IRC5-Robot Studio Online Operators Manual 3HAC18236-1 - Revd - en

Operators manual
RobotStudio Online
5.06
Document ID: 3HAC 18236-1
Revision: D
The information in this manual is subject to change without notice and should not be
construed as a commitment by ABB. ABB assumes no responsibility for any errors that
may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to persons
or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABBs 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 2003 ABB All rights reserved.

ABB Automation Technologies AB
Robotics
SE-721 68 Vsters
Sweden
Table of Contents
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1 Welcome to RobotStudioOnline
13
1.1 What is RobotStudioOnline? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.2 When to use the FlexPendant and RobotStudio Online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.3 RobotStudioOnline help and manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.3.1 Help for using RobotStudio Online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

1.3.2 Layout of the Help Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.3.3 The help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.3.4 Text formatting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.3.5 Printing the help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
1.3.6 The RobotStudio Online Operators Manual as pdf file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2 Get started
25
2.1 Get started. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

2.2 Getting and Installing a license key for RobotStudio Online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.3 Connecting a PC to the service port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.4 Network settings for connecting a PC to a controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.5 Accessing a controller from RobotStudioOnline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.6 About automatic detection of controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.7 Installing RobotWare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3 Navigate and handle RobotStudio Online
35
3.1 Navigate in RobotStudioOnline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3.2 Layout of the main window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.3 Customizing dockable windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.4 The menus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3.4.1 The menus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

3.4.2 The File menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
3.4.3 The Edit menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.4.4 The View menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
3.4.5 The Robot View menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.4.6 The Controller menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.4.7 The Program menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
3.4.8 The Tools menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.4.9 The Windows Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
3.4.10 The Help menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3.5 The Robot View Explorer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3.5.1 The Robot View Explorer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

3.5.2 Layout of the Robot View Explorer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
3.6 The Controller Status window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
3.6.1 The controller status window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

3.6.2 Layout of the controller status window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.7 The System Builder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
3.7.1 The System Builder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

3.7.2 Layout of the system builder main window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.8 The File Management Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
3.8.1 The file management window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

3.8.2 Layout of the file management window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
3.9 The configuration window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
3.9.1 The Configuration Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

3
Table of Contents
3.9.2 Layout of the Configuration Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

3.9.3 Layout of the Instance Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
3.10 The program editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
3.10.1 The Program Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

3.10.2 Layout of the Program Editor window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
3.11 The I/O system window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
3.11.1 The I/O System window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

3.11.2 Layout of the I/O system window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
3.12 The event recorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
3.12.1 The event recorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

3.12.2 Layout of the Event Recorder window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
3.13 The Output window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
3.13.1 The Output window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

3.13.2 Layout of the output window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
3.14 The UAS administration tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
3.14.1 The UAS administration tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.14.2 Layout of the Users tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.14.3 Layout of the Groups tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.14.4 The Grants Overview tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Administrate systems
84
85
87
88
89
4.1 Administrate systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Selecting a system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Viewing system properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Working with comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
89
90
91
92
4.5 Create a new system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
4.5.1 Creating a new system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

4.5.2 Starting the New Controller System Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
4.5.3 Entering name and location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
4.5.4 Entering the RobotWare keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
4.5.5 Adding additional options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
4.5.6 Modifying options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
4.5.7 Adding parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
4.5.8 Adding files to the home directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
4.5.9 Completing the New Controller System Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
4.6 Create system from backup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
4.6.1 Starting the Create System from Backup Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

4.7 Copy a system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
4.7.1 Copying a system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

4.8 Modify a system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
4.8.1 Modifying a system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.8.2 Starting the Modify Controller System Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.3 Changing RobotWare version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.4 Changing the drive keys. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.5 Changing additional options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.6 Modifying options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.7 Changing parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.8 Changing files in the home directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.9 Completing the Modify Controller System wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
106
107
108
109
110
111
112
113
114
4.9 Load a system to a controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
4.9.1 Loading a system to a controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
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4.10 Create boot media. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
4.10.1 About boot media . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

4.10.2 Creating boot media . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
4.11 Handle the media pool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
4.11.1 About the media pool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

4.11.2 Modifying system options in a media pool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
4.12 Add RobotWare option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
4.12.1 Adding RobotWare option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

5 Handle robot views
123
5.1 Handle Robot Views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

5.2 About Robot Views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
5.3 Work with robot views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
5.3.1 Creating a new Robot View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

5.3.2 Layout of the New Robot View dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
5.3.3 Opening a Robot View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
5.3.4 Saving a Robot View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
5.3.5 Closing a Robot View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
5.4 Documents in robot views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
5.4.1 Documents in robot views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

5.4.2 Organizing document links in folders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
5.4.3 Adding Document Links . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
5.4.4 Opening linked documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
5.4.5 Removing document links . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
5.4.6 Renaming a document link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
5.4.7 Locating linked files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
6 Handle controllers
137
6.1 Handle controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

6.2 Accessing Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
6.2.1 Adding a controller to a Robot View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

6.2.2 Layout of the add controller dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
6.2.3 Removing a Controller from a Robot View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
6.2.4 Logging on to a controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
6.3 Viewing and changing properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
6.3.1 Viewing controller status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

6.3.2 Viewing controller and system properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
6.3.3 Setting the controllers date and time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
6.3.4 Layout of the set date and time dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
6.3.5 Renaming a controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
6.3.6 Setting a controllers ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
6.4 Handling Backups. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
6.4.1 Backing up a system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

6.4.2 Restoring a system using a backup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
6.5 File handling on the controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
6.5.1 Transferring data between the PC and a controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

6.5.2 Organizing files on the controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
6.6 Handling the write access system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
6.6.1 About access rights. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

6.6.2 Requesting Write access. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
6.6.3 Releasing Write access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Table of Contents
6.7 Managing the user authorization system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
6.7.1 About user authorization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7.2 Administrating users . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.3 Administrating groups and grants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.4 Grants for RobotWare 5.05 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.5 Grants for RobotWare 5.06 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.8 Restarting a controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7 Program a robot
159
161
164
167
168
172
175
7.1 Program a robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

7.2 The structure of a RAPID application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
7.3 Creating a program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
7.4 Edit a program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
7.4.1 About editing programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

7.4.2 Using the Program Editors RAPID functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
7.4.3 Adding a module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
7.4.4 Editing a module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
7.4.5 Locating program errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
7.4.6 Deleting a module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
7.5 Save programs and modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
7.5.1 About Saving Robot Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

7.5.2 Saving a program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
7.5.3 Saving a module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
7.6 Load programs and modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
7.6.1 About loading programs and modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

7.6.2 Loading a program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
7.6.3 Loading a module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
7.7 Delete a robot program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
7.7.1 Deleting a Robot Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

8 Handle I/O
8.1 Handle Input and Output signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2 About the I/O system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3 Viewing I/O signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4 Setting I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.5 Deactivating and activating I/O units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9 Configure systems
9.1 Configure systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2 About configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3 Viewing configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4 Editing parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5 Adding instances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6 Copying instances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7 Deleting instances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8 Saving system parameters to configuration files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9 Loading system parameters from configuration files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10 Handle event records
195
195
196
197
199
201
203
203
204
205
206
208
210
212
213
214
217
10.1 About event records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217

10.2 What is an event? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
10.3 Recording events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Overview
Overview
About this manual
This manual contains information and instructions for supervising, installing, configuring
and programming a robot from a PC with RobotStudioOnline.
Usage
This manual shall be used as a description for how to work with the robot from
RobotStudioOnline. It describes RobotStudioOnline and how to perform the tasks from there.
Details about parameters, RAPID instructions and similar are not described in this manual,
but can be found in the respective reference manual.
Who should read this manual?
This manual is mainly intended for:
Robot installers
Robot programmers
Production technicians
Service technicians
Prerequisites
The reader should...
be familiar with basic robot concepts.
know generic program handling on a Windows computer.
Continues on next page

3HAC 18236-1 Revision: D
Overview
Continued
Organization of chapters
The manual is organized in the following chapters:
Chapter
Contents
1. Welcome to
RobotStudioOnline
Introduction to RobotStudioOnline and how to use the

online help manual.
2. Get started
How to install RobotStudioOnline on a PC and connect it to

a robot controller.
3. Navigate and handle

RobotStudioOnline
Windows, menus and other parts of RobotStudioOnline:

their content and functions as well as how to access
them.
4. Administrate Systems
How to create and modify robot systems and how to

install systems on the controller. It also describes the
media pool and how to handle it.
5. Handle robot views
What robot views are and how you can use them for
accessing controllers as well as organizing your work.
6. Handle controllers
How to connect to a controller and handle it from

RobotStudioOnline.
7. Program a robot
How to create and edit robot programs.
8. Handle I/O
How to handle existing input and output signals.
9. Configure systems
How to view and modify the robots system parameters.
10. Handle event records
What events are and how to view and record them from
RobotStudioOnline.
References
Reference
Document ID
RAPID reference manual
3HAC 16581-1
Operators manual, IRC5 with FlexPendant
3HAC 16590-1
Trouble shooting manual, IRC5
3HAC020738-001
Revisions
Revision
Description
C
D
The following updates are made:

New pictures of the user interface.
The sections describing the User Authorization
System, UAS Administration Tool and System Builder
are completed and corrected.
Description of the grants for RobotWare 5.06.
Description of remote network connection.
Description of Template ID and System ID.
Completed with the following new sections: Adding
RobotWare option, Create System from Backup
Wizard.

8
Overview
Continued
Product documentation, M2004

General
The robot documentation may be divided into a number of categories. This listing is based on
the type of information contained within the documents, regardless of whether the products
are standard or optional. This means that any given delivery of robot products will not contain
all documents listed, only the ones pertaining to the equipment delivered.
However, all documents listed may be ordered from ABB. The documents listed are valid for
M2004 robot systems.
Hardware manuals
All hardware, robots and controller cabinets, will be delivered with a Product manual which
is divided into two parts:
Product manual, procedures
Safety information
Installation and commissioning (descriptions of mechanical installation, electrical

connections and loading system software)
Maintenance (descriptions of all required preventive maintenance procedures

including intervals)
Repair (descriptions of all recommended repair procedures including spare parts)
Additional procedures, if any (calibration, decommissioning)
Product manual, reference information
Reference information (article numbers for documentation referred to in Product

manual, procedures, lists of tools, safety standards)
Part list
Foldouts or exploded views
Circuit diagrams
RobotWare manuals
The following manuals describe the robot software in general and contain relevant reference
information:
RAPID Overview: An overview of the RAPID programming language.
RAPID reference manual part 1: Description of all RAPID instructions.
RAPID reference manual part 2: Description of all RAPID functions and data types.
Technical reference manual - System parameters: Description of system

parameters and configuration workflows.

10

Continued
Application manuals
Specific applications (e.g. software or hardware options) are described in Application
manuals. An application manual can describe one or several applications.
An application manual generally contains information about:
The purpose of the application (what it does and when it is useful)
What is included (e.g. cables, I/O boards, RAPID instructions, system parameters)
How to use the application
Examples of how to use the application
Operators manuals
This group of manuals is aimed at those having first hand operational contact with the robot,
i.e. production cell operators, programmers and trouble shooters. The group of manuals
include:
Getting started - IRC5 and RobotStudio Online
Operators manual - IRC5 with FlexPendant
Operators manual - RobotStudio Online
Trouble shooting manual for the controller and robot
11
Safety
Safety
Safety of personnel
A robot is heavy and extremely powerful regardless of its speed. A pause or long stop in
movement can be followed by a fast hazardous movement. Even if a pattern of movement is
predicted, a change in operation can be triggered by an external signal resulting in an
unexpected movement.
Therefore, it is important that all safety regulations are followed when entering safeguarded
space.
Safety regulations
Before beginning work with the robot, make sure you are familiar with the safety regulations
described in Operators manual - IRC5 with FlexPendant.
12
1.1. What is RobotStudioOnline?
1.1. What is RobotStudioOnline?
Overview
RobotStudioOnline is a PC software with which you work with robots, as a complement to
working from the FlexPendant. RobotStudioOnline is optimized for text based programming
(suitable for programs with lot of logic or complex structure) and tasks related to managing
the robots system.
RobotStudioOnline can be installed on an ordinary computer running Windows 2000 or later.
This computer can then be connected to one or several controllers by an Ethernet network, or
to one single controller by the controllers service port connection.
RobotStudioOnline functionality
The main entry to the functionality of RobotStudioOnline is a robot view explorer. From this
you select which robot to work with, in cases where several robots are installed, and what
parts of the system you want to work with.
RobotStudioOnline contains:
The System Builder for creating, installing and maintaining systems.
A configuration editor for editing the system parameters of the running system.
A program editor for online programming.
An event recorder for recording and monitoring robot events.
Tools for backing up and restoring systems.
An administration tool for User Authorization.
A file manager for transferring files between the PC and controllers.
Other tools for viewing and handling controller and system properties.
13
1.2. When to use the FlexPendant and RobotStudio Online

Overview
For operating and managing the robot, you either use the FlexPendant or RobotStudioOnline.
The FlexPendant is optimized for handling robot motions and ordinary operation, and
RobotStudioOnline is optimized for configuration, programming and other tasks not related to
the daily operation.
Start, restart and shut down the controller
To...
Use...
Start the controller.
The power switch on the controllers front panel .
Restart the controller.
The FlexPendant, RobotStudio Online or the power switch

on the controllers front panel.
Shut down the controller.
The power switch on the controllers front panel.
Run and control robot programs

To...
Use...
Jog a robot.
The FlexPendant
Start or stop a robot program. The FlexPendant
Communicate with the controller

To...
Use...
Acknowledge events.
The FlexPendant.
View and save the controllers event logs.
RobotStudio Online or
the FlexPendant.
Back up the controllers software to files on the PC or a server.
the FlexPendant.
Back up the controllers software to files on the controller
The FlexPendant.
Transfer files between the controller and network drives.
the FlexPendant.

14
Continued
Program a robot
To...
Use...
Create or edit robot programs

in a flexible way. This is
suitable for complex programs
with a lot of logic, I/O signals
or action instructions.
RobotStudio Online to create the programs structure and

most of the source code and the FlexPendant to store robot
positions and make final adjustments to the program.
When programming, RobotStudioOnline provides the following
advantages:
A text editor optimized for RAPID code, with auto-text
and tool-tip information about instructions and
parameters.
Program check with program error marking.
Close access to configuration and I/O editing.
Create or edit a robot program The FlexPendant.

in a supportive way. This is
When programming, the FlexPendant provides the following
suitable for programs that
advantages:
mostly consist of move
Instruction pick lists
instructions.
Program check and debug while writing
Possibility to create robot positions while
programming
Add or edit robot positions.
The FlexPendant.
Modify robot positions.
The FlexPendant.
Configure the robots system parameters

To...
Use...
Edit the system parameters of the running

system.
RobotStudio Online or the FlexPendant
Save the robot's system parameters as

configuration files.
Load system parameters from configuration

files to the running system.
Load calibration data.
Create, modify and install systems

To...
Use...
Create or modify a system.
RobotStudio Online together with RobotWare and a

valid RobotWare Key.
Install a system on a controller.
RobotStudio Online
Install a system on a controller from The FlexPendant.

a USB memory.

15
Continued
Calibration
To...
Use...
Calibrate base frame etc.
The FlexPendant
Calibrate tools, work objects etc.
The FlexPendant
Related information
The table below specifies which manuals to read, when performing the various tasks referred
to:
16
Recommended use...
for details, see manual...
Document number
FlexPendant
Operators manual - IRC5 with

FlexPendant
3HAC 16590-1
RobotStudio Online
Operators manual - RobotStudio

Online
3HAC 18236-1
1.3.1. Help for using RobotStudio Online
1.3 RobotStudioOnline help and manuals

1.3.1. Help for using RobotStudio Online
Overview
This section describes the manuals and the help for RobotStudioOnline and how to use them.
RobotStudio Online help and manuals
For finding information about installing RobotStudioOnline you have the printed manual
Getting Started with IRC5 and RobotStudioOnline which is delivered together with the robot.
For finding information about how to use RobotStudioOnline you have both a help file and a
manual. The help file and the manual contain the same information but are organized in
different ways. The help file is optimized for online reading and is integrated with
RobotStudioOnline. The manual is optimized for printing and is delivered as a pdf file on the
documentation CD, delivered with the robot.
For information about other manuals that might be useful, see Product documentation,
M2004 on page 10.
17
1.3.2. Layout of the Help Window
1.3.2. Layout of the Help Window

The Help Window
The help is displayed in an HTML-help window.
en0200000243
Parts
1. The Show/Hide button
This button shows or hides the navigation pane.
2. The Back button
This button takes you to the previous displayed help topic.
3. The Print button
This button opens a dialog box from which you can print either the selected topic or a
complete help book.
4. The Options button
This button displays a set of options for customizing the help window.
5. The Navigation Pane
The navigation pane contains tabs for navigating in the help file: Content, Index and
Search.
6. The Topic pane
The topic pane displays the selected help topic.
18
1.3.3. The help
1.3.3. The help

The help window
The help file consists of several separate information topics, each topic describes one subject.
The topics are structured with chapters and sections that gather topics that are related to each
other.
The help is opened in a separate window, which consists of two panes. The left pane is used
for navigation and the right pane displays the selected information topic. For detailed
information, see Layout of the Help Window on page 18.
Finding information in the help
For navigating among the topics, the help window has a navigation pane. From this you can
select the way to navigate in the help:
Use the...
when you want to...
Content tab
browse the help as a library. The chapters and sections are

displayed as books in an hierarchal tree view.
Index tab
find information about a specific area or keyword.
Search tab
search for all topics that contain specific words. You can also
search for combination of words and complete phrases.
Open the help

To open the help, do one of the following:
On the Help menu, click Content.
Press the F1 key.
Navigate with the content tab
To navigate with the content tab:
1. In the navigation pane, click the Content tab.
The navigation pane now displays the content of the help as a list of books and topics.
2. Browse to the topic you want to read:
If you double-click a...
it will...
book
expand so that the content of the book is displayed in the

navigation pane.
information topic
display in the topic pane.

19
1.3.3. The help
Continued
Navigate with the index tab

To navigate with the index tab:
1. In the navigation pane, click the Index tab.
The navigation pane now displays a text box for searching the index words, and a list of
all existing index words.
2. Scroll the list of index words to the word you are looking for. Or, type in the word you
are looking for in the text box to scroll through the list of index words to the right place
automatically.
3. In the list of index words, double-click the word you are looking for.
If the index word is

related to...
then...
one help topic only
it will be displayed in the topic pane.
several topics
a dialog box displays all topics that are related to the word you
are looking for. Double-click a topic and it will be displayed in the
topic pane.
Navigate with the search tab

To navigate with the search tab:
1. In the navigation pane, click the Search tab.
The navigation pane now displays a text box for typing in search words and a list of
matching topics.
2. In the text box, enter the words you are searching for.
To search for...
then type...
one single word
the word you are searching for.
several words that exist in

the same topic
the words you are searching for, separated with spaces.
several words as a phrase the phrase you are searching for, with quotation marks around
the phrase.
3. Click List Topics.

