Release Notes RW 6.00.01

May 21, 2018 | Author: Pere Pau | Category: Network Socket, Parameter (Computer Programming), Robot, Technology, Graphical User Interfaces
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ABB RoboticsPRU Title Ref SEROP Release Notes RW 6.00.01 RP6.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6.00.01.doc 1/34 Author, telephone Anders Trillkott, +46 21 344863 Table of Content TABLE OF CONTENT ........................................................................................................................................... 1 GENERAL ............................................................................................................................................................. 2 How to Migrate an Application from RW5.1x to RW 6.0................................................................................................ 2 How to Migrate an Application from RW5.6x to RW 6.0................................................................................................ 2 RELEASE INFORMATION..................................................................................................................................... 3 Release Name .................................................................................................................................................................... 3 Release Date...................................................................................................................................................................... 3 Ordering number.............................................................................................................................................................. 3 Documentation .................................................................................................................................................................. 3 Controller Hardware Support.......................................................................................................................................... 4 Restrictions in Controller Hardware Support ................................................................................................................. 5 Manipulator Support........................................................................................................................................................ 5 Language Support ............................................................................................................................................................ 6 Incompatibility RW 6.0 .................................................................................................................................................... 7 Incompatibility RW 6.00.01............................................................................................................................................ 10 New Functionality RW 6.0.............................................................................................................................................. 11 Improvements RW 6.0.................................................................................................................................................... 18 Improvements RW 6.00.01 ............................................................................................................................................. 22 Information / Corrections RW 6.0 ................................................................................................................................. 23 Information / Corrections RW 6.00.01 ........................................................................................................................... 31 Product Defect Document RW 6.0 PDD ................................................................................................................ 33 Product Defect Document RW 6.00.01 PDD ............................................................................................................... 34 ABB Robotics PRU Title Ref SEROP Release Notes RW 6.00.01 RP6.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6.00.01.doc 2/34 Author, telephone Anders Trillkott, +46 21 344863 General How to Migrate an Application from RW5.1x to RW 6.0 · Technote_140908_RobotWare 6 Contact local ABB for further information if needed. How to Migrate an Application from RW5.6x to RW 6.0 · Migration Guide in RobotStudio 6.x · Migration Tool in RobotStudio 6.x · License tool in RobotStudio 6.x · Technote_140908_RobotWare 6 Contact local ABB for further information if needed. ABB Robotics PRU Title Ref SEROP Release Notes RW 6.00.01 RP6.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6.00.01.doc 3/34 Author, telephone Anders Trillkott, +46 21 344863 Release Information The information should be considered as last minutes information and most up-to-date. For more information please visit Robot Release Information (RRI) Homepage: RRI Release Name The release name is RobotWare 6.00.01 The release contains following: · RobotWare 6.00.01 build 1211 · RobotStudio 6.00.01 Release Date Release date 2015-01-23 Ordering number RobotWare 6.0: 3HAC052368-001 Rev A Documentation See Release Notes on documentation DVD: 3HAC052153-001 DeviceNet slave Option 840-4 § SoftWare solution § EtherNet/IP m/s Option 841-1 § Profinet m/s Option 888-2 § Profinet slave Option 888-3 § Serial ports (RS232) § DSQC1003. ProfiBus master – 1 channel Option 969-1 § Fieldbus adapters (HMS-module) § DSQC669.ABB Robotics PRU Title Ref SEROP Release Notes RW 6. DeviceNet Master/Slave – 1 channel Option 709-1 § DSQC1005.) .01 RP6.doc 4/34 Author. ProfiNet slave Option 840-3 § DSQC1004. +46 21 344863 Controller Hardware Support § Main computer unit: § DSQC1000 § Flexpandant unit: § SxTPU3 § Drivesystem: § DriveSystem 09 § PCI-express boards § DSQC1006.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. RS232 – 1 (2) channel Option 970-1 (COM1 free / COM2 is console output.01. telephone Anders Trillkott. EtherNet/IP slave Option 840-1 § DSQC667.00. ProfiBus slave Option 840-2 § DSQC668.00. ABB Robotics PRU Title Ref SEROP Release Notes RW 6.doc 5/34 Author.01.00.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6.00. +46 21 344863 Restrictions in Controller Hardware Support See Technote_140908_RobotWare 6 See Technote_130415_new_main_computer Manipulator Support See Technote_130415_new_main_computer . telephone Anders Trillkott.01 RP6. Printing error text from RAPID (instruction ErrWrite) does not work .doc 6/34 Author.ABB Robotics PRU Title Ref SEROP Release Notes RW 6.01 RP6.TPWrite. TPRead. · English · French · German · Spanish · Italian · Chinese (simplified Chinese. and TPPrint do not work – use English text. Korean. . mainland Chinese) 1) 2) · Portuguese (Brazilian Portuguese) 1) · Dutch 1) · Swedish 1) · 1) Danish · Czech 1) · 1) Hungarian · 1) Finnish · 1) 2) Korean · Japanese 1) 2) · Russian 1) 2) · Turkish 1) · Slovenian 1) Notes: 1) The language is only supported in the controller and Flex Pendant 2) The language support for Asian languages (Chinese. Japanese) and Russian has some specific limitations: .01.00. +46 21 344863 Language Support The following languages are supported in RobotWare. .use English text.00.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. telephone Anders Trillkott. However it is still possible to run spot instructions in MultiMove systems independently with option 604-2 MultiMove Independent. Two signals of the same type mapped on the same bit(s) are not allowed It is not possible anymore to have two signal of the same signal type configured on the same bit. Remove the Rapid data "equiprestartd" and "equipdata_gui". Remove the Rapid routine "dp_init_signals". This means that there could be some problems when restoring an old backup with some of the previous user modules. so the old module are no longer needed. old ActClose gun_num \Force:=curr_forcedata{gun_num}. The xml file is removed. If the data has been changed compared to the default setup.0 Analog Signals cannot overlap Digital Group signals or Digital Signals. curr_forcedata{gun_num}.00. telephone Anders Trillkott. but it needs to be tested and validated before taken into production. Dispense base improvements As part of simplifying the customizing process.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. Example: -Name "myDO1" -SignalType "DO" -Device "MyDev" -DeviceMap "0" -Name "myDO2" -SignalType "DO" -Device "MyDev" -DeviceMap "0 -Name "myGO1" -SignalType "GO" -Device "MyDev" -DeviceMap "0-7" -Name "myGO2" -SignalType "GO" -Device "MyDev" -DeviceMap "7-10" These will result in an event message error and the signals will be rejected. and is now a part of the base functionality. In RobotWare 6. This is not necessary any more.01 RP6.0 it was necessary to do changes in the routine "dp_init_signals" and corresponding changes also in an xml file (DispenseSystem. If dispense signals with other names than the default names are used. The number of parameters and arguments are now the same for all options. the module DPUSER has been simplified.g. an old version of DPUSER can still be used after some smaller adjustments: 1.00. For more information. this can now be easily configured in the PROC config. see the customizing chapter in the Dispense manual. pneu vs servo. Sync id switch in the spot instructions is removed The synchronization id switch in all spot instructions has been removed to simplify the instruction syntax and to reduce unnecessary complexity. e. new However the functionality in the swdefine module has been built in. with all Spot options. .01. +46 21 344863 Incompatibility RW 6. As standalone software options the combination Spot+MMS can be supplied on request in cooperation with R&D. However.sys.ABB Robotics PRU Title Ref SEROP Release Notes RW 6. Before 6.doc 7/34 Author. swdefine.0 Streamline the syntax of the Spot instructions. 