IRC5-Getting Started 3HAC021564-001, Rev D, En

Getting StartedFlexPendant and RobotStudioOnline

IRC5M2004

Getting Started

IRC5 and RobotStudioOnlineM2004

Document ID: 3HAC021564-001

Revision: D

The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual.

Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like.

In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein.

This manual and parts thereof must not be reproduced or copied without ABB's written permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted.

Additional copies of this manual may be obtained from ABB at its then current charge.

© Copyright 2005 ABB All right reserved.

ABB Automation Technologies AB Robotics

SE-721 68 Västerås Sweden

Table of Contents

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Safety Note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1 Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

1.1 Procedure for single robot systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91.2 Procedure for multi robot systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

2 General. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29

2.1 What you need to get the system started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292.2 What is a FlexPendant? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322.3 What is RobotStudioOnline? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372.4 What is RobotWare? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382.5 About the media pool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392.6 When to use the FlexPendant and RobotStudio Online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392.7 Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

3

Table of Contents

4

Overview

Overview

About This Manual

This manual is to be used when starting up the system for the very first time. It contains

excerpts from other documents included in the robot system delivery.

Usage

This manual contains instructions for starting up the IRC5 robot controller for the very first

time after the physical installation has been completed.

Who Should Read This Manual?

This manual is intended for:

• Commissioning personnel

Prerequisites

The reader should be familiar with...

• mechanically installing the robot hardware

• be trained in robot operation

The contents of the manual assumes all hardware (manipulator, controller and such) has been

installed correctly and connected to each other.

References

Reference Document ID

Product manual, procedures - IRC5 3HAC021313-001

Product manual, reference information - IRC5 3HAC021313-001

Operator's manual - IRC5 with FlexPendant 3HAC16590-1

Operator's manual - RobotStudioOnline 3HAC18236-1

Getting started - IRC5 and RobotStudioOnline 3HAC021564-001

Trouble shooting manual - IRC5 3HAC020738-001

Technical reference manual - System parameters 3HAC17076-1

Application Manual - MultiMove 3HAC021272-001

53HAC021564-001 Revision: D

Continues on next page

OverviewContinued

Revisions

Revision Description

- First edition

A Information has been added on new SMB functionality and Absolute Accuracy systems.

B Information about connecting controller to LAN removed. References to Operator's Manual, IRC5 and Product Manual, IRC 5 introduced instead

C Contents restructured and condensed. Procedures rewritten. Scope of information not changed.

D Calibration information for Absolute Accuracy systems has been changed.The order of actions in chapter 1 has been changed.

6 3HAC021564-001 Revision: D

Safety Note

Safety Note

General

Please note that there is no information regarding safety aspects in this manual!

In an effort to keep this manual short, there is no information regarding:

• safe handling and operation of the equipment

• generic reference information

• detailed procedures

This information may be found in the Product Manuals or the Operator's Manuals delivered

with the robot system.


Safety Note


1 Procedures1.1. Procedure for single robot systems

1 Procedures

1.1. Procedure for single robot systems

Description

This instruction is valid for IRC5 single robot systems.

xx0500001407

A single robot system contains either a controller with integrated Control and Drive Modules

or a Control Module to which one Drive Module is connected.

Procedure

Step Action Info/illustration

1. Mechanically install the robot and controller, and connect the electerical power and signal cables between them. Also connect the electrical power supply..

These procedures are detailed in the Product Manuals of robot and controller respectively.

2. Make sure any safety related connections are made correctly.

Refer to the work station wiring diagram.



1 Procedures1.1. Procedure for single robot systemsContinued

Install RobotStudioOnline on a PC

3. Connect the FlexPendant to the controller.

xx0400001042

Connection:• A: FlexPendant socket

connector

4. If the system is delivered with fully functional system software installed, proceed as detailed in section Power up on page 15

If no functional system software has been installed, please proceed below!

