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The tool coordinate system

The tool coordinate system has its zero position at the center point of the tool. It
thereby defines the position and orientation of the tool. The tool coordinate system
is often abbreviated TCPF (Tool Center Point Frame) and the center of the tool
coordinate system is abbreviated TCP (Tool Center Point).

It is the TCP that moves to the programmed positions, when executing programs.
This means that if you change the tool (and the tool coordinate system) the robot’s
movements will be changed so that the new TCP will reach the target.

All robots have a predefined tool coordinate system, called

tool0

, located at the

wrist of the robot. One or many new tool coordinate systems can then be defined
as offsets from

tool0

.

When jogging a robot the tool coordinate system is useful when you don’t want to
change the orientation of the tool during the movement. For example, moving a
saw blade without bending it.

Following is an example of tool coordinate system in use:

•

Use the tool coordinate system when you need to program or adjust
operations for threading, drilling, milling, or sawing.

Continues on next page

78

Operating manual - OmniCore

3HAC065036-001 Revision: J

© Copyright 2019-2021 ABB. All rights reserved.

5 Jogging

5.2 Coordinate systems for jogging

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Содержание OmniCore

Страница 1: ...ROBOTICS Operating manual OmniCore ...

Страница 2: ...Trace back information Workspace 21D version a1 Checked in 2021 11 26 Skribenta version 5 4 005 ...

Страница 3: ...Operating manual OmniCore Robotware 7 5 Document ID 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved Specifications subject to change without notice ...

Страница 4: ...ty 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 f...

Страница 5: ...lexPendant for left handed users 52 2 4 Basic procedures 52 2 4 1 Using the soft keyboard 54 2 4 2 Messages on the FlexPendant 55 2 4 3 Capturing screenshots 56 2 4 4 Filtering data 57 2 4 5 Settings search 58 2 4 6 Granting access for RobotStudio 59 2 4 7 Logging on and off 61 2 5 Updating the applications 63 3 OmniCore controller operating modes 63 3 1 Introduction 64 3 2 Changing operating mode...

Страница 6: ...ng a work object 153 6 7 3 Copying a workobject 154 6 7 4 Defining a work object 156 6 7 5 Defining the work object coordinate system 160 6 7 6 Editing the work object data 161 6 7 7 Deleting a work object 162 6 7 8 Setup stationary work object 163 6 8 Payloads 163 6 8 1 Overview 164 6 8 2 Creating a payload 166 6 8 3 Copying a payload 167 6 8 4 Editing the payload data 169 6 8 5 Deleting a payloa...

Страница 7: ...35 8 1 Introduction 236 8 2 Viewing signal lists 237 8 3 Setting signals as favorite signals 238 8 4 Simulating the signals and changing the signal values 240 8 5 I O devices 243 9 Handling the event log 243 9 1 Introduction 244 9 2 Accessing the event log 245 9 3 Saving log entries 246 9 4 Clearing the log entries 247 10 Install update restart and other configuration 247 10 1 Introduction 248 10 ...

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Страница 9: ...ime of publishing the manual Usage This manual should be used during operation Some actions that are more advanced or not used in the daily operation are described in Operating manual Integrator s guide OmniCore Note Before any work on or with the robot is performed the safety information in the product manual for the controller and manipulator must be read Who should read this manual This manual ...

Страница 10: ...are 7 0 1 The following updates are made in this revision References to the Hold to run button is replaced with thumb button in the manual Section Service Information System service routine updated with new counter moved distance Added information about recently used programs in the section Starting programs on page 208 Updated the section Creating new data instance on page 130 C Released with Rob...

Страница 11: ...age 123 Added the section Motion supervision on page 89 Added the section Incremental movement for precise positioning on page 85 Added the section File Explorer on page 41 Added information about task bar in the section FlexPendant touch screen on page 26 A NOTE is added in section Reset user data on page 254 that the TEMP folder is emptied at controller restart if RAPID and system parameters are...

Страница 12: ...dated the section Editing data in specific tasks modules or routines on page 129 Information about OmniCore E line added in the section The OmniCore controller on page 16 H Released with RobotWare 7 5 The following updates are made in this revision Added the section Adapting the FlexPendant for left handed users on page 51 Added information for delta robots see Load identification service routine ...

Страница 13: ...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 ...

Страница 14: ... The manuals are aimed at those having first hand operational contact with the product that is production cell operators programmers and troubleshooters 14 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved Product documentation Continued ...

Страница 15: ... 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 15 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 1 Introduction to Omn...

Страница 16: ...l OmniCore E10 OmniCore C line OmniCore C line is the compact line of controllers within the OmniCore family offering significant size reduction and flexible integration possibilities without any compromise on performance or precision OmniCore C30 The OmniCore C30 controller offers a compact solution suitable for applications where there is less need for additional equipment inside For more inform...

Страница 17: ... The FlexPendant consists of both hardware and software and is a complete computer in itself It is connected to the robot controller by an integrated cable and connector Note If protective gloves are used these must be compatible with touchscreens when using the FlexPendant Main parts These are the main parts of the FlexPendant 3 4 8 2 1 7 6 5 xx1700001891 Connector 1 Touchscreen 2 Emergency stop ...

Страница 18: ...is also the default view of the FlexPendant during startup Home button C Emergency stop device On delivery the emergency stop device on the FlexPendant is able to initiate the emergency stop function affecting the manipulator s and additional axis only Joystick Use the joystick to move the manipulator This is called jogging the robot There are several settings for how the joystick will move the ma...

Страница 19: ...unit button Allows you to select a mechanical unit 1 Motion mode button 1 Allows you to toggle the motion mode between reorient and linear 2 Motion mode button 2 Allows you to toggle the motion mode between axis 1 3 and axis 4 6 3 Messages button Allows you to open the QuickSet window Note Press the Messages button for a longer duration to capture a screenshot of the current screen For more detail...

Страница 20: ...ed on the FlexPendant When continuously held in center enabled position the three position enabling device will permit robot motion and any hazards controlled by the robot Release of or compression past the center enabled position will stop the robot motion CAUTION For safe use of the three position enabling device the following must be implemented The three position enabling device must never be ...