All topics that match your search are now displayed.
4. Double-click the topic you want to read.
Related information
Layout of the Help Window on page 18
Printing the help on page 22
20
1.3.4. Text formatting
1.3.4. Text formatting

Specific formats for specific meanings
To make it easier to read, text of specific types have specific formatting:
Text that is...
is written with...
Example
names on elements in the

user interface, like menus,
dialog boxes and buttons
bold letters
In the Open File dialog box, click

OK.
names on keyboard keys
capital letters
To open the help, press the F1

key.
quotes from computer input

or output, like error
messages, written RAPID
instructions and other
computer code
monospace letters
MoveJ
variables in quotes from

italic monospace letters
computer input or output, like
error messages, written
RAPID instructions and other
computer code
PROC routinename ()
Hypertext links to other

information topics
blue italic letters
See The RobotStudio Online

Operators Manual as pdf file on
page 23.
references to other manuals

or sources of information
italic letters
See the RAPID reference

manual for further information.
21
1.3.5. Printing the help
1.3.5. Printing the help

Overview
From the Help window, you can either print a single information topic, or a complete book
that you select in the content tab.
TIP!
When printing several information topics at once, you can also print from the acrobat file
RobotStudioOnline Operators Manual, which is optimized for printing. See the The
RobotStudio Online Operators Manual as pdf file on page 23 for more information.
Print a single help topic
To print a single information topic from the help:
1. Open the help topic you want to print.
2. On the toolbar of the help window, click the Print button.
3. In the Print Topic dialog box select the Print selected topic option and click OK.
4. In the Print dialog box, click OK.
Print a help book
To print a book from the helps Content tab:
1. Select the book you want to print. You can also select a topic inside the book.
2. On the help windows toolbar, click the Print button.
3. In the Print Topic dialog box, select the Print selected heading and all topics option and
click OK.
4. In the Print dialog box, click OK.
Related informatioon
The help on page 19
Layout of the Help Window on page 18
22
1.3.6. The RobotStudio Online Operators Manual as pdf file

Overview
The RobotStudioOnline operating manual is delivered as an Acrobat file on the RobotStudio
CD. The operating manual can either be printed, or read on the PC.
Online
Open the Operating Manual

To open the operating manual:
On the Documentation CD, browse to the file for the RobotStudioOnline Operators Manual
and double-click it.
The operating manual will now open in an Acrobat Reader Window.
For information on how to navigate, print and in other ways handle the operating manual
in Acrobat Reader, see Acrobat Readers help.
23
24
2 Get started
2.1. Get started
2 Get started
2.1. Get started
Overview
This chapter describes the basic steps for connecting a controller to RobotStudioOnline as well
as the settings you have to make on the PC. Once the controller is connected, you can then
start working with it from RobotStudioOnline.
It also describes how to get and install a license key for RobotStudioOnline, which is necessary
for running RobotStudioOnline after the trial period has expired. The license key is free of
charge.
Related information
How to install the software and setting up the controller is described in the printed manual
Getting Started with IRC5, which also contains all the information in this chapter.
25
2 Get started
2.2. Getting and Installing a license key for RobotStudio Online
2.2. Getting and Installing a license key for RobotStudio Online

Overview
The licensing is made in two steps, where the first is to request a license key and the second
is to install the license key on the PC.
Unique license key
The license key is unique for each PC. Therefore, the License Key Request wizard must be
filled out using the PC on which RobotStudioOnline is to be run.
Request a license key
To request a license key:
1. On the Start menu, point to Programs, ABB Industrial IT, Robotics IT, Licensing and
then select License Key Request Wizard.
2. Follow the instructions in the wizard and enter the requested information. When the
wizard is completed, a license key request file is saved to a file on your PC. Its name is
LicenseKeyRequest-RobotStudio Online-unique number.txt located on the
desktop.
3. Attach the license key request file to an E-mail and send it to
softwarefactory@se.abb.com. The file must be attached to the E-mail (not copied into the
body of the E-mail) and have the extension txt (as it is created), otherwise the license key
request will not be processed.
A license key file will then be sent by E-mail to the E-mail address specified in the
License request Wizard within a few minutes.
Install the license key
When you have received the e-mail with the license key file:
1. Detach the license key file from the e-mail and save it to a file on your PC. For
information about how to detach files from an e-mail, see the help for your e-mail
program.
2. Double-click the license key file. This opens the License Install Wizard.
3. In the License Install Wizard, follow the instructions in the wizard.
Result
You can now run RobotStudio Online. To work with a robot controller, you also must connect
the PC to the robot, either through a network or directly to the controllers service port. See
Connecting a PC to the service port on page 27 for detailed information. For creating and
modifying robot systems, you must also install RobotWare. For further information, see
Installing RobotWare on page 34.
26
2 Get started
2.3. Connecting a PC to the service port

NOTE!
The service port shall only be used for direct connection to a PC as described in this
procedure. It must not be connected to a LAN (local area network), since it has a DHCP server
that automatically distributes IP addresses to all units connected to the LAN. See also
Automatic IP address on page 29. Contact your network administrator if you need more
information.
CAUTION!
When a cable is connected to the service port on the Control Module front and the service
hatch is opened, the controller will not comply with the requirements of protection class IP54.
Ports
The illustration below shows the two main ports on the computer unit: the Service Port and
the LAN port. Make sure the LAN (factory network) is not connected to any of the service
ports!
xx0400001299
Service port on the Control Module front
Service port on computer unit (connected to Service port on the Control Module
front through a cable)
LAN port on computer unit (connects to factory LAN)
Connections to ports may be done as detailed below:

Connection to/from:
Detailed in section:
Connecting the Control Module to the

factory LAN.
Proceed as detailed in section Installation in

the Product Manual, IRC5.
Connecting a PC to the Control Module

service port.
Proceed as detailed below!

27
2 Get started
Continued
Connecting a PC to the service port

Step
Action
Illustration
1.
Make sure the network setting on the

PC to be connected is correct.
Refer to the system documentation for

your PC, depending on the operative
system you are running.
The PC must be set to Obtain an IP
address automatically.
2.
Use the delivered category 5 Ethernet

crossover boot cable with RJ45
connectors.
The cable is delivered in the RobotWare

product box.
3.
Connect the network cable to the

network port of your PC.
xx0400000844
A: network port
The placement of the network port may
vary depending on the pc model.
4.
28
Connect the boot cable to the service

port, placed on the control module front.
2 Get started
2.4. Network settings for connecting a PC to a controller

Overview
The information in this topic describes the network settings for a PC that shall be connected
to a controller. Connecting the PC to the controller is necessary for working with
RobotStudioOnline.
You can connect the PC to the controller through an Ethernet network in the following ways:
Local network connection
Service port connection
Remote network connection
Local network connection

You can connect your PC to the same Ethernet network that the controller is connected to.
When the PC and the controller is connected correctly and to the same subnet, the controller
will be detected by RobotStudioOnline automatically. For information on how to connect the
controller correctly, see section Using the boot application in the Operators manual - IRC5
with FlexPendant.
The network settings to use on the PC depends on the network configuration. To know how
to set up the PC, contact the network administrator.
Service port connection
When connecting to the controllers service port, you can either obtain an IP address for the
PC automatically, or you can specify a fixed IP address. See also Connecting a PC to the
service port on page 27.
If you are not sure about how to setup the service port connection, contact the network
administrator.
Automatic IP address
The controllers service port has a DHCP server that will automatically give your PC an IP
address if it is configured for this. See Windows help on Configure TCP/IP settings for
detailed information about configuring the PC to obtain IP addresses automatically.
Fixed IP address
Instead of obtaining an IP address automatically, you can also specify a fixed IP address on
the PC you connect to the controller.
Use the following settings for connecting with a fixed IP address:
Property
Value
IP address
192.168.125.2
Subnet mask
255.255.255.0
For detailed information about how to set up the PCs network connection, see Windows help
on Configure TCP/IP settings.

29
2 Get started
Continued
NOTE!
Obtaining an IP address automatically might fail if the PC already has an IP address from
another controller or Ethernet device.
To ensure that you get a correct IP address if the PC was previously connected to an Ethernet
device, do one of the following:
Restart the PC before connecting to the controller.
Run the command ipconfig /renew from the command prompt after connecting
the PC to the controller.
Remote network connection

To enable connection to a controller on a remote subnet, the relevant network traffic must be
allowed through any firewalls between the PC and the controller.
The firewalls must be configured to accept the following TCP/IP traffic from the PC to the
controller:
UDP port 5514 (unicast)
TCP port 5515
Passive FTP
All TCP and UPD connections to remote controllers are initiated by the PC, that is the
controller only responds on the given source port and address.
Remote connection is supported from RobotWare version 5.06. It is possible to connect
remotely to RobotWare version 5.05.03 and onwards. But for RobotWare version 5.05 active
FTP is used and the firewall pass through is not supported.
Related information
For information on how to connect the PC to the Controllers service port, see Connecting a
PC to the service port on page 27.
For information on how to connect to a remote controller, see Add a controller on a remote
subnet to a Robot View on page 138.
For information on how to use the boot application in the FlexPendant for setting up the
network connection, see Operators manual - IRC5 with FlexPendant.
30
2 Get started
2.5. Accessing a controller from RobotStudioOnline

Overview
This information topic describes an easy way to access a single robot controller from
RobotStudioOnline when the PC is connected to the controllers service port.
You can also create a robot view and add controllers to it manually, which is useful when one
or several controllers are connected to the same Ethernet network as RobotStudioOnline. For
more information about connecting to controllers over an ethernet network, see Creating a
new Robot View on page 125 and Adding a controller to a Robot View on page 138
respectively.
Prerequisites
The network settings must be correct on the PC. That is, DHCP shall either be enabled or the
IP address shall have a specific value. See Network settings for connecting a PC to a
controller on page 29 for detailed information.
The PC must be connected to the robots service port before RobotStudioOnline is started. See
Connecting a PC to the service port on page 27 for detailed information.
Connect to the controller
To connect the controller to RobotStudioOnline:
1. Make sure the PC is connected to the controllers service port and that the controller is
running.
2. Start RobotStudioOnline by clicking Windows Start button, pointing to Programs, ABB
Industrial IT, Robotics IT, RobotStudio Online and then selecting RobotStudio
Online.
3. On the Tools menu of RobotStudioOnline, click Connect to Service port.
The controller is now added to a robot view in RobotStudioOnline. Now continue with
requesting Write access to the controller in order to work with it.
Request write access
To request write access to a controller from RobotStudioOnline:
1. Select the controller in the robot view.
2. On the Controller menu, click Request Write access.
If the controller is in mode
Then
Auto
You will now get Write Access if its available.
Manual
You have to grant remote Write Access from

the FlexPendant in order to get Write Access
from RobotStudioOnline. See Operators
Manual - IRC5 with FlexPendant for detailed
instructions.

31
2 Get started
Continued
Result
The controller is added to a new robot view in RobotStudioOnline and you now have access to
work with it. See About robot views for more information.
32
2 Get started
2.6. About automatic detection of controllers
2.6. About automatic detection of controllers

Overview
This information topic describes how the function for automatic detection of controllers
works.
Scope of detection
The detection searches for controllers in the same subnet as the PC running RobotStudioOnline,
not the entire network. It will also search for virtual controllers on the same PC but not any
virtual controllers on other PCs in the network.
A virtual controller is a robot system running on a PC for simulation purposes, used by
softwares like Virtual IRC5.
Detection by broadcasting
The detection broadcasts requests for the controllers in the network periodically. The
controllers then reply with identification and status information. Also when a controller
changes state, for instance starts up or shuts down, it will broadcast information about this
without any request.
If several PCs running RobotStudioOnlineare connected to the same network they will
synchronize their broadcasts in order to minimize network traffic.
Default configuration
The detection is by default configured to search the entire subnet dynamically. This means
that controllers in the subnet, and their status, will be listed automatically.
Related information
Network settings for connecting a PC to a controller on page 29
33
2 Get started
2.7. Installing RobotWare
2.7. Installing RobotWare

Overview
Installing RobotWare creates a media pool, which is a folder on the PC with the data
necessary for creating and modifying robot systems.
When do you need RobotWare?
RobotWare must be installed if you want to create or modify robot systems.
Install RobotWare
To install RobotWare to media pool on the PC:
1. Insert the Robots software CD in the computer.
If a menu for the CD is opened automatically, continue with step 5.
If no menu for the CD is opened, continue with step 2.
2. On the Start menu, click Run.

3. In the Open box, type the drive letter for your CD drive followed by:\launch.exe.
Example: If your CD drive has the letter D, then type D:\launch.exe
4. Click OK.
5. Select language for the CD menu.
6. On the CD menu, click Install.
7. On the CD menu, click RobotWare. This opens an installation guide, which will guide
you through the rest of the installation.
Follow the instructions in the wizard.
34

3.1. Navigate in RobotStudioOnline

3.1. Navigate in RobotStudioOnline
Overview
This chapter describes how to navigate in RobotStudioOnline. Windows and other parts of the
interface are described in respect to their content, and how they are accessed.
The description of the main window layout provides an overview of the menus, toolbars and
windows in RobotStudioOnline. These parts are then described in detail later in this chapter.
35

3.2. Layout of the main window

The main window
The main window in RobotStudioOnline contains several elements like toolbars, browsers and
toolbars.
en0400000836
Parts
1. The Menu bar.
Each menu is described in detail later in this chapter.
2. The Toolbars.
The toolbars contains buttons for quick access to commands in the menus.
3. The Controller Status window.
This window shows status and access information for each controller in the open robot
view. See The controller status window on page 57 for detailed information.
4. The Robot View Explorer.
This window shows the controllers that are included in the current robot view. From here
you access the controller and select which part of it to work with. See The Robot View
Explorer on page 52 for detailed information.

36

Continued
5. The Output window.

This window displays messages and responses on your actions from the controllers you
work with. This is not the same as the controllers events or log file, which can be viewed
from the event recorder.
The Output window also has a specific tab for RAPID output, which displays
programming messages from the controller when working with robot programs. See The
Output window on page 82 for detailed information.
6. The Workspace.
The workspace displays the active windows, for instance, the start page, a program editor
window, or an I/O window as in the picture above.
7. The windows tabs.
These tabs let you select which window to view in the workspace, if you have several
windows open at one time. These tabs are only available when the view is set to workbook
mode.
Related information
For information on how to change the size and position of the windows inside
RobotStudioOnline, see Customizing dockable windows on page 38.
37

3.3. Customizing dockable windows

Overview
You can customize a dockable window in the following ways:
Show a window on page 38
Hide a window on page 38
Resize a window on page 38
Change the docking position on page 38
Expand a docked window on page 38
Contract a docked window on page 39
Make a docked window floating on page 39
Position a floating window on page 39
Dock a floating window on page 39
Show a window
To show a dockable window:
On the View menu, click the name of the window.
Hide a window
To hide a dockable window, do one of the following:
On the View menu, clear the check mark beside the name of the window.
Click the Minimize button in the corner of the window. This button may be at the upper
right or upper-left corner, depending on the position of the window.
Resize a window
To resize a window:
Point to a corner or border of the window and drag it to the desired size.
Change the docking position
To change the position of a docked window:
Point to the border at the top of the window and drag the window to a different dock area.
Expand a docked window
To expand a docked window:
Click the Expand button near the corner of the window.
This button may be near the upper-left or upper-right corner, depending on the position of
the window. This is a dual-purpose button: When the window is fully expanded, the
function of this button is Contract; otherwise, the function is Expand. The tooltip indicates
the current function.

38

Continued
Contract a docked window

To Contract a docked window:
Click the Contract button near the corner of the window.
This button may be near the upper-left or upper-right corner, depending on the position of
the window. This is a dual-purpose button: When the window is fully expanded, the
function of this button is Contract; otherwise, the function is Expand. The tooltip indicates
the current function.
Make a docked window floating
To make a docked window floating, do one of the following:
Double-click in the window border.
Click on the window border and drag it to the center of a non-docking area.
Position a floating window
To change the position of a floating window:
Point to the window title bar and drag the window to its new position. To position a
floating window over a dock area without docking the window, hold down the CTRL key
while dragging the window.
Dock a floating window
To dock a floating window, do one of the following:
Point to the window title bar and drag the window to a dock area.
Double-click the window title bar to return the window to its previous docked location.
39

3.4.1. The menus
3.4 The menus

3.4.1. The menus
Overview
This section describes the menus, from which you can access commands in
RobotStudioOnline.
Menus on the menu bar
Each menu on the bar contains commands that are related to its subject.
The menu bar contains the following menus:
File
Edit
View
Robot View
Controller
Program
Tools
Window
Help
Open a menu on the menu bar:

To open a menu on the menu bar, do one of the following:
Click the menu name.
Hold down the ALT key and press the Key that corresponds to the underlined letter in the
menu name.
Example: Holding down the ALT key and pressing the F key opens the File menu.
Shortcut menus
In addition to the menus on the menu bar, RobotStudioOnline also has shortcut menus. A
shortcut menu contains commonly used commands for an object.
Each object in the workspace that is related to commands has its own shortcut menu. Since
the shortcut menus are context sensitive, their content may vary depending on the situation
at which you open it.
Open a shortcut menu
To open a shortcut menu for an object, do one of the following:
Right-click the object.
Select the object and press the Shortcut Key on the keyboard
Note: All keyboards do not have a shortcut key.
40

3.4.2. The File menu
3.4.2. The File menu

Overview
The File menu contains commands for handling robot views.
Commands on the File menu
The File menu contains the following commands:
Command
Description
New Robot View
Opens the New Robot View dialog box, from where you create
new Robot Views.
See Creating a new Robot View on page 125 for more
information.
Open Robot View
Opens the Open Robot View Dialog box, from where you locate
and open existing Robot Views.
See Opening a Robot View on page 127 for more information.
Close Robot View
Closes the open Robot View.

Close Robot View is only available when a Robot View is open.
See Closing a Robot View on page 129 for more information.
Save Robot View
Saves changes that have been made to the Robot View.

Save Robot View is only available when the open Robot View
contain unsaved changes.
See Saving a Robot View on page 128 for more information.
Save Robot View As
Saves the open Robot View as a new file. This command also
closes the old Robot View without saving any changes made
after the last time it was saved. The new Robot View will remain
open in RobotStudio Online .
See Saving a Robot View on page 128 for more information.
Recent Robot Views
Displays a list of shortcuts to the most recent opened Robot

Views.
Exit
Closes the open Robot View and exits RobotStudio Online .
Related information
About Robot Views on page 124
41

3.4.3. The Edit menu
3.4.3. The Edit menu

Overview
The Edit menu contains commands for working with text and objects. The commands that
are available on the menu depends on the object that is selected when the menu is opened.
Commands on the Edit Menu
The Edit menu contains the following commands:
42
Command
Description
Undo
Undoes the latest actions, one at a time for each time the
command is used.
Not all actions can be undone.
Redo
Redoes the latest actions that have been undone.
Cut
Removes selected text (or objects) and places it on the

clipboard.
Copy
Makes a copy of selected text (or objects) and places it on the

clipboard.
Paste
Pastes the text (or objects) from the clipboard at the insertion
point.
Delete
Deletes the selected text (or object).
Rename
Renames the selected object.

3.4.4. The View menu
3.4.4. The View menu

Overview
The View menu contains commands for customizing RobotStudioOnline, like selecting which
windows and toolbars to view.
Commands on the view menu
The View menu contains the following commands:
Command
Description
Toolbars
Displays a list in which you select which toolbars to view.
Status Bar
Displays the Status Bar when selected.
Controller Status
Displays the Controller Status window when selected.
Robot View Explorer
Displays the Robot View Explorer window when selected.
Output
Displays the Output window when selected.
Workbook Mode
Displays open windows in workbook mode, when selected.