5. After connecting the FlexPendant, proceed with installing RobotStudioOnline.


Step Action

1. Insert the Robot's software CD in the PC.If a menu for the CD is opened automatically, continue with step 5If no menu for the CD is opened, continue with step 2

2. On the Start menu, click Run .

3. In the Open box, type the drive letter for your CD drive followed by:

:\launch.exe

Example: If your CD drive has the letter D, then type: D:\launch.exe

4. Click OK.

5. Select language for the CD menu.




Continued

Obtain a RobotStudioOnline license key

It is not vital to perform this step at this point, but after the 30 day demo period has expired,

you need to request a license key for each installation on a PC.

6. On the CD menu, click Install.

7. On the installation menu, click RobotStudioOnline . This opens the Installation wizard, which will guide you through the rest of the software installation

8. Follow the instructions in the Installation Wizard.

9. After installing RobotStudioOnline, proceed with obtaining a RobotStudioOnline license key if required.

NOTE that for a try-out period of 30 days, RobotStudioOnline will work without license key.

Step Action


1. On the Start menu, point to Programs, ABB Industrial IT, Robotics IT, Licensing and then select License Key Request Wizard.

2. Follow the instructions in the wizard and enter the requested information. When the wizard is completed, a license key request file is saved to a file on your PC.

The file is called LicenseKeyRequest-RobotStudio Online-unique number.txt, and it will be located on the desktop

3. Attach the license key request file to an E-mail and send it to [email protected].

A license key file will then be sent by E-mail to the E-mail address specified in the License request Wizard within a few minutes

The file must be attached to the E-mail (not copied into the body of the E-mail) and have the extension txt (as it is created), or the license key request will fail processing.

4. After obtaining a RobotStudioOnline license key, proceed with installing it.




Install the RobotStudioOnline license key

Configure and connect PC/network

The illustration below shows the two main ports on the controller's Computer Unit: the

Service Port and the LAN port. Make sure the LAN (factory network) is not connected to any

of the service ports!

xx0400001299


1. Detach the license key file from the e-mail and save it to a file on your PC.

For information about how to detach files from an e-mail, see the help for your e-mail program.

2. Double-click the license key fileThis will open the License Install Wizard

3. In the License Install Wizard, follow the instructions in the wizard

4. After installing the RobotStudioOnline license key, proceed with configuring and connecting a PC to the controller.

A Service port on the Control Module front

B Service port on computer unit (connected to Service port on the Control Module front through a cable)

C LAN port on computer unit (connects to factory LAN)




Continued

Create a system using RobotStudionOnline

Normally, no system will have to be created since one is already installed on delivery.

However, if for some reason this system does not work, a new system must be created and

loaded as outlined below.

A detailed procedure is given in the RobotStudioOnline Installation Manual.


1. Make sure the network setting on the PC to be connected is correct.

Refer to the system documentation for your PC, depending on the operating system you are running.The PC must be set to "Obtain an IP address automatically".

2. Use the delivered category 5 Ethernet crossover boot cable with RJ45 connectors.

The cable is delivered in the RobotWare product box.

3. Connect the crossover boot cable to the network port of your PC.

4. Connect the other end of the crossover boot cable to the service port.

The service port is shown in the figure above

5. After configuring and connecting a PC to the controller, proceed with creating a system if required.

NOTE that normally this step will not be required, since a system has already been installed.


1. Start RobotStudioOnline of the PC and go to the menu Tools and then System Builder.

2. Before creating a new system, make sure the following criteria are met:

• The RobotWare media pool must be installed on your PC.

• You must have a RobotWare key for the system, if the system is to run on a controller.

The RobotWare key is a license key that determines which robot models to use and which RobotWare options to run on the controller. It is located on the software CD delivered with the robot.