Страница 21: ... to hold the FlexPendant FlexPendant is typically operated while being held in the hand The right handed users use their left hand to support the FlexPendant while their right hand performs the operations on the touch screen However the left handed users can easily adapt FlexPendant for their use For more details see the section Adapting the FlexPendant for left handed users on page 51 xx180000004...

Страница 22: ...dd 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 RobotWare...

Страница 23: ...EMP directory for storage of temporary files CAUTION The TEMP directory is cleaned on system reset and during system updates via Installation Manager 7 TEMP The BACKUP directory is used for for saving backups BACKUP The RAMDISK directory located in the RAM disk nonpersistent is used for high performance logging CAUTION Content is lost on each restart of the controller RAMDISK To make sure that all...

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Страница 25: ...ments for navigation is illustrated in FlexPendant touch screen on page 26 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 Opera...

Страница 26: ...exPendant applications are described in the section FlexPendant applications on page 38 Active FlexPendant applications are displayed on the task bar at the bottom To switch between the active applications tap on the respective application in the task bar To close an application press and hold the application in the task bar and tap on the displayed close button Continues on next page 26 Operating...

Страница 27: ...unction as the three position enabling device Enable Release but ton B Stops the system with an emergency stop Emergency stop but ton C Displays instantaneously the difference in x y z axis values while jogging the robot using joystick X Y Z values D Move the central part of virtual joy stick to jog the robot along X and Y axes Move the semi circular bar along the circumference to jog the robot al...

Страница 28: ...een 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 Context menu button C 28 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 2 Navigating and handling the FlexPenda...

Страница 29: ...n dow on page 30 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 The icons on the right side of status bar represents the current status of important settings Tapping on any icon in this region displays the QuickSet window a...

Страница 30: ...by tapping the Messages button on the status bar The following illustration shows an example of an operator message xx2000000866 QuickSet window When you tap on the QuickSet button the QuickSet window is displayed The QuickSet window has the following tabs Control Jog Execution Visual Info ABB Ability Logout Restart Continues on next page 30 Operating manual OmniCore 3HAC065036 001 Revision J Copy...

Страница 31: ...un a program with human intervention In this mode to make the motors on select the Motors on button from the Motors section You can also press the three position enabling device to activate the motors Manual FS or Manual Full Speed mode Select this mode to run the program at full speed while still having access to all the debugging functions available in the program editor Mode Turns the motors on...

Страница 32: ...ble mechanical units Mechanical Unit Displays the list of coordinate systems Coordinate System Displays the list of jog modes Jog Mode 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 available tools Tool Displays the list of available work objects Work Object Displays the list of available l...

Страница 33: ...eactivated once the operation is complete if it was active before Allows you to jog the robot in small steps which enables very precise positioning Incremental mode Allows you to grab the robot arms and jog the robot manually Lead through Execution Settings The Execution tab displays the Execution Settings xx1900000624 Description Button Section Selects the program run mode Single Runs one cycle a...

Страница 34: ...ram without the robot motion Non Motion Execu tion This is used to enable or disable the selected task Enable Disable tasks Visualization The Visual tab displays the visualization details based on the actual robot movement xx1900000625 Description Section Displays the selected motion mode Motion Mode Displays the selected coordinate system Coordinate System Displays the selected mechanical unit Me...

Страница 35: ...the 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 35 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 2 Navigating and handling the FlexPendant 2 2 2...

Страница 36: ...vices connection Status Displays the connection status of Connected Services Connection Status Displays the registration status of Connected Services Registration Status Continues on next page 36 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 2 Navigating and handling the FlexPendant 2 2 2 Status bar Continued ...

Страница 37: ...r more details see Connecting and detaching a FlexPendant on page 230 FlexPendant Restart FlexPendant This is used to restart the FlexPendant Restart Application This is used to restart the FlexPendant applic ation Exit Application This is used to exit the FlexPendant application Rotate 180 This is used to rotate the FlexPendant screen by 180 This functionality is useful for left hand users For mo...

Страница 38: ...odules and RAPID routines View and edit RAPID data program data Debug Options PP to main cursor to program pointer goto position call routine cancel routine check program view system data next move instruction Teach position ModPos Check for syntactic and semantic error If the option Program Package is not selected then programs must be created and edited using RobotStudio Jog The Jog application ...

Страница 39: ...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...

Страница 40: ...ition 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 frame calibr...

Страница 41: ...rer window is displayed The following image and table provides information regarding the functions available in the file explorer window xx2100000050 Description Label Displays the available drives If a USB drive is connected to the FlexPendant that is also displayed here A Navigates to the folder up by one level B Refreshes the files and folders C Displays the path of the selected folder D Contin...

Страница 42: ...ts are required for full access to controller disk Read access to controller disks Write access to controller disks Without the Read access to controller disks grant you may get access to some folders in controller disk like HOME but not all of them While moving the file and folders following are the possible scenarios Moving files and folders within the controller disk Moving files and folders fr...

Страница 43: ...erview The FlexPendant can be personalized in a number of ways This is described in this chapter Operating manual OmniCore 43 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 2 Navigating and handling the FlexPendant 2 3 1 Introduction ...

Страница 44: ...he robot system name For more details see Configuring the identity settings on page 45 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 44 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021...

Страница 45: ...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 45 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 2 Navigating and handling the FlexPendant 2 3 3 Configuring the identity setti...

Страница 46: ...ntified by its IP address or DNS name Manual Time Select this if you do not have a time server that is reachable from the controller 5 If you select Network Time in the Time Server Address field type the URL or IP address of the time server Note Tap the Test button next to the Time Server Address field to verify the time server address 6 If you select Manual Time in the Select date and Select time...

Страница 47: ...depends on the RobotWare version the system is using Configuring interface language after logging in to the controller Use the following procedure to change the interface language 1 On the start screen tap Settings 2 Tap Time Language 3 On the left sidebar tap Language A list of supported user interface languages is displayed 4 Tap on the desired language button 5 Tap Apply The Change language con...