Workbook mode means that you can browse between the
windows in the workspace with tabs, like the sheets in Microsoft
Excel.
Default Layout
Removes customizations to the workspace and displays it with

its default layout.
Show Start page
Shows the start page with shortcuts and introduction texts in the
workspace.
43

3.4.5. The Robot View menu
3.4.5. The Robot View menu

Overview
The Robot View menu contains commands for handling the content of the Robot View, like
controllers and documents.
Commands on the Robot View Menu
The Robot View menu contains the following commands:
44
Command
Description
Add Controller
Opens the Add Controller dialog box, from where you add
controllers to your Robot View.
See Adding a controller to a Robot View on page 138 for more
information.
Add Folder
Adds a document folder to your Robot View.

See Documents in robot views on page 130 for more
information.
Add Document Link
Opens a dialog box from where you browse to the document

you want to link to the Robot View.
information.
Open Document
Opens the selected document.

Open Document is only available when a linked document is
selected.
information.

3.4.6. The Controller menu

Overview
The Controller menu contains commands for handling the controllers in your robot view. For
example, commands for accessing configurations and events, or taking backups.
The commands on the Controller menu are only available if a controller is selected in the
Robot View Explorer. Several commands also have additional requirements for being
available, such as a specific node selected or that you have write access to the controller.
Commands on the Controller menu
The Controller menu contains the following commands:
Command
Description
Configuration
Opens a new menu with commands for handling the robots

configuration. For further description, see Commands on the
Configuration menu on page 46 below.
Create Backup
Opens a dialog box from where you create a backup of the

controllers system. See Backing up a system on page 149 for
more information.
Restore Backup
Opens a dialog box from where you restore a system from a

backup of the controllers system. See Restoring a system using
a backup on page 150 for more information.
Set Date and Time
Opens a dialog box from where you set the controllers date and
time.
See Setting the controllers date and time on page 144for more
information.
Restart
Opens a dialog box from which you restart the controller. See
Restarting a controller on page 172 for more information
Events
Opens a new menu with commands for recording the robots

events. For further description, see Commands on the Events
menu on page 46 below.
I/O System
Opens a new menu with commands for working with I/O signals
and units on the controller. See Commands on the I/O System
menu on page 46 menu for more information.
Release Write Access
Releases the Write access to the controller. You will get readonly access after releasing the Write access.
See About access rights on page 156 for more information.
Request Write Access
Requests Write access to the controller, so that you can work

with it.
A request for Write access is only granted if no other user has
Write access.
See About access rights on page 156 for more information.
Rename
Opens a dialog box from which you rename the controller.
Controller and System

Properties
Opens a dialog box that displays controller and system

properties. See Viewing controller and system properties on
page 143 for more information.
Advanced
Opens a new menu with commands for advanced controller

management. For further description, see Commands on the
Advanced menu on page 47 below.

45

Continued
Commands on the Configuration menu

The Configuration menu is a submenu to the Controller menu.The commands on this menu
are only available when a configuration node is selected in the robot view explorer.
Command
Description
Configuration Editor
Opens the selected configuration file with the Configuration Editor.

See The Configuration Editor on page 66 for more information.
Load Parameters
The command opens the Load Configuration File dialog box, from
where you load configuration files to the controller.
See Loading system parameters from configuration files on page
214for more information.
Save System
Parameters
Saves the selected topic to a file on the PC.

See Saving system parameters to configuration files on page 213for
more information.
Commands on the Events menu

The Event menu is a submenu to the Controller menu and contains the following commands:
Command
Description
Event Recorder
Opens the Event Recorder, in which you record events from the
controller.
See The event recorder on page 79 for more information.
Save Event
Recording
Saves the Event Record for the selected controller to a log file in the
PC.
Save Event Recording is only available if an event recording is started
for the selected controller.
Clear Event
Recording
Clears the Event Record for the selected controller.

Clear Event Recording is only available if an event recording is started
for the selected controller.
Commands on the I/O System menu

The I/O System is a submenu to the Controller menu and contains the following commands:
Command
Description
Inputs and Outputs
Opens the I/O window for the selected I/O device. This command is
only available when an I/O device is selected in the robot view
explorer.
See Handle Input and Output signals on page 195 for more
information.
Activate Unit
Activates the I/O unit selected in the robot view explorer.
Deactivate Unit
Deactivates the I/O unit selected in the robot view explorer.
Edit Value
Opens a dialog box with which you edit analog values. This command
is only available when an I/O window is open.

46

Continued
Command
Description
Set 1
Sets digital signals to 1. This command is only available when an I/O

window is open.
Set 0
Sets digital signals to 0. This command is only available when an I/O

window is open.
Simulated
Lets you set another value than the actual one, for testing purposes.
This command is only available when an I/O window is open.
View
Lets you filter which signals to view. This command is only available
when an I/O window is open.
Commands on the Advanced menu

Advanced is a submenu to the Controller menu and contains the following commands:
Command
Description
Set Controller ID
Opens a dialog box from which you can set the controllers ID.
See Setting a controllers ID on page 148 for more information.
UAS Administration
Tool
Opens the tool for administrating the user authorization system, which
controls what different users are allowed to do with the controller. See
About user authorization on page 159 for more information.
UAS Grant Viewer
Opens a window in which you can see what user you are logged on
as and what grants you have.
Login as a different
User
Opens a dialog box from which you can log on to the controller as a
different user.
47

3.4.7. The Program menu
3.4.7. The Program menu

Overview
The Program menu contains commands for handling robot programs, like loading and editing
programs.
The commands on the Program menu are only available when a Rapid Task node is selected
in the robot view explorer.
Commands on the Program menu
The Program menu contains the following commands:
48
Command
Description
Program Editor
Opens the selected module with the Program Editor.

Program Editor is only available when a module or routine is
selected in the robot view explorer.
See The Program Editor on page 72 for more information.
Load Program
Opens a dialog box from where you select a program on the PC

to load to the selected Task node.
Delete Program
Deletes the program in the selected Task node.
Save Program as
Opens a dialog box from where you save the program in the
selected Task node to a file on the PC.
See Saving a program on page 189 for more information.
New Module
Creates a new module in the selected Task node.

See Adding a module on page 183 for more information.
Load Module
Opens a dialog box from where you select a module on the PC

to load to the selected Task node.
Save Module as
Opens a dialog box from where you save the selected module
to a file on the PC.
See Saving a module on page 190 for more information.
Enable Edit
Makes the selected module editable. Enable edit is only

available when you have Write access to the controller and the
Program Editor is open.
Apply Changes
Applies changes made to the module. This command is only

available when changes have been made in the Program Editor.
Reset Changes
Resets changes made to the module. This command is only

available when changes have been made in the Program Editor.
Show parameter info
Activates a tooltip that displays information about the

parameters for the current instruction in the program editor. This
command is only available when the Program Editor is open.

3.4.8. The Tools menu
3.4.8. The Tools menu

Overview
The Tools menu contains commands for accessing tools for administrating robot systems on
the computer and the controllers.
Commands on the Tools Menu
The Tools menu contains the following commands:
Command
Description
System Builder
Opens the System Builder, which is a tool for creating and

handling controller systems.
See The System Builder on page 60 for more information.
Import System Options
Opens the Import System Options Dialog box, with which you
copy system options from installation disks to the media pool.
See About the media pool on page 118 for more information.
Connect to Service Port
Creates a robot view and adds the controller connected to the

service port in one step. See Accessing a controller from
RobotStudioOnline on page 31 for more information.
File Management Window
Opens an FTP window for transferring files and folders between

controllers and the PC and its connected network drives.
49

3.4.9. The Windows Menu
3.4.9. The Windows Menu

Overview
The Windows menu contains commands for arranging the windows in the workspace.
Commands on the Window Menu
The Window menu contains the following commands:
50
Command
Description
Cascade
Displays all windows at once, overlapping each other.
Tile Horizontally
Displays all windows side by side, horizontally.
Tile Vertically
Displays all windows side by side, vertically.

3.4.10. The Help menu
3.4.10. The Help menu

Overview
The Help menu contains commands for opening the on-line help and version information
about RobotStudioOnline.
Commands on the Help menu
The Help menu contains the following commands:
Command
Description
Contents
Opens the on-line help, with a table of content for navigation.

See Help for using RobotStudio Online on page 17 for more
information.
Index
Opens the on-line help, with a searchable index list for

navigation.
information.
Search
Opens the on-line help, with a full-text search for navigation.

information.
About
Displays information about the RobotStudio Online version that is

installed on this computer.
51

3.5.1. The Robot View Explorer
3.5 The Robot View Explorer

3.5.1. The Robot View Explorer
Overview
The Robot View Explorer is your tool for accessing controllers and documents from
RobotStudioOnline. SeeAbout Robot Views on page 124for more information about Robot
Views.
What you can do with the Robot View Explorer
From the Robot View Explorer, you access controllers and documents that are connected to
the robot view. For instance, you can view or work with controllers configurations, robot
programs and event messages.
Customize the Robot View Explorer
The Robot View Explorer is by default docked to the left side of the RobotStudioOnline main
window. You can, however, move or hide the Robot View explorer, seeCustomizing dockable
windows on page 38.
Show the Robot View Explorer
To show the Robot View Explorer if it has been hidden:
On the View menu, select Robot View Explorer.
The Robot View Explorer is now shown at the position it had before it was hidden.
52

3.5.2. Layout of the Robot View Explorer

The Robot View Explorer
This topic describes the content of the Robot View Explorer.
With the Robot View Explorer you can explore and access all controllers that have been added
to the robot view. See About Robot Views on page 124 for more information about robot
views.
The Robot View tree
In the Robot View Explorer, the Robot Views content is displayed as an hierarchical tree. The
nodes in the tree can be expanded and collapsed just like folders in the Windows explorer, if
they contain any subordinate objects.
en0400000727
Nodes in the Robot View tree

The table below shows the possible nodes in the Robot View tree.
Node
Description
Robot View
The root of the Robot View tree, it is named as the Robot View file. See
About Robot Views on page 124 for more information.
xx0300000018
Controllers
Contains the controllers that are connected to the Robot View.
xx0300000026
Connected
Controller
Represents a controller with a working connection.
xx0300000027
Connecting
Controller
Represents a controller during connection.
xx0400000677

53

Continued
Disconnected
Controller
Represents a controller that has lost its connection. This could be it

has been turned off or disconnected from the network.
xx0300000028
Controller, not
logged on to
Represents a controller which you are not logged on to.
xx0400001199
Configuration
Contains the configuration domains. SeeConfigure systems on page

203 for more information about how you configure the system from
RobotStudioOnline.
xx0300000029
Topic
xx0300000030
Event Recorder
Each parameter topic is represented by a node:

Communication
Controller
I/O
Man-machine communication
Motion
See Configure systems on page 203 for more information about how
to configure the system from RobotStudioOnline.
With the Event Recorder you can view and save the controller's
events. See Handle event records on page 217 for more information.
xx0300000037
I/O System
Represents the controller's I/O system. The I/O system consists of I/O
buses and units.
xx0300000434
I/O Bus
An I/O bus is a connector for one or several I/O units.
xx0300000433
I/O Unit
An I/O Unit is a board, panel or any other device with ports through
which the I/O signals are sent.
xx0300000432
RAPID Tasks
Contains the controller's active tasks (programs). SeeProgram a robot

on page 175 for more information.
xx0300000031

54

Continued
Task
A task is a robot program, which executes alone or together with other

programs. A program is composed of a set of modules. See Program
a robot on page 175 for more information about the parts of a program.
xx0300000032
Modules
A container for either program modules or system modules.
xx0300000431
Program Module
A Program module contains a set of data declarations and routines for

a specific task. Program modules contains data specific for this
program. See Program a robot on page 175 for more information
about the parts of a program.
xx0300000430
System Module
A system module contains a set of type definitions, data declarations

and routines. System modules contains data that applies to the robot
system, regardless which program modules that are loaded. See
Program a robot on page 175 for more information about the parts of
a program.
xx0300000428
Encrypted Module
A module that is locked for editing and viewing. See Program a robot
on page 175 for more information about the parts of a program.
xx
Nostepin Module
A module that can not be entered during step-by-step execution. That

is, all instructions in the module are treated as one if the program is
executed step-by-step. SeeProgram a robot on page 175 for more
information about the parts of a program.
xx
Procedure
A routine that does not return any value. Procedures are used as
subprograms. See Program a robot on page 175 for more information
about the parts of a program.
xx0300000429
Function
A routine that returns a value of a specific type and is used as an

argument of an instruction. See Program a robot on page 175 for more
information about the parts of a program.
xx0300000034
Trap
A routine that provides a means of responding to interrupts. See

Program a robot on page 175 for more information about the parts of
a program.
xx0300000036

55

Continued
Documents Folder
Folder for links to documents and files. SeeOrganizing document links

in folders on page 131 for more information.
xx0300000039
Document Link
Link to a document. The icon for the document is the same as the
Window icon for the document type. See Documents in robot views on
page 130 for more information.
xx0300000038
56

3.6.1. The controller status window
3.6 The Controller Status window

3.6.1. The controller status window
Overview
The operational status of the controllers in the robot view are shown in the controller status
window. The window is dockable, which means that you can customize its appearance, for
example, its size and position.
Show the controller status window
To show the controller status window if it has been hidden:
On the View menu, select Controller Status.
The controller status window is now shown at the position it had before it was hidden.
Related information
Layout of the controller status window on page 58
Viewing controller status on page 142
Customizing dockable windows on page 38
57

3.6.2. Layout of the controller status window

The controller status window
The controller status window shows the operational status of the controllers in your robot
view.
en0400000922
Parts
1. The System Name column
This column shows the name of the system that is running on the controller.
2. The Controller Name column
This column shows the name of the controller.
3. The Controller State column
This column shows the state of the controller:
When the controller is

the robot is...
in state...
Initializing
starting up. It will shift to state motors off when it has started.
Motors off
in a standby state where there is no power to the robots motors.

The state has to be shifted to motors on before the robot can
move.
Motors on
ready to move, either by jogging or by running programs.
Guard Stop
stopped because the safety runchain is opened. For instance, a

door to the robots cell might be open.
Emergency Stop
stopped because emergency stop was activated.
Waiting for motors on after ready to leave emergency stop state. The emergency stop is no
e-stop
longer activated, but the state transition isnt yet confirmed.
System Failure
in a system failure state. A warm start is required.
4. The Program Execution State column

This column shows if the robot is running any program or not:

the robot...
in state...
Running
is running a program.
Ready
has a program loaded and is ready to run it when a PP (starting

point in the program) has been set.

58

Continued

the robot...
in state...
Stopped
has a program loaded, with a PP, and is ready to run it.
Uninitialized
has not initialized the program memory. This indicates an error

condition.
5. The Operating Mode column

This column shows the operating mode of the controller:

the robot is...
in mode...
Initializing
starting up. It will shift to the mode selected on the controllers

cabinet when it has started.
Auto
ready to run programs in production.

In Auto mode it is possible to get remote Write access to the
controller, which is necessary for editing programs,
configurations and other things with RobotStudioOnline.
Manual
only able to move if the enabling device on the FlexPendant is

activated. Furthermore, the robot can only moved with reduced
speed in manual mode.
In manual mode it is not possible to get remote Write access to
the controller, unless it is configured for this and the remote
Write access granted on the FlexPendant.
Manual full speed
only able to move if the enabling device on the FlexPendant is

activated.
In manual mode it is not possible to get remote Write access to
the controller, unless it is configured for this and the remote
Write access granted on the FlexPendant.
Waiting for acknowledge
about to enter Auto mode, but the mode transition has not yet
been acknowledged.
6. The Logged on as column

This column shows the user name the PC is logged on to the controller with. See About
user authorization on page 159 for details.
7. The Write Access column
This column shows who has write access to the controller, or if it is available. For more
information about Write access, see About access rights on page 156.
Related information
Viewing controller status on page 142
Customizing dockable windows on page 38
59

3.7.1. The System Builder
3.7 The System Builder

3.7.1. The System Builder
Overview
The System Builder is your tool for creating and modifying systems. You also use the System
Builder to download systems from the PC to the controller.
This section describes the system builder itself. For information on how to work with systems
from the System Builder, see the chapter Administrate systems on page 89.
Start the system builder
To start the System Builder:
On the Tools menu, click System Builder.
Close the system builder
To close the System Builder:
In the System Builder main window, click Close. You can also click the Close button in
the System Builders Title bar.
Related information
Layout of the system builder main window on page 61
60

3.7.2. Layout of the system builder main window

The system builder main window
In the System Builder main window you select the systems to work with and what to do with
them. You can also view and create information about the systems from here.
en0300000080
Parts of the system builder main window

1. The System directory list
Here you select the folder for your systems.
2. The Browse button
This is the button with three dots. It opens a dialog box from where you can browse for
the system directory instead of typing in the path.
3. The Systems list, located under the System Directory list
All systems in the selected folder are listed here. Here you can select the system to work
with.
4. The System Properties box
System information, like version and serial number, for the selected system is displayed
here.
5. The Comments box
Here you can view, create and modify comments on a system. See Working with comments
on page 92for more information.
6. The Save button
This button saves changes to the system comments.

61

Continued
7. The Create New button

This button starts the Create New System wizard. SeeCreating a new system on page
93for more information.
8. The Create from Backup button
This button starts the Create System from Backup wizard. See Starting the Create System
from Backup Wizard on page 104.
9. The Modify button
This button starts the Modify System wizard for the selected system. SeeModifying a
system on page 106for more information.
10. The Copy button
This button opens a dialog box from where you can make a copy of the selected system.
SeeCopying a system on page 105for more information.
11. The Download to Controller button
This button opens a dialog box from where you can load the selected system to a
controller. SeeLoad a system to a controller on page 115for more information.
12. The Boot Media button
This button starts a wizard for creating boot media, like system diskettes or system
packages. SeeCreate boot media on page 116for more information.
13. The Delete button
This button deletes the selected system.
14. The Close button
This button closes the System Builder.
62

3.8.1. The file management window
3.8 The File Management Window

3.8.1. The file management window
Overview
This section describes the file management window, which is used for transferring files and
folders between the PC and connected controllers.
Available Controllers
All controllers that are added to the robot view are available on the controller list of the file
management window. For transferring files to a controller or browsing its file structure, you
must be logged on as a user with UAS grants that allow this. For more information about UAS
Grants, see About user authorization on page 159.
File management commands
The commands of the File management window can either be accessed through the context
menu or the following keyboard shortcuts:
Command
Keyboard shortcut
Open file
ENTER
Step into folder
ENTER
Move up one lever
BACKSPACE
Change focus between controls and lists
TAB or SHIFT+TAB
Select all items in the current folder
CTRL+a
Cut selected items
CTRL+x
Copy selected items
CTRL+c
Paste copied or cut items
CTRL+v
Delete selected items
DELETE
Rename the selected item
F2
Refresh the folder list
F5
Open the file management window

To open the file management window:
On the Tools menu, click File Management Window.
Related information
Layout of the file management window on page 64
Transferring data between the PC and a controller on page 152
Organizing files on the controller on page 154
63

3.8.2. Layout of the file management window

The file management window
The file management window is used to transfer files and folders between the PC and
controllers:
en0400001196

64

Continued
Parts
part
Description
1.
The PC path box

This box displays the path to the folder on the PC for transferring files to and
from the controller.
2.
The Up one level button

This button moves one level up from the current PC path.
3.
The Refresh button

This button updates the PC content list.
4.
The PC content list

This list displays the files and folders at the current PC Path.
5.
The Controller path box

This box displays the path to the folder on the controller for transferring files to
and from the PC. The box is empty if no controller is selected.
6.
The Refresh button

This button updates the Controller content list.
7.
The Up one level button

This button moves one level up from the current controller path.
8.
The Controller content list

This list displays the files and folders at the current controller path.
9.
The Close button

This button closes the file management window.
65

3.9.1. The Configuration Editor
3.9 The configuration window

Overview
From the configuration editor you view and edit the system parameters of a specific topic in
a controller.
The Instance Editor
The Instance Editor is a complementary editor with which you edit the details of a type
instance (a row in the Configuration Editors instance list). You open the Instance Editor from
the Configuration Editor. It then displays the current value, limits and restrictions for each
parameter of the instance.
What can you do with the Configuration Editor?
With the Configuration Editor, including the Instance Editor, you can:
view types, instances and parameters
edit instances and parameters
copy and paste instances within a topic
add and delete instances
Communication with the controller

The Configuration Editor has a direct communication with the controller. This means that
changes you make are applied to the controller as soon as you complete the command.
Open the Configuration Editor
To open a configuration topic in the Configuration Editor:
1. In the Robot View Explorer, browse to the topic to work with through the Controller
and the Configuration nodes.
2. Double-click the topic to open it in the Configuration Editor.
If you open several topics, each topic will be opened in a configuration editor window of
its own.
Open the Instance Editor
To open an instance in the Instance Editor:
1. Open the topic of the instance in the Configuration Editor.
2. In the Configuration Editor, double-click the row for the instance to edit. The Instance
Editor appears and now you can edit the parameters.
Close the editors
To close either the Configuration Editor or the Instance Editor:
In the Editors Title bar, click the Close button.