3. Select Create New...A wizard for creating new systems is started.

4. Follow the steps as outlined in the wizard in accordance with the illustration below:

en0200000057

5. After creating a system, proceed with powering up.





Continued

Power up


1. Switch the power to the Drive Module on.

en0400001017

• A: Drive Module main switch

2. Switch the power to the Control Module on.The system will now start up, which will take a couple of minutes.The system will be ready to operate when the FlexPendant displays the start window.If the system does not start up, or if the start window is not displayed, please proceed as detailed in the Trouble shooting manual, IRC5.

xx0400000978

• A: Control Module main switch

3. After switching the power on, proceed with loading calibration data.




Load calibration data

The calibration data is normally stored on the serial measurement board of each robot,

regardless of whether the robot runs an Absolute measurement system (AbsAcc) or not. This

data is normally transfered automatically to the controller when the system is powered up,

and in such cases no action is required by the operator.


1. Verify that the correct SMB data has been loaded into the system as detailed below:Using the FlexPendant, open the ABB menu, tap Calibration and then select a mechanical unit.

2. Tap SMB memory and then tap Show status.The data is displayed with status on the SMB and on the controller.If Valid is displayed under the headings Cabinet Memory and SMB memory, calibration data is correct.

3. If not, the data (on the SMB board or in the controller) must be replaced with the correct one as detailed below:

• If, for instance, the SMB board has been replaced, transfer data from controller to SMB board.

• If the controller has been replaced, transfer data from the SMB board to the controller.

Transfer data by tapping SMB Memory, Update... and then selecting which data to update.

4. After loading calibration data, proceed with updating the revolution counters.




Continued

Update revolution counters


1. Manually run each robot, using the joystick on the FlexPendant, to a position close to the calibration position.

The calibration position of each axis is indicated by the calibration marks.

2. After positioning all axes within the scale indicated by the calibration marks, store the revolution counter settings.Using the FlexPendant, open the ABB menu, tap Calibration. Select the mechanical unit to be calibrated. Tap Update revolution counters... and follow the instructions provided.

Caution!If a revolution counter is incorrectly updated, it will cause incorrect robot positioning, which in turn may cause damage or injury!

Check the calibration position very carefully after each update.


1 Procedures1.2. Procedure for multi robot systems

1.2. Procedure for multi robot systems

Description

This instruction is valid for IRC5 multi robot systems, i.e. systems using the MultiMove

option.

xx0400001042

A MultiMove robot system contains either an integrated Control and Drive Module or a

separate Control Module (as shown in the illustration above) to which a number of Drive

Modules (one for each robot being run by the system) have been connected. Up to four robots

may be operated by a MultiMove system.

NOTE!

All multi robot systems are delivered configured as single robot systems. In order to be fully

functional as multi robot systems, these systems must be re-configured.

How to perform this is detailed in the RobotStudioOnline Installation Manual.




Continued

Procedure


1. Mechanically install the robots and controller, and connect the electerical power and signal cables between them. Also connect the electrical power supply.

These procedures are detailed in the Product Manuals of robot and controller respectively

2. Connect the Ethernet cables from each Drive Module to the Control Module Ethernet card.Make sure the drive units are connected in the correct order! The order must correspond to the order in which the key strings are entered when creating the system.

xx0400001141

Connections:

• A: Robot communication card• B: Ethernet card• C: Ethernet connection to drive

module #1 (connected on delivery)• D: Ethernet connection to drive

module #2• E: Ethernet connection to drive

module #3• F: Ethernet connection to drive

module #4



1 Procedures1.2. Procedure for multi robot systemsContinued

3. Before connecting the safety signal cables, remove jumpers from connectors X7, X8, X14 and X17 as required by the number of drive modules to connect.Connect the safety signal cables from each Drive Module to the Control Module Panel Board as shown in the figure.

xx0400001295

Connections:

• X7: safety signal cable to drive module #1(connected on delivery)

• X8: safety signal cable to drive module #2



4. Make sure any safety related connections are made correctly.

Refer to the work station wiring diagram.

5. Connect the FlexPendant to the controller.

xx0400000729

Connection:• A: FlexPendant socket connector





Continued

Install RobotStudioOnline on a PC

6. If the system is delivered with fully functional system software, proceed as detailed in section Power up on page 26

If no functional system software has been installed, please proceed below!