Страница 48: ...wing system events are available Switching to Auto Select this option to define the FlexPendant view when switching to auto mode Switching to Manual Select this option to define the FlexPendant view when switching to manual mode Switching to Manual Full Speed Select this option to define the FlexPendant view when switching to manual full speed mode FlexPendant Startup Select this option to define ...

Страница 49: ...ct an input signal from the Digital Input list Tap the Allow in auto list to select if the function is also allowed in automatic operating mode Note An input cannot be set by using the programmable keys its value can only be pulsed The pulse will be the inverted value of the input 8 If the type Output is selected Tap to select an output signal from the Digital Outputs list Tap the Key Pressed list...

Страница 50: ...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 50 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 2 Navigating and handling the FlexPendant 2 3 7 Configuring the programmable keys ...

Страница 51: ...ed by 180 degrees and is adapted for the left hand users What is affected The following settings are affected when adapting the FlexPendant for a left handed user Information Effect Setting The illustrations of jogging directions in the jogging menu are adjusted automatically The joystick directions are adjusted automatically Jogging directions See the details of hard but tons in the illustration ...

Страница 52: ...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 ...

Страница 53: ...ackspace key top right to delete characters to the left of the insertion point xx2000000925 Operating manual OmniCore 53 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 2 Navigating and handling the FlexPendant 2 4 1 Using the soft keyboard Continued ...

Страница 54: ...m 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 RobotStudi...

Страница 55: ... 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 FlexPendan...

Страница 56: ...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 56 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 2 Navigat...

Страница 57: ...tters 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 Operating manual OmniCore 57 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 2 Navigating and handling the FlexPendant 2 4 5 Settings search ...

Страница 58: ...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 58...

Страница 59: ... for Default User checkbox then no password is required and you are logged on automatically 2 Type a valid username using the soft keyboard 3 Tap on the Password field and type password for the selected user using the soft keyboard 4 Tap Log in The selected user is logged in Note After a log off the Log in to controller window is displayed Continues on next page Operating manual OmniCore 59 3HAC06...

Страница 60: ...ayed Using the Settings application 1 On the start screen tap Settings The Settings page is displayed 2 At the bottom of the Settings page tap Logout The current active user is logged off from the controller and the Log in to controller window is displayed Handling users and authorization levels Read more on how to add users or set the authorization in Operating manual RobotStudio 60 Operating man...

Страница 61: ...updated using the Update option For more details see Updating the FlexPendant applications on page 256 Operating manual OmniCore 61 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 2 Navigating and handling the FlexPendant 2 5 Updating the applications ...

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Страница 63: ...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...

Страница 64: ... is displayed with an acknowledge button This does not apply to YuMi robots The operating mode is changed Note OmniCore goes to motors OFF state when the operating mode is changed This does not apply to YuMi robots For YuMi robots the motors are automatically ON after changing to auto mode Note The operating mode change works only in the sequence Auto Manual Manual Reduced Speed Manual FS Manual F...

Страница 65: ...rator can configure a temporary PIN code the permanent PIN code is configured by the user with the Key less mode selector grant Configuring a temporary PIN code Use the following procedure to configure a temporary PIN code 1 On the FlexPendant status bar tap the QuickSet button The Control Panel window is displayed 2 Tap the Lock button Continues on next page Operating manual OmniCore 65 3HAC06503...

Страница 66: ...onfiguring a permanent PIN code A user with the Key less mode selector grant can configure a permanent PIN code for other users to lock the operating mode Note A user with the Key less mode selector grant can unlock the Lock button at any time without providing a PIN code Use the following procedure to configure a permanent PIN code 1 On the FlexPendant status bar tap the QuickSet button The Contr...

Страница 67: ... users must provide the correct PIN code to change the operating mode For more details see Unlocking the operating mode on page 68 Note For permanent PIN code after an unlock if the operating mode is changed the mode change will again be locked immediately Note A saved permanent PIN code is valid until a user with the Key less mode selector grant resets the permanent PIN code Continues on next pag...

Страница 68: ... 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 in Configuring a temporary PIN code on page 65 4 Tap OK The operating mode is unlocked Note The temporary PIN code is reset every time the user unlocks it Note For permanent PIN code the users will have one minute time t...

Страница 69: ...g 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 69 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 4 Calibration 4 1 Introduction ...

Страница 70: ...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 t...

Страница 71: ...R 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 71 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 4 Calibration 4 2 How to check if the robot needs calibration Continu...

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Страница 73: ... 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 rest...

Страница 74: ...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 ...

Страница 75: ...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 75 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 5 Jogging 5 1 Introduction to jogging Continued ...

Страница 76: ... 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...

Страница 77: ...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 ...

Страница 78: ...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...

Страница 79: ...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...

Страница 80: ...ase 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 80 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 5 Jogging 5 2 Coordinate systems for jogging Continued ...

Страница 81: ...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...

Страница 82: ...s 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 movem...

Страница 83: ...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 ...

Страница 84: ...on Format The Position Format can be displayed relative to the following frames World Base Workobject Enable the Display Orientation Values option to configure the Orientation fomats The Orientation format can be set to Quaternion Euler angles The Presentation angle unit can be set to Degrees Radians 84 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved...

Страница 85: ...med as long as the joystick is deflected Default mode is no increment then the robot moves continuously when the joystick is deflected Selecting the increment mode To manage the incremental movement open Jog and use the list available in the Increment Mode section Choose between Small Medium Large or User increments Select the User option and tap Edit to define the values within in a certain range...

Страница 86: ...ed 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 load...

Страница 87: ...the thumb button on the FlexPendant xx2100000331 Not available for CRB 1100 On the start screen tap Jog and in the Jog app select the Lead through menu Not available for CRB 1100 In Quick settings select the Jog tab Note If the robot is in motors off state it will automatically go to the motors on state when the lead through is enabled 2 Gently pull the robot arm to the desired position Note You c...

Страница 88: ... than defined the effect will be the same as if you are pulling the robot arm downwards If the load is lighter than the defined load the effect will be the same as if you are pulling the robot arm upwards For the CRB 15000 there is a button for updating refreshing the load while lead through is active Note For Yumi robots with SafeMove some different behaviors apply see the product manual for the ...

