CHAPTER 4: RESULTS
4.4 Why do families engage in SFEs?
4.4.1 Motives
Overview
In this example we will use the System Builder to create a coordinated offline system with one IRB2400 and one IRB1600 robot to use in a new RobotStudio station.
Starting the New Controller System Wizard
To create a system like the one described above, follow these steps:
1 Click System Builder to bring up the dialog box.
2 In the dialog box, click Create New to bring up the New Controller System Wizard.
3 Read the welcome text, and click Next to continue to the next page.
Entering the name and path
1 In the Name box, enter the name of the system. The name must not contain blank spaces or non-ASCII characters.
In this example, name the system MyMultiMove.
2 In the Path box, enter the path for the folder to save the system in, or click the Browse button to browse to the folder or create a new one.
In this example, save the system in C:\Program Files\ABB Industrial IT\Robotics IT\RobotStudio\ABB Library\Training Systems.
3 Click Next to continue to the next page.
Entering the controller key
1 Select the Virtual key check box. A virtual controller key now appears in the Controller Key box. In this example we will use the default media pool and RobotWare version.
2 Click Next to continue to the next page.
Entering drive keys
1 Click the Right Arrow button next to the Enter Drive key box twice to create one drive key for each robot.
2 Click Next to continue to the next page.
Adding options
1 This system does not require any additional option keys. Click Next and continue to the next page of the wizard.
Modifying options
When creating robot systems from real robot keys, the key sets the options. But since we are using a virtual key, we have to set the options manually.
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6.4.9.1 A MultiMove system with two coordinated robots
To set the options necessary for a MultiMove, follow these steps:
1 Scroll down to the RobotWare / Motion Coordination 1 group and select the MultiMove Coordinated check box.
2 Scroll down to the RobotWare / I/O control group and select the Multitasking and the Advanced RAPID check boxes.
3 Scroll down to the DriveModule1 / Drive module application group and expand the ABB Standard manipulator option. Select the IRB 2400 Type A option, manipulator variant IRB 2400L Type A.
4 Scroll down to the DriveModule2 / Drive module application group and expand the ABB Standard manipulator option. Select the IRB 1600 option, manipulator variant IRB 1600-5/1.2.
5 Click Finish and the system will be created.
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6.4.9.1 A MultiMove system with two coordinated robots Continued
6.4.9.2 A system with support for one robot and one positioner external axis
Overview
In this example we will use the System Builder to create an offline system to use in a new RobotStudio station with one IRB1600 robot and one IRBP 250D positioner external axis.
Prerequisites
When creating systems for positioner external axes, you need the media pool and the license key file for that specific positioner. In this example we will use a media pool and license key file for a demo positioner.
Paths to files and folders assume that RobotStudio and the RobotWare media pool have been installed at their default locations on Windows XP. If not, adjust the paths accordingly.
Starting the New Controller System Wizard
To create a system like the one described above, follow these steps:
1 Click System Builder to bring up a dialog box.
2 In the dialog box, click Create New to bring up the New Controller System Wizard.
3 Read the welcome text, and click Next to continue to the next page.
Entering the controller key
1 Select the Virtual key check box. A virtual controller key now appears in the Controller Key box. In this example we will use the default media pool and RobotWare version.
2 Click Next to continue to the next page.
Entering drive keys
1 Click the Right Arrow button next to the Enter Drive key box to create one drive key for the robot.
2 Click Next to continue to the next page.
Adding options
This is where we point out the key file for the positioner.
1 Next to the Enter key box, click the browse button and select the key file.
In this example, browse to and select the file extkey.kxt in the folder C:\Program Files\ABB Industrial IT\Robotics
IT\MediaPool\3HEA-000-00022.01.
Tip
In the MediaPool folder media pools for several standard positioners are installed. They are named by the positioner’s article number, with a suffix that indicates if it is configured for single-robot or MultiMove systems.
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6.4.9.2 A system with support for one robot and one positioner external axis
2 Click the Right Arrow button next to the Enter key box to add the key for the positioner.
3 Click Next and continue to the next page of the wizard.
Modifying options
When creating robot systems from real robot keys, the key sets the options. But since we are using a virtual key, we have to set the options manually. To set the options necessary for a positioner, follow these steps:
1 Scroll down to the RobotWare / Hardware group and select the 709-x DeviceNet check box.
This option is for the communication between the controller and the track external axis.
2 Scroll down to the DriveModule1 / Drive module application group and expand the ABB Standard manipulator option. Select the IRB 1600 option.
This option sets the robot to an IRB 1600-5/1.2.
3 Scroll down to the DriveModule1 > Drive module configuration group; select the Drive System 04 1600/2400/260 option; expand the Additional axes drive module group and select the R2C2 Add drive option.
a Expand the Drive type in position Z4 group and select the 753-1 Drive C in pos Z4 option
b Expand the Drive type in position Y4 group and select the754-1 Drive C in pos Y4 option
c Expand the Drive type in position X4 group and select the755-1 Drive C in pos X4 option
This option adds drive modules for the positioner axes.