7. After connecting the FlexPendant, proceed with installing RobotStudioOnline.


Step Action

1. Insert the Robot's software CD in the PC.If a menu for the CD is opened automatically, continue with step 5If no menu for the CD is opened, continue with step 2

2. On the Start menu, click Run

3. In the Open box, type the drive letter for your CD drive followed by:

:\launch.exe

Example: If your CD drive has the letter D, then type: D:\launch.exe

4. Click OK.

5. Select language for the CD menu.

6. On the CD menu, click Install.

7. On the installation menu, click RobotStudioOnline . This opens the Installation wizard, which will guide you through the rest of the software installation

8. Follow the instructions in the Installation Wizard.

9. After installing RobotStudioOnline, proceed with obtaining a RobotStudioOnline license key if required.

NOTE that for a try-out period of 30 days, RobotStudioOnline will work without license key.




Obtain a RobotStudioOnline license key

After the demo period has expired, you need to request a license key for each installation on

a PC.

Install the RobotStudioOnline license key


1. On the Start menu, point to Programs, ABB Industrial IT, Robotics IT, Licensing and then select License Key Request Wizard.

2. Follow the instructions in the wizard and enter the requested information. When the wizard is completed, a license key request file is saved to a file on your PC.

The file is called LicenseKeyRequest-RobotStudio Online-unique number.txt, and it will be located on the desktop

3. Attach the license key request file to an E-mail and send it to [email protected]. A license key file will then be sent by E-mail to the E-mail address specified in the License request Wizard within a few minutes

The file must be attached to the E-mail (not copied into the body of the E-mail) and have the extension txt (as it is created), or the license key request will fail processing.

4. After obtaining a RobotStudioOnline license key, proceed with installing it.


1. Detach the license key file from the e-mail and save it to a file on your PC.

For information about how to detach files from an e-mail, see the help for your e-mail program.

2. Double-click the license key fileThis will open the License Install Wizard

3. In the License Install Wizard, follow the instructions in the wizard.

4. After installing the RobotStudioOnline license key, proceed with configuring and connecting a PC to the controller.




Continued

Configure and connect PC/network

The illustration below shows the two main ports on the computer unit: the Service Port and

the LAN port. Make sure the LAN (factory network) is not connected to any of the service

ports!

xx0400001299

A Service port on the Control Module front

B Service port on computer unit (connected to Service port on the Control Module front through a cable)

C LAN port on computer unit (connects to factory LAN)


1. Make sure the network setting on the PC to be connected is correct.

Refer to the system documentation for your PC, depending on the operating system you are running.The PC must be set to "Obtain an IP address automatically".

2. Use the delivered category 5 Ethernet crossover boot cable with RJ45 connectors.

The cable is delivered in the RobotWare product box.

3. Connect the crossover boot cable to the network port of your PC.




Create a system using RobotStudioOnline

All multi robot systems (featuring the MultiMove option) are delivered as single robot

systems, i.e. the system loaded into the memory only defines a single robot!

To be able to use all robots (i.e. activate the MultiMove option), a new system, defining more

than one robot, must be created and loaded as detailed below.

Detailed procedures are given in the RobotStudioOnline Installation Manual and Application

Manual - MultiMove.

4. Connect the other end of the crossover boot cable to the service port.

The service port is shown in the figure above.

5. After configuring and connecting a PC to the controller, proceed with creating a system if the system is to be run as a multi robot system.



1. Start RobotStudioOnline of the PC and go to the menu Tools and then System Builder.

2. Before creating a new system, make sure the following criteria are met:

• The RobotWare media pool must be installed on your PC.

• You must have a RobotWare key for the system, if the system is to run on a controller.

The RobotWare key is a license key that determines which robot models to use and which RobotWare options to run on the controller. It is located on the software CD delivered with the robot.