Страница 89: ...Functions in RobotWare base Path Supervision is used in automatic and manual full speed mode to prevent the mechanical damage due to the robot running into an obstacle during program execution Non motion execution is used to run a program without robot motion Functions in Collision Detection A RobotWare system with Collision Detection option has the following additional functionalities Path Superv...

Страница 90: ...obot motion All other functions work normally current cycle times I O TCP speed calculation and so on Non motion execution can be used for program debugging or cycle time evaluation It also represents a solution if you need to measure for example glue or paint consumption during a cycle When non motion execution is activated it can be executed in manual mode manual full speed mode auto mode Cycle ...

Страница 91: ...mmand 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 ...

Страница 92: ...o 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 grip...

Страница 93: ...splayed The following figure and table describes the options available in the Configuration 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 Operating manual Omni...

Страница 94: ...te 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 ...

Страница 95: ...s 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 Op...

Страница 96: ...t be met before calibrating the gripper The gripper has been installed onto the robot arm correctly The RobotWare is RobotWare 7 0 or later The SmartGripper Support option must be chosen while creating the system The system is in manual operating mode The gripper has been powered on and the communication is established Use the following procedure to calibrate the SmartGripper 1 On the start screen...

Страница 97: ...d 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 ...

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Страница 99: ...on Overview This chapter provides you information about creating programs and testing those programs Operating manual OmniCore 99 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 1 Introduction ...

Страница 100: ...correct 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 coor...

Страница 101: ...e program pointer is moved the Program Editor shows the code at the position of the program pointer The same behavior applies to Advanced View in Operate Note When you open Code the name of the module where the program pointer is in is displayed in the Program Pointer location section About program files The program is saved as a folder named as the program containing the actual program file of ty...

Страница 102: ...ils regarding adding instructions see Adding instructions on page119 5 Tap Check Program 6 Tap Modules 7 On the Context menu tap Save as 8 Tap a name for the program in the File Name field 9 Select the location for saving the new program file 10 Tap Save The program is saved Once a program is created you can run the program For details regarding running a program see Starting programs on page 208 ...

Страница 103: ...ame or type a new name in the File Name field xx1900000223 4 Tap Save The program is saved Renaming a loaded program This section describes how to rename a loaded program 1 On the start screen tap Code and then select Modules from the menu 2 On the Context menu tap Rename Continues on next page Operating manual OmniCore 103 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Pr...

Страница 104: ...ibes 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 104 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 3 1 Handling of programs Continued ...

Страница 105: ... window tap OK to delete or Cancel to keep the program intact xx1900000225 Operating manual OmniCore 105 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 3 1 Handling of programs Continued ...

Страница 106: ...e 109 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...

Страница 107: ... section describes how to save a module 1 On the start screen tap Code and then select Modules from the menu 2 Tap Save as on the Context menu for the module Continues on next page Operating manual OmniCore 107 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 3 2 Handling of modules Continued ...

Страница 108: ...elected location Renaming a module This section describes how to rename a module 1 On the start screen tap Code and then select Modules from the menu 2 Tap Change Declaration on the Context menu for the module Continues on next page 108 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 3 2 Handling of modules Continued ...

Страница 109: ...nge Declaration window is displayed 3 In the Module Type list select a type and then tap Apply The module type is changed Deleting a module This section describes how to delete a module from memory If the module has been saved to disk it will not be erased from the disk 1 On the start screen tap Code and then select Modules from the menu 2 Tap Delete on the Context menu for the module Continues on...

Страница 110: ...yed xx1900000231 4 Tap OK The selected module is deleted and removed from the module list 110 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 3 2 Handling of modules Continued ...

Страница 111: ...ew routine This section details how to create a new routine set the declaration and add it to a module 1 On the start screen tap Code and then select Program editor from the menu 2 Tap Routines in the menu to the right xx1900000232 Continues on next page Operating manual OmniCore 111 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 3 3 Handling of r...

Страница 112: ...00000254 Complete the routine declaration by entering the following information Routine Name Continues on next page 112 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 3 3 Handling of routines Continued ...

Страница 113: ...utine can only be used in the selected module Undo Handler Error Handler Backward Handler Note Use the Preview button to preview the values selected for the new routine 5 Tap Apply The new routine is created and displayed in the Routines list for the selected module Defining parameters in routine This section describes how to define parameters in a routine 1 On the start screen tap Code and then s...

Страница 114: ...outine xx1900000271 The Change Declaration page is displayed 4 If no parameters are shown tap the Edit button next to the Parameters field Continues on next page 114 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 3 3 Handling of routines Continued ...

Страница 115: ...ype a Name for the parameter and tap Apply 7 The new parameter is displayed in the list Tap to select a parameter To edit values tap the value 8 Tap Apply The selected parameters are added to the Parameters field in the routine declaration window Creating the copy of a routine This section describes how to create a copy of a routine 1 On the start screen tap Code and then select Program Editor fro...

Страница 116: ...claration of a routine 1 On the start screen tap Code and then select Program Editor from the menu 2 Tap View Routines on the Context menu for the module 3 Tap Change Declaration on the Context menu for the routine The Change Declaration dialog is displayed 4 Edit the values according to your requirement 5 Tap Apply The changes to the routine are saved How to make all declarations is detailed in s...

Страница 117: ...to rename a routine 1 On the start screen tap Code and then select Program Editor from the menu 2 Tap View Routines on the Context menu for the module 3 Tap Rename on the Context menu for the routine 4 Type a new name for the routine in the Enter New Name field 5 Tap Apply The selected routine is renamed Deleting a routine This section describes how to delete a routine from memory 1 On the start s...

Страница 118: ...ext menu for the routine The Delete Routine conformation window is displayed 4 Tap OK The selected routine is deleted 118 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 3 3 Handling of routines Continued ...

Страница 119: ...tion is displayed with its parameters 6 Modify the instruction parameters according to requirement and tap Add The selected instruction is inserted after the selected location on the module 7 Tap Check Program The validity of the program is verified Modifying instructions Use the following procedure to modify an instruction 1 On the start screen tap Code and then select Modules from the menu 2 Ope...