Note
When using the latest drive system, do the following:
Scroll down to the DriveModule1 > Drive module configuration group;
select the Drive System 09 120/140/1400/1600 Compact option; expand the Power supply configuration group and select 1-Phase Power supply or 3-Phase Power supply (as applicable) > Additional axes drive module
> Additional drive
a Expand the Drive type in position X3 group and select the Drive ADU-790A in position X3 option
b Expand the Drive type in position Y3 group and select the Drive ADU-790A in position Y3 option
c Expand the Drive type in position Z3 group and select the Drive ADU-790A in position Z3 option
4 Click Finish and the system will be created. When starting the system in a RobotStudio station, you have to set up the system to load a model for the positioner and to get the motions to work properly. SeePlacing external axes on page 98for more information.
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6.4.9.2 A system with support for one robot and one positioner external axis Continued
6.4.9.3 Options settings for systems with positioners
Overview
This is an overview of the RobotWare options to set when creating a system for positioner external axes. Note that besides setting the RobotWare options, you must add an additonal option key for the positioner.
Media pools and option keys for the positioners
If you have the media pool and option key for your positioner, you can use these files.
If not, media pools for standard positioners are installed with RobotStudio. The path to these media pools in a default installation is: C.\program files\ABB Industrial IT\Robotics IT\MediaPool. In this folder a media pool for each positioner is located.
These are named by the article number of the positioner, with a suffix that indicates if it is configured for a single-robot or a MultiMove system.
In the Add additional options page of the System Builder, you should add the option for the positioner by opening the mediapool folder for the positioner to add and selecting the extkey.kxt file.
Options for positioners in single-robot systems
When adding a positioner to a single-robot system, the positioner will be added to the same task as the robot. Below, the options to set on the Modify Options page of the System Builder for such a system are listed:
• RobotWare > Hardware > 709-x DeviceNet > 709-1 Master/Slave Single
• Optionally, for using the system with ArcWare also add RobotWare >
Application arc > 633-1 Arc
• DriveModule 1 > Drive module configuration > Drive System 04
1600/2400/260 > RC2C Add drive > 753-1 Drive C in pos Z4 > 754-2 Drive T in pos Y4 > 755-3 Drive U in pos X4
Options for positioners in MultiMove robot systems
When adding a positioner to a MultiMove robot system, the positioner shall be added to a task of its own (thus you also have to add a drive key for the positioner).
Below, the options to set on the Modify Options page of the System Builder for such a system are listed:
• RobotWare > Hardware > 709-x DeviceNet > 709-1 Master/Slave Single
• RobotWare > Motion coordinated part 1 > 604-1 MultiMove Coordinated Optionally, expand the MultiMove Coordinated option and select process options for the robots.
• Optionally, for using the system with ArcWare, add RobotWare > Application Arc > 633-1 Arc
• DriveModule 1 > Drive module configuration > Drive System 04
1600/2400/260 > RC2C Add drive > 753-1 Drive C in pos Z4 > 754-2 Drive T in pos Y4 > 755-3 Drive U in pos X4. For the other drive modules, no additional axes should be configured.
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6.4.9.3 Options settings for systems with positioners
6.5 Handle I/O
Overview
The I/O system handles input and output signals to and from the controller. Below are the parts of the system described, as well as common types of signals.
The I/O system window is used to view and set previously configured signals, and to activate and deactivate I/O units.
The I/O system
The I/O system of a controller consists of I/O buses, I/O units and I/O signals. The I/O buses are the controller's connections for I/O units (for instance I/O boards) and the I/O units contain channels for the actual signals.
The I/O buses and units are displayed in the robot view, as child nodes under each controller and the I/O signals are displayed in the I/O window.
I/O signals
I/O signals are used to communicate between the controller and external equipment, or to change variables within a robot program.
Input signals
Input signals notify something for the controller, for instance a feeder belt can set an input signal when it has positioned a work piece. The input signal can then be programmed to start a specific part of the robot program.
Output signals
The controller uses output signals to notify that a specified condition has been fulfilled. For instance, after the robot has finished its sequence, an output signal can be set. This signal can then be programmed to start a feeder belt, update a counter or trigger any other action.
Simulated signals
A simulated signal is a signal that is manually given a specific value that overrides the actual signal. Thus simulated signals might be useful for testing robot programs without activating or running equipment.
Virtual signals
Virtual signals are signals that are not configured to belong to a physical I/O unit.
Instead, they reside inside the controller's memory. A common use for virtual signals is to set variables and store changes in a robot program.
Procedures
For using the I/O system window, seeInputs / Outputs on page 351.
For adding a signal, seeAdd Signals on page 361.
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6.5 Handle I/O