3. Select Create New.A wizard for creating new systems is started.




Continued

4. Follow the steps as outlined in the wizard in accordance with the illustration below:

en0200000057

5. After creating a system, proceed with powering up.





Power up


1. Switch the power to the Drive Module on.

en0400001017

• A: Drive Module main switch

2. Make sure all Drive Modules are switched ON.

3. Switch the power to the Control Module on.The system will now start up, which will take a couple of minutes.The system will be ready to operate when the FlexPendant displays the start window.If the system does not start up, or if the start window is not displayed, please proceed as detailed in the Trouble shooting manual, IRC5.

xx0400000978

• A: Control Module main switch

4. After switching the power on, proceed with loading calibration data.




Continued

Load calibration data

The calibration data is normally stored on the serial measurement board of each robot,

regardless of whether the robot runs an Absolute measurement system (AbsAcc) or not. This

data is normally transfered automatically to the controller when the system is powered up,

and in such cases no action is required by the operator.


1. Verify that the correct SMB data has been loaded into the system as detailed below:Using the FlexPendant, open the ABB menu, tap Calibration and then select a mechanical unit.

2. Tap SMB memory and then tap Show status.The data is displayed with status on the SMB and on the controller.If Valid is displayed under the headings Cabinet Memory and SMB memory, calibration data is correct.

3. If not, the data (on the SMB board or in the controller) must be replaced with the correct one as detailed below:

• If, for instance, the SMB board has been replaced, transfer data from controller to SMB board.

• If the controller has been replaced, transfer data from the SMB board to the controller.

Transfer data by tapping SMB Memory, Update... and then selecting which data to update.

4. After loading calibration data, proceed with updating the revolution counters.




Update revolution counters


1. Manually run each robot, using the joystick on the FlexPendant, to a position close to the calibration position.

The calibration position of each axis is indicated by the calibration marks.

2. After positioning all axes within the scale indicated by the calibration marks, store the revolution counter settings.Using the FlexPendant, open the ABB menu, tap Calibration. Select the mechanical unit to be calibrated. Tap Update revolution counters... and follow the instructions provided.

Caution!If a revolution counter is incorrectly updated, it will cause incorrect robot positioning, which in turn may cause damage or injury!Check the calibration position very carefully after each update.


2 General2.1. What you need to get the system started

2 General

2.1. What you need to get the system started

Illustration

The illustration depicts, in a schematical way, the delivered parts, the software tools to install

them and the basic work flow.

en0400000766



2 General2.1. What you need to get the system startedContinued

Parts

Part Description Described in:

A Manipulator (a generic model shown) Documents specified in section Product documentation, M2004 on page 42.

B1 Control Module, IRC5, containing the control electronics of the robot system.

Documents specified in section Product documentation, M2004 on page 42.

B2 Drive Module, IRC5, containing the power electronics of the robot system.


C RobotWare CD containing all robot software specified in section What is RobotWare? on page 38What is RobotWare? on page 38.

D Documentation CD Containing documentation files as specified in section Product documentation, M2004 on page 42.

E Robot system software being run by the robot controller. The system has been loaded into the controller from the server on the local area network.


F RobotStudioOnline PC software installed on PC x. RobotStudioOnline is used for loading the RobotWare software to the server as well as configuring the robot system and then loading the complete robot system into the robot controller.

RobotStudioOnline is used to perform tasks as defined in section When to use the FlexPendant and RobotStudio Online on page 39.

Documents specified in section Product documentation, M2004 on page 42 and in section What is RobotStudioOnline? on page 37

G Calibration data diskette for systems running the Absolute Accuracy option only. Calibration data for systems without this option is normally delivered on the Serial Measurement Board (SMB).



2 General2.1. What you need to get the system started

Continued

H FlexPendant, which is connected to the controller, is used to perform tasks as defined in section When to use the FlexPendant and RobotStudio Online on page 39.

Documents specified in section Product documentation, M2004 on page 42Product documentation, M2004 on page 42.

J Server on network (not included in the delivery). This may be used for manually storing:

• RobotWare

• complete robot systems• documentation files

In this context, the server may be considered as a storage unit used by the PC x, and may even be the same unit!The server may be disconnected when not transferring data between the server and controller!