66

Continued
Related information
Configure systems on page 203
About configurations on page 204
Layout of the Configuration Editor on page 68
Layout of the Instance Editor on page 70
67

3.9.2. Layout of the Configuration Editor

Configuration Editor
In the Configuration Editor you view and work with system parameters in the configuration
database of the controller.
en0400000838
Parts of the Configuration Editor

1. The Type name list
This list displays all available configuration types for the selected topic.
The list of types is static. This means you cannot add, delete or rename types.
2. The Instance list
This list displays all system parameters of the type selected in the Type name list.
Each row in the list is an instance of the system parameter type.
The columns show each specific parameter and its value for each instance of the
parameter type.
Parameter Icons
Below are descriptions for the icons in the editor:
Icon
Description
Editable parameter
xx
Parameter that is not applicable for this instance and

therefore not editable.
xx
Parameter that is read-only.
xx

68

Continued
Related information
The Configuration Editor on page 66
69

3.9.3. Layout of the Instance Editor

Instance Editor
The Instance Editor is a complementary editor to the Configuration Editor, with which you
edit the details of a type instance (a row in the Configuration Editor). You open it from the
Configuration Editor.
en0400000839
Parts of the Instance Editor

1. The Parameter list
This list displays the parameters and their value for the open instance.
2. The Value box
This box displays the type of parameter and the value of the parameter.
3. The Restriction box
This box displays the restrictions for the parameter.
The restrictions has to be fulfilled to update the controller database.
4. The Limits box
This group box displays the limits for the parameter.

70

Continued
Parameter Icons
Below are descriptions for the icons in the editor:
Icon
Description
Editable parameter
xx
Parameter that is not applicable for this instance and

therefore not editable.
xx
Parameter that is read-only.
xx
Related information
71

3.10.1. The Program Editor
3.10 The program editor

Overview
With the Program Editor you view and edit programs loaded into the controllers program
memory.
This section describes the Program Editor itself, detailed information about how to program
the robot can be found in the chapter Program a robot on page 175 and the RAPID Reference
Manual.
Programming Functions
The program editor has the following functions for helping you program the robot:
Function
Description
Syntax coloring
Writes each part of the code with a specific color, based on its
syntactic function in RAPID.
Parameter info
Shows available parameters in a tool tip for each RAPID

command you type.
Auto text
Suggests a defined RAPID word based on the characters you

have started to type.
Open a Program Editor window

To open a Program Editor window:
1. In the Robot view Explorer, browse to the module to work with through the Controller,
the Rapid Tasks and the Program nodes.
2. Double-click the module, or expand the module and double-click a routine inside the
module.
Double-click a...
to open the Program Editor window...
module
at the beginning of the module.
routine inside a module
at the first line of that routine.
Each module is opened in an own program editor window, if you open several modules at
one time.
Close a Program Editor window
To close a Program Editor window:
Click the Close button at the windows upper right corner.

72

Continued
Related information
Layout of the Program Editor window on page 74
Program a robot on page 175
About access rights on page 156
73

3.10.2. Layout of the Program Editor window

Overview
With the Program Editor you work with the modules that are loaded into the controllers
program memory. The Program Editor windows displays the source code of the module as
text.
In addition to the Program Editor, which is located in the workspace, other parts of the
RobotStudioOnline main window display relevant information:
The RAPID tab in the Output Window displays messages from the controller
regarding the program you are editing.
The Status Bar at the bottom of the RobotStudioOnline window displays the row and
column number of the insertion point, when editing programs with the program editor.
en0400000840

74

Continued
Parts of the Program Editor

1. The Title bar
Here you can identify the module. If the module is opened as read-only, this is also stated
here.
When a Program Editor window is maximized, this information is displayed in the title
bar of RobotStudio Online.
2. The Program Editor Window
This is the workspace of the Program Editor. This is where the code of the module is
displayed.
The background of the window has different colors for different states:
The Color
means that
Dark Gray
The module is read-only because you dont have write access

to the controller.
Light Gray
You have write access but t he module is locked for editing.

To edit the module click Enable Edit.
White
The module can be edited.
3. RAPID Source Code

This is the content of the module, the source code of the RAPID program. For detailed
information about RAPID programs, see the RAPID Reference Manual.
The content in the Rapid Editor is colored in different colors, based on the RAPID syntax.
See Syntax coloring on page 181 for details.
4. The Enable Edit Button
This button makes the module editable, if you have Write access to the controller.
5. The Apply Changes Button
With this button you apply your changes made in the Program Editor to the module in the
controllers program memory.
6. The Reset Changes Button
With this button you reset all changes made since the latest changes were applied.
Related information
75

3.11.1. The I/O System window
3.11 The I/O system window

3.11.1. The I/O System window
Overview
This section describes the window of the I/O system, with which you view and set input and
output signals.
Limitation
With the I/O system you only work with signals that are already defined in the robots
configuration. For information on how to define and configure the I/O signals, see Configure
systems on page 203 and the Technical reference manual - System parameters.
Open the I/O system
To open the I/O system:
1. In the Robot View, expand the node for the controller and select one of the nodes for the
I/O system.
To view
Select this node
All Signals
The I/O System
xx0300000434
All signals on a specific I/O bus
The node for that bus
xx0300000433
All signals on a specific I/O unit
The node for that unit
xx0300000432
2. On the Controller menu, point to I/O System and select Inputs and Outputs. You can
also double-click the node to open it in the I/O window.
Related Information
Layout of the I/O system window on page 77
Handle Input and Output signals on page 195
76

3.11.2. Layout of the I/O system window

The I/O system window
From the I/O system you can view and set input and output signals.
en0400000840
Parts
1. The Name column
This column shows the name of the signal. The name is set by the I/O units configuration
and cannot be changed from the I/O system.
2. The Type column
This column shows which type of signal it is, by using any of the abbreviations described
below. The signal type is set by the I/O units configuration and cannot be changed from
the I/O system.
Abbreviation
Description
DI
Digital input signal
DO
Digital output signal
AI
Analog input signal
AO
Analog output signal
GI
Group of signals, working as one input signal
GO
Group of signals, working as one output signal
3. The Value column

This column shows the value of the signal. The value can be changed by double-clicking
the signal row.
4. The Logical State column
This column shows whether the signal is simulated or not. When a signal is simulated, you
specify a value that overrides the actual signal. Changing the logical state by turning the
simulation on or off can be done from the I/O system.
5. The Unit column
This column shows to which I/O unit the signal belongs. This is set by the I/O units
configuration and cannot be changed from the I/O system.

77

Continued
6. The Bus column

This column shows to which I/O bus the signal belongs. This is set by the I/O bus
configuration and cannot be changed from the I/O system.
78

3.12.1. The event recorder
3.12 The event recorder

3.12.1. The event recorder
Overview
With the Event Recorder you can view and save events from controllers in your robot view.
You can start one Event Recorder for each controller.
What is an event record?
An event record is a list of events, copied from the controllers event logs. The Event Record
can, however, hold an unlimited number of events, unlike the controllers event logs where
old events might be erased to the benefit of new events.
Modifications to the event record will not change the controllers event log, as the record is
copied from the controllers event log.
What you can do with the event recorder
With the Event Recorder you can:
View the recorded events from a controller.
Save the event record as a log file on your computer.
Filter which events you want to record.
Sort the recorded events.
Clear the event record.
Start the event recorder

To start the Event Recorder:
1. In the Robot View Explorer, select the system for which you want to record the events.
2. On the Controller menu, Point to Events and click Event Recorder.
The Event Recorder is now started. See About event records on page 217 for information
on how to filter, save or otherwise handle the recording.
Close the event recorder
To close the Event Recorder:
Click the Close button in the upper right corner of the Event Recorders window.
If the event record contains unsaved changes, you will be asked if you want to save the
event record before closing the window.
Related information
About event records on page 217
What is an event? on page 218
79

3.12.2. Layout of the Event Recorder window

Overview
When the Event Recorder is started, it is located in the RobotStudioOnline workspace.
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Parts
1. TheView Category list
This list contains the different categories of events you can select to view. The default
category Common includes all categories.
2. The Start button
This button starts the recording of events, if it has been stopped. The recording is
automatically started when the event Recorder is opened.
3. The Stop button
This button stops the recording of events.
4. The With history check box
This check box determines weather previous events from the controller should be
included in the record or not.
5. The Selected Category list
If the With history check box is selected, this box lets you select which category of
previous events to include to the record.
6. The Save button
This button saves the event record to a log file on the computer.
7. The Clear button
This button clears the current event record on the computer. The events will still remain
in the controllers log file.
8. The Event Information box
This box displays a description of the event selected in the event list.

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Continued
9. The Event list.

This list shows all recorded events. For information about the columns in the event list,
see What is an event? on page 218.
81

3.13.1. The Output window
3.13 The Output window

3.13.1. The Output window
Overview
The Output window contains two tabs:
The Output tab which displays information about controllers.
The RAPID tab which displays information specific to RAPID programming.
The Output tab

The Output tab displays the following information:
Changes in controller connection.
Changes in Write access to controllers.
Progress when backing up and restoring controllers.
The RAPID tab

The RAPID tab displays the following information:
Semantic and syntactic errors when loading programs or applying changes when
editing.
Information about changes with RAPID programs.
Customize the Output window

The Output window is by default docked to the bottom of the RobotStudioOnline main window.
You can however move or hide the Output Window, see Customizing dockable windows on
page 38 .
Show the Output window
To show the Output window if it has been hidden:
1. On the View menu, select Output Window.
The Output window will now appear at the position it was closed.
82

3.13.2. Layout of the output window
3.13.2. Layout of the output window

The output window
The Output window displays information about controllers and RAPID programs you are
working with.
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Parts
1. The Output tab
This tab displays information about controllers in your Robot View. See The Output
window on page 82 for detailed information.
2. The RAPID tab
This tab displays error messages and other information related to robot programs loaded
in the program editor. See The Output window on page 82 for detailed information.
83

3.14.1. The UAS administration tool
3.14 The UAS administration tool

3.14.1. The UAS administration tool
Overview
With the UAS administration tool you set access grants to the controller for users and groups.
For detailed information about how grants, groups and users are managed by the UAS system,
see About user authorization on page 159.
Prerequisites
You must have read write access to the controller for opening the UAS administration tool.
You must also be logged on to the controller as a user who has one of the grants Full access
or Manage UAS settings.
Open the UAS administration tool
To open the UAS administration tool:
1. In the Robot View Explorer, select the controller on which you want to set the grants.
2. On the Controller menu, point to Advanced and select UAS Administration Tool.
This opens the UAS administration tool. For detailed information about how to assign
users to groups and set the grants for the groups, see Administrating users on page 161
and Administrating groups and grants on page 164 respectively.
Layout of the UAS administration tool
The tool has three tabs:
The Users tab, for setting which users shall have access to the controller. Here you
also set the group membership of each user. See Layout of the Users tab on page 85
The Groups tab, for setting access grants to the groups. See Layout of the Groups tab
on page 87.
The Grants Overview tab, for viewing the grants available for the controller. See The
Grants Overview tab on page 88.
The tool has the following buttons, which are available without selecting a tab:
84
The Import button, lets you import user accounts and groups from a file. See
Administrating users on page 161 for instructions.
The Export button, lets you export the user account and groups with their settings to
a file. See Administrating users on page 161 for instructions.

3.14.2. Layout of the Users tab

Users tab
With the Users tab you set which users will be able to log on to the controller and which
groups the users shall belong to.
en0400001104
Users tab Parts

1. The Add button. Opens a dialog box for adding new users. See Add a user on page 161for
instructions.
2. The Edit button. Opens a dialog box for changing the users log on name and password.
See Change a users name or password on page 162 for instructions.
3. The Delete button. Deletes the selected user account from the controller. See Delete a user
on page 161 for instructions.
4. The Users on this Controller list. Shows the user accounts defined on this controller. The
list has two columns:
Column
Description
User
The name of the user account
Status
Shows if the account is activated or deactivated. When deactivated,

it is not possible to log on using that account.
5. The Activated/Deactivated item box. Changes the status of the user account. See
Activate or deactivate a user on page 162 for instructions.

85

Continued
6. The Users groups/Users grants list.

The Users groups list shows which group(s) the user is a member of. For changing the
membership of a group, select or clear the checkbox in front of the group name. See Set
up group membership on page 162 for detailed instructions. See About user authorization
on page 159 for more information on how the groups affect what the user is allowed to do.
The Users grants list shows the available grants for the selected Users group(s). When
selecting a grant from the Users grants list, a description of the selected grant appears.
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86

3.14.3. Layout of the Groups tab
3.14.3. Layout of the Groups tab

Groups tab
With the Groups tab you set the access grants for the user groups.
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Parts
1. The Add button. Opens a dialog box for adding new groups. See Add a group on page 164
for detailed instructions.
2. The Rename button. Opens a dialog box for renaming groups. See Rename a group on
page 164 for detailed instructions.
3. The Delete button. Deletes the selected group from the controller. See Delete a group on
page 165 for detailed instructions.
4. The Groups on this controller list. Shows the groups defined on this controller.
5. The Controller grants/Application grants list.
The Controller grants list shows which of the available controller grants are given to the
group. For giving or removing a grant for the group, select or clear the checkbox in front
of the grant name. See Give grants to a group on page 165 for detailed instructions.
The Application grants list shows application grants that are given to the group, if any
exists. Application grants are defined by application developers and are used to regulate
running and modification of robot programs. See About user authorization on page 159
for more information.
Related information
Grants for RobotWare 5.06 on page 168
87

3.14.4. The Grants Overview tab
3.14.4. The Grants Overview tab

The Grants Overview tab
The grants overview tab shows information about the grants available on the controller.
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Parts
You can sort the information in all three columns by clicking the column heading.
1. The Grant column shows the name of the grant key. For description of the different
grants, see Grants for RobotWare 5.05 on page 167or Grants for RobotWare 5.06 on page
168
2. The Valid column shows from which RobotWare versions the grant is valid.
Systems with different RobotWare versions may use different grants. When you install a
system on a controller, the grants for that system are added to the controllers grant list.
Grants are never removed from the grant list but may be declared invalid if they are not
applicable for a system. All this is handled automatically during installation of systems.
See About user authorization on page 159 for more information.
3. The Groups owning this Grant column shows which groups on this controller that have
the grant.
88
4.1. Administrate systems
4.1. Administrate systems
Overview
This section describes how to create, modify and manage controller systems on your PC using
the System Builder.
You always work with systems stored on your PC, and then download them from the PC to
the controller.
What is a system?
A system consists of all software and data that is necessary to run a controller:
The RobotWare software
License Keys
Configuration data
Prerequisites
To work with systems, the following conditions must be met:
For creating or modifying systems, you must have the RobotWare media pool installed
on the PC or a connected network drive. See Installing RobotWare on page 34 for
more information.
For creating a system, you must have the RobotWare key for the system you want to
create.
For downloading a system to a controller, you must have a connection to the

controller, either through an Ethernet network or a direct connection between the PC
and the controllers service port. See Network settings for connecting a PC to a
controller on page 29 for more information.
What you can do with systems

In the System Builder, you can do the following:
View system information
Create, edit and view system comments
Create new systems
Copy systems
Modify systems
Load systems to controllers
Create boot media
89
4.2. Selecting a system
4.2. Selecting a system

Overview
All systems you create with the system builder are stored on the computer. Before you copy,
modify or view a system, you must select which of the systems to work with.
The system directory
It is a good practice to store the systems in one or several folders dedicated for this, so called
system directories, so the systems do not get mixed with other files.
Select a system
To select a system in the System Builder:
1. Start the System Builder, see Start the system builder on page 60.
2. In the System directory list, enter the path to the folder where the system is stored. You
can also click the Browse button next to the field and browse to the folder.
The systems stored in the folder are now displayed in the box below.
3. In the Systems box, select the system.
90
4.3. Viewing system properties
4.3. Viewing system properties

Overview
In System Builder, you can view the properties of a system stored on the computer.
The displayed properties are:
System serial number
System name
RobotWare version number
Additional options, if any exists
View system properties

To view system properties:
In System Builder, select the system whose properties you want to view. For details,
seeSelect a system on page 90.
The properties for the selected system is now displayed in the System Properties box.
Related information
The System Builder only displays information about systems stored on the PC. To display
information about a system running on a controller, see Viewing controller and system
properties on page 143.
91
4.4. Working with comments
4.4. Working with comments

Overview
You can add comments on a system with the System Builder. The comments are only saved
with the system on your computer and will not be sent to the controller if the system is
downloaded. To add information that also is downloaded to the controller, use the add files to
home directory function. See Adding files to the home directory on page 102.
Create a comment
To create a comment on a system:
1. Start the System Builder, see Start the system builder on page 60.
2. Select the system which you want to comment. For details, see Selecting a system on page
90.
3. Click inside the Comment box and enter your comment.
4. Click Save.
Edit a comment
To edit a comment on a system:
1. Start the System Builder, Start the system builder on page 60.
2. Select the system which you want to comment. For details, see Selecting a system on page
90.
3. Click inside the Comment box and edit the comment.
4. Click Save.
92
4.5.1. Creating a new system
4.5 Create a new system

Overview
The System Builder has a wizard for creating new systems.
The wizard is divided into sections that correspond to the phases of the workflow for creating
a system.
Prerequisites
To create a new system, the following must be met:
The RobotWare media pool must be installed on your PC. See Installing RobotWare
on page 34, if you do not have it installed already.
You must have a RobotWare key for the system, if creating a system to run on a real
controller. The RobotWare key is a license key that determines which robot models to
use and which RobotWare options to run on the controller. The license key is delivered
with the controller.
If you want to create a system for virtual use only, for example in Virtual IRC5, you
can use a virtual key instead. Virtual keys are generated by the wizard. When using
virtual keys, you select the robot models and options to use in the Modify Options
section of the wizard.