Страница 120: ...ion 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 modifi...

Страница 121: ...and its description xx2100000046 Description Edit options Cuts a selected instruction and save it in clipboard Cut Copies a selected instruction and save it in clipboard Copy Pastes the copied instruction below a selected instruction Note If the selected instruction is the first line of the program an option to paste the copied instruction Above or Below the first line is dis played Paste Continue...

Страница 122: ...s This section describes how to paste instructions or arguments 1 On the start screen tap Code and then select Modules from the menu 2 Open the module 3 Tap on the instruction that needs to be copied 4 Tap Edit The edit options window is displayed 5 Tap Copy 6 Tap and select the instruction after which you want to paste the copied instruction 7 Tap Paste The copied instruction is pasted below the ...

Страница 123: ... to change a selected instruction to its equivalent shift instruction Note Parameter restrictions are enabled for certain instructions Shifting to an equivalent instruction is not valid for such instructions Use the following procedure to shift an instruction 1 On the start screen tap Code and then select Modules from the menu 2 Open the module 3 Tap on the instruction that you want to shift 4 Tap...

Страница 124: ...u 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 co...

Страница 125: ...veL v50 z50 tool0 MoveL v50 fine tool0 End Proc Operating manual OmniCore 125 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 3 5 Example Add movement instructions Continued ...

Страница 126: ...section The Program Pointer is shown as an arrow to the left of a line in program code in Program Editor of Code and in Advanced View of Operate The Motion pointer The Motion Pointer MP indicates the instruction that the robot is currently executing This is normally one or more instructions after the Program Pointer as the system executes and calculates the robot path faster than the robot moves T...

Страница 127: ...particular programed position The Go To Position option allows you to move the robot to a programed position DANGER When moving the robot automatically the robot arm may move without warning Make sure no personnel are in safeguarded space and that no objects are in the way between the current position and the programmed position Use the following procedure to move the robot to a particular program...

Страница 128: ... check the execution flow from the Debug menu It is possible to call the default service routines as well as the custom routines Use the following procedure to call a routine and check the execution flow 1 In the Debug menu navigate to the Others section and tap Call Routine The Call Routine window is displayed By default the service routines are displayed Select the All Routines option to list al...

Страница 129: ...ypes used by a specific module Routine Displays all the data types used by a specific routine 3 Select the required view The data type based on the selected view is displayed The following view options are available Only used types Displays only the used data types All data types Displays all the data types 4 Tap on a data type The items for the selected data type is displayed 5 Tap on the context...

Страница 130: ...or example bool 3 Tap the context menu and select Create New Data The Create New Data dialog is displayed 4 In the Declaration tab complete the following fields for the new data type xx1900000351 Name Type a new name Scope Set the accessibility for the data instance from the following options Global reachable by all the tasks Local reachable within the module Task reachable within the task Continu...

Страница 131: ...lect module Tap the Routine menu to select routine 5 In the Initial Value tab select the values according to the selected data type 6 Tap Apply The new data instance is created Note Creation of new data type is described in the manual Operating manual Integrator s guide OmniCore Operating manual OmniCore 131 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and te...

Страница 132: ... to your requirement 5 Tap Apply The changes to the selected data instance are saved Note If the value of a persistent variable is changed at any point in a running program the Code will still show the old value until the program stops The Program Data view however always shows the current value of persistent variables See Persistent declaration in the Technical reference manual RAPID Overview for...

Страница 133: ...tart screen tap Code and then select Program 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 origi...

Страница 134: ...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...

Страница 135: ...ustration en0400000803 Tool side A Robot side B Operating manual OmniCore 135 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 6 1 What is a tool Continued ...

Страница 136: ... 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 manipula...

Страница 137: ...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 137 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 6 2 What is the tool center point Continued ...

Страница 138: ...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 136 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...

Страница 139: ... 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 list t...

Страница 140: ...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 140 Operating manual OmniCore 3HAC065036 001 Revis...

Страница 141: ...d 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 the...

Страница 142: ...hen defining all of them xx1900000353 5 Tap Modify to define the points See How to proceed with tool frame definition on page 144 6 Tap Next The Tool TCP Definition Define Orientation window is displayed Continues on next page 142 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 6 5 Defining the tool frame Continued ...

Страница 143: ...ext The Tool TCP Definition Calibration Result window is displayed 9 Tap Finish to save the calibration Continues on next page Operating manual OmniCore 143 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 6 5 Defining the tool frame Continued ...

Страница 144: ...e 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 145 5 If for some reason you want to redo the calibration procedure described in step 1 4...

Страница 145: ...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 ...

Страница 146: ...d then select Tool from the menu 2 Tap 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 141 If you use this method you do n...

Страница 147: ...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...

Страница 148: ...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 148 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 ...

Страница 149: ...p 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 s...

Страница 150: ...stationary tool s definition manually en0400000990 150 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 6 8 Setup for stationary tools Continued ...

Страница 151: ...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...

Страница 152: ...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...

Страница 153: ...e 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 153 3HAC065036 0...

Страница 154: ...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...

Страница 155: ...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 155 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 7 4 Defining a work object Continued ...

Страница 156: ...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 xx1900000451...

Страница 157: ...age 159 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 157 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 7 5 Defining the work object coordinate system Continued ...

Страница 158: ...e 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 158 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming ...

Страница 159: ...ints 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 page158 Operating manual OmniCore 159 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 7 5 Defining the work object coordinate system Continued ...

Страница 160: ... coordinate systems position is to use the method described in Defining the work object coordinate system on page156 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 ...

Страница 161: ...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 161 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 7 7 Deleting a work object ...

Страница 162: ... 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 162 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 7 8 Setup stationary work ob...

Страница 163: ...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 163 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 8 1 Overview ...

Страница 164: ...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...

Страница 165: ...orage 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 165 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 8 2 Crea...

Страница 166: ...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 166 Operating manual OmniCore 3HAC065036 001 R...

Страница 167: ... Enter the weight of the payload 1 mm 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 PayLoadsInWristCoo...