PC K The server may be used for:• all RobotWare software may be manually

stored using the PC and RobotStudioOnline

• complete configured system files may be manually stored after being created using the portable PC

• all robot documentation files may be manually stored after being installed using the portable PC and RobotStudioOnline

In this context, the server may be considered as a storage unit used by the portable PC.

M RobotWare license key. The original key strings are printed on a papers (one for the Control Module and one for the Drive Module) delivered inside the drive module.If ordered, the RobotWare license key is installed on delivery, so no further actions are required to get the system running.




2 General2.2. What is a FlexPendant?Continued

2.2. What is a FlexPendant?

Description of FlexPendant

The FlexPendant (occasionally called TPU, or teach pendant unit) is a device for handling

many of the functions involved with operating the robot system; running programs, jogging

the manipulator, producing and editing application programs, etc.

The FlexPendant consists of both hardware, such as buttons and joystick, and software. The

FlexPendant is connected to the controller module through an integrated cable and connector.

NOTE that specific functions may not be performed using the FlexPendant, but only through

RobotStudioOnline . How to perform these are specified in Operator's manual - RobotStudio

Online.

N Serial Measurement board (SMB) handling resolver data and storing calibration data. For systems not running the Absolute Accuracy option, the calibration data is stored on the SMB on delivery.

PC x PC (not included in the delivery), may even be the same unit as the server J, shown above!The PC may be disconnected when not transferring data between the server and controller!




2 General2.2. What is a FlexPendant?

Continued

Main parts

These are the main parts on the FlexPendant.

en0300000586

A Connector

B Touch screen

C Emergency stop button

D Enabling device

E Joystick

F Hold-to-run buttons (not included in all systems)




Hardware buttons

There are a number of dedicated hardware buttons on the FlexPendant. Four of them are

programmable and four are pre-programmed.

en0300000587

A Programmable key 1. How to define its function is detailed in section Programmable keys in Operator's manual - IRC5 with FlexPendant.

B Programmable key 2. How to define its function is detailed in section Programmable keys in Operator's manual - IRC5 with FlexPendant.

C Programmable key 3. How to define its function is detailed in section Programmable keys in Operator's manual - IRC5 with FlexPendant.

D Programmable key 4. How to define its function is detailed in section Programmable keys in Operator's manual - IRC5 with FlexPendant.

E START button. Starts program execution. In systems without hold-to-run buttons, the Start button is also used for the hold-to-run function.

F Step BACKWARD button. Steps the program one instruction backwards. In systems without hold-to-run buttons, the Backward button is also used for the hold-to-run function.

G Step FORWARD button. Steps the program one instruction forwards. In systems without hold-to-run buttons, the Forward button is also used for the hold-to-run function.

H STOP button. Stops the program execution.



2 General2.2. What is a FlexPendant?

Continued

Touch screen elements

The illustration shows the touch screen elements of the FlexPendant touch screen.

en0300000588

A ABB menu

B Status bar

C ClientView

D Close button

E Task bar

F Quickset menu




ABB menu

The ABB menu contains programs, configurations, and applications. This is described in

section The ABB menu in Operator's manual - IRC5 with FlexPendant.

Status bar

The Status bar displays information about the system and messages. This is described in

section Status bar in Operator's manual - IRC5 with FlexPendant.

ClientView

The ClientView is the main area for displaying all available functions, this is where

applications are displayed and used.

Close button

Tapping the close button closes the presently open view or application.

Task bar

The Task bar displays all open views and applications.

Quickset menu

The Quickset menu contains shortcuts to jogging and settings. This is described in section

The Quickset menu in Operator's manual - IRC5 with FlexPendant.



2 General2.3. What is RobotStudioOnline?

Continued

Left and right handheld

The FlexPendant is set to left handheld on delivery. This can easily be changed to right

handheld and back again whenever required.

en0400000913

2.3. What is RobotStudioOnline?

Overview

RobotStudioOnline is a PC software with which you work with robots, as a complement to

working from the FlexPendant. RobotStudioOnline is optimized for text based programming

(suitable for programs with lot of logic or complex structure) and tasks related to managing

the robot's system.