93
Continued
Workflow
The flow chart below shows the workflow in the New Controller System Wizard.
en0200000057
More information
The wizard and its sections is described in the following topics:
94
Starting the New Controller System Wizard on page 95
Entering name and location on page 96
Entering the RobotWare keys on page 97
Adding additional options on page 99
Modifying options on page 100
Adding parameter data on page 101
Adding files to the home directory on page 102
Completing the New Controller System Wizard on page 103
4.5.2. Starting the New Controller System Wizard
4.5.2. Starting the New Controller System Wizard

Overview
The New Controller System Wizard will help you create a new system.
Start the New Controller System Wizard
To start the New Controller System Wizard:
1. Start the System Builder. See The System Builder on page 60 for detailed instructions.
2. Click Create New.
This will open the New Controller System Wizard.
3. Click Next and proceed with the Enter Name and location section.
95
4.5.3. Entering name and location
4.5.3. Entering name and location

Overview
This is the first section of the Create New Controller System Wizard. It is mandatory. Here
you will decide where on your computer to store the system you are creating.
Enter name and location
To enter name and location for the system:
1. In the Name box, enter a name for the system you are creating.
2. In the Path box, enter the path to the system directory you want to store the system in.
You can also click the Browse button and browse to the system directory.
3. Click Next and proceed with the Enter Controller Key section.
96
4.5.4. Entering the RobotWare keys

Overview
This section of the Create New Controller System Wizard is mandatory.
The RobotWare keys determine which RobotWare versions and parts to use in the system.
For creating a system to run on either IRC5 controllers or virtual controllers you need at least
two keys: one for the controller module and one for each drive module in the cabinet. The
keys are delivered together with the controller.
For creating a system to run on virtual controllers only, for example in Virtual IRC5, you can
use virtual keys. Virtual keys give access to all options and robot models but limits the use of
the system to virtual controllers only.
Enter the controller key
To enter the key for the controller module:
1. In the Controller Key box, enter the controller key. You can also click the Browse button
and browse to the key file. If creating system for virtual use only, select the Use virtual
key check box and the controller key will be generated by the wizard.
2. In the Media Pool box, enter the path to the media pool. You can also click the Browse
button and browse to the folder.
The media pool is a folder on the computer where the RobotWare files are installed.
3. In the RobotWare Version box, select which version of RobotWare you want to use.
Only RobotWare versions that are valid for the used key are available.
4. Click Next and continue with entering the drive module keys.
Enter the drive keys
To enter the keys for the drive modules:
1. In the Drive Key box, enter the key for the drive module. You can also click the Browse
button and browse to the key file. If you used a virtual controller key, a virtual drive key
is already generated by the wizard.
2. Click the right arrow button next to the Drive Key box. The key now appears in the
Added drive key list.
If you have a MultiMove system, repeat step 1 and 2 for each drive key to add.
3. If you have a MultiMove system, make sure that the keys are numbered in the same way
as their corresponding drive modules are connected to the controller module. Use the up
and down arrows to rearrange the drive keys, if necessary.
For real systems the drive key determines the connected robot model. For virtual systems
you select the robot models in the Modify Options section of the wizard. The default
model is IRB 140.

97
Continued
4. Choose whether you want to create the system as it is now, or to continue with the wizard.
If you want to
then
create the system as it is now (an empty

system)
click Finish
modify options, or add any of the following to click Next and proceed with the Add
the system:
Additional Options section.
additional options
parameter data
additional files to the controllers home
directory
98
4.5.5. Adding additional options
4.5.5. Adding additional options

Overview
This section of the Create New Controller System Wizard is optional.
Here you can add options that are not included in the basic system. External axes and dispense
applications are examples of such options.
Prerequisites
You must have the license key for the option you want to add, and you must import the option
to the media pool, see Import system options on page 119.
Add additional options
To add additional options:
1. In the Key box, enter the option key. You can also click the Browse button and browse to
the options key file.
2. Click the Arrow button.
The option that the key unlocks is now displayed in the Added Options box.
3. Repeat step 1 and 2 for all options you want to include.
4. Optionally, you can also remove options from the Added Options box. For details, see
Remove additional options on page 99 below.
If you want to
then
create the system as it is now
click Finish
modify any options, or add any of the

click Next and continue with the Modify
following to the system:
Options section.
Parameter data
directory
Remove additional options

To remove additional options from the Added options box:
1. In the Added options box, select the option you want to remove.
2. Click Remove.
99
4.5.6. Modifying options

Overview
Here you set up and configure the options of your system. For virtual systems, you also select
which robot models to use here.
Modify options
To modify options:
1. In the Option tree, expand the option folders to the level where you find the option you
want to modify.
Only the options unlocked by the used keys are available.
2. Modify the option.
3. Repeat step 1 and 2 for all options you want to modify.
If you want to
then
click Finish
add any of the following to the system:

click Next and continue with the Include
Parameter Data section.
parameter data
directory
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4.5.7. Adding parameter data
4.5.7. Adding parameter data

Overview
Parameter data is stored in parameter data files (.cfg files). Each Parameter topic has its own
parameter file. You can add only one parameter file for each topic.
Add parameter data
To add parameter data:
1. In the Parameter data box, enter the path to the folder for the parameter data files. You
can also click the Browse button and browse to the folder.
2. In the list of parameter data files, select the file you want to include and press the Arrow
button. Repeat for all files you want to include.
The included parameter data files will now appear in the Added Parameter data files
box.
Repeat step 1 and 2 for each parameter data file you want to add.
3. Optionally, you can also remove files from the Included parameter data files box. For
details, see Remove parameter data on page 101 below.
If you want to
then
click Finish
add any additional files to the systems home click Next and proceed with the Add Files to
directory
Home Directory section.
Remove parameter data

To remove parameter data from the Added parameter data files box:
1. In the Added parameter data files box, select the parameter data file to remove.
2. Click Remove.
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4.5.8. Adding files to the home directory
4.5.8. Adding files to the home directory

Overview
You can add any type of files to the systems home directory. When the system is loaded to a
controller, these files will also be loaded.
For adding files to a system that already has been loaded on a controller, see Transferring data
between the PC and a controller on page 152
Add files
To add files to the systems home directory:
1. In the Files box, enter the path to the folder for the files you want to add. You can also
click the Browse button and browse to the folder.
2. In the list of files, select the file to add and click the Arrow button. Repeat for all files you
want to add.
The added files will now appear in the Added files list.
3. Optionally, you can also remove files from the Added files list. For details, see Remove
files on page 102 below.
4. Choose whether you want to create the system now, or read a summary of the system
before you create it.
If you want to
then
create the system now
click Finish
read a summary before you create the

system
click Next and proceed with the Complete

the New Controller System Wizard section.
Remove files
To remove a file from the Added files list:
1. In the Added files list, select the file to remove.
2. Click Remove.
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4.5.9. Completing the New Controller System Wizard
4.5.9. Completing the New Controller System Wizard

Overview
This is the last section of the New Controller System Wizard.
Here you can read a summary of the system before you create it.
Complete the New Controller System Wizard
To complete the New Controller System Wizard:
Read the system summary.
If the system is...
then...
O.K.
click Finish.
not O.K.
click Back and modify the system.
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4.6.1. Starting the Create System from Backup Wizard
4.6 Create system from backup

4.6.1. Starting the Create System from Backup Wizard
Overview
The Create System from Backup Wizard will help you create a new system from a controller
system backup. The wizard will also help you to change program revisions and options.
Start the Create System from Backup Wizard
To start the Create System from Backup Wizard:
1. Start the System Builder. See The System Builder on page 60 for detailed instructions.
2. Click Create from Backup.
This will open the Create System from Backup Wizard.
3. Click Next and proceed as described in the wizard.
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4.7.1. Copying a system
4.7 Copy a system

4.7.1. Copying a system
Overview
In the System Builder, you can create a copy of a system.
Copy a system
To make a copy of a system:
1. Start the System Builder. For details, see The System Builder on page 60 for detailed
instructions.
2. Select the system to copy. For details, see Selecting a system on page 90 for detailed
instructions.
3. Click Copy. This opens the Copy dialog box.
4. In the Name of Copy box, enter the name for the copy.
5. In the Path box, enter the path to the folder where you want to store the system. You can
also click the Browse button and browse to the folder.
6. Click Copy.
105
4.8.1. Modifying a system
4.8 Modify a system

4.8.1. Modifying a system
Overview
The System Builder has a wizard for modifying systems stored on your PC. The wizard helps
you with things like change drive and option keys and modify options settings. To configure
the systems parameters of a system already installed on a controller, use the configuration
editor. See Configure systems on page 203 for more information.
The wizard is divided into sections that corresponds to the phases of the workflow for
modifying a system. Each part of the wizard is described in detail later in this chapter.
Prerequisites
The RobotWare media pool must be installed on your PC. See Installing RobotWare on page
34, if you do not have it installed already.
Workflow
The flowchart below shows the workflow in the Modify System Wizard.
Each section of the wizard is optional: you can go through them with or without making any
modifications. You can also finish the wizard at any time and the changes you made will then
be applied.
en0200000391
106
4.8.2. Starting the Modify Controller System Wizard
4.8.2. Starting the Modify Controller System Wizard

Overview
The Modify Controller System Wizard helps you to modify a system stored on the computer.
To modify a system already installed on a controller, use the configuration editor. See
Configure systems on page 203 for more information.
Start the Modify Controller System Wizard
To start the Modify Controller System Wizard :
1. Start the System Builder. For details, see The System Builder on page 60 .
2. Select the system to modify. For details, see Selecting a system on page 90.
3. Click Modify.
This will open the Modify Controller System Wizard.
4. Click Next when the wizard has started and proceed with the Select RobotWare Version
section.
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4.8.3. Changing RobotWare version
4.8.3. Changing RobotWare version

Overview
This section of the Modify System Wizard is optional.
You can either keep the current RobotWare version or replace it with another one.
Available RobotWare versions
The RobotWare versions that are available for the system is determined by the controller key.
This key is essential for the system and cannot be modified.
To use another RobotWare version than the available ones, create a new system with another
key. See Creating a new system on page 93.
Keep the current RobotWare version
To keep the current RobotWare version:
1. Select Yes.
2. Click Next and proceed with the Add/Remove Drive Keys section.
Replace the RobotWare version
To Replace the current RobotWare version:
1. Select No, replace it.
2. In the Media pool box, enter the path to the media pool. You can also click the Browse
button and browse to the folder.
The media pool is a folder on the computer where the RobotWare files are installed.
3. In the New program revision box, select which version of RobotWare you want to use.
Only RobotWare versions that are valid for the used RobotWare key are available.
4. Click Next and proceed with the Add/Remove Drive Keys section.
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4.8.4. Changing the drive keys
4.8.4. Changing the drive keys

Overview
This section of the Modify Controller System Wizard is optional.
The drive keys corresponds to the drive modules in your controller. For multimove systems
you have one drive module (and one drive key) for each robot. The keys for your system are
delivered together with the controller.
If the system is created with a virtual controller key, virtual drive keys are generated by the
wizard. When you have added one virtual drive key for each robot to use, you select which
robot model to use for each key in the Modify Options section of the wizard.
Change the drive keys
To change the keys for the drive modules:
1. To add a key for a drive module, enter the key in the Drive Key box. You can also click
the Browse button and browse to the key file.
2. Click the right arrow button next to the Drive Key box. The key now appears in the
Added drive key list.
3. To remove a drive module, select the corresponding key in the Added drive key list and
click Remove drive key.
4. If you have a MultiMove system, make sure that the keys are numbered in the same way
as their corresponding drive modules are connected to the controller module. Use the up
and down arrows to rearrange the drive keys, if necessary.
If you want to
then
click Finish
modify options, or add any of the following to click Next and proceed with the Modify
the system:
Additional Options section.
additional options
parameter data
directory
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4.8.5. Changing additional options
4.8.5. Changing additional options

Overview
Here you can add options that are not included in the basic system. External axes and dispense
applications are examples of such options.
Add additional options
To add additional options:
1. In the Enter Key box, enter the option key. You can also click the Browse button and
browse to the options key file.
2. Click the Arrow button.
The option that the key unlocks is now displayed in the Added Options list.
3. Repeat step 1 and 2 for all options you want to include.
4. Choose whether you want to create the system as it is now, or continue with the wizard.
If you want to
then
click Finish
modify any options, or add any of the

click Next and continue with the Modify
following to the system:
Options section.
parameter data
directory
Remove additional options

To remove additional options:
1. In the Added options list, select the option you want to remove.
2. Click Remove.
Result
The systems options will be changed when the wizard is completed.
If the system has been downloaded to a controller, it must be downloaded again and the
controller restarted before the modification will take place in the controller.
110

Overview
If any of the options in your system contain subordered options, you can modify them here.
Modify options
To modify any options:
1. In the Option tree, expand the option folders to the level where you find the option you
want to modify.
Only the options unlocked by the used keys are available.
2. Modify the option.
3. Repeat step 1 and 2 for all options you want to modify.
If you want to
then
click Finish
add any of the following to the system:

click Next and continue with the Include
Parameter Data section.
parameter data
directory
Result
Your changes will be applied to the system stored on the computer when the wizard is
completed.
If the system has been downloaded to a controller, it must be downloaded again and the
controller restarted before the modification will take place in the controller.
111
4.8.7. Changing parameter data
4.8.7. Changing parameter data

Overview
Parameter data is stored in parameter data files (.cfg files). Each Parameter topic has its own
parameter file. You can add only one parameter file for each topic.
Add parameter data
To add parameter data:
1. In the Parameter data box, enter the path to the folder for the parameter data files. You
can also click the Browse button and browse to the folder.
2. In the list of parameter data files, select the file you want to include and press the Arrow
button. Repeat for all files you want to include.
The included parameter data files will now appear in the Added parameter data files list.
Repeat step 1 and 2 for each parameter data file you want to add.
If you want to
then
click Finish
add any additional files to the systems home click Next and proceed with the Add Files to
directory
Home Directory section.
Remove parameter data

To remove parameter data from a system:
1. In the Added parameter data files list, select the parameter data file to remove.
2. Click Remove.
Result
The change of parameter data files will take place when the wizard is completed.
If the system has been downloaded to a controller, it has to be downloaded again and the
controller must be restarted before the modification will take place on the controller.
112
4.8.8. Changing files in the home directory
4.8.8. Changing files in the home directory

Overview
You can add any type of files to the systems home directory. You can also remove files from
the home directory of the system stored on the PC.
When the system is downloaded to a controller, the files in the systems home directory will
also be downloaded.
Add files
To add files to the systems home directory:
1. In the Files box, enter the path to the folder for the files you want to include. You can also
click the Browse button and browse to the folder.
2. In the list of files, select the file to add and click the Arrow button. Repeat for all files you
want to add.
The added files will now appear in the Added files list.
3. Choose whether you want to create the system now, or read a summary of the system
before you create it.
If you want to
then
create the system now
click Finish
read a summary before you create the

system
click Next and proceed with the Complete

the New Controller System Wizard section.
Remove files
To remove a file from the systems home directory (on the PC, not on the controller):
1. In the Added files list, select the file to remove.
2. Click Remove.
Result
The change will take place when the wizard is completed.
If the system has been downloaded to a controller, it must be downloaded again before the
modification will take place on the controller.
113
4.8.9. Completing the Modify Controller System wizard
4.8.9. Completing the Modify Controller System wizard

Overview
This is the last section of the Modify System Wizard. Here you can read a summary of the
changed system before you save it.
Complete the Modify Controller System wizard
To complete the Modify Controller System Wizard:
Read the system summary.
114
If the system is
then
O.K.
click Finish.
not O.K.
click Back and modify the system.
4.9.1. Loading a system to a controller
4.9 Load a system to a controller

4.9.1. Loading a system to a controller
Overview
All systems you access from the System Builder are stored on your PC. If you want to run a
system on a robot controller, you must load it to the controller and then restart it.
The system builder has a tool for loading systems to robot controllers. This tool will also help
you connect to the controller.
Load a system
To load a system to a controller:
1. Start the System Builder. For details, see The System Builder on page 60.
2. Select the system to download. For details, see Selecting a system on page 90.
3. Click Download to Controller.
This will open the Download to Controller dialog box.
4. Specify the Destination Controller for the system.
You can select by using the...
if...
Select controller from list option
the controller has been detected

automatically.
Specify IP address or controller name

option
your PC and the robot is connected to the

same network.
You can only use the controller name in
DHCP networks.
Use service port option
your PC is directly connected to the

controllers service port.
See Network settings for connecting a PC to
a controller on page 29 for further
instructions.
5. Optionally, click Test Connection to confirm that the connection between the computer
and the Controller is OK.
6. Click Load.
7. Answer Yes on the question Do you want to load the system.
Yes
There will be a restart and the system is downloaded to controller.
No
There will be no restart. With the next restart the system will be downloaded
to controller.
Cancel
The downloading is canceled.
Related information
Network settings for connecting a PC to a controller on page 29
115
4.10.1. About boot media
4.10 Create boot media

4.10.1. About boot media
Overview
Boot media is a disk or other media containing a system which the controller can read and
start from. Any media that can be read by the controller can be used as boot media, for
example USB memories or portable disks if the controller is equipped with the appropriate
connectors.
116
4.10.2. Creating boot media
4.10.2. Creating boot media

Overview
When the system builder creates boot media, it packs an entire system to one file, which you
can store on a USB memory, hard disk or any other media that can be read by the controller
during start up.
Create boot media
To create boot media:
1. Start the System Builder. For details, see The System Builder on page 60.
2. Select the system you want to use for the boot media. For details, see Selecting a system
on page 90.
3. Click Boot Media.
4. In the Path box, enter the path to the folder where you want to store the boot media file.
You can also click the Browse button and browse to the location.
5. Click OK.
Result
You have now packed a system to a bootable file and stored it on a media. To load this system
to a controller, connect the media to the controller and restart the controller with the advanced
restart method X-start. See Restarting a controller on page 172 for more information about
restarting the controller using RobotStudioOnline. You can also perform the X-start using the
FlexPendant, see IRC 5 with FlexPendant operators manual for more information about this.
117
4.11.1. About the media pool
4.11 Handle the media pool

4.11.1. About the media pool
Overview
The media pool is a folder on your PC that contains the RobotWare software. It is from the
media pool that you select programs and options when building systems.
The default media pool
If RobotWare is installed with default settings on the PC, the default media pool is located in
the C:\Program Files\ABB Industrial IT\Robotics IT folder.
Customized media pools
You can create customized media pools by creating new folders to which you copy
RobotWare files from existing media pools. You can also update or modify a media pool by
importing new parts of RobotWare using the Import System Tool in RobotStudioOnline.
In RobotStudioOnline, you then choose which media pool to use when creating new systems.
Related information
See Installing RobotWare on page 34 for information about installing the default media pool.
118
4.11.2. Modifying system options in a media pool

Overview
This topic describes how to import system options to a media pool, and how to delete options
from a media pool.
Import system options
To import system options to a media pool:
1. On the Tools menu, click Import System Options.
2. In the Option source box, enter the path to the folder where the options to import are
located. You can also click the Browse button and browse to the folder.
3. In the Media pool destination box, enter the path to the media pool you want to store the
options in. You can also click the Browse button and browse to the media pool folder.
4. Select the options to import and click Import.
To select several options at once, do one of the following:
To select
then hold down
several adjacent options
the SHIFT key and select the first and the last
option.
several non-adjacent options
the CTRL key and select each option.
5. Click OK.
Remove system options
To delete system options from a media pool:
1. On the Tools menu, click Import System Options .
2. In the Media pool destination list, enter the path to the media pool from which you want
to delete the options. You can also click the Browse button and browse to the media pool
folder.
3. Select the options to delete and click Remove.
To select several options at once, do one of the following:
To select
then hold down
several adjacent options
option.
several non-adjacent options
the CTRL key and select each option.
4. Click OK.
Alternative way to update the media pool
You can also use Windows Explorer to change the content of the media pool by adding or
removing files from the folder used as media pool.