2. Analog signals cannot overlap group signals In 6.xml). corresponding changes can be done in the PROC cfg. Therefor it is recommended to start from the new default version of DPUSER if customizing shall be done. Spot Pneu: ActClose gun_num.0 the spot instructions syntax has been streamlined. sys' is loaded into all motion tasks (AllMotionTask) and 'swuser. telephone Anders Trillkott. .mod module and create a new 'SW_SUPV' task if needed.doc 8/34 Author. The new internal service routines names are: ManualSpot (replaces ManSpot) ManualSetForce (replaces ManSetForce) ManualGunControl (replaces ManCloseGun and ManOpenGun) ManualCalib (replaces ManCalib) ManualServiceCalib (replaces ManServiceCalib) ManualForceCalib (replaces ManForceCalib) ManualGunSearch (replaces ManAddGunName) ManualGunPosition (replaces ManOpenHLift and ManCloseHLift) The supervision task module (SW_SUP) is now loaded internally and is not copied into the home/spot directory anymore.sys' are loaded into all tasks (AllTask). Depending upon the size set signals used from RAPID program must have the correct type assigned.sys' is no longer needed and has been removed from the spot options. The maximum size is 32 bits wide and can be set with the "Size" parameter in CFG. Simulated I/O signals The default the size of simulated (previously called virtual) I/O signals is set to 23 signals in RW6. It will still be possible to load an old module from 5. For 32 bits wide signals the DNUM arguments in the RAPID instructions must be used otherwise can faulty values be assigned to the signal. The same rule applies to the case where the signal had an explicit default value that differs from the groups implicit or explicit default value. The recommendation is however to migrate any custom code in the old user modules into the new modules to avoid problems.ABB Robotics PRU Title Ref SEROP Release Notes RW 6.00 overlapping groups and signals cannot have differing default values.00. This will cause a conflict when trying to load an old backup. This means that the user module 'swdefine.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. +46 21 344863 Overlapping groups and signals cannot have differing default values With the release of RW 6.01 RP6.sys a configuration parameter must be changed: Configuration/Process/Spot System .00.60 -> if needed.sys' and 'swuser. however it will still be possible to load an old swsup. Note that this will require that the 'MultiTasking' option is selected in the system.01. Example of overlapping signal with differing default values in CFG: "-Name "Slave_do1" -SignalType "DO" -Device "PN_Internal_Device" -DeviceMap "0"" "-Name "Slave_go_1" -SignalType "GO" -Device "PN_Internal_Device" -DeviceMap "0-7" -Default 255" The signal Slave_do1 has an implicit default value of "0" while the overlapping group has an explicit default value for the bit 0 set to "1".sys'. The new template user modules that are copied to the home/spot directory have the names 'swusrm.00. 'swusrm. To be able to run an old swdefusr. For 23 bit signals it is enough with NUM.SWUSRM -> SWDEFUSR. The correct way to do it is to explicitly define the default value of both the group and signal to the same value: "-Name "Slave_do1" -SignalType "DO" -Device "PN_Internal_Device" -DeviceMap "0" -Default 1" "-Name "Slave_go_1" -SignalType "GO" -Device "PN_Internal_Device" -DeviceMap "0-7" -Default 255" Service routines and supervision task The default service routines in spot have been made internal in order to reduce complexity and to simplify the user code.Motion task user module name . Installation Manager mismatching options (PDD3839) From 6.0 it is not possible any more to select or run more than one master option in the controller at the same time.00. .xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. This is limited by the installation manager. +46 21 344863 Use of 16 bits counters for advanced queue tracking Due to change in IO handling the function advanced queue tracking of DSC377 board will not work as in previous versions . A delay of 20 ms must be added in the interrupt attached to c1NewObjStrobe before reading c1CntFromEnc1 and c1CntFromEnc2 . telephone Anders Trillkott.00.ABB Robotics PRU Title Ref SEROP Release Notes RW 6.01 RP6.01. The installation manager license key file is not affected by this limitation.doc 9/34 Author. These can cause the scan cycle of the Profibus Master network to be too slow.01.02 is used with the DSQC 1005. Both the configuration tool PROFIBUS Configurator V.doc 10/34 Author. Profibus Segment. PB-PROI-PCIe. 1.01 RP6. 2. +46 21 344863 Incompatibility RW 6.73 and PROFIBUS Configurator V.73 for DSQC 687 and be used without changes for the DSQC 1005 .00. 1.. “conservative” default values are set for the DP-Master.ABB Robotics PRU Title Ref SEROP Release Notes RW 6.00 is too slow (PDD4436) When the PROFIBUS Configurator V. you may use the function “Calculate/Check.” (click the right mouse button on the Profibus Segment or CTRL+A). communication compared with default values when using the PROFIBUS Configurator V.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6.01 Scan cycle of the Profibus Master network in the robot in RW 6. This will calculate an optimized timing for the given configuration. 1.02 can be used to configure a PROFIBUS network handled by the PROFIBUS interface boards (DSQC 1005 and DSQC 687). telephone Anders Trillkott. The communication parameters can be optimized in the following way: After all devices residing in a segment are defined. 2. The two board types use the same binary configuration format so a binary file with a PROFIBUS configuration created with the PROFIBUS Configurator V.73.00.00.. TuneMaster for test signal logging A new version of TuneMaster has been added. This version can log test signals as TestSignalViewer does but has no limit for the log time (TestSignalViewer can only log 25s. . · Graphical visualization of the tools and the tool positions. is available starting with RW 6. For more information how to run the program see manual in the help. Monitored Axes Ranges and Monitored Tool Zones.00. Safety Tool Zones. TRANSMISSION and DRIVE_SYSTEM. telephone Anders Trillkott.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6.ABB Robotics PRU Title Ref SEROP Release Notes RW 6. RAPID instructions External guided motion (EGM) A new option. Externally Guided Motion (EGM). JOINT. allowing the user to configure the system to issue warnings instead of errors for SIS events. See the System Parameter Manual for a more detailed description.doc 11/34 Author.00.). Move PP to main via system input It is now possible to set pp to main in all tasks or one specified task via system inputs signals. the safety event log messages and the synchronization & brake check. Safety Axes Ranges. ROBOT_TYPE. which provides position data from outside motion control. This applies to positioners equipped with motor type A.0 CFG-data for external axes A number of system parameters have been moved from the encrypted part to the internal part of the MOC- configuration for external axis. · Executing of service routines for software synchronization. +46 21 344863 New Functionality RW 6. The option gives access to a set of RAPID instructions and RAPID data types that enable the user to move a robot by means of a device.01 RP6. SIS events A new setting Events as Warnings has been added to SIS.01. A description of all EGM RAPID instructions can be found in the technical reference manual "RAPID Instructions. SafeMove visualizer “SafeMove Visualizer” is a FlexPendant application which visualizes the SafeMove or EPS safety functions and provides the following features: · Visualization of the safety signals. The following system parameters have been moved: SINGLE_TYPE. See the SIS operating manual for more information. The option Robot Reference Interface (RRI) is replaced by EGM and EGM includes all functionality that RRI provided.00. Functions and Data types". when starting the application Log Signals can be selected. The EGM concept and functionality is described in the Application manual "Controller software IRC5" chapter "Engineering Tools". brake check and to move robot to its sync position. for users that chooses option Advanced Robot Motion. The pose can be defined in a work object for robots.A function to retrieve the current EGM state. .) rob1_low_speed_stiff_mode The user will also have the opportunity to change a number of parameters for each mode. +46 21 344863 External guided motion EGM is designed for advanced users and provides a low level interface to the robot controller.Low Speed High accuracy mode (process applications up to ~500mm/s) rob1_low_speed_accuracy_mode . IRB 1520.