RobotStudioOnline can be installed on an ordinary computer running Windows 2000 or later.

This computer can then be connected to one or several controllers by an Ethernet network,

or to one single controller by the controller's service port connection.



2 General2.4. What is RobotWare?Continued

RobotStudioOnline functionality

The main entry to the functionality of RobotStudioOnline is a robot view explorer. From this

you select which robot to work with, in case you have several robots installed, and what parts

of the system you want to work with.

RobotStudioOnline contains:

• The System Builder for creating, installing and maintaining systems.

• A configuration editor for editing the system parameters of the running system.

• A program editor for online programming.

• An event recorder for recording and monitoring robot events.

• Tools for backing up and restoring systems.

• An administration tool for User Authorization.

• Other tools for viewing and handling controller and system properties.

2.4. What is RobotWare?

Concept

RobotWare is a generic term for all software to be installed in the robot system designed to

operate the robot.

RobotWare is installed and stored in the Media Pool folder on a PC/server. The media pool

is described in section About the media pool on page 39.

RobotWare is delivered on a CD and this contains software for all available models, options

and such.

However, a RobotWare license key, required to access the software, is delivered:

• on a diskette

• as a character string printed on a piece of paper delivered with the controller cabinet.

When adding functionality at a later date, a new license key is required to access the

functions. The key is available from your local ABB representative.


2 General2.5. About the media pool

2.5. About the media pool

Overview

The media pool is a folder on your PC that contains the RobotWare software. It is from the

media pool you select programs and options when building systems.

The default media pool

If RobotWare is installed with default settings on the PC, the default media pool is located

in the C:\Program Files\ABB Industrial IT\Robotics IT folder.

Customized media pools

You can create customized media pools by creating new folders to which you copy

RobotWare files from existing media pools. You can also update or modify a media pool by

importing new parts of RobotWare using the Import System Tool in RobotStudioOnline.

In RobotStudioOnline, you then choose which media pool to use when creating new systems.

2.6. When to use the FlexPendant and RobotStudio Online

Overview

For operating and managing the robot, you either use the FlexPendant or RobotStudioOnline.

The FlexPendant is optimized for handling robot motions and ordinary operation, and

RobotStudioOnline is optimized for configuration, programming and other tasks not related to

the daily operation.

Start, restart and shut down the controller

To... Use...

Start the controller. The power switch on the controller's front panel .

Restart the controller. The FlexPendant, RobotStudio Online or the power switch on the controller's front panel .

Shut down the controller. The power switch on the controller's front panel.



2 General2.6. When to use the FlexPendant and RobotStudio OnlineContinued

Run and control robot programs

Communicate with the controller

Program a robot

To... Use...

Jog a robot. The FlexPendant

Start or stop a robot program. The FlexPendant

To... Use...

Acknowledge events. The FlexPendant.

View and save the controller's event logs. RobotStudio Online or the FlexPendant.

Back up the controller's software to files on the PC or a server. RobotStudio Online or the FlexPendant.

Back up the controller's software to files on the controller The FlexPendant.

Transfer files between the controller and network drives. RobotStudio Online or the FlexPendant.

To... Use...

Create or edit robot programs in a flexible way. This is suitable for complex programs with a lot of logic, I/O signals or action instructions.

RobotStudio Online to create the program's structure and most of the source code and the FlexPendant to store robot positions and make final adjustments to the program.When programming, RobotStudioOnline provides the following advantages:

• A text editor optimized for RAPID code, with auto-text and tool-tip information about instructions and parameters.

• Program check with program error marking.• Close access to configuration and I/O editing.



2 General2.6. When to use the FlexPendant and RobotStudio Online

Continued

Configure the robot's system parameters

Create, modify and install systems

Create or edit a robot program in a supportive way. This is suitable for programs that mostly consist of move instructions.

The FlexPendant.When programming, the FlexPendant provides the following advantages:

• Instruction pick lists• Program check and debug while writing• Possibility to create robot positions while

programming

Add or edit robot positions. The FlexPendant.