119
Continued
Related information
For more information about Media Pools, see About the media pool on page 118.
For more information about adding options to a system, see Creating a new system on page
93 or Modifying a system on page 106.
120
4.12.1. Adding RobotWare option
4.12 Add RobotWare option

Overview
When you order a new RobotWare option, a completely new controller key will be delivered.
The key also contains the earlier RobotWare options that you had. DeviceNet, INTERBUS
and Multitasking are examples of RobotWare options.
Add RobotWare option
To add the RobotWare option:
Create a new system, see Starting the New Controller System Wizard on page 95 for
instructions.
Enter the new controller key while creating the new system, and you will get the new
RobotWare option.
NOTE!
To make sure that you can restore the controller with the earlier system, perform a backup of
the system before creating a new system with the new controller key.
121
122

5.1. Handle Robot Views

5.1. Handle Robot Views
Overview
This topic describes how to handle Robot Views. Robot Views are collections of links to
controllers and documents. For more information about what Robot Views are, see About
Robot Views on page 124.
How to work with the controllers and files in the robot views are described in separate topics.
What you can do with Robot Views
You can handle Robot Views in the following ways:
Create new Robot Views. See Creating a new Robot View on page 125 for more
information.
Open existing Robot Views. See Opening a Robot View on page 127 for more
information.
Add controllers to Robot Views. See Adding a controller to a Robot View on page 138
for more information.
Add document links to Robot Views. See Documents in robot views on page 130 for
more information.
Save Robot Views. SeeSaving a Robot View on page 128 for more information.
Close Robot Views. See Closing a Robot View on page 129 for more information.
Related information
The Robot View Explorer on page 52
123

5.2. About Robot Views
5.2. About Robot Views

Overview
Robot Views are collections of links to controllers and documents. It is from Robot Views
that you access controllers from RobotStudioOnline .
Robot Views can be saved to files on the computers file system, so that you can open the same
collection of controllers and document links again. See Handle Robot Views on page 123 for
more information.
What you can do from a Robot View
From a Robot View you can:
Connect to and work with controllers. See Handle controllers on page 137 for more
information.
Access the controllers configuration files. See Configure systems on page 203 for
more information.
Create and edit robot programs for the robot. See Program a robot on page 175 for
more information.
Access the controllers log files. See Handle event records on page 217 for more
information.
Create and manage links to external documents and files. See Documents in robot
views on page 130 for more information.
Working on-line from a Robot View

The Robot View is basically a collection of links to controllers. When working with a
controller from a Robot View you always work on-line, which means that you work directly
with the data in the controllers working memory.
For example, if you edit a program the changes are made to the program on the controller as
soon as you commit the changes. No changes are saved with the Robot View since it is just a
link to the controller on which you made the changes.
Organize work with Robot Views
Below are a few examples of how you can use Robot Views to organize your work:
Organize the production with separate Robot Views for separate jobs.
Keep track of documents that are related to jobs by adding links to the corresponding
Robot Views.
Share data that is common for several controllers in one Robot View that contains all
the concerned controllers.
Related information
The Robot View Explorer on page 52.
124

5.3.1. Creating a new Robot View
5.3 Work with robot views

5.3.1. Creating a new Robot View
Overview
Robot Views are collections of links to controllers and documents. This information topic
describes how to create a Robot View to which you later can add controllers.
Limitation
You can have only one Robot view open in each RobotStudio window. This means that if you
already have a Robot View open, it will be closed when you create a new one. If the already
open Robot View contains any unsaved changes, you will be asked to save it before it is
closed. To open several robot views at one time, open them in separate RobotStudioOnline
windows. See Open several robot views at one time on page 127 for more information.
Create a new Robot View
To create a Robot View:
1. On the File menu, click New Robot View. This will open the New Robot View dialog
box. For a description of the New Robot View dialog box, see Layout of the New Robot
View dialog box on page 126.
2. In the Robot View Name field, enter a name for the new Robot View.
3. In the Location field, enter the path to the folder where you want to store the Robot View.
You can also click the browse button and browse to the folder.
4. Click OK to create the new Robot View.
Result
You have now created a new Robot View, which is visible in the Robot View explorer. See
The Robot View Explorer on page 52 for more information about the Robot View explorer.
To access a controller, you first have to add it to the Robot View, see Adding a controller to
a Robot View on page 138.
125

5.3.2. Layout of the New Robot View dialog box
5.3.2. Layout of the New Robot View dialog box

Overview
With the New Robot View Dialog Box you create new robot views. It is opened from the
File menu.
en0400000675
Parts
1. The Robot View Name box
This is a box for typing in the name of the robot view you are creating.
2. The Location box
This box shows the location where the new robot view will be created. You can also type
in a new location in the box.
3. The Browse button
With this button you open a browse dialog box, where you can select a new location.
4. The OK button
This buttons creates a robot view, with the specified name at the specified location.
5. The Cancel button
This button closes the dialog box without creating any robot view.
126

5.3.3. Opening a Robot View
5.3.3. Opening a Robot View

Overview
This information topic describes how to open one or several Robot Views.
Limitation
Each RobotStudioOnline window can have only one Robot View open at one time. To open
several Robot Views at one time, you can open a new RobotStudioOnline window for each new
Robot View.
As long as a Robot View is open, it is locked from being opened in any other
RobotStudioOnline window.
Open a Robot View
To open a Robot View:
1. On the File menu, click Open Robot View. This will open the Open dialog box.
2. In the Open dialog box, locate and open the Robot View
Open several robot views at one time
To open several Robot Views at one time, you have to open them in separate RobotStudioOnline
windows.
To open a Robot View in a new RobotStudio Online window:
1. On the Start menu, point to Programs and ABB RoboticsIT. Then click
RobotStudioOnline.
2. On the File menu, click Open Robot View. This will open the Open dialog box.
3. In the Open dialog box, locate and open the Robot View .
127

5.3.4. Saving a Robot View
5.3.4. Saving a Robot View

Overview
Saving a Robot View will only save the Robot View file. Changes made to the controllers
content, like program and configurations, have already been saved on the controller when you
committed the changes. See About Robot Views on page 124 for more information about
robot Views and online work.
When saving a Robot View, you have two options: you can either update the existing Robot
view by just saving the changes, or create a copy by saving it as a new Robot View with a
new name.
Save a Robot View
To save changes in a Robot View:
On the File menu, click Save Robot View.
Save as a New Robot View

To save a Robot View with a new name:
1. On the File menu, click Save Robot View As. This will open the Save Robot View As
dialog box.
2. Enter a name and location for the Robot View and click Save.
128

5.3.5. Closing a Robot View
5.3.5. Closing a Robot View

Overview
A Robot View closes automatically when RobotStudioOnline is closed, or when another Robot
View is opened. You can also close a Robot View manually.
Close a Robot View
To close a Robot View manually:
On the File menu, click Close Robot View.
If the Robot View contains unsaved changes, you will be asked if you want to save the
changes.
129

5.4.1. Documents in robot views
5.4 Documents in robot views

5.4.1. Documents in robot views
Overview
In a Robot View, you can create links to any kind of documents or files that you want to relate
to the Robot View. You can also create folders for organizing the document links.
Handle documents in a robot view
In a Robot View, you can do the following with documents:
Organize document links in folders
Add document links
Open linked documents
Move document links
Rename document links
Remove document links
Handle linked documents outside the robot view

Since the linked files are saved on the computers file system, the files can be modified
outside the Robot View. If a file is moved, renamed or deleted it might break the link. To
locate linked files when the link is broken, see Locating linked files on page 136.
About copying and moving robot views with linked files
When you move or copy a Robot View with linked files, RobotStudioOnline will search for
the linked files relative the Robot Views new location. This means that the links will remain
intact if you move, or copy, the linked files in the same way as the robot view file. If the
linked files can not be located there, RobotStudioOnline will search for the linked files
elsewhere on the computer. See Locating linked files on page 136 for more information.
130

5.4.2. Organizing document links in folders
5.4.2. Organizing document links in folders

Overview
Inside a Robot View, you can create folders for organizing links to documents and files. You
handle these folders in the Robot View in much the same way as you handle folders in the
Windows Explorer.
What you can do with folders in a Robot View:
Add folders
Move folders
Rename folders
Delete folders
Add a folder
To add a document folder to a Robot View:
On the Robot View menu, click Add Folder.
Move a folder
To move a document folder in a Robot View:
Drag the folder to the new location.
Rename a folder
To rename a document folder in a Robot View:
1. Select the folder to rename.
2. On the Robot View menu, click Rename.
Delete a folder
To delete a document folder from a Robot View:
Select the folder to delete and press the DELETE key.
131

5.4.3. Adding Document Links
5.4.3. Adding Document Links

Overview
You can create links from the Robot View to any documents or files on the computers file
system.
Add a Document Link
To add a document link:
1. In the Robot View menu, click Add Document Link.
This opens an Open dialog box from which you select the document to link to.
2. Locate to the document that you want to link to and click Open.
132

5.4.4. Opening linked documents
5.4.4. Opening linked documents

Overview
Documents that are linked to a Robot View can be opened directly from the Robot View.
Open a document
To open a linked document from a Robot View:
In the Document folders, locate the link to the document you want to open and Doubleclick it.
Result
The document will be opened by the program that is associated with the file type of the linked
file.
If the linked documents file type is not associated with a program, you will be asked for a
program to open the file with.
If the linked file has been moved or renamed in such a way that RobotStudio Online can not
locate it, you can restore the link manually. See Locating linked files on page 136.
133

5.4.5. Removing document links
5.4.5. Removing document links

Overview
Removing a document link will only delete the link from the Robot View to the document,
not the document itself.
Remove a Document Link
To remove a document link:
1. In the Document folders, locate the link you want to remove.
2. Select the link and press the DELETE key.
134

5.4.6. Renaming a document link
5.4.6. Renaming a document link

Overview
When you create a document link it is by default named
you can rename the link after it has been created.
Shortcut to DocumentName, but
Rename a document link

To rename a document link:
1. In the Document folders, locate the link you want to rename.
2. Click the link name twice so it becomes editable.
3. Enter the new name and press the Enter key.
135

5.4.7. Locating linked files
5.4.7. Locating linked files

Overview
When a linked file cannot be found on its original location, RobotStudioOnline will search for
the file.
If the search has been completed without finding the right file, RobotStudioOnline might
suggest a file with file type, size and saving date that matches the missing file. If this is not
the right file, click No and locate the file yourself. See Locate linked files manually on page
136.
Locate linked files automatically
To locate a linked file automatically:
In the Robot View Explorer, click on the shortcut to the document you want to locate.
RobotStudioOnline will now search for the file. If the correct file is found, the link is
automatically updated. Otherwise, a near match will be suggested.
If
Then
The linked file is found

automatically.
The link will be updated automatically and the file will open.
The suggested file is the

correct one.
Click Yes in the Problem with ShortCut dialog box.
The suggested file is not

the correct one.
Click No in the Problem with ShortCut dialog box and Locate

the linked file manually. See Locate linked files manually on
page 136.
Locate linked files manually

If it is not found automatically, you can locate a linked file yourself.
To locate a linked file manually:
1. In the Robot View Explorer, click on the shortcut to the document you want to locate.
2. In the Missing Shortcut dialog box, click Browse while RobotStudioOnline is searching
for the file.
If RobotStudioOnline ends searching for the file before you click Browse, click No in the
Problem with ShortCut dialog box and go back to step 1.
3. In the Browse dialog box, locate the linked file.
136
6.1. Handle controller
6.1. Handle controller
Overview
This section describes how you handle controllers in Robot Views. How to work with data in
a controller, like configurations or robot programs, is described in other sections.
How controllers are connected to Robot Views
A controller is always connected to the Robot View with a real time connection; no controller
content is cached. This means that the controllers in your Robot View are always up to date.
It also means that the controllers content will be unavailable if the connection is lost.
A controller can be connected to several robot Views, and a Robot View can have several
controllers. For safety reasons, a controller can only take instructions from one user at a time.
Therefore, Write access must be granted before any data can be changed on the controller. If
the controllers Write access is granted to another user, it is still available with read-only
rights. See About access rights on page 156 for detailed information.
What you can do with controllers
From a Robot View, you can handle controllers in the following ways:
Add and remove controllers.
Access the controllers content, like configurations and robot programs.
Back up a controller.
Restore a controller with a backup.
Manage user accounts and access grants for the controller.
Record the controllers events.
View controller status information.
View Controller and System Properties.
Set the controllers time.
Logging on to the controller

The Controller has a User Authorization system that controls which users can log on and what
the users are allowed to do. See About user authorization on page 159 for more information.
When you connect to a controller from RobotStudioOnline you are automatically logged on as
Default User. Depending on how this user account is configured and what you want to do,
you might need to log on as another user. See Logging on to a controller on page 141 for
instructions.
Related information
See The Robot View Explorer on page 52 for information on how to access a controllers
content.
137
6.2.1. Adding a controller to a Robot View
6.2 Accessing Controllers

6.2.1. Adding a controller to a Robot View
Overview
To access a controller from RobotStudioOnline, you must add it to a Robot View. You can add
several controllers to one Robot View.
Prerequisites
To add a controller to a Robot View, the following must be fulfilled:
A Robot View must be open.
The controller must be available to the PC through an Ethernet network connection or

connected through the controllers service port.
If the controller is to be connected through an Ethernet network, it must have the PCI
Option installed.
Add a controller to a Robot View

To add a controller to a Robot View:
1. On the Robot View menu, click Add Controller. This opens the Add Controller dialog
box, where all available controllers are listed.
2. In the Add Controller dialog box, select the controller to add and click OK.
Add a controller on a remote subnet to a Robot View
To add a controller on a remote subnet to a Robot View:
1. On the Robot View menu, click Add Controller. This opens the Add Controller dialog
box.
2. In the Add Controller dialog box, type the remote controllers IP address in the text box
and click Add.
If you want to make the selected controller visible in the Available controllers list, click
Refresh.
3. Click OK.
Related information
Layout of the add controller dialog box on page 139
138
6.2.2. Layout of the add controller dialog box
6.2.2. Layout of the add controller dialog box

Overview
From the Add Controller dialog box you add controllers to your Robot View. All controllers
connected to the same network as the computer as well as controllers connected through the
service port, and controllers that you have connected to remote subnets, are listed in this
dialog box.
en0200000275
Parts
1. The Available controller list
This is the list of the available controllers. Here you select the controller to add by
clicking its row in the list. You can sort the list by any of its columns clicking on the
column header you want to sort by.
2. The text box
In the text box you type the IP address of the remote controller that you want to get access
to.
3. The Refresh button
This button updates the Available controllers list with the controllers that are connected
to the same subnet as the PC, it also makes the added remote controllers visible in the list.
4. The Add button
After you have typed the IP address, this button makes the remote controller available.
5. The OK button
This button adds the selected controller to the Robot View.
6. The Cancel button
This button closes the dialog box without adding any controller to the robot View.
Related information
Adding a controller to a Robot View on page 138
About automatic detection of controllers on page 33
139
6.2.3. Removing a Controller from a Robot View
6.2.3. Removing a Controller from a Robot View

Overview
When you remove a controller from a Robot View, you remove the controllers node in the
Robot View explorer and close the connection between the Robot View and the controller. It
does not effect the controller itself or any data stored on the controller.
Remove a controller from a Robot View
To remove a controller from a Robot View:
1. In the Robot View Explorer, select the controller to remove.
2. Press the DELETE key.
140
6.2.4. Logging on to a controller
6.2.4. Logging on to a controller

Overview
The data, functionality and commands on a controller are protected by a User Authorization
system (also called UAS). The UAS restricts the parts of the system the user has access to.
Different users can have different access grants.
Logged on by default
When you connect to a controller from RobotStudioOnline, you are logged on as the user
Default User by default.
On a controller with the default settings, this gives you access to all data and all commands,
so there is no need to log on as a different user. However, if the grants for Default User have
been changed, you might need to log on as a different user.
Log on to a controller as different user
To log on as a different user:
1. On the Controller menu, point to Advanced and click Login as different user.
This opens the Login dialog box.
2. In the User Name box, enter the user name you want to log on as.
3. In the Password box, enter the password for the user name you are logging on as.
4. Click OK.
Log on to a controller as Default User
To revert to default user, if you have previously logged on as a different user:
1. On the Controller menu, point to Advanced and click Login as different user.
This opens the Login dialog box.
2. Click Log in as Default User.
Result
After logging in you can see the user name you are logged on as in the Logged on as column
in the Controller Status window.
Related information
About user authorization on page 159
The controller status window on page 57
141
6.3.1. Viewing controller status
6.3 Viewing and changing properties

6.3.1. Viewing controller status
Overview
In the controller status window you can view information about all controllers in your Robot
View.
Open the controller status window
The controller status window is open by default. If it has been closed, do this to open it:
On the View menu, click Controller Status.
For information on what the status means, see Layout of the controller status window on
page 58.
Sort the controller status window
To sort the controller rows based on one of the columns:
Click the header for the column you want to sort the rows by.
To switch between ascending and descending sorting, click the header once again.
Resize the Columns
To resize the columns in the controller status window:
Position the pointer over the boundary on the right side of the column heading, so the
pointer becomes a double-headed arrow, and then drag the boundary.
You can also double-click the boundary to automatically fit the width to the columns
content.
Close the controller status window
To close the Controller Status window:
On the View menu, clear the Controller Status check mark.
Related information
The controller status window on page 57
Layout of the controller status window on page 58
Recording events on page 220
142
6.3.2. Viewing controller and system properties
6.3.2. Viewing controller and system properties

Overview
This information topic describes how to view the properties for a controller and its running
system.
For example, you can view:
Controller name and ID
Name of running and installed system
Name and properties of hardware devices on the controller
Name, serial number and options of the running system
Version of boot application
Boot application
The boot application is mainly used to start up the system when no RobotWare is installed.
The application may be used to:
install systems
set or check network settings
select a system/switch between systems from the mass storage memory
load the system from USB memory units or network connections
View controller and system properties

To view the properties:
1. In the Robot View Explorer, select the controller which properties you want to view.
2. On the Controller menu, click Controller and System Properties.
The Controller and System properties window is now displayed.
3. In the Tree view at the left of the window, browse to the node for the object which
properties you want to view. The properties of the selected object are displayed in the
Properties list at the right of the window.
Related information
See Viewing controller status on page 142 for information on how to see a controllers state,
operating mode and other status information.
See Recording events on page 220 for information on how to access and copy the controllers
event log.
See Operators manual - IRC5 with FlexPendant for information on how to use the functions
in boot application.
143
6.3.3. Setting the controllers date and time

Overview
This information topic describes how to set a controllers date and time. You can either set the
date and time to the same as the computer you are working from, or you can specify the date
and time manually.
Prerequisites
You must have Write access to the controller. See About access rights on page 156 for details.
Use The PCs date and time on Controller
To set the controllers date and time to the same as the computer you are working from:
1. In the Robot View Explorer, select the controller which time you want to set.
2. On the Controller menu, click Set Date and Time. This opens a dialog box where the
controllers current date and time is displayed.
3. Click Get local computers time.
4. Click OK.
Set the date manually
To set the controllers date manually:
1. In the Robot View Explorer, select the controller which date you want to set.
3. On the date list, click the arrow next to the controllers current date. This opens a calendar
in which you select the new date.
4. In the calendar, select the month with the arrows at the top of the calendar. Then click a
day in the selected month to set the date.
5. If the controllers time also needs to be set, continue with this, otherwise, click OK.
Set the time manually
To set the controllers time manually:
1. In the Robot View Explorer, select the controller which time you want to set.
3. In the time box, select the time unit (hours, minutes or seconds) to adjust. This will stop
the clock until the time has been set, or the new settings have been cancelled. Then do one
of the following:
Type in the new value.
Adjust the value with the arrows at the right side of the time box.
Repeat for all time units you want to set.