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. As an add-on it will. IRB 2600. every 4 ms with a control lag of 10–20 ms depending on the robot type. MotionProcessModeSet mode where mode can be OPTIMAL_CYCLE_TIME_MODE (corresponds to cfg rob1_optimal_cycle_time_mode ) LOW_SPEED_ACCURACY_MODE (corresponds to cfg rob1_low_speed_accuracy_mode) LOW_SPEED_STIFF_MODE (corresponds to cfg rob1_low_speed_stiff_mode ) .System parameters to configure EGM and set default values. For more information see the user's manual "Engineering Tools" chapter "Externally guided motion". IRB 6640. IRB 140.Instructions to initiate EGM movements and to stop them. Mounting Stiffness Factor is available for IRB 120. The new function Motion Process Modes will make it possible to choose between different pre-defined robot tunings to be able to adapt to the needs for various applications. . Mounting Stiffness Factor will be possible to tune from TuneMaster.doc 12/34 Author. The basic setting of parameters and choosing mode is included in RobotWare.01 RP6.Support of MultiMove and Absolute Accuracy. and reset EGM. It is a choice that user can do with changing parameter Use Motion Process Mode ( Motion Domain -> Robot ) There will be three pre-defined modes . Different processes can demand different motion settings for the robot. activate. Motion Process Modes Motion Process Modes.00. IRB 1600. EGM can be used to read positions from and write positions to the motion system at a high rate. by by- passing the path planning that can be used when high responsiveness to robot movements are needed. IRB 6700.00.ABB Robotics PRU Title Ref SEROP Release Notes RW 6. Another new feature is that user can tune and set Mounting Stiffness Factor that should describe the stiffness of the robot foundation. . IRB 6620 (not LX).Stiff Mode (Contact applications etc.01. This will increase robot performance in case the foundation that robot is mounted on is a bit flexible.Instructions to set up. IRB 4600. . be possible to change between these modes in runtime with a Rapid instruction. telephone Anders Trillkott.Optimal Cycle time mode (default) rob1_optimal_cycle_time_mode . The references can either be specified using joint values or a pose. IRB 1200. The RobotWare option Externally Guided Motion gives you access to: . telephone Anders Trillkott.Motion supervision).00.01. For more details see documentation: Chapter "Error recovery" in manual "RAPID kernel".CollisionErrorHandler" New info view in Spot GUI In this release a new information view has been added in the Spot GUI.g.ABB Robotics PRU Title Ref SEROP Release Notes RW 6. RAPID sockets with datagram protocol UDP Added support for RAPID sockets with connectionless communication with protocol UDP/IP with support for broadcast. SocketCreate instruction has been updated with new optional switch UDP. the functionality is deactivated for MultiMove. Spot application version and options info. to turn off processes. the deceleration is always performed before any RAPID code can be executed.’ .’ Syntax for SocketSendTo: SocketSendTo [ Socket ´:=´ ] < variable (VAR) of socketdev > [ RemoteAddress ’:=’ ] < expression (IN) of string > [ RemotePort ’:=’ ] < expression (IN) of num > [ \Str ´:=´ < expression (IN) of string > ] | [ \RawData ´:=´ < variable (VAR) of rawdata > ] | [ \Data ´:=´ < array {*} (IN) of byte > ] [ ’\’ NoOfBytes ´:=´ < expression (IN) of num > ] ’. SocketReceiveFrom and SocketSendTo. This is known as “Motion Error Handling”. After the collision. Misc. RobotWare version.00. If the system parameter collision Error Handler is defined the execution will enter the RAPID error handler after the deceleration and the execution can continue if all conditions for further execution are fulfilled.01 RP6. and the code in the error handler will start when the deceleration has finished.doc 13/34 Author. New syntax: SocketCreate [ Socket ’:=’ ] < variable (VAR) of socketdev > [ ’\’ UDP ] ’. Chapter: "Controller topic->General Rapid type. ’ Two new instructions added. And manual "System Parameters". Syntax for SocketReceiveFrom: SocketReceiveFrom [ Socket ’:=’ ] < variable (VAR) of socketdev > [ ’\’ Str’ :=’ < variable (VAR) of string > ] | [ ’\’ RawData ´:=´ < variable (VAR) of rawbytes > ] | [ ’\’ Data ´:=´ < array {*} (VAR) of byte > ] [ ’\’ NoRecBytes’ :=’ < variable (VAR) of num > ] [ RemoteAddress ’:=’ ] < variable (VAR) of string > [ RemotePort ’:=’ ] < variable (VAR) of num > [ ’\’ Time ´:=´ < expression (IN) of num > ] ’.00. In 6. information like system name. To separate collision errors from other RAPID errors. The “Stop Event Routine” will not start e. the errno variable is set to ERR_COLL_STOP. +46 21 344863 Motion Error Handler The RAPID execution does not have to stop when a collision occurs (event number 50204.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. +46 21 344863 New RAPID function GetMotorTorque New RAPID function GetMotorTorque has been added.01 RP6. but the orientation of the tool will deviate if the position was not programmed with axis 4 at zero or +-180 degrees. The component sing of singdata has been updated with a new Boolean component lockaxis4. MoveJAO and MoveLAO can be used to set analog output in the middle of the corner path. MoveCGO.01. * when a new program is loaded.'] [AxisNo ':=' ] < expression (IN) of num> ')' A function with a return value of the data type num. The singdata component in motsetdata describes the settings done by SingArea instruction.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. New robot IRB 1200 Support for new robot types: Variants IRB 1200 / 0. The TCP follows the correct path.ABB Robotics PRU Title Ref SEROP Release Notes RW 6. telephone Anders Trillkott. will set C_MOTSET. The function reads the current filtered motor torque applied on the motors of the robot and external axes. New instructions MoveXGO and MoveXAO New RAPID instructions have been added that set group output signal or analog output signal in the middle of the corner path. MoveJGO and MoveLGO can be used to set group output signal in the middle of the corner path.9m 5kg IRB 640 with RobotWare 6 SoftWare support for S4C+ robot type in IRC5 with RobotWare 6.7m 7kg IRB 1200 / 0.sing. The default value (FALSE) is automatically set * when using the restart mode Reset RAPID. * when starting program execution from the beginning. SingArea \LockAxis4.lockaxis4 to TRUE. Data type motsetdata updated The data type motsetdata has been updated.00. If using SingArea without LockAxis4 switch it will be set to FALSE.doc 14/34 Author.0: Variant: IRB 640 / 160 kg . MoveCAO. Syntax: GetMotorTorque '(' ['\' MecUnit ':=' < variable (VAR) of mecunit> '.00. The motor torque value can also be seen as test signal number 2000. Locking of robot axis 4 A new switch LockAxis4 has been added to instruction SingArea.' If the argument \LockAxis4 is specified then axis 4 is locked to 0 or +-180 degrees to avoid singular points. New syntax: SingArea [ '\' Wrist ] | ['\' LockAxis4 ] | ['\' Off ] '. xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. For more information about the configuration method. the SpotSystem. · MultiGun support can be selected separately in Installation Manager for the Spot Pneu and Servo configurations. · The number of user modules has been reduced. via “process configuration”. New graphical simulation view in Spot GUI In this release a new graphical simulation view has been added in the Spot GUI to replace the standard data editor used before in previous releases. New option id: 635-6 Spot Welding Summary: · In the release the Spot options has been refactored. Some of the configuration are essential for the functionality of the spot application and spot gui and can therefore not be removed. swuserm. new template modules are swuserm. · A new picklist for SpotWeld on the GTPU and RobotStudio has been created to simplify programming. · Supervision task and service routines are loaded internally.sys and swuser. Spot Options refactoring RW6. · A new information screen has been created in Spot GUI. This means that the user modules have changed and all rapid data has moved into cfg.ABB Robotics PRU Title Ref SEROP Release Notes RW 6. · A new graphical simulation view has been created in Spot GUI to simplify setup/testing for the operators. and swuser.sys. see the Spot Options manual.00. to reduce complexity of the user code.0 In the release the Spot option has been refactored. · The sync id switch has been removed from the spot instructions. Before separate key’s was needed for each spot option. . default setup is for one weld equipment as requested by many users. Configuration/Process. If multigun support is not selected. to reduce complexity. pneu vs servo has the same parameters. The I/O names will be different between the configurations. Simplified configuration and setup. For more info about different configurations. · The syntax of the Spot instructions has been streamlined. PROC configuration for the Spot Options In this release the configuration method in the Spot Option has changed from using RAPID data to using the configuration database. only I/O signals and support for one gun equipment is installed.doc 15/34 Author.01 RP6. all configuration in one place. · RAPID data configuration has replaced with process configuration. The default setup if that selection is made. · The Spot GUI is also using the process configuration. see the Spot options manual. +46 21 344863 Multi gun support selection In this release it is possible to select multigun support via Installation Manager when building a Spot Servo or Spot Pneu system.sys is loaded in all tasks. is I/O signals for 4 gun equipment’s and 4 process tasks for simultaneous welding support.xml file is no longer used. same as before. Reduced complexity and simplification. Possible to select spot configuration when creating the system.00. default behavior of the application is configured via configuration database. telephone Anders Trillkott. one spot license in Installation Manager for all spot options.01.sys is loaded in all motion tasks. with useful system information etc. Will not work with IRB360 robots and palletizers(4 axis robot). 