Modify robot positions. The FlexPendant.

To... Use...

Edit the system parameters of the running system.

RobotStudio Online or the FlexPendant

Save the robot's system parameters as configuration files.


Load system parameters from configuration files to the running system.


Load calibration data. RobotStudio Online or the FlexPendant

To... Use...

Create or modify a system. RobotStudio Online together with RobotWare and a valid RobotWare Key.

Install a system on a controller. RobotStudio Online

Install a system on a controller from a USB memory.

The FlexPendant.



2 General2.7. Product documentation, M2004Continued

Calibration

Related informationThe table below specifies which manuals to read, when performing the various tasks referred to:

2.7. Product documentation, M2004

General

The robot documentation may be divided into a number of categories. This listing is based on

the type of information contained within the documents, regardless of whether the products

are standard or optional. This means that any given delivery of robot products will not contain

all documents listed, only the ones pertaining to the equipment delivered.

However, all documents listed may be ordered from ABB. The documents listed are valid for

M2004 robot systems.

To... Use...

Calibrate base frame etc. The FlexPendant

Calibrate tools, work objects etc. The FlexPendant

Recommended use... for details, see manual... Document number

FlexPendant Operator's manual - IRC5 with FlexPendant

3HAC 16590-1

RobotStudio Online Operator's manual - RobotStudio Online

3HAC 18236-1



2 General2.7. Product documentation, M2004

Continued

Hardware manuals

All hardware, robots and controller cabinets, will be delivered with a Product manual which

is divided into two parts:

Product manual, procedures

• Safety information

• Installation and commissioning (descriptions of mechanical installation, electrical

connections and loading system software)

• Maintenance (descriptions of all required preventive maintenance procedures

including intervals)

• Repair (descriptions of all recommended repair procedures including spare parts)

• Additional procedures, if any (calibration, decommissioning)

Product manual, reference information

• Reference information (article numbers for documentation referred to in Product

manual, procedures, lists of tools, safety standards)

• Part list

• Foldouts or exploded views

• Circuit diagrams

RobotWare manuals

The following manuals describe the robot software in general and contain relevant reference

information:

• RAPID Overview: An overview of the RAPID programming language.

• RAPID reference manual part 1: Description of all RAPID instructions.

• RAPID reference manual part 2: Description of all RAPID functions and data types.

• Technical reference manual - System parameters: Description of system

parameters and configuration workflows.



2 General2.7. Product documentation, M2004Continued

Application manuals

Specific applications (e.g. software or hardware options) are described in Application manuals. An application manual can describe one or several applications.

An application manual generally contains information about:

• The purpose of the application (what it does and when it is useful)

• What is included (e.g. cables, I/O boards, RAPID instructions, system parameters)

• How to use the application

• Examples of how to use the application

Operator's manuals

This group of manuals is aimed at those having first hand operational contact with the robot,

i.e. production cell operators, programmers and trouble shooters. The group of manuals

include:

• Getting started - IRC5 and RobotStudio Online

• Operator's manual - IRC5 with FlexPendant

• Operator's manual - RobotStudio Online

• Trouble shooting manual for the controller and robot


Index

Bbackward button 34

Cclient view 35close button 35connector 33control tools, overview 39

Eemergency stop button

FlexPendant 33enabling device 33Ethernet 13, 23

FFlexPendant 32

hardware buttons 34how to hold 37main parts 33screen 35

forward button 34

Hhold-to-run button 33

Jjoystick 33

MMedia Pool, about 39

Pprogram execution start button 34

RRobotWare, about the media pool 39RobotWare, what is? 38run button 34

Sstart button 34stop button 34

Tteach pendant unit 32

tool, overview control tools 39touch screen 35TPU 32

45

Index

46

IRC5-Getting Started 3HAC021564-001, Rev D, En

Documents

touch screen elements

serial measurement board

absolute accuracy option

headings cabinet memory

absolute accuracy systems

crossover boot cable

ip address automatically

absolute measurement system