4. If the controllers date also needs to be set, continue with this, otherwise, click OK.

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Continued
Related information
Layout of the set date and time dialog box on page 146
145
6.3.4. Layout of the set date and time dialog box
6.3.4. Layout of the set date and time dialog box

Overview
From the Set Date and Time dialog box, you set the date and time on the controller. You can
either specify date and time yourself, or you can set the controllers date and time to the same
as the computer you are working on.
en0300000437
Parts
1. The Active Controller box
This box shows which controllers date and time you are viewing.
2. The Date box
This box displays the date that is currently set on the controller. The arrow at the boxs
right side opens a calendar in which you can select a new date.
3. The Time box
This box displays the time that is currently set on the controller.
The arrows at the right side of the box changes the value for the selected time unit (the
hours, minutes or seconds).
4. The Get Local Computers Time button
This button synchronizes the controllers clock with this computers clock, so that the
controller gets the same date and time as the computer.
Related information
Setting the controllers date and time on page 144
146
6.3.5. Renaming a controller
6.3.5. Renaming a controller

Overview
This information topic describes how to change a controllers name.
The controller name is an identification of the controller that is independent of the system or
software running on the controller. Unlike the controller ID, the controller name does not
have to be unique for each controller.
Limitation
The controller name must be written with characters from the ISO 8859-1 character encoding
set.
Rename a controller
To rename a controller:
1. On the controller menu, click Rename.
This opens the Rename Controller dialog box.
2. In the Controller Name box, enter the new name of the controller.
3. Click OK.
The new name will be activated when the controller is restarted. In a dialog box, you will
be asked whether to restart the controller now or later.
4. In the Restart Controller dialog box, do one of the following:
Click...
To...
Yes
Restart the controller right away.
No
To wait with restarting the controller.
Related information
Setting a controllers ID on page 148.
147
6.3.6. Setting a controllers ID
6.3.6. Setting a controllers ID

Overview
The controller ID is by default set to the controllers serial number and is thereby a unique
identifier of the controller.
The controller ID must remain unique. For creating an identifier of your own, use the
cotnroller name. See Renaming a controller on page 147.
When to set the controller ID
The controller ID is a unique identifier for the controller and should not be changed.
However, if the controllers hard disk is replaced the ID will be lost and you must set it back
to the controllers serial number.
Set a controllers ID
To set a controllers ID:
1. In the Robot View Explorer, select the controller which ID you want to set.
2. Request Write access to the controller. See Requesting Write access on page 157 for
detailed information.
3. On the Controller menu, point to Advanced and click Set Controller ID.
4. In the Set Controller ID dialog box, enter the controllers ID and then click OK.
Use only characters from the ISO Latin -1 character set and no more then 40 characters.
148
6.4.1. Backing up a system
6.4 Handling Backups

6.4.1. Backing up a system
Overview
When backing up a system you copy all data necessary to restore the system to its current
state:
Information about software and options installed on the system.
The Systems home directory and all its content.
All robot programs and modules in the system.
All configuration and calibration data of the system.
Prerequisites
You must have Write access to the controller.
You must be logged on to the controller as user with the appropriate grants. See About user
authorization on page 159 for more information about grants in the User Authorization
System.
Back up a system
To back up a system,:
1. In the Robot View browser, select the controller which system you want to backup.
2. On the Controller menu, click Create Backup. The Create Backup dialog box is now
displayed.
3. Enter a new name and specify a location for the backup, or keep the default ones.
4. Click Back Up. You can view the progress of the back up in the Output Window.
Result
When the back up is complete you will have a folder with the name of the back up on the
specified location.
This folder contains a set of subfolders which all together comprises the backup:
The Folder...
Contains...
Backinfo
information necessary for re-creating the systems software and

options from the mediapool.
Home
a copy of the systems home directorys content.
Rapid
one subfolder for each task in the systems program memory.

Each of these task folders contains separate folders for program
modules and system modules
Syspar
the systems configuration files.
CAUTION!
If the content of the Backup folder is changed it might not be possible to restore the backed
up system.
149
6.4.2. Restoring a system using a backup

Overview
Restoring a system using a backup means to restore the system, that is, the current system gets
the same content as when the backup was performed. Restoring a system replaces some
content in the current system with the content from the backup. The following will be
replaced:
All RAPID programs and modules in the system.
All configuration and calibration data of the system.
The systems home directory and all its content are copied from the backup to the current
system.
Prerequisites
You must have Write access to the controller.
You must be logged on to the controller as user with the appropriate grants. See About user
authorization on page 159for more information about grants in the User Authorization
System.
How to restore a system
To restore a system using a backup:
1. In the Robot View Explorer, select the controller which system you want to restore.
2. On the Controller menu, click Restore Backup. The Restore from Backup dialog box
is now displayed.
3. In the Restore from Backup dialog box, select which backup to use for restoring the
system.
4. Click Restore. You can view the progress of the Restore in the Output Window.
5. When the restore is complete, restart the controller to load the restored system. See
Restarting a controller on page 172 for more information.

150
Continued
NOTE!
Before proceeding, make sure that the system from the backup is compatible with the
controller you are restoring.
System ID and Template ID
If the system from the backup does not originate from the controller you are restoring, you
will get a message about the mismatch.
The following table describes the possible cases:
Case
Description
System ID and Template ID

are identical
When both System ID and Template ID are identical between

current system and backup system, there is no difference
between the systems.
Mismatch in System ID
If there is a mismatch in System ID there could be a minor

difference between current system and backup system, as for
example different languages.
RobotStudioOnline gives a warning regarding mismatch.
Note! Before you order a restore, make sure that the backup
system is compatible with the current system.
Mismatch in both System ID

and Template ID
There can be mismatch in both System ID and Template ID

between current system and backup system, as for example
different robot types.
RobotStudioOnline gives a warning that this is not a
recommended action.
Note! You must have a correct backup to the system you will
restore.
151
6.5.1. Transferring data between the PC and a controller
6.5 File handling on the controller

Overview
You can transfer files and folders to and from a controller with the file management window.
Prerequisites
The following prerequisites must be met:
The PC must be connected to the same network as the controller, or connected to the
controllers service port. See Accessing a controller from RobotStudioOnline on page
31 for information about connecting to the controller.
You must be logged on to the controller as a user with UAS grants that allows file
transferring. See About user authorization on page 159 for information about UAS
grants.
Transfer files and folders

To transfer files and folders:
1. On the Tools menu, click File Management Window.
This opens the file management window.
2. In the PC content list of the file management window, browse to the folder to or from
which you want to transfer content.
3. In the Controller content list of the file management window, browse to the folder which
you want to transfer content to or from.
4. Select the items to transfer. To select several items at once, do one of the following:
To select
then press
several adjacent items
item.
several non-adjacent items
the CTRL key and select each item.
All items in the list
The keys CTRL + A
5. When the files and folder to transfer are selected, do one of the following:
To
then press
Cut the files
CTRL + X
Copy the files
CTRL + C
6. Place the insertion point in the Content list of the receiving location (either the PC or the
controller) and press CTRL + V.

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Continued
Related information
The file management window on page 63
Organizing files on the controller on page 154
153
6.5.2. Organizing files on the controller

Overview
You can organize the data on the controller with the file management in the following ways:
Create folders
Rename files and folders
Delete files and folders
Prerequisites
The following prerequisites must be met:
The PC must be connected to the same network as the controller, or connected to the
controllers service port. See Accessing a controller from RobotStudioOnline on page
31 for information about connecting to the controller.
You must be logged on to the controller as a user with UAS grants that allows file
transferring. See About user authorization on page 159 for information about UAS
grants.
Create folders
To create folders on the controller:
2. In the Controller content list of the file management window, browse to the location
where you want to create the folder.
3. Right-click the Controller content list and select New Folder from the context menu.
A folder named New folder is now created.
4. Optionally, rename the new folder by following the instructions below.
Rename files and folders
To rename files and folders:
2. In the Controller content list of the file management window, browse to the item you
want to rename.
3. Right-click the item and select Rename from the context menu.
The items name is now editable.
4. Type the new name and press Enter.

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Continued
Delete files and folders

To delete files and folders:
2. In the Controller content list of the file management window, browse to the item you
want to delete.
3. Right-click the item and select Delete from the context menu.
Related information
The file management window on page 63
Transferring data between the PC and a controller on page 152
155
6.6.1. About access rights
6.6 Handling the write access system

6.6.1. About access rights
Overview
The access right system secures that only one person at a time runs commands or changes data
on the controller, even though several people can be logged on. This is for security reasons as
well as for protecting data from being accidently overwritten.
When logged on to a controller you can have either read-only access or write access.
Read-only is the default access right, to get write access to a controller, you request it.
In addition to the access right system, there is the User Authorization System, which restricts
what each user is allowed to do with the robot. For more information about The UAS, see
About user authorization on page 159.
When is Write access required?
Write access to the controller is required to:
Back up or restore systems.
Create or edit robot programs.
Edit the robots configuration.
Edit I/O signals.
Rename the controller.
Set the controllers date and time.
Write access in manual and auto modes

Several users can be logged on to the controller but only one can have write access at one
time.
When the controller is in manual mode, the FlexPendant has priority to the Write access. In
Auto mode, the user who first requests write access will get it.
What happens if you lose Write access?
If you lose Write access, which happens if the controller is switched from Auto to Manual,
there will be no warning. This means that unapplied changes to the system will be lost unless
you can save the data to a file and continue your work when you have Write access again.
Related information
Requesting Write access on page 157.
Releasing Write access on page 158.
156
6.6.2. Requesting Write access
6.6.2. Requesting Write access

Overview
You can access the controllers in your Robot View with either read only access or Write
access. You need Write access for editing programs and configurations or in any other way
change data on the controller.
Prerequisites for Write access
You can get Write access to any controller as long as the prerequisites are fulfilled.
When the
Controller is in
Mode:
This has to be fulfilled:
Auto
The Write access must not be taken by any other user.
Manual
The remote Write access must be granted on the FlexPendant. For

safety reasons, a FlexPendant user can also recall this remote Write
access in manual mode.
If the prerequisites are not fulfilled you will be denied, or lose, the Write access. This means
that if you have Write access in auto mode and the controller is switched over to manual mode
you will lose the Write access without any warning. This is because the FlexPendant unit by
default has the Write access in manual mode, for safety reasons. The same will happen if the
remote Write access in manual mode is recalled from the FlexPendant unit.
Request Write access
To request Write access to a controller:
1. In the Robot View Explorer , select the controller.
2. On the Controller menu, click Request Write access.
Result
The Controller Status window will be updated when the request for Write access is granted.
If the Write access is denied, a message is displayed.
Related information
157
6.6.3. Releasing Write access
6.6.3. Releasing Write access

Overview
You can access the controllers in your Robot View with either read only access or write
access. Since several users can be logged on to one controller but only one can have write
access, you can release the write access when you do not need it anymore.
Release Write access
To release the write access to a controller:
1. In the Robot View Explorer, select the controller.
2. On the Controller menu, click Release Write access.
Result
The Controller Status window will be updated when your access right has changed from read/
write to read only.
Related information
Requesting Write access on page 157
158
6.7.1. About user authorization
6.7 Managing the user authorization system

Overview
This section describes the controllers User Authorization System (UAS), which restricts
what different users are allowed to do with the robot. This is for protecting data and
functionality from unauthorized use.
In addition to the UAS there is the write access system, which secures that only one user at a
time runs commands or changes data on the controller. For more information about the write
access system, see About access rights on page 156
UAS on the controller
The user authorization is managed by the controller, which means that the UAS settings
remain for the controller regardless of which system it is running. It also means that the UAS
settings apply to all tools for communicating with the controller, like RobotStudioOnline or the
FlexPendant. The UAS settings defines the users and groups that can access the controller,
and what actions they are granted access to.
Users
In UAS users are accounts with which persons log on to the controller. Furthermore, the users
are added to groups to which access grants are given.
The users are defined in the controller by a user name and a password. For logging on to a
controller, the user must type in a defined user name with a correct password.
A user can either have the state activated or deactivated in the UAS. When a user is
deactivated it is not possible to log on to the controller using that account. It is the UAS
administrator that activates and deactivates the users.
The Default user
All controllers have a default user named Default User, which does not have any password
and cannot be removed. Other users can be added and removed by the user having the grant
Manage UAS settings.
Groups
In UAS, groups are defined sets of grants for accessing the controller. To the groups you then
add the users who shall have the grants defined by the group.
A good practice is to create groups that resembles the professions that work with the robots
in your organization. For example, you can create groups for administrators, programmers
and operators.
The Default group
All controllers have a default group named Default Group, to which all grants are given and
to which the default user belongs. This group cannot be removed, but it can be changed by
the user having the grant Manage UAS settings.

159
Continued
NOTE!
There is a risk changing the group membership of the default user. If you by mistake clear the
Default User check box or any Default Group grant, you will get a warning. Make sure that
there is at least one user defined that has the grant Manage UAS settings. If the Default group
and no other group have the grant Manage UAS settings, you may loose your ability to
manage users and groups.
Grants
Grants are permissions to perform actions or access data on the controller. You use the grants
by giving them to groups, to which you then add the users who shall have the grants.
Grants validity
Systems with different RobotWare versions may use different grants. When you install a
system on a controller the grants for that system are added to the controllers grant list. Grants
are never removed from the grant list but may be declared invalid if they are not applicable
for a system. All this is handled automatically during installation of systems.
Application grants
Application grants are used by a specific application, for example the FlexPendant, and will
only be valid using that application. Application grants can be added by additional options
and used in customer applications. If you use application grant, see your plant or system
documentation for information about these.
Related information
Administrating users on page 161
Administrating groups and grants on page 164
160
6.7.2. Administrating users

Overview
This information topic describes how to manage users in the controllers UAS (user
authorization system).
You can manage the users in the following ways:
Add and remove users
Set up users group membership (controls what actions the user are allowed to
perform)
Edit users (change user name or password)
Deactivate and activate users accounts
Export and import lists of users to files
Add a user
To add a user:
1. In the Robot View Explorer, select the controller to which you want to add a user.
3. On the Controller menu, point to Advanced and click UAS Administration Tool.
4. On the Users tab, click Add.
This opens the Add new user dialog box.
5. In the User Name box, enter the user name. Use only characters from the ISO Latin -1
character set and no more than 16 characters.
6. In the Password box, enter the users password. The password you type in will not be
visible. Use only characters from the ISO Latin -1 character set and no more than 16
characters.
7. In the Retype Password box, enter the users password again.
8. Click OK to add the new user and close the dialog box.
9. When you have finished administrating the UAS, click OK in the UAS Administration
Tool.
Delete a user
To remove a user:
1. In the Robot View Explorer, select the controller from which you want to remove the
user.
4. On the Users tab, select the user to delete from the Users on this controller list and click
Delete.
5. On the question Are you sure you want to remove this user?, answer Yes.

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Continued
Tool.
Set up group membership
To set up a users group membership:
1. In the Robot View Explorer, select the controller which user you want to manage.
4. On the Users tab, select the user from the Users on this controller list.
5. In the Users groups list, select the groups the user shall be a member of.
Tool.
Change a users name or password
To change a users name or password:
1. In the Robot View Explorer, select the controller which user you want to edit.
4. On the Users tab, select the user to edit from the Users on this controller list and click
Edit user.
This opens the Edit dialog box.
5. To change the user name, enter the new name in the User Name box. Use only characters
from the ISO Latin -1 character set and no more then 16 characters.
6. To change the password, enter the new password in the Password box, then retype the
password in the Retype Password box. Use only characters from the ISO Latin -1
character set and no more then 16 characters.
7. Click OK to save the changes to the user and close the dialog box.
Tool.
Activate or deactivate a user
To change a users state from activated to deactivated, or from deactivated to activated:
1. In the Robot View Explorer, select the controller for which you want to activate or
deactivate the user.
4. On the Users tab, select the user from the Users on this controller list and click the status
text (Activated or Deactivated). An item box appears and you can change the status.
The users new state is now displayed in the status column of the Users on this controller
list.
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Continued
Tool.
Export user list
To export the list of users to a file that later can be imported to a controller:
1. In the Robot View Explorer, select the controller which user list you want to export.
4. On the Users tab, select the user from the Users for this Controller list and click Export.
This opens a Save as dialog box, in which you specify the name and location for the file
with the user list.
Import user list
To import a list of users to the controller:
1. In the Robot View Explorer, select the controller to which you want to import the users.
4. On the Users tab, select the user from the Users for this Controller list and click Import.
This opens an Open file dialog box, in which you browse to the file with the list to import.
When you have selected the file, the ImportOptionsForm dialog appears.
Select ...
Description
Delete existing users and groups before

importing
Earlier groups and users will be deleted.
Advanced options
A new dialog appears.

Import users but dont replace duplicates means
that you will not replace the existing users.
Import users and replace duplicates means that
you will replace the existing users.
Import groups but dont replace duplicates
means that you will not replace the existing
groups.
Import groups and replace duplicates means
that you will replace the existing groups.
Related information
Administrating groups and grants on page 164
163
6.7.3. Administrating groups and grants

Overview
This information topic describes how to manage groups and grants in the controllers UAS
(user authorization system).
You can manage the groups and grants in the following ways:
Add new groups
Rename groups
Delete groups
Give grants to groups
Remove grants from groups
Add a group
To add a group:
1. In the Robot View Explorer, select the controller to which you want to add a group.
4. On the Groups tab, click Add.
This opens the Add new group dialog box.
5. In the Group Name box, enter the name of the group. Use only characters from the ISO
Latin -1 character set and no more than 16 characters.
6. Click OK to add the new group and close the dialog box.
Tool.
Rename a group
To Rename a group:
1. In the Robot View Explorer, select the controller which has the group you want to
rename.
4. On the Groups tab, select the group to rename from the Groups on this controller list
and click Rename.
This opens the Rename Group dialog box.
5. In the Group Name box, enter the name of the group. Use only characters from the ISO
Latin -1 character set and no more than 16 characters.
6. Click OK to rename the group and close the dialog box.