7. To active the functionality a manual change in the configuration file is needed. In a way it will be possible to start with 0% Speed override.Devices and Network. As always when jogging it is vital that the safety is not compromised. telephone Anders Trillkott.Cross Connections and single bit signals.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. Otherwise this will result in a "load error" generated by the validation component. .01.01. Where the network must be loaded before the devices or together in the same CFG file.Signal safe level and signals. Movement outside reach stops the motion and the three position enable device needs to be toggled. It is introduced to highly increase the position accuracy when synchronization is made between mechanical units with different bandwidth.ABB Robotics PRU Title Ref SEROP Release Notes RW 6. To resolve this the three position enable device needs to be toggled.0 With the introduction of RobotWare 6 there is a new function called Responsive Jogging. Jogging with Cartesian jogging mode and in a joint configuration where some joints are close to singularities should be avoided.00.e. Changed system behavior due to the introduction of EIO validation scripts When loading (EIO) CFG files from Robot Studio or from the Flexpendant it is required to load the CFG data in the correct order if the CFG data is spread across different CFG files. Possibility to set Speed Override to 0% (PDD1595) This function will allow the user to select 0% Speed override from quickset/speed view along with the current speed overrides 25%. The safety functions mandated by ISO10218-1 are all fulfilled for responsive jogging. Currently there are dependencies between: .01 RP6.00. Where the signals must be loaded before the Cross Connections or together in the same CFG file. 50% and 100%. In RobotWare 6. It provides a more direct response when jogging the robot with the FlexPendant or the T10 handheld jogging device. High accuracy position sync (PDD2582) A new parameter. The event logs will be displayed in the IO & Communication tab in the CFG view. 6. Where the devices must be loaded before the signals or together in the same CFG file. that is. 2. if it´s a dependency between the EIO CFG types. The ambition is that the functionality should be complete in RobotWare 6.Signals and devices. Otherwise motion lag between joystick input and robot motion will be experienced. Add the parameter "- jog_mode 1" to the JOG_PARAMETERS type for the motion planner that the function Responsive Jogging should be activated for. Where the safe level needs to be loaded before the signal definition or in the same CFG file.doc 16/34 Author. Known limitations are: 1. Motion lag between joystick input and robot motion are common for small robots (IRB 120/IRB 140) when jogging in Cartesian mode. The functionality may have slight negative effect on motion start time after fine point and may lead to minor increase of cycle time. . Please note that this is an evaluation version and there are a number of known and potentially unknown limitations. high accuracy position sync. . The functionality is turn off by default. Movement close to singularities can stop the motion and the three position enable device needs to be toggled. 3. In some situations the movement is not started as expected. Coordinated MultiMove is not supported and the classic jogging mode will be automatically used. . +46 21 344863 Responsive jogging Responsive Jogging offered as evaluation version (beta) in RobotWare 6. 4. is introduced in the Motion Planner configuration section. I. 5.0 the functionality is offered as an evaluation version for testing purpose. Please ensure that you maintain enough distance to the robot so that releasing the three position enable or pushing the e-stop will stop the robot before any collision can occur. xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6.01.00. IRB 6400 Rex with IRC5 (PDD3766) SoftWare Support for S4C+ robot types in IRC5: Variants: IRB 6400R / 2.doc 17/34 Author.01 RP6. With this new option it's only one Load data is needed for each fixture even several WorkObjects are used.5m 150kg bal.5m 120kg IRB 6400R / 2.ABB Robotics PRU Title Ref SEROP Release Notes RW 6.5m 120kg bal. +46 21 344863 Stationary PayLoad Mode (PDD3035) When defining the Load data for a PayLoad with a stationary Tool it is possible to choose between having the Load data defined relative to the Robot wrist coordinate system or relative to a WorkObject. telephone Anders Trillkott.5m 150kg IRB 6400R / 2. B IRB 6400R / 2. This system behavior can be changed with the new system parameter StationaryPayLoadMode in type General Rapid and topic Controller.00. B IRB 6400R / 2.5m 150kg HP/120kg . mod module and create a new 'SW_SUPV' task if needed.ABB Robotics PRU Title Ref SEROP Release Notes RW 6.sys'. . +46 21 344863 Improvements RW 6. New picklist.00.01.sys' are loaded into all tasks (AllTask). telephone Anders Trillkott. all spot related instruction are located in the same place for quick and easy access from RobotStudio and the TPU.0 Fine calibration from FlexPendant The process when updating the revolution counters or doing a fine calibration of a robot has been speeded up from about 60 seconds to about 9 seconds. SpotWeld.SWUSRM -> SWDEFUSR. Supervision task and service routines are now internal The default service routines in spot have been made internal in order to reduce complexity and to simplify the user code. The recommendation is to migrate any custom code in the old user modules into the new modules to avoid problems. This is done to simplify the programming. The new internal service routines names are: ManualSpot (replaces ManSpot) ManualSetForce (replaces ManSetForce) ManualGunControl (replaces ManCloseGun and ManOpenGun) ManualCalib (replaces ManCalib) ManualServiceCalib (replaces ManServiceCalib) ManualForceCalib (replaces ManForceCalib) ManualGunSearch (replaces ManAddGunName) ManualGunPosition (replaces ManOpenHLift and ManCloseHLift) The supervision task module (SW_SUP) is loaded internally and is not copied into the home/spot directory anymore. In this release a separate instruction pick list has been created for spot welding. 'swusrm. It will still be possible to load an old module from 5. SpotWeld.sys' is no longer needed and has been removed from the spot options. This means that the user module 'swdefine.sys a configuration parameter must be changed: Configuration/Process/Spot System . Improvements LoadIdentify and ManLoadIdentify The User Interaction has been updated in LoadIdentify and ManLoadIdentify service routines.00. Old TPxxx instructions and functions have been replaced with UI instructions and functions.sys' and 'swuser. To be able to run an old swdefusr. The new template user modules that are copied to the home/spot directory have the names 'swusrm.Motion task user module name . It will still be possible to load an old swsup.sys' are loaded into all motion tasks (AllMotionTask) and 'swuser.doc 18/34 Author.60 -> if needed.01 RP6. Note that this will require that the 'MultiTasking' option is selected in the system.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. is useful for improving path accuracy if vibrations are induced.25 mm using QM1 and Advanced Shape Tuning. Another example is cutting of hexagonal shapes. the cycle time QM2 can be in the approximate range 20% shorter to 5 % longer compared to QM1. including RW 6. However. the path accuracy can sometimes be worse.01. the speed and acceleration are sometimes higher and the path accuracy in high-accuracy low-speed applications like cutting of small shapes. Cycle Time: The cycle time using QM2 is in on the average shorter. OPTIMAL_CYCLE_TIME_MODE is the default mode with best possible cycle time. radius 5 – 10 mm. where the typical circular roundness is 0. the mode can also be changed from the RAPID program. DispensePac Support: Changed default behavior The DispensePac Support default behavior (IO configuration and data types) has been changed and is now the same as for basic Dispense. For shapes like hexagons and rectangles. Recommendations for IRB 2400 in high-accuracy low-speed applications: 1.. For high-accuracy low-speed applications.g.00.00. The value (1) is acceleration/deceleration in m/s^2 and can be tuned if needed. Most of the function packages are customized with start from the original version. e.00 (Motion Process Mode). If the option Motion Performance is installed. LOW_SPEED_ACCURACY_MODE is set by changing the system parameter Motion/Robot/Use Motion Process Mode. +46 21 344863 IRB 2400 used in High-Accuracy Applications IRB 2400 is now using QuickMove 2 (QM2) instead of QuickMove 1 (QM1) from RW 5. Motion Process Mode Application specific tuning by selecting different robot tunings is introduced in RW 6.00. . and LOW_SPEED_STIFF_MODE optimizes servo stiffness for contact applications. One example is cutting of circular holes. a typical circular roundness is 0. where the cycle time for QM2 is much better with the consequence that small path vibrations can be induced. LOW_SPEED_ACCURACY_MODE improves path accuracy for low-speed applications.