Страница 168: ...nce manual System parameters and Technical reference manual RAPID Instructions Functions and Data types 168 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 8 4 Editing the payload data Continued ...

Страница 169: ...tion 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 169 3HAC065...

Страница 170: ...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...

Страница 171: ...ue 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 171 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 9 1 Using the hold to run function Continued ...

Страница 172: ...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 172 Operatin...

Страница 173: ...n manual stopped mode Running a specific routine This procedure describes how to run a specific routine by moving the program pointer 1 On the start screen tap Code and then select Program Editor from the menu 2 Tap Debug and then PP to Routine to place the program pointer at the start of the routine 3 Press the Start button on the FlexPendant Operating manual OmniCore 173 3HAC065036 001 Revision ...

Страница 174: ... 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...

Страница 175: ... 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 ...

Страница 176: ...L p20 pressing the Forward button once the robot will move to p20 with the speed v1000 pressing the Forward button again 176 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 9 4 Stepping instruction by instruction Continued ...

Страница 177: ...he 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 routi...

Страница 178: ...See Returning the robot to the path on page 215 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 servi...

Страница 179: ...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 topic Controller Operating manual OmniCore 179 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 10...

Страница 180: ...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 ...

Страница 181: ...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...

Страница 182: ... calibration The calibration equipment for Axis Calibration is delivered as a toolkit The actual instructions of how to perform the calibration procedure and what to do at each step is given on the FlexPendant You will be guided through the calibration procedure step by step Note A more detailed description of the calibration method is given in the robot s product manual 182 Operating manual OmniC...

Страница 183: ... 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 Operating manual OmniCore 183 3HAC06...

Страница 184: ...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...

Страница 185: ...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...

Страница 186: ...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 ...

Страница 187: ... 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 Befo...

Страница 188: ...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...

Страница 189: ...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...

Страница 190: ...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...

Страница 191: ...al 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...

Страница 192: ...identification Find the weight of the load in some other way and perform a load identification with known mass to remove the dependency on arm loads LoadIdentify for 4 axis palletizing and SCARA robots When running LoadIdentify on a robot with 4 instead of 6 axes there are some differences In this description of the differences the robot type is assumed to be similar to IRB 260 IRB 460 IRB 660 IRB...

Страница 193: ...obot with 4 axes there are some differences In this description of the differences the robot type is assumed to be similar to IRB 360 IRB 365 or IRB 390 The main differences are The used axes are 3 for all robot models 4 for all robot models Not all load parameters can be identified Axis 4 will move approximately 60 degrees from its current position Therefore the load will move a large rotational ...

Страница 194: ...nhance motion performance See the resulting loaddata from LoadIdentify for 4 axis delta robots in the following figure xx2100002581 Related information It is also possible to include LoadIdentify in a program by using RAPID instructions See LoadID in Technical reference manual RAPID Instructions Functions and Data types The product manual for the robot contain information on how and where to mount...

Страница 195: ...loads is described in Technical reference manual System parameters Operating manual OmniCore 195 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 10 7 Load identification service routine Continued ...

Страница 196: ...ake check Move the robot to a stop point before performing a brake check The brake check can be performed only at normal execution level not from a trap routine error handler event routine or store path level Exclude individual axes from the brake check It is possible to exclude individual axes from the brake check For this set the value of system parameter Deactivate Cyclic Brake Check for axis t...

Страница 197: ...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...

Страница 198: ... 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 198 The file BC_config_IO sys can be found in directory products RobotControl_7 x xxxx utilit...

Страница 199: ...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...

Страница 200: ...rakeCheck 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 Si...

Страница 201: ...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...

Страница 202: ... speed or keep its normal supervision levels A predefined time pre warning time warning appears on the FlexPendant before the brake cycle time has passed Pre requisites for Cyclic Brake Check Pre requisites for Cyclic Brake Check The robot and all the additional axes must be moved to a safe and relaxed position away from people equipment and not too much stretched before performing a brake check N...

Страница 203: ...ng procedure to configure Cyclic Brake Check Note illustration Action In the Visual SafeMove tab ribbon navig ate to the Create group and click on the Cyclic Brake Check button The Cyclic brake check properties win 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 inte...

Страница 204: ...vation of the axes must be done by set ting the parameter Deactivate Cyclic Brake Check for axis to On through RobotStudio Note An error or warning message is logged for each axis with low brake torque A status message is also logged for each complete brake cycle Example of RAPID program A signal diPSC1CBCPREWARN is defined and cross connected to the safety signal PSC1CBCPREWARN in the I O paramet...

Страница 205: ...in Technical reference manual System parameters Interrupted Cyclic Brake Check It is not recommended but it is possible to stop the execution while running a Cyclic Brake Check If the Cyclic Brake Check is interrupted it will be resumed when the program execution starts again The Cyclic Brake Check can be resumed up to 3 times If the Cyclic Brake Check is interrupted more than 3 times a new cyclic...

Страница 206: ...is used to improve the TCP reorientation performance More information is available in the product manual for the manipulator 206 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 6 Programming and testing 6 10 10 Wrist optimization service routine ...

Страница 207: ...plies 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 207 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 7 Running in production 7 1 Introduction ...

Страница 208: ...Motors section In manual mode and manual high speed mode Press and hold the three position enabling device Note YuMi robots with SafeMove requires using the enabling device On YuMi robots without SafeMove the enabling device is disabled hence not used 5 Open Operate The Advanced View page is displayed 6 Tap and make a selection based on the following scenarios If there is no loaded program a list ...

Страница 209: ...ay appear to avoid restarting the program if the consequences are unknown then tap If you Yes are sure the changes you have made are not in conflict with the current robot position and that the program can continue 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 ...

Страница 210: ...e program can be executed at a time unless your system has the Multitasking option If so several programs can be executed simultaneously If the robot system encounters program code errors while the program is running it will stop the program and the error is logged in the event log 210 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 7 Running in prod...

Страница 211: ...ill 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 17 Press the Stop button Operation with hold to run If you press the STOP button while executing a move in...

