ABB Robotics Operating manual RobotStudio

1 ABB Robotics Operating manual RobotStudio Operating manual RobotStudio Document ID: 3 HAC032104-001. Revision: D. Copyright 2008-2010 ABB. All rights reserved. The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual . Except as may be expressly stated anywhere in this manual , nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like. In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein.

2 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 2008-2010 ABB. All rights reserved. Copyright 2008-2010 ABB All rights reserved. ABB AB. Robotics Products SE-721 68 V ster s Sweden Table of Contents Overview .. 9. Product documentation, M2004 .. 12. Safety .. 14. 1 Introduction 15. Terms and Concepts.. 15. Hardware concepts .. 15. RobotWare concepts.. 17. RAPID concepts .. 19. Concepts of programming .. 20.

3 Targets and paths .. 21. Coordinate systems.. 22. Robot axis configurations.. 24. Libraries, geometries and CAD files .. 26. VSTA as the IDE .. 29. Installing and Licensing RobotStudio .. 30. The Graphical User Interface .. 33. The Graphical User Interface .. 33. The Getting Started window.. 34. The Layout browser .. 35. The Paths & Targets browser .. 36. The Modeling browser .. 38. The Offline and Online browsers .. 39. The Output window .. 42. The Operator Window .. 45. The Document Manager window .. 47. Using a mouse .. 54. Selecting an item .. 55. Attaching and detaching objects.. 56. Keyboard shortcuts .. 57. 2 How to build stations 61. Workflow for building a new station.

4 61. Setting up a conveyor tracking station with two robots working on the same conveyor .. 63. Two robot systems sharing the same task frame position .. 63. Copyright 2008-2010 ABB. All rights reserved. Two robot systems having different task frame positions.. 65. Creating a system with external axes automatically .. 67. Manually setting up a system with track motion .. 69. Setting up a system with track motion of type RTT or IRBTx003 manually .. 69. Setting up a system with track motion of type IRBTx004 manually .. 70. The VC .. 71. Starting a VC .. 71. Restarting a VC .. 73. Station components .. 75. Importing a station component.. 75. Converting CAD formats .. 77. Troubleshooting and optimizing geometries.

5 78. Modeling .. 80. Objects .. 80. Mechanisms .. 82. Tools and tooldata .. 83. Setting the local origin of an object .. 84. 3 HAC032104-001 Revision: D 3. Table of Contents Placement .. 85. Placing objects .. 85. Placing external axes .. 86. Placing robots.. 88. 3 How to program robots 91. Workflow for programming a robot.. 91. Workobjects .. 92. Jogging mechanisms .. 93. Targets .. 94. Paths .. 96. Orientations .. 99. RAPID Instructions .. 102. Testing positions and motions .. 108. Programming MultiMove systems.. 110. About programming MultiMove .. 110. Setting up the MultiMove .. 112. Testing the MultiMove.. 113. Tuning the motion behavior .. 114. Creating paths.. 116. Programming external axes.

6 117. Loading and saving programs and modules.. 119. Synchronization .. 120. Using the RAPID editor .. 121. 4 How to simulate programs 125. Simulation Overview .. 125. Detecting collisions .. 127. Creating an event .. 130. Simulating I/O signals .. 131. Enabling simulation monitoring.. 132. Measuring process time .. 133. 5 Deployment and distribution 135. Copying programs .. 135. Copyright 2008-2010 ABB. All rights reserved. Pack & Go / Unpack & Work .. 136. Screen Capture .. 137. 6 Working online 139. Connecting a PC to the service port .. 139. Network settings.. 141. User Authorization .. 143. The System Builder .. 145. System Builder Overview .. 145. Viewing system properties.

7 147. Building a new system .. 148. Modifying a system .. 152. Copying a system .. 156. Creating a system from backup .. 157. Downloading a system to a controller .. 158. Creating boot media .. 159. 4 3 HAC032104-001 Revision: D. Table of Contents Examples using the System Builder Offline.. 160. A MultiMove system with two coordinated robots.. 160. A system with support for one robot and one positioner external axis .. 162. Options settings for systems with positioners .. 164. Handle I/O .. 165. Configure systems .. 166. Handle events .. 171. RAPID Watch Online.. 174. 7 The Application Menu 175. Overview .. 175. New Station .. 176. Screenshot.. 177. Pack & Go .. 178. Unpack & Work.

8 179. Station Viewer .. 180. RobotStudio Options .. 182. 8 The Home Tab 189. Overview .. 189. ABB Library .. 190. Import Library .. 191. Robot System .. 192. Import Geometry .. 195. Frame .. 196. Frame .. 196. Frame from Three Points .. 197. Workobject .. 199. Tooldata .. 200. Target .. 201. Teach Target .. 201. Create Target .. 202. Create Jointtarget .. 204. Create Targets on Edge .. 205. Empty Path .. 207. Copyright 2008-2010 ABB. All rights reserved. Path from Curve .. 208. MultiMove .. 211. Teach Instruction .. 219. Move Instruction.. 220. Action Instruction .. 221. Instruction Template Manager .. 222. The Freehand Group.. 225. Move.. 225. Rotate .. 226. Jog Joint .. 227. Jog Linear.

9 228. MultiRobot Jog .. 229. Viewpoint .. 230. 9 The Modeling Tab 233. Overview .. 233. Component Group .. 234. Empty Part .. 235. 3 HAC032104-001 Revision: D 5. Table of Contents Smart Component.. 236. Smart Component.. 236. Smart Component Editor .. 237. The Compose tab .. 238. The Properties and Bindings tab .. 241. The Signals and Connections tab .. 244. The View tab .. 247. Basic Smart Components .. 248. Property Editor .. 265. The Simulation Watch window .. 266. Solid .. 268. Surface .. 272. Curve .. 274. Border.. 279. Intersect .. 281. Subtract.. 282. Union .. 283. Extrude Surface or Curve.. 284. Line from Normal.. 285. The Measure Group .. 286. Create Mechanism .. 287. Create Tool.

10 293. 10 The Simulation Tab 295. Overview .. 295. Create Collision Set .. 296. Simulation Setup .. 297. Event Manager .. 298. Station Logic .. 304. Activate Mechanical Units .. 305. Simulation Control .. 306. I/O Simulator .. 307. Monitor.. 309. Record Movie.. 310. Conveyor Tracking Mechanism.. 311. Conveyor Tracking.. 311. Conveyor Simulation .. 312 Copyright 2008-2010 ABB. All rights reserved. 11 The Online and Offline Tabs 313. Overview .. 313. Common features in Online and Offline tabs.. 314. Events.. 314. RAPID editor .. 316. RAPID File Management .. 318. New Module .. 318. Load Module.. 319. Save Module As .. 320. Load Program .. 321. Save Program As.. 322. Rapid Tasks .. 323.