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. the path is more speed independent in high speed corners and circles. This information describes the consequences for the motion performance of IRB 2400.01 RP6.ABB Robotics PRU Title Ref SEROP Release Notes RW 6. depending on the programmed speed and the geometry of the path. The earlier precustomized version of DPUSER is not often used.doc 19/34 Author. TRUE \DecelMax := 1. it is recommended to use LOW_SPEED_ACCURACY_MODE for IRB 2400. the circular roundness with QM2 will be the same as when using QM1. see Application Manual/Controller Software/Motion Performance/Motion Process Mode and System Parameter Manual. However. telephone Anders Trillkott. Using QM2. 2.30 mm. For more information on Motion Process Mode. Circular roundness is defined as the difference between max and min diameters. Path accuracy: Path accuracy is in general better using QM2.61 and future RW releases. due to the improved cycle time performance. speed 40 – 80 mm/s. the Rapid instruction PathAccLim TRUE \AccMax := 1. By doing this. 4.00.01. 5. its "look and feel".0.e. DSQC 1000 connecting to controller (PDD3767) Improvements have been done to secure that the FlexPendant is not affected by the status of the Ethernet ports X2. To simplify the programming there is now a separate Dispense pick list with instructions. If there is an error with the configuration. telephone Anders Trillkott.Corrections have been done to make the system startup more robust. TPU error screen (PDD3350) The startup sequence has been improved when using the ICI protocol against IPS. .ABB Robotics PRU Title Ref SEROP Release Notes RW 6. The configuration of IO signals for the default setup has been adapted to the new standard. The configuration of the Dispense signals is also simplified and moved to process config. The reason for the changes is mainly "ease of use" but also to try to get more "common look and feel" with other application software. i. the controller and TPU will come online quickly and inform about the problem through event log messages. ABB’s “Day and night” theme reflected in black app icons and a white interface. It is now during customizing possible to reduce the number of visible equipment.doc 20/34 Author. . 6. It is hard to give exact figures since it is depending on the actual system configuration but the following gives some indication: Command Improvement: Restart better than 20% Reset RAPID better than 40% Revert to last better than 10% Improvements/Corrections regarding startup and shutdown robustness A number of improvements and corrections have been done to make the system shutdown and startup more robust and stable to prevent loss of TPU communication and faulty/corrupt SD cards. To reduce the complexity of the Dispense instructions two (not used) optional arguments (p1 and p2) are removed from the Dispense instructions.The way to handle a missing HOME folder which caused the controller to loose FTP and TPU is improved.Two controllers with the same IP address shall not cause loss of TPU anymore. Previously. All icons and color scheme have been changed. +46 21 344863 Dispense base improvements A number of changes and improvements of the basic Dispense functionality has been done in RW 6.01 RP6. 3. If IPS switched off. DispensePac Support. without giving any feedback to the user. 2. X4-X6. . But the main functionality is the same as before. .Changes have been done to secure that the FlexPendant is not affected by the status of the Ethernet ports X2. .00. The Dispense Application Manual has been partially rewritten. PROC configuration is implemented for dispense signals and some dispense data. X4- X6. The data to set up of the Dispense Restart functionality and the data for customizing the Dispense GUI is removed from DPUSER and can now be done in the process (PROC) configuration. the controller would hang during startup for a long time. New visual appearance The FlexPendant have been modified for its user interface appearance. 1. .xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. ABB’s colors are used to create a dynamic feeling.The file handling when shutting down the system have been improved to avoid faulty/corrupt disks. The design principles are built on the foundation of the ABB brand. Improved Startup time All of the different startup commands have been improved for the time needed to perform the action. 01 RP6.6x. Copy any missing files/folders from a Backup and reboot the system or do a restore of a Backup to recover. That is now solved to 6. when the HOME folder is missing in a startup for some reason.ABB Robotics PRU Title Ref SEROP Release Notes RW 6.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. RobotStudio and FlexPendant lose their connection to the controller.doc 21/34 Author. telephone Anders Trillkott. the consequences are that the FTP. +46 21 344863 System now manages to handle a missing HOME folder (PDD4098) In RW5.00.0. elog 20446 will be triggered and the HOME folder will be empty so the user must check/add/fix the contents.00. The system will start up with system failure.01. . Calibration procedure for indexing positioners (PDD4213) The calibration procedure for indexing positioners has been improved.ABB Robotics PRU Title Ref SEROP Release Notes RW 6.Improvement of TPU HMI (4033) In the vision data table on the FlexPendant Integrated Vision application. The reason is to avoid truncated labels and excessive decimal precission.00.01 IV . telephone Anders Trillkott. +46 21 344863 Improvements RW 6.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. .01. Calibration of indexing positioners can now be done without code from BootDiscMaker.doc 22/34 Author.01 RP6. The RAPID procedure CalibIntch1() should be used. the number of decimals has been limited to two and the size of the parameter name field has been increased.00.00. 6x to 6. Location of utility files from RobotWare DVD The contents of the "Euromap_spi" and "Fieldbus" folders that were located in the Utility folder on the RobotWare 5 DVD can now be found with the RobotWare distribution installed together with RobotStudio in the "utility\service" folder instead. .Overlapping DO/GO and DI/GI with the value "Default" on the parameter "ActionWhenStartup" shall have a default value that matches each other’s corresponding to the overlapping bit otherwise can unpredictable signal setting occur for these signals at startup..xx and 6. invalid xml.00.01 RP6.. The errors are not present in the real controller. Production Screen configuration cleared at system reset Due to added functionality to the Production Screen framework. the Production Screen configuration file (ProductionSetup.Overlapping DO/GO and DI/GI must have the same value on the parameter "ActionWhenStartup". was not correct and the accuracy is now highly improved. Behavior of overlapping DOs and GOs is different between 5.ABB Robotics PRU Title Ref SEROP Release Notes RW 6. <span class="msg"> is also wrong.00. It is also possible to navigate to this folder by right clicking on an installed RobotWare version in the Add- ins browser in RobotStudio and selecting "Open Package Folder" Not possible to install a system with a mounted ftp disk If you have a system with a mounted ftp disk it is not possible to install a system. telephone Anders Trillkott. Fileservice "ReadDiskSpace is failed -1073414146 -1" .xx and have been fixed in release 6. The RobotWare distribution is per default located at "ProgramData\ABB Industrial IT\Robotics IT\DistributionPackages\ABB. like Robot Studio signal analyzer. The setup file will still be available in backups.. +46 21 344863 Information / Corrections RW 6. Timing error correction for motion related I/Os in virtual environment The timing between I/O-signals and mechanical unit positions in virtual environments.01.xml) will be cleared after a "Reset system" has been performed. See incompatibility above for more info. The work around is to disconnect the ftp server.xx A new tool is now available in RobotStudio for migrating old backups to new versions of RobotWare.xx . .0 Upgrade 5.0: · RAPID function CTime() returns wrong result · Timestamps for event logs coming from virtual robot controller are wrong when presented in RobotStudio and Virtual TPU The returned time is in both cases wrong due to incorrect compensation for local time zone and daylight saving time. The returned error message is "Failed to download package".doc 23/34 Author.