Страница 212: ...Start button of the FlexPendant and stopped when you press the Stop button Load run and stop multitasking programs Use the following procedure to load run and stop multitasking programs 1 Make sure there is more than one task set up This is done using system parameters see Technical reference manual System parameters 2 Load programs to the respective task using Operate or Code This is described in...

Страница 213: ...e 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 Onc...

Страница 214: ...for each task To switch between viewing the different tasks tap on the tabs To edit several tasks in parallel use the Program Editor in Code 214 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 7 Running in production 7 2 3 Using multitasking programs Continued ...

Страница 215: ... 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...

Страница 216: ...ap System About Options section which displays the available options Functions in Collision Detection A RobotWare system with Collision Detection has the following additional functionality Path Supervision used to prevent the mechanical damage due to the robot running into an obstacle during program execution Jog Supervision used to prevent mechanical damage to the robot during jogging Note All mo...

Страница 217: ... intend to run the program in non motion mode do not restart without checking the status of Non motion execution Starting the program incorrectly may cause serious injury or death or damages the robot or other equipment Operating manual OmniCore 217 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 7 Running in production 7 2 5 Using motion supervision and non motion execution ...

Страница 218: ...rd 1 On the start screen tap Operate and then select Define Cards from the menu 2 Tap Create New Card on the context menu The Add Card page is displayed 3 Type or select the values in the title Label Value and Unit fields 4 Tap Apply The new card is created and displayed on the Define Cards page Once a card is created you can associate the card to dashboards For more details see Assigning cards to...

Страница 219: ...ed 4 Navigate to the Associated Cards section and tap Associate The Select Card s page is displayed with a list of available cards 5 Select the cards that needs to be associated to the selected Dashboard Note You can associate a maximum of 6 cards in each dashboard 6 Tap OK The Edit Dashboard page is displayed with the list of selected dashboards 7 Tap Apply The selected cards are associated with ...

Страница 220: ...art screen tap Operate and then select Define Dashboards from the menu 2 The Define Dashboards page is displayed The current available dashboards are displayed on this page 3 Tap on a dashboard for which the associated cards needs to be deleted The Edit Dashboard page is displayed The Associated Cards section displays the cards that are already associated to the selected dashboard 4 Tap on the del...

Страница 221: ...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 222 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 227 CAUTION Changing programmed positions may significantly alter the robot s move...

Страница 222: ...7107 0 0 0 0 0 9E 09 9E 09 9E 09 9E 09 9E 09 9E 09 CONST jointtarget jpos10 0 0 0 0 0 0 9E 09 9E 09 9E 09 9E 09 9E 09 9E 09 Note The modified position values will normally be used when you restart the program If the robot cannot use the values directly at start a warning is displayed Then the modified position will be used the next time than the position is used in the program Procedure Teach posi...

Страница 223: ... modify The context 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 ...

Страница 224: ... created using RobotStudio may have position argument with array data This section provides information regarding teaching position for a particular position array data item 1 Tap on the position argument that has array data and that needs to be edited 2 Tap Teach Position The elements available in the array are displayed Continues on next page 224 Operating manual OmniCore 3HAC065036 001 Revision...

Страница 225: ...or different types of movement when modifying positions Linear movement In example A the robot is stopped on path before reaching the position P10 The robot is jogged off path to the new position P10x and the position P10 is modified In example B the robot is stopped on path in position P10 The robot is jogged off path to the new position P10x and the position P10 is modified xx0800000175 Continue...

Страница 226: ...e position P20 is modified xx0800000176 In single robot systems the system is in unsynchronized mode When restarting the program the robot continues directly from the new P20 that is now the same as P20x to P30 without returning to the previous planned path via the old P20 The new planned path from P20 P20x to P30 is calculated using these two positions and position P10 226 Operating manual OmniCo...

Страница 227: ...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 56 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...

Страница 228: ...hole 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 156 Displace and rotate a work object You may want to displa...

Страница 229: ...n the home screen open Code 2 Tap the Menu button and select Program Editor 3 Tap and select a position instruction to edit 4 Tap Modify Instruction 5 Tap Expression Editor 6 Tap the Functions tab and select Offs 7 Tap to select each expression or argument EXP or ARG and then tap any of the desired available data or functions You can tap on Change Data Type and the other buttons available on the e...

Страница 230: ...s no visual identification of the operating mode CAUTION A FlexPendant that is not connected to the robot robot system must be stored out of sight so that it cannot be mistaken for being in use CAUTION The FlexPendant connector shall only be used to connect the FlexPendant For details see the product manual for the respective robot controller Detaching the FlexPendant in automatic mode Use the fol...

Страница 231: ...layed 5 When the countdown is progressing loosen the locking ring and detach the FlexPendant from the controller Continues on next page Operating manual OmniCore 231 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 7 Running in production 7 5 Connecting and detaching a FlexPendant Continued ...

Страница 232: ...ant CAUTION Always inspect the connector for dirt or damage before connecting it to the controller Clean or replace any damaged parts E line controllers For the OmniCore controller there is an adaptor cable before connecting the FlexPendant Plug in the adapter cable connector to the controller and tighten the locking screws xx2100001343 C line and V line controllers Continues on next page 232 Oper...

Страница 233: ...975 CAUTION Make sure that the emergency stop device is not pressed in when connecting the FlexPendant Operating manual OmniCore 233 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 7 Running in production 7 5 Connecting and detaching a FlexPendant Continued ...

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Страница 235: ...on Overview The inputs and outputs signals can be managed using the I O application or RobotStudio Operating manual OmniCore 235 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 8 Handling inputs and outputs I O 8 1 Introduction ...

Страница 236: ... Signals page is displayed Note By default all the signals are displayed 3 Tap on the Filter list xx1800001856 4 Select the category of the signal that you want to view The signals of the selected category are displayed Tip You can use the search box to quickly filter and view a particular signal 236 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 8 ...

Страница 237: ...ite Signals page is displayed and it displays all the signals Note You can use the Filter list to display a selected category of signals 4 Use the check box to select the signals that need to be set as favorite signals 5 Tap Apply The selected signals are saved as favorite signals Tip The favorite signals are listed under the Favorite Signals category on the Signals page To view a selected categor...

