 Ope...

Page 197: ...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 198 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 202 CAUTION Changing programmed positions may significantly alter the robot s move...

Page 198: ... 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 fro...

Page 199: ...ontext menu is displayed 6 Tap Teach Position The Teach Position confirmation window is displayed 7 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 positio...

Page 200: ...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 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 Conti...

Page 201: ... 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 unsynchron...

Page 202: ...ist of programmed positions 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 48 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...

Page 203: ...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 138 Displace and rotate a work object You may want to displ...

Page 204: ... In the home screen open Code 2 Tap the Menu button and select Code 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 ex...

Page 205: ...cation of the operating mode CAUTION A FlexPendant that is not connected to the robot or robot system cannot initiate emergency stops or protective stops This must be stored out of reach and sight so that it cannot be mistaken for being in use 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 but...

Page 206: ...lexPendant is detached after the 30 seconds countdown has passed the controller will go to guard stop state Connecting the FlexPendant The controller must be in manual mode when connecting the FlexPendant CAUTION Always inspect the connector for dirt or damage before connecting it to the controller Clean or replace any damaged parts Continues on next page 206 Operating manual OmniCore 3HAC065036 0...

Page 207: ...0975 CAUTION Make sure that the emergency stop button is not pressed in when connecting the FlexPendant Operating manual OmniCore 207 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 7 Running in production 7 5 Connecting and detaching a FlexPendant Continued ...

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Page 209: ...ion Overview The inputs and outputs signals can be managed using the I O application or RobotStudio Operating manual OmniCore 209 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 8 Handling inputs and outputs I O 8 1 Introduction ...

Page 210: ...u 2 The Signals page is displayed Note By default all the signals are displayed 3 Tap on the Filter list 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 210 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 8 Handlin...

Page 211: ...Note You can use the Filter list to display a selected category of signals 3 Use the check box to select the signals that need to be set as favorite signals 4 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 21...

Page 212: ...an be changed Note You can change the value of a signal only if that signal is simulated For more details about simulating a signal see simulating signal values 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 signa...

Page 213: ... the signals associated with the selected I O device Signals Displays the MAC ID of the selected I O device Note Actions Identify option is available only for the network type EtherNet IP Actions Allows you to configure the selected I O device Note The Configure option is available only for the network type EtherNet IP Configure Allows you to upgrade the firmware Note Actions Firmware option is av...

Page 214: ...vice 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 214 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB Al...

Page 215: ... to view the current event logs study specific event log in detail manage the log entries The log can be printed from RobotStudio Operating manual OmniCore 215 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 9 Handling the event log 9 1 Introduction ...

Page 216: ...g 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 216 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 9 Handling the event log 9 2 Accessing the ev...

Page 217: ...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...

Page 218: ... 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 con...

Page 219: ...es information about installing a RobotWare system updating the FlexPendant applications backup the system and other configuration Operating manual OmniCore 219 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 10 Install update restart and other configuration 10 1 Introduction ...

Page 220: ...p Start Installer A confirmation message is displayed 4 Tap OK The controller is restarted and the RobotWare Installation Utilities window is displayed 5 Tap Install RobotWare System and select the installation package folder The selected installation package is added 6 Tap Start RobotWare System 7 Tap Start The controller is restarted and the system is installed 220 Operating manual OmniCore 3HAC...

Page 221: ...arted 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 Restart The Restart window is displayed 3 Tap OK The controller is restarted Restart FlexPendant There are certain cases under which only the FlexPendant needs to be restarted For example restart the FlexPendant while troubleshooting Note If the FlexPendan...

Page 222: ...s displayed 3 Tap OK The FlexPendant is restarted 222 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 10 Install update restart and other configuration 10 3 Restart Continued ...

Page 223: ...om RAPID for the parts of the code that are critical for disturbances or remove the setting otherwise For more information see Technical reference manual System parameters Note Making a backup during production can interfere with the RAPID execution BACKUP directory A local default backup directory BACKUP is automatically created by the system We recommend using this directory for saving the backu...

Page 224: ...mory saved in Rapid Task Progmod directory and one from the HOME directory copied to the backup s home directory Restoring such a backup will restore both revisions of the module so the status remains unchanged Note Too many files in the HOME directory can result in a very large backup directory The unnecessary files in the home directory can then be deleted without any problems Note If a fault oc...

Page 225: ...he new system s HOME directory during the restart Restore the system 1 On the start screen tap Settings and then Backup Recovery 2 On the Backup Recovery menu tap Restore The restore dialog is displayed xx1900000153 Browse for the location where the backup is located and select which of the following options should be restored Safety Settings 3 Tap Restore to restore the selected options The resto...

Page 226: ...et user data 3 Select one of the following reset data 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 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 ...

Page 227: ...On the left sidebar tap FlexPendant logs 3 If required in the File Name field edit the name of the file 4 If required to change the storage path in the Folder Name field tap Browse and select the required path 5 Tap Create The FlexPendant log is saved in the selected path Operating manual OmniCore 227 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 10 Install update restart an...

Page 228: ...are updates a file is displayed in the Available Updates section xx2000002046 3 Tap Update All The applications are updated and the FlexPendant is restarted 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 228 Operating man...

Page 229: ...r tap Connection log The Connection log page is displayed and the logs are displayed on a window Note Tap on the refresh button to update the logs 3 Tap Export 4 If required in the File Name field edit the name of the file 5 If required to change the storage path in the Folder Name field tap Browse and select the required path 6 Tap Create The current connection state of the connectivity module is...

Page 230: ...tings and then Backup Recovery 2 On the left sidebar tap System diagnostics 3 If required in the File Name field edit the name of the file 4 If required to change the backup location in the Folder Name field tap Browse and select path 5 Tap Create The file is saved in the selected location 230 Operating manual OmniCore 3HAC065036 001 Revision E Copyright 20192020 ABB All rights reserved 10 Install...

Page 231: ...3 positions 203 F files programs 89 filtering about 48 data types 48 files 48 programs 48 FlexPendant connecting disconnecting 205 hardware buttons 16 how to hold 19 left hander 19 main parts 15 overview 15 screen 20 25 forward button 16 H Hard buttons 16 hold to run 18 189 using 152 I I O changing values 212 simulating 212 I O inputs and outputs 210 I O application 35 incremental movement definit...

Page 232: ...ogram data editing 114 program directory 89 program execution start button 17 programmable buttons editing 17 42 programmable keys editing 17 42 Program Package 3151 1 34 Program Pointer PP about 108 programs about files 89 handling of 89 multitasking 190 renaming 91 saving 90 starting 186 step by step execution 156 stopping 189 R reset button location 15 using 16 resolvers about 75 restore system...

Page 233: ...7 measuring 128 TCP 120 working area variations 127 tool frame defining 123 methods 123 reorientation test 127 tool orientation 127 setting 73 tool orientation definition 73 tools aligning 80 creating 120 deleting 130 editing definitions 129 identifying loads 166 make stationary 131 selecting 73 setting up tool coordinate system 131 touch screen 20 TPU connecting disconnecting 205 tuning positions...

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Page 236: ...Telephone 47 22 87 2000 ABB Engineering Shanghai Ltd Robotics and Motion No 4528 Kangxin Highway PuDong District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics and Motion 1250 Brown Road Auburn Hills MI 48326 USA Telephone 1 248 391 9000 abb com robotics 3HAC065036 001 Rev E en Copyright 20192020 ABB All rights reserved Specifications subject to change without notice ...

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Summary of Contents for OmniCore C30

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Summary of Contents for OmniCore C30

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