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6.RobotWare-\RobotPackages" where “ProgramData” typically points to the folder "C:\ProgramData" which will be a hidden folder on most systems. VC: CTime() gives wrong time The following errors exist in RobotWare virtual controller releases 5. you will have to use the patched file which you have to copy into the corresponding directory of the configurator catalogue (normally in: C:\Users\Public\Documents\FDCML10\Profinet\SIEMENS). that the user's specification is correct. EGMSetupAO and EGMSetupGI do not detect external axes not in use The RAPID instructions EGMSetupAI. just the module(s) you want to access. if the mechanical unit axis for which the instruction specifies signals.ABB Robotics PRU Title Ref SEROP Release Notes RW 6.Warm start -> Restart .e.xx terminology.00. really exists.doc 24/34 Author.xx and release 6.Deactivate the shared device in the second project using the context menu item “Blind out Device” .xx releases. This is currently not described in the user documentation from KW Software. use the new device from the device catalog in the PROFINET configurator.01 RP6. This might happen when using a robot controller and a Phoenix PLC to connect to a shared device.01.Recompile the project Please keep in mind that this procedure is not considered a workaround but will be the official handling of a shared device and will therefore be documented as such in the documentation.com/cawp/gad00507/8044f90faf7ddb48c1257131004795ac. please proceed as follows: . Since both the robot's and PLC's PROFINET controller can use the same configuration file as its base.B-Start -> Revert to last auto saved . Visit toolbox for access to patched file: ET200S_20100722_IM151-3PN_DIM 20.0: . you will need to create a new project.P-start -> Reset RAPID .xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6.xml Link: http://inside. . After exchanging this file. This will cause the two configurations to have the same ARUUID. EGMSetupAI. All user interfaces and documentation in 6. For the existing users that are familiar with 5.C-Start -> N/A (removed in 6.Shutdown -> Shutdown main computer .abb.0) Integrated Vision: Restart needed when pulling camera cable When pulling the camera cable it may sometimes be necessary to restart the controller to regain full communication with the camera. telephone Anders Trillkott.Reactivate the shared device in the second project using the context menu item “Blind out Device” .0 compared to 5. I.X-start -> Start Boot Application . here is mapping between names used in release 5.0 Names and descriptions of robot controller restart modes are changed in RobotWare 6. EGMSetupAO and EGMSetupGI do not check. It assumes. To solve this issue. The second connection to the ET200 must not contain the DAP at all. ET200S shared device configuration 1: How to get and ET200S device to act as a shared device in the robot controller: As our PROFINET configurator does not support deactivating the DAP.0 use new names and terminology for restart modes. +46 21 344863 Robot controller restart mode names and descriptions changed in RW 6.00.I-start -> Reset system .Compile the project .aspx 2: Do not use the same the ARUUID for both PROFINET controllers. Shutdown re-enabled The Shutdown function is now enabled in “Advanced restart” list. no PP movement will be done when modifying a position in a spot instruction. Functionality wise it is the same as in RW 5.robot will move to the target position. To be able to select Servo Tool Support option a license with World Zones has to be added.0 the selected options must match in each robot. If the selections do not match. For example. it is not possible to make different Arc option selections in each of the robots.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. i.00. Operator dialog is shown. Step FWD is pressed one time . the end result cannot be guaranteed. missing the opportunity to weld in the same position. 2.ABB Robotics PRU Title Ref SEROP Release Notes RW 6.position will be welded at the new updated location. this did not work in previous releases. Now the configuration of our standard positioners has been moved to a RobotWare Add-In product called "Positioner". The options MultiProcess together with either MultiMove Synchronized or MultiMove independent must also be present in the license. 3. Start button is pressed . This should be replaced by :Remove the flag Simulated from the board configuration . The same Power Source selection must be made in both robots. .e. +46 21 344863 MultiProcess adaptions for RW Arc In RW 6.01 RP6. so they have been separated from the extra arc welding configuration (that still can be found in BDM).0 it is possible to select in which robot(s) to install RW Arc by simply selecting Arc and its sub options in the Drive Module tab for the desired robot. We have support for positioner installation on first drive module only. Robot is jogged some distance and position is modified with 'ModifyPosition' (old path is cleared). change the following system parameters: • Change the bus for the unit from Virtual1 to the correct bus. Step forward in a Spot instruction: 1. the "Positioner" add-in has to be added in Installation Manager. This configuration was installed as an additional option. it is not possible to select Power Source A in T_ROB1 and Power Source B in T_ROB2.cfg If a spot instruction is executed in step mode it should be possible to tune the actual position by jogging the robot a bit and then modify the position.00. No more virtual bus for conveyor boards In the conveyor manual the sentence 2 In RobotStudio or FlexPendant. What would happen was that the PP would move to the next instruction due to a baseware system behavior.01. 'Stop' button is pressed in dialog. together with a license file for the positioner to be installed. 4.doc 25/34 Author. Spot:New configuration in mmc. Positioner installation moved from BDM to Positioner addin In previous releases. To get positioner files installed in a controller system. the configuration of different positioner installations was done by running a wizard in the web application BootDiscMaker (BDM). This is because the option is dependent on the option World Zones which is licensed. telephone Anders Trillkott. Often the positioner was packaged together with additional arc welding configuration options selected in BDM. This behavior has changed in this release. NOTE! In RW 6. where the selected Arc options applied on all robots in a MultiMove setup. Note that the current robot path will be cleared when a 'ModifyPosition' is done. Selecting the free option Servo Tool Support in Installation Manager it is not possible. Servo Tool Support not possible to select in Installation Manager. for example DeviceNet1. this caused the controller to restart. telephone Anders Trillkott. UAS ./.sxlm) using a tool other than RobotStudio. Use Flexpendant and navigate to: Calibration/SMB Memory/Update. Now you get a proper event log. So Brakes will apply after Brake on Time. When starting a program with the speed adjustment set to 0% (either from the Flexpendant or via a system input) the controller could take very long time before changing state to "Program Started". A new entry will be added to the manual to describe this.01 RP6. When migrate an RW5.prg adapted for the new signals. not changing the configuration and will not notify the user.Default user only (PDD3493) A correction has been implemented to solve the problem that Default User with only UAS grant "Backup and save" cannot create a backup of the system. They are replaced with the 32 bit signals cXCntFromEnc and cXCntToEnc. Booting a FlexPicker ends up with mismatch between controller and SMB data (PDD3456) When performing an I-start of an IRB360 installed controller. Make the choice "Update cabinet with SMB memory data".ABB Robotics PRU Title Ref SEROP Release Notes RW 6. +46 21 344863 Modified DSQC377B I/O signals for PickMaster option Conveyor tracking board DSQC377B signals are modified for systems having the PickMaster option.doc 26/34 Author. Robot P-Starting when using AliasIO command (PDD3662) When a large string was used in instruction AliasIO in the argument FromSignal. the system will start up uncalibrated since SMB data is not automatically read into the controller. Modification of SafeMove/EPS config backup (PDD3577) Modification of a backed-up safety configuration file (psc_user_X. This problem has been solved in this robotware release.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6.00. The workaround is to read the data from SMB to controller.6x backup the signals and ppacal. such as a text editor or equivalent. If a safety user configuration file is modified and restored to the controller the safety controller may just ignore the file. System Input Start Speed 0% (PDD2289) A bug related to regain movement and speed adjustment set to 0% is now fixed. cXCntFromEnc2.. is considered to be misuse and is a violation of the normal safety procedure.prg are converted. Geometric Interpolation to high (PDD3300) An error that could cause the robot to stop with the message 50376 "Geometric Interpolation failed" has now been corrected. DSQC377B signals are not modified for systems without the PickMaster option.00. Missing fieldbus adapter generates system failure (PDD2783) Reported issue solved..01. . The string needed to be larger than 32 characters to get this problem. The 16 bit GO signals cXCntFromEnc1. UNDO Abort (PDD3504) Undo handler now executes correct without elog (UNDO aborted) when moving program pointer after stopping system with system input “Stop after instruction” and an external stop (at the same time System with active conveyor never applies brakes (PDD3542) Now the conveyor mechanical has rob1_brake as brake_relay by default. cXCntToEnc1 and cXCntToEnc2 have been removed. There is a new version of ppacal. The error could be triggered by having a corner zone with large differences in programmed speed between the two movements. . Profinet Coupler device functionality not fully