Страница 238: ...r signal 3 Tap on the Simulate button available for the signal The signal is changed to a simulated signal Note Once a signal is simulated the Remove Simulation button is displayed for the signal Note If there is a cross connection created between two signals changing the value of one signal automatically changes the value of the corresponding cross connected signal Continues on next page 238 Oper...

Страница 239: ...a particular signal 3 To change the value of a signal For a digital signal in the Value column tap on the toggle button and change the current value 0 False and 1 True are the allowed values For an analog signal in the Value column tap on the number pad icon type a value using the number pad within the allowed range and then tap OK Operating manual OmniCore 239 3HAC065036 001 Revision J Copyright ...

Страница 240: ... output bit values of the selected I O device Bit Values Displays 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 Cont...

Страница 241: ...u 2 Select Firmware Update in the context menu for an EtherNet IP I O device The I O Modernization window is displayed with the details of the firmware upgrade Note The Firmware upgrade option is available only for the network type EtherNet IP 3 Tap Browse and select the firmware from the location it is stored 4 Tap Upgrade The firmware for the selected EtherNet IP I O device is upgraded Operating...

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Страница 243: ... 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 243 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 9 Handling the event log 9 1 Introduction ...

Страница 244: ... 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 244 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 9 Handling the event log 9 2 Accessing the ev...

Страница 245: ...s 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 ...

Страница 246: ...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 cont...

Страница 247: ...es information about installing a RobotWare system updating the FlexPendant applications backup the system and other configuration Operating manual OmniCore 247 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 10 Install update restart and other configuration 10 1 Introduction ...

Страница 248: ...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 248 Operating manual OmniCore 3HAC...

Страница 249: ...restarted 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 Procedure There are certain cases under which only the FlexPendant needs to be restarted For example restart the FlexPendant while troubleshooting Note If the FlexPendant free...

Страница 250: ...s displayed 3 Tap OK The FlexPendant is restarted 250 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 10 Install update restart and other configuration 10 3 Restart Continued ...

Страница 251: ...rom 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 back...

Страница 252: ...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 occurs during the backup for example full disk or...

Страница 253: ...y is copied back to the new system s HOME directory during the restart Procedure 1 On the start screen tap Settings and then Backup Recovery 2 On the Backup Recovery menu tap Restore The Restore page is displayed xx1900000153 3 Browse for the location where the backup is located and select the backup file 4 If required select the Safety Settings options 5 Tap Restore The restore is performed and t...

Страница 254: ...owing 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 Note If this option is selected the content in the TEMP folder will be emptied when the controller is restarted Reset safety setting To remove the user configured safety settings and load the def...

Страница 255: ...debar tap FlexPendant logs The FlexPendant logs page is displayed 3 If required in the File Name field edit the name of the file 4 To change the storage path in the Location field tap Browse and select the required path 5 Tap Save The FlexPendant log is saved in the selected path Operating manual OmniCore 255 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 10 Install update r...

Страница 256: ...ons from settings 1 On the start screen tap Settings and then select Update from the menu 2 If there 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 Continues on next page 256 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 10 Install update r...

Страница 257: ... of applications in the system it displays the following message Tap Install to update the FlexPendant applications xx2000002047 Operating manual OmniCore 257 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights reserved 10 Install update restart and other configuration 10 8 Update FlexPendant Continued ...

Страница 258: ... View Connection log page is displayed with the connection logs available on a window Note Tap on the refresh button to view the updated log 3 Tap Export The Save Connection log page is displayed 4 If required in the File Name field edit the name of the file 5 To change the storage path in the Location field tap Browse and select the required path 6 Tap Save The current connection state of the con...

Страница 259: ...ervices log The Connected Services log page is displayed xx2100001566 3 If required in the File Name field edit the name of the file 4 To change the storage path in the Location field tap Browse and select the required path 5 Tap Save The Connected Services log is is saved in ZIP format in the selected path and a confirmation message is displayed 6 Tap OK Operating manual OmniCore 259 3HAC065036 0...

Страница 260: ...kup Recovery 2 On the left sidebar tap System diagnostics The System diagnostics page is displayed 3 If required in the File Name field edit the name of the file 4 To change the storage path in the Location field tap Browse and select the required path 5 Tap Save The file is saved in the selected location 260 Operating manual OmniCore 3HAC065036 001 Revision J Copyright 2019 2021 ABB All rights re...

Страница 261: ...70 error messages 54 Essential App Package 3120 2 38 expressions offs 228 positions 228 F File Explorer 41 files programs 101 filtering about 56 data types 56 files 56 programs 56 FlexPendant connecting disconnecting 230 hardware buttons 19 how to hold 21 51 left hander 21 main parts 17 overview 17 screen 29 forward button 19 H Hard buttons 19 hold to run 21 211 using 170 I I O changing values 238...

Страница 262: ...ary PIN code 65 positions about 83 exact 83 modifying 221 222 moving to 227 offset 228 reading 83 tuning 221 program data editing 132 program directory 101 program execution start button 20 programmable buttons editing 20 49 programmable keys editing 20 49 Program Package 3151 1 38 Program Pointer PP about 126 programs about files 101 handling of 101 multitasking 212 renaming 103 saving 102 starti...

Страница 263: ...out 138 calculation result 145 define 144 defining 145 measuring 146 TCP 138 working area variations 145 tool frame defining 141 methods 141 reorientation test 145 tool orientation 145 setting 81 tool orientation definition 81 tools aligning 91 creating 138 deleting 148 editing definitions 147 identifying loads 185 make stationary 149 selecting 81 setting up tool coordinate system 149 TPU connecti...

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Страница 266: ... 47 22 87 2000 ABB Engineering Shanghai Ltd Robotics Discrete Automation No 4528 Kangxin Highway PuDong District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics Discrete Automation 1250 Brown Road Auburn Hills MI 48326 USA Telephone 1 248 391 9000 abb com robotics 3HAC065036 001 Rev J en Copyright 2019 2021 ABB All rights reserved Specifications subject to change without notice ...

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