supported (PDD3754) The Profinet PN/PN Coupler device from Siemens has functionality where the user can configure how to substitute input signals when the other network is not available. Profinet unit data wrongly copied to another unit (PDD3754) A problem where the robot controller was connected to a Profinet PN/PN Coupler device from Siemens is corrected. but that wasn't always the case. it will only work with WAN (X6) port. It sometimes took the input values from the previously configured Profinet device.doc 27/34 Author. FlexPendant fails to come up after power down with SMB communication lost (PDD3909) If the SMB communication was lost and the system was restarted the FlexPendant did not come up. This avoids PC to step to next instructions and avoids disturbing elog messages and regain dialog after modifying position.00.00. This problem has now been fixed. Profinet Coupler device does not work in combination with TrustLevel (PDD3754) The Profinet PN/PN Coupler device from Siemens will always end up in an error state after startup if the device TrustLevel for "Action when Disconnected" is set to "Generate System Stop". +46 21 344863 SoftMove. MMC_NO_PC_MOVEMENT_CLEAR_PATH For instructions without between points. This has been corrected in this release. Modify Position in one process target (PDD3815) New CFG parameter MMC_NO_PC_MOVEMENT_CLEAR_PATH is added in and set default for all Spot Instructions.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. when using OMNI NFS server connected to the controller. The problem occurred when the other side of the Coupler.ABB Robotics PRU Title Ref SEROP Release Notes RW 6. incorrect behavior when add Instruction CSSAct at TPU (PDD3687) When programming CSSAct from the FlexPendant. was disconnected. the program pointer should not continue to the next instruction and a clear path is performed after modify position. This functionality will not have any effect on the robot controller. OMNI NFS will not work on the WAN (X6) port either.00. no suggestions of the SoftDir were visible. NOTE! If Profinet is used. such as SpotL. The type MMC_NO_PC_MOVEMENT_CLEAR_PATH is used default in Spot systems to avoid disturbing elog messages and regain dialogs after modifying position. Error 50226 only with new DSQC1000 (PDD3695) The problem reported with very close targets causing error 50226 has been solved Unable to change values in large data types from the FlexPendant (PDD3708) A correction has been implemented to solve the problem that it was not possible to edit values in a large array from the FlexPendant. The input signals are then supposed to be set to a predefined value.01.01 RP6. a PCL. telephone Anders Trillkott. e. . Example MMC_NO_PC_MOVEMENT_CLEAR_PATH: -name "SpotL_ToPoint" -name "SpotJ_ToPoint" -name "SpotML_ToPoint" -name "SpotMJ_ToPoint" Backup with Remote Mounted Disk takes a long time and ends with error (PDD3878) In RW 6.g. The robot controller will always keep the previous data. 01 RP6. System crash when using open command with too long string (PDD4108) If using a total path that exceeds 81 characters in an Open instruction. Lockup after warmstart by RAPID (PDD3997) Problems fixed with running tasks when warm starting system with: All normal rapid task not selected in task selection panel and with an severe system error e. This has been fixed in this release. break or SystemStopAction. The easiest workaround is to open the edit dialog for another instruction or to use the Production Window. and "Wrong number or arguments to CSSAct" was visible in the RobotStudio RAPID editor. One effect of this is missing information about path to options in Installation Manager. The class SystemInfo is not supported in the FP SDK (PDD4167) The class SystemInfo is not supported in the FP SDK.g. The RAPID program could however be executed. RAPID code that could not be handled: Open "C:/Users/mydummy/Documents/RobotStudio/Food democel (Palletizing)" \File:= "Project 1111. Currently active view is not a valid test view (PDD4145) A problem remains when start is pressed.15 and 5. You got no suggestions of arguments to use for the CSS instructions either. logfile \Write. The problem with programming CSS instructions from RobotStudio has been fixed in this release.01.g. No info on error 20182 (PDD4077) Task running fault (PDD4058) Problems with running task caused by rapid execution error during event routine execution fixed. It has previously supported in 5. No info on error 20182 (PDD4077) An ELOG for error code 20182 is added.00. Position out of reach. even though the Program Editor is active. The manual: "Trouble shooting IRC5" will be updated. Description: A stop action has already started. The FlexPendant sometimes says that the currently active view is not a valid test view. TAF error locks up pendant illegal syntax (PDD3971) It is now possible to try to start a program whit syntactic and semantic error. The problem sometimes occurs after editing procedure calls with 0 or 1 parameters. . e. +46 21 344863 UAS problem when using SoftwareSync when parameter HoldToRun is set (PDD3916) The error with UAS when using SoftWareSync when parameter HoldToRun is set is now solved. Programming SoftMove instructions from RobotStudio (PDD4050) When programming CSS instructions from RobotStudio. flexpendant is showing the correct error instead of locking up. the system crashed.doc 28/34 Author.ABB Robotics PRU Title Ref SEROP Release Notes RW 6.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. these instructions were not known to RobotStudio. telephone Anders Trillkott.00.log". The System Input Signal QuickStop is ineffective.61. Due to this new installation concept. This has been fixed now. This message can only be acknowledged from FlexPendant. In addition. the error message comes up even if an error handler is used to solve the collision detection. +46 21 344863 Calibration procedure for indexing positioners (PDD4213) For calibration of indexing positioners in 6. RW Add-In folder name is fixed (PDD4333) There is a relation between APT (RW Add-In Packaging Tool) and IM (Installation Manager) about how the product is identified in the new installation concept.00. Default selections in the RW Addin Packaging Tool is always installed (PDD4345) When creating an RW Add-In with RW Add-In packaging tool and choosing "is default selected" for one option then this option will be installed every time even if the option was not selected in Installation manager. if the motion supervision triggers a second time in the same procedure the error handler will not be executed again and the robot stops. and it was not possible to run the routine at all. Mostly this is a temporary mode/state that will resolve itself allowing the Scanner to create I/O Connections a few seconds later.doc 29/34 Author.ABB Robotics PRU Title Ref SEROP Release Notes RW 6. EIO EthernetIP device working but an error message is received at startup (PDD4329) Event Message 71527 EtherNet/IP adapter state conflict This message is issued by the EtherNet/IP Scanner when it receives the CIP General Status Code 0x10 Device State Conflict from a device. The error message is always shown although the program is running after motion error handler. If the device will remain in this error state there is most likely a real error on the device. found in the picklist "Motion Adv. an error will be raised if there is no guns activated or if the names are incorrect. So. However. File Handling Error when saving Event Logs to USB drive (PDD4324) When you insert a USB-stick into the USB-connector on the FlexPendant saving Event Logs to this USB- stick fails with the error message "Saving log file failed"." useful if the user can specify the data required for this instruction. (PDD4241) The Motion Error Handler with errno ERR_COLL_STOP will in some circumstances only triggers once in a procedure. an advanced user can also find the RAPID instruction "CalibInterch1Proc. this message can be ignored. i. we recommend using "Production manager". and cannot be acknowledged via system input.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6.00. a user dialog "end" button was missing in the service routines. telephone Anders Trillkott. The work around is to use the USB-connectors on the controller itself. RobotWare Spot Manual Actions (PDD4232) If several servo guns were configured in the system.01 RP6.00. This tells the scanner that the device’s current mode/state prohibits the execution of the requested service such as the creation of an I/O connection. Manual Function SpotWare only one gun is activate (PDD4233) If two or more guns was defined in and not all guns are activated the manual actions would raise an error that a gun is deactivated.. separated with underscore. This has been corrected in this release. . Motion Error Handler only triggers once in a procedure.01. APT is designed in such way that the installation folder name is made by combining “product name” and “product version”. user is not allowed to edit the root folder that user see in APT. The system output Motion Supervision Triggered will not be resetted after motion error handler. If so.e. +46 21 344863 File changes to FP applications does not load the changes until a FP reset (PDD4351) With RobotWare 6. . telephone Anders Trillkott. you need to manually reset the FlexPendant for it to reload its assets. Workaround is to deselect the other robots and only have the first robot selected.01. This was part of an effort to improve the restart time of the controller. This means that after placing a new FlexPendant application file(s) on the FlexPendant unit. To manually reset the FlexPendant you need to use the reset button on the FlexPendant's backside. all robots will be selected automatically.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. 3HAC16590) Deselected options of robot system automatically reactivated during RW upgrade (PDD4366) When having a multimove system created via your license(s) but only having selected robot 1 and then upgrading Robotware to another version.doc 30/34 Author.0 the controller's restart will no longer reset the FlexPendant memory. (See Operating Manual – IRC5 with FlexPendant.01 RP6.00.ABB Robotics PRU Title Ref SEROP Release Notes RW 6.00. break or SystemStopAction. This is now corrected. . No connection to IPS object while starting up (PDD4331) For RW6. The problem sometimes occurred after editing procedure calls with 0 or 1 parameters. added 30 second delay in startup when using ICI to compensate for earlier I/O synchronization timeout that was 30 seconds in RW5 (now 0 in RW6). This is needed to make sure ICI nodes have time to get online in EIO during startup.01.The system output Motion Supervision Triggered will be reset after leaving the motion error handler. e.g. telephone Anders Trillkott. For example. In this case the option will work if either of the options in the list are also selected for installation.The problem that the Motion Error Handler with errno ERR_COLL_STOP only triggers once in a procedure.01. e. all these options are mandatory and should go into the AND dependency list. the branch has will not be expanded however the English language will be selected as default language.00.0 the TorchClean instructions were not working correctly. or of type OR dependency. +46 21 344863 Information / Corrections RW 6.00.00.g.01 RP6. the same to be defined in the product manifest. the signal will only be set a short while executing in the error handler. Option groups not expanded (PDD3857) Now the branches in the Options tab will be expanded if it contains any selected option. . Add-In Packaging Tool – Dependency (PDD4299) A dependency specified for an option in an Add-In could be either of type AND dependency. is solved.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. and to prevent associated errors with nodes being offline. If an option does not work unless all of its dependent options are also being installed. all these options should go into the OR dependency list. Motion Error Handler only triggers once in a procedure (PDD4241) . TSC is not working due to wrong EIO references In RW 6. even though the Program Editor was active. PROFIenergy requires that either PROFINET Controller/Device or PROFINET Device is selected for installation: 963-1 PROFIenergy 888-2 PROFINET Controller/Device 888-3 PROFINET Device If the installation manager needs to behave mutual exclusively for conflicting OR dependency.doc 31/34 Author. When a license file without any language. .Program Editor is not a valid test window (PDD4145) A problem is corrected when start is pressed. TPU .01 50026 Close to singularity error on gantry A problem generating 50026 close to singularity error on gantry has been corrected. The FlexPendant sometimes said that the currently active view is not a valid test view.The error message is changed to a warning if the cfg parameter for motion error handler is set.ABB Robotics PRU Title Ref SEROP Release Notes RW 6. Example: 813-1 Optical Tracking 624-1 Continuous Application Platform 628-1 Sensor Interface If an option does not work unless one of its dependent options are also being installed.00. DeviceNet and PROFIBUS Controller options are mutually exclusive (PDD4402) Due to hardware constraints the options "709-1 DeviceNet Master/Slave" and "969-1 PROFIBUS Controller" cannot be used at the same time and the possibility to select those together has therefore been blocked in the Installation Manager.doc 32/34 Author. This has now been corrected. telephone Anders Trillkott.00. e.01 RP6. +46 21 344863 Sysfail with T10 function keys when using an IRB460 (PDD4338) Loading an incorrect configuration of the T10 function keys could lead to a system failure. Installation Manager . there were problems with SKS specific error messages not showing up on the FlexPendant. Symptom can be a PickMaster application freeze or a "Deceleration Limit" error on a robot. Auto acknowledge input (PDD4487) The Auto acknowledge input option has been corrected. This has now been fixed. Installation Manager crashes (PDD4341) In a specific case were you select an option that has dependency to another options which is licensed the Installation Manager could crash.ABB Robotics PRU Title Ref SEROP Release Notes RW 6. Orientation via analogue input interprets values in rad not deg (PDD4373) When using signals as input for EGM. This is now corrected. If similar problems are seen. Motion supervision or a pause command from PickMaster. Process Configuration Changes Do Not Take Effect (PDD4374) Changes to the Process Configuration did not take effect when the controller was restarted.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. This error is now corrected and the values are now interpreted as degrees.Cannot activate system in manual mode (PDD4386) Now any user can activate a system via Installation Manager in manual mode as well. the values given for orientation were interpreted as radians and not as degrees as stated in the documentation.00. Pickmaster errors after stop. Serial number after creating license file connected controller (PDD4359) If the KeyString converter receives old formatted serial number from the backup. (PDD4433) For some PickMaster robot systems setups. when pressing one of the function keys of the device. .01. Issue with PickWare log. So the same format serial number is retained in license file after the conversion If the backup has new formatted serial number. it is recommended to verify that PickWare logging is turned off for all work areas in the PickMaster project configuration. SKS specific error messages and elog entries on the FlexPendant. then the KeyString converter generates new formatted serial number in the license file Default user credentials must not be removable (PDD4365) In the Preferences window of Installation Manager any user can now change the user credentials and to be able to change back to default credentials a "Default" button. then the serial number format shall not be altered to new formatted serial number after the conversion. This is now corrected. (PDD4348) In RW 6. errors can occur after a stop situation.g. telephone Anders Trillkott.00.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6. incorrect behaviour when add Instruction CSSAct at TPU PDD3687 Error 50226 only with new DSQC1000 PDD3695 Unable to change values in large data types from the FlexPendant PDD3708 IRB 6400 Rex with IRC5 PDD3766 DSQC 1000 connecting to controller PDD3767 Modify Position in one process target PDD3815 FlexPendant fails to come up after power down with SMB communication lost PDD3909 UAS problem when using SoftwareSync when parameter HoldToRun is set PDD3916 TAF error locks up pendant illegal syntax PDD3971 Lockup after warmstart by RAPID PDD3997 Problems programming SoftMove instructions from RobotStudio PDD4050 Task running fault PDD4058 No info on error 20182 PDD4077 System now manages to handle a missing HOME folder PDD4098 System crash when using open command with too long string PDD4108 RobotWare Spot Manual Actions PDD4232 Manual Function SpotWare only one gun is activate PDD4233 EIO EthernetIP device working but an error message is received at startup PDD4329 .00. If IPS switched off.0 PDD VC: CTime() gives wrong time DSE10744 System Input Start Speed 0% PDD2289 Missing fieldbus adapter generates system failure PDD2783 Geometric Interpolation to high PDD3300 DispensePac Support.01. TPU error screen PDD3350 Installation Manager mismatching options PDD3839 UAS . +46 21 344863 Product Defect Document RW 6.doc 33/34 Author.ABB Robotics PRU Title Ref SEROP Release Notes RW 6.Default user only PDD3493 UNDO Abort PDD3504 System with active conveyor never applies brakes PDD3542 Robot P-Starting when using AliasIO command PDD3662 SoftMove.01 RP6. telephone Anders Trillkott.00. +46 21 344863 Product Defect Document RW 6.Program Editor is not a valid test window PDD4145 Motion Error Handler only triggers once in a procedure PDD4241 Add-In Packaging Tool – Dependency PDD4299 No connection to IPS object while starting up PDD4331 Sysfail with T10 function keys when using an IRB460 PDD4338 Installation Manager crashes PDD4341 SKS specific error messages and elog entries on the FlexPendant. PDD4348 Default user credentials must not be removable PDD4365 Orientation via analogue input interprets values in rad not deg PDD4373 Process Configuration Changes Do Not Take Effect PDD4374 Installation Manager .01 PDD IV .00.Improvement of TPU HMI PDD4033 TPU .00.01.01 RP6.doc 34/34 Author.Cannot activate system in manual mode PDD4386 DeviceNet and PROFIBUS Controller options are mutually exclusive PDD4402 .ABB Robotics PRU Title Ref SEROP Release Notes RW 6.xx – 0xx Department Date Filename Page DMRO/QMPP 2015-01-22 Release Notes RW 6.
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