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Continued
7. You will now be asked if you want the users who belong to this group to continue
belonging to a group with the old name as well as the new one.
Click
To
Yes
Let the users of the group be members to groups with both the old and
the new name. However, the old group will no longer be defined in the
controllers UAS since it is replaced by the new group.
This option might be useful if you plan to recreate the old group, or copy
the users settings to another controller who has the old group defined.
No
Delete the users memberships to the old group. This is to just replace
the old group name with the new one.
Cancel
To cancel the change and keep the old group name, with its users
memberships.
Tool.
Delete a group
To delete a group:
1. In the Robot View Explorer, select the controller which have the group you want to
remove.
4. On the Groups tab, select the group to delete from the Groups on this controller list and
click Delete.
5. You will now be asked if you want the users who belong to this group to continue
belonging to it though it is not valid.
Click
To
Yes
Let the users of the group remain members to it even if it is no longer

defined in the controllers UAS.
This option might be useful if you plan to recreate the group, or copy
the users settings to another controller who has the group defined.
No
Delete the users memberships to the group.
Cancel
Cancel the change and keep the group, with its users memberships.
Tool.
Give grants to a group
To give grants to a group:
1. In the Robot View Explorer, select the controller which group you want to administrate.
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Continued
4. On the Groups tab, select the group from the Groups on this controller list.
5. In the Controller grants/Application grants list, select the grants to give to the group.
For information about available grants, see Grants for RobotWare 5.05 on page 167 or
Grants for RobotWare 5.06 on page 168.
Tool.
Related information
Administrating users on page 161
166
6.7.4. Grants for RobotWare 5.05

Overview
Grants are permissions to perform actions or access data on the controller. It is with the User
Authorization System you set up which grants the users shall have. See About user
authorization on page 159 for more information about how the grants are given to the users.
Available grants for RobotWare 5.05
This table describes the grants for systems based on RobotWare 5.05.
Grant key
Description
UAS_FULL_ACCESS
Full Access. This grant includes all UAS

grants, also new grants added by future
RobotWare versions.
UAS_FTP_READ
FTP read. Gives external read access to

controller disks. This grant is necessary for
tasks like taking back ups and viewing
controller properties from
RobotStudioOnline.
UAS_FTP_WRITE
FTP write. Gives external write access to

controller disks. This grant is necessary for
tasks like restoring back ups and loading
systems to the controller from
RobotStudioOnline.
UAS_UAS_ADMINISTRATION
Full access to the UAS storage. This grant

is necessary for setting up the UAS system.
UAS_CONTROLLER_PROPERTIES_WRITE
Change controller properties. This grant is

necessary for tasks like setting controller
name, id and date/time.
UAS_REMOTE_WARMSTART
Remote warmstart. This grant is necessary

for restarting (S-start) the controller from
any other tool than the FlexPendant.
UAS_SYSTEM_ADMINISTRATION
Administration of installed systems. This

grant is necessary for tasks like advanced
restarts (I-start, X-start and C-start).
UAS_BACKUP
Backup. This grant is necessary for starting

a backup. If taking the back up from
RobotStudioOnline, you also need the grant
UAS_FTP_READ.
UAS_RESTORE
Restore systems from back up. This grant

is necessary for restoring back ups and
performing B-starts.
UAS_CFG_WRITE
Modify configurations. This grant is

necessary for loading configuration files or
editing the system parameters.
UAS_RAPID_EDIT
Modify RAPID code. This grant is

necessary for editing existing modules.
UAS_RAPID_MODIFYPROGRAM
Modify RAPID programs. This grant is

necessary for tasks like loading and
renaming programs and modules, or
changing entry points.
167

Overview
Grants are permissions to perform actions or access data on the controller. It is with the User
Authorization System you set up which grants the users shall have.The grants are divided into
controller grants and application grants.
For more information about how the grants are given to the users, see About user
authorization on page 159.
Controller grants
Controller grants are validated by the robot controller and apply to all tools and devices
accessing the controller.
Application grants
Application grants are used by a specific application, for example the FlexPendant, and will
only be valid using that application. Application grants can be added by additional options
and used in customer applications.

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Continued
Available controller grants for RobotWare 5.06

This table describes the controller grants for the system based on RobotWare 5.06.
Grant
Description
Full access
This grant includes all controller grants, also new grants

added in future RobotWare versions. The grant does not
include any application grants.
Manage UAS settings
Gives access to read and write the UAS configuration, that is

to read, add, remove and modify UAS users and groups.
Execute program
Gives access to perform the following:

Start/step program (stop is always allowed)
Move PP to Main
Execute service routines
Perform ModPos and HotEdit Gives access to perform the following:

Modify or teach positions in RAPID code (ModPos)
During execution modify positions in RAPID code as
single points or as a path (HotEdit)
Change RAPID variable current value, also during
execution
Restore ModPos/HotEdit positions to original
I/O write access

Set I/O signal value
Set signal as simulated and remove simulation
Set I/O unit and bus as enabled/disabled
Backup and save
Gives access to perform a backup and to save modules,

programs and configuration files.
Restore a backup
Gives access to restore backup and perform B-start.
Modify configuration
Gives access to modify the configuration database, that is to

load configuration files, change system parameter values
and add/delete instances.
Load program
Gives access to load/delete modules and programs.
Remote warm start
Gives access to perform warm start and shutdown (S-start)

from a remote location. No grant is required to perform warm
start via a local device, as for example the FlexPendant.
Edit RAPID code

Modify code in existing RAPID modules
Frame calibration (tool, workobj)
Commit ModPos/HotEdit positions to current values
Rename program
Program debug

Move PP to routine
Move PP to cursor
HoldToRun
Activate/deactivate RAPID tasks
Request write access from the FlexPendant
Acknowledge Auto mode without restoring simulated
I/O signals or deactivated tasks
Enable/disable non-motion execution

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Continued
Grant
Description
Decrease production speed
Gives acces to decrease speed from 100% in Auto mode.

This grant is not required if speed is already below 100%, or
controller is in Manual mode.
Calibration

Fine calibrate mechanical unit
Calibrate base frame
Update/clear SMB data
Note! Frame calibration (tool, wobj) requires the grant Edit
RAPID code. Manual offset of mechanical unit calibration
data and loading new calibration data from file require the
grant Modify configuration.
Administration of installed
systems

Install new system
P-start
I-start
X-start
C-start
Select System
Install system from device
This grant gives full FTP access, that is, the grant gives the
same rights as Read access to controller disks and Write
access to controller disks.
Read access to controller

disks
Gives external read access to controller disks. This grant is

only valid for explicit disk access, for example with an FTP
client or the File Manager of RoboStudioOnline.
It is possible, for example, to load a program from /hd0a
without this grant.
Write access to controller

disks
Gives external write access to controller disks. This grant is

only valid for explicit disk access, for example with an FTP
client or the File Manager of RoboStudioOnline.
It is possible, for example, to save a program to the controller
disk or perform a backup without this grant.
Modify controller properties
Gives access to set controller name, controller ID and

system clock.
Delete log
Gives access to delete messages in the controller Event

Log.

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Continued
Available application grants for RobotWare 5.06

This table describes the application grants for the system based on RobotWare 5.06.
Grant
Description
Access to the ABB menu on

FlexPendant
Value true gives access to the ABB menu on the

FlexPendant. This is the default value if a user does not
have the grant.
Value false means that the user cannot access the ABB
menu.
Log off FlexPendant user when A user having this grant is automatically logged off from the
switching to Auto mode
FlexPendant when switching from Manual mode to Auto
mode.
171
6.8. Restarting a controller

When to restart the controller
Some operations requires a restart of the controller to take affect. When working in
RobotStudioOnline, you will be notified when a restart is necessary.
Typically, you need to restart a controller when:
you want to run another system on the controller.
you have changed the robots configuration, either with the Configuration Editor or by
loading new configuration files.
you have added new options or hardware to the system.
A system failure has occurred.
Prerequisites
For restarting a controller, the following prerequisites must be met:
You must have Write access to the controller you are restarting.
For the advanced restart methods X-start and C-start, you must have access to the
controllers FlexPendant.
Perform a warm restart

This is the default restart method for activating changes when using RobotStudioOnline. It
restarts the controller with the current system, unless another system has been downloaded or
restored from a backup.
To restart a Controller:
1. On the Controller menu, click Restart. A dialog box showing which system to restart
with is displayed. This will be the current system, unless another system has been queued
for restart.
2. Click Restart. A dialog box with which you can confirm or cancel the restart is now
displayed.
3. Click Restart. The controller will now restart. To follow the restart progress, look at the
Output Window.
Restart the controller using advanced options
To restart a Controller using any other restart method than the default warm start do this:
1. On the Controller menu, click Restart. A dialog box showing which system to restart
with is displayed.
2. Click Advanced. A dialog box with different restart methods is displayed.
3. Select the restart method to use and click OK. For detailed descriptions of the restart
methods, see Advanced restart options on page 173. You will now return to the first dialog
box.
4. Click Restart. A dialog box showing the selected restart method is now displayed.
5. Click Restart to confirm the selected restart method.

172
Continued
6. For X-start or C-start continue with choosing which system to start using the boot
application on the Flexpendant. See Operating manual - IRC5 with FlexPendant for more
information about starting a system using the FlexPendant.
Advanced restart options
The controller can also be restarted with advanced options, with different possibilities to save
and load data.
To...
Use the restart

method...
Restart the controller and activate changes made to the system.

Warm start
This is the default restart method for RobotStudioOnline.
Normally, it restarts the current system and activate changes made to the
systems settings. If the system has been restored from a backup, this will
be loaded as well.
If another system has been loaded to the controller, the controller will start
with the new one. The current system will then be saved in its current
state.
Restart the controller with the current system and the default settings.
I-start
This is the restart method for discarding changes made to the robots
configuration. It reverts the current system to the state it had when it was
installed on the controller (an empty system).
Restart the controller with the current system and reinstall RAPID.
P-start
This restart method deletes all RAPID program modules. It can be useful
if the system has changed in such a way that the programs no longer are
valid, for instance if system parameters used by the program are
changed.
Background tasks loaded automatically by the Task Modules system
parameters are restarted instead of deleted.
Built in modules and RAPID system modules are not affected at all.
Save current system and start boot application.
X-start
This restart method saves the current system, with the current settings,
and starts the boot application from which you can choose a new system
to start with. You can also configure the controllers network settings from
the boot application.
Delete current system and start boot application.
This restart method deletes the current system and starts the boot
application from which you can choose a new system to start with. You
can also configure the controllers network settings from the boot
application.
C-start
Restart the controller using the backup of the current system.
B-start
173
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7 Program a robot
7.1. Program a robot
7 Program a robot
7.1. Program a robot
Overview
This section describes how to program a robot with RobotStudioOnline.
You use the Robot View Explorer for viewing and accessing the program and the program
editor for viewing and editing the RAPID code of the program.
The Robot View explorer
Each controller in the Robot View Explorer contains a node called RAPID Tasks. This node
is used for exploring the controllers program and for working with the program structure
down to the routine level. It is also from here you open modules and routines for editing in
the program editor.
From the Robot view Explorer you can do the following:
Explore programs.
Save programs and modules to files.
Load programs and modules to the controllers program memory.
Create new modules.
Open modules and routines for editing.
Delete Modules.
The Program Editor

With the program editor you edit the Rapid code of the programs modules. Each module you
open will appear in a program editor window of its own, where you type in the code.
The program editor has several functions for facilitating robot programming. For more
information about this, see Using the Program Editors RAPID functionality on page 181.
Alternative ways of programming a robot
Besides RobotStudioOnline, you can also use the following tools for programming a robot:
The FlexPendant. See Operating Manual - IRC5 with FlexPendant.
An off-line editor. See About loading programs and modules on page 191 for
instructions on how to load the program into the controllers program memory.
Related information
The Program Editor on page 72
Layout of the Program Editor window on page 74
Creating a program on page 179
About editing programs on page 180
Using the Program Editors RAPID functionality on page 181
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7 Program a robot
7.2. The structure of a RAPID application

Illustration of a RAPID application
en0300000576

176
7 Program a robot
Continued
Parts
Part
Function
Task
Each task usually contains a RAPID program and system modules aimed
at performing a certain function, e.g. spot welding or manipulator
movements.
A RAPID application may contain one task. If you have the Multitasking
option installed, then there can be more than one task.
Read more about Multitasking in Application manual - Engineering tools.
Task property
parameter
The task property parameters set certain properties for all task contents.
Any program stored in a certain task, assumes the properties set for that
task.
The task property parameters are specified in RAPID reference manual.
Program
Each program usually contains program modules with RAPID code for
different purposes.
Any program must have an entry routine defined to be executable.
Program
module
Each program module contains data and routines for a certain purpose.
The program is divided into modules mainly to enhance overview and
facilitate handling the program. Each module typically represents one
particular robot action or similar.
All program modules will be removed when deleting a program from the
controller program memory.
Program modules are usually written by the user.
Data
Data are values and definitions set in program or system modules. The
data are referenced by the instructions in the same module or in a number
of modules (availability depending on data type).
Data type definitions are specified in the RAPID reference manual,
Functions and data types.
Routine
A routine contains sets of instructions, i.e. defines what the robot system
actually does.
A routine may also contain data required for the instructions.
Entry routine
A special type of routine, in English sometimes referred to as "main",

defined as the program execution starting point.
Note
Each program must have an entry routine called "main", or it will not be
executable. How to appoint a routine as entry routine is specified in RAPID
reference manual. The default name for main can be changed by the
system parameter configurations, type Task. See Technical reference
manual - System parameters.

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7 Program a robot
Continued
Part
Function
Instruction
Each instruction is a request for a certain event to take place, e.g. "Run the
manipulator TCP to a certain position" or "Set a specific digital output".
The instructions, their syntax and function is thoroughly described in the
RAPID reference manual, Instructions.
System module Each system module contains data and routines to perform a certain
function.
The program is divided into modules mainly to enhance overview and
facilitate handling the program. Each module typically represents one
particular robot action or similar.
All system modules will be retained when "Delete program" is ordered.
System modules are usually written by the robot manufacturer or line
builder.
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7 Program a robot
7.3. Creating a program
7.3. Creating a program

Overview
This is a description of the workflow for creating a complete robot program with
RobotStudioOnline. Each step of the workflow is described in detail in a separate information
topic.
Prerequisites
You must have Write access to the controller. See Requesting Write access on page 157 for
details.
What if there already exists a program?
A program consists of one or more program modules. If the controllers program memory
already contains a program, you can save it to files on your PC before you create your new
program. You can then either delete the existing program modules from the controller, or you
can use them in your new program.
For information about saving modules to files and deleting them from the controller, see
Saving a module on page 190 and Deleting a module on page 187 respectively.
Create a program
To create a program:
1. Add one or several program modules to the controllers program memory. See Adding a
module on page 183 for detailed instructions. Structure your program by using modules
as subprograms for specific parts of the program. See The structure of a RAPID
application on page 176 for more information about structuring programs.
2. Add a procedure to one of the modules and name it main. See Editing a module on page
184 for detailed instructions.
3. Type in the content of each module: more routines, instructions and program data. See
About editing programs on page 180 for detailed instructions.
4. Create calls from the Main procedure to the other routines you have created.
Related information
The RAPID Reference Manual
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7 Program a robot
7.4.1. About editing programs
7.4 Edit a program

7.4.1. About editing programs
Overview
This section describes how to edit a program.
Prerequisites
The program has to be loaded into a controllers program memory. See Loading a program
on page 192 for details.
details.
Ways to edit programs
With RobotStudioOnline and its program editor, you can do the following:
You can...
For details, see...
add new modules.
Adding a module on page 183
edit existing modules.
Editing a module on page 184
edit existing routines.
delete modules.
Deleting a module on page 187
Each module you edit is opened in a program editor window of its own. If you open several
modules at one time, they are displayed in separate windows.
Related information
The structure of a RAPID application on page 176
The Rapid Reference Manual
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7 Program a robot
7.4.2. Using the Program Editors RAPID functionality

Overview
The Program Editor has RAPID specific functions for facilitating robot programming. These
functions are:
Pick lists for quick selection and insertion of RAPID code. See Pick lists on page 181.
Syntax coloring for quick identification of RAPID code. See Syntax coloring on page
181.
Parameter info for RAPID commands. See Parameter info on page 182.
Autotext that suggests RAPID code as you type. See AutoText on page 182.
Row and Column information. See Row and column information on page 182.
Error checking. See Error Checking on page 182.
Pick lists
The Program Editor has pick lists from which you select and insert RAPID code, such as
instructions and program flow clauses.
The pick lists categorize the commands by their use: for example motion and I/O-related
commands have lists of their own. In addition to the category lists, there is one list named
Common. This list gathers commonly used commands from all lists.
To use the pick lists:
1. When editing the module, set the insertion point where you want to insert the command
and then right-click in the program editor window.
This opens the last used pick list.
2. Either select a command from the pick list or point to Choose pick list and first select
another pick list.
Syntax coloring
The text in the Program Editor window is automatically colored based on the RAPID
languages syntax.
The table below shows which colors are used for which syntactic elements:
The color...
is used for...
Blue
Keywords that are reserved for RAPID, like MODULE, VAR, IF and ELSE.
Brown
comments, like ! Explanation of usage
Green
Strings, which is text inside quotation marks, like "Insert a new work
piece". Strings are often used for messages from the program to the
operator.
Black
text that is not recognized as any of the above. For example, variable
definitions and instructions like CounterName and MoveJ are colored
black.

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7 Program a robot
Continued
Parameter info
Parameter Info shows available parameters in a tool tip for RAPID commands you type. In
the parameters list the parameters are separated by commas (,) and optional parameters are
proceeded with backslash (\), just as they are typed in the RAPID code.
To use the parameter info:
1. Type in the instruction followed by a blank space.
The parameter info is now displayed in a tooltip, if any exists for the instruction.
2. Type in the parameters you want to use for the instruction.
In the tooltip, the current parameter to enter is highlighted. If both a mandatory and an
optional parameter is possible to enter, no parameter is highlighted before you type either
a comma or a backslash.
AutoText
AutoText suggests a defined RAPID word based on the characters you have started to type.
1. Type in the RAPID Code.
If the text you are typing is recognized as a RAPID word, a tooltip displays the word.
Since AutoText is case sensitive, you must follow the conventions for capitalizing the
RAPID Code.
2. To use the suggested word, press the ENTER key on the keyboard.
Row and column information
The Status bar in RobotStudioOnline displays the position of the insertion point when you are
editing a module in the program editor.
Error Checking
The module is automatically checked for errors when you apply the changes. See Locating
program errors on page 186 for more information.
Related information
For more extensive information about RAPID code than the Parameter Info and the AutoText
provide, see The RAPID Reference Manual.
About editing programs on page 180
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7 Program a robot
7.4.3. Adding a module
7.4.3. Adding a module

Overview
This information topic describes how you add a module to a controllers program memory.
Modules are subprograms that serve as containers for instructions and data. Furthermore,
modules can be saved as separate files and can thereby be copied and moved between
controllers and programs. See The structure of a RAPID application on page 176 for details.
Prerequisites
details.
Add a module
To add a module:
1. In the Robot View Explorer, browse to the Task node for the program through the
Controller and the Rapid Tasks nodes.
2. On the Program menu, click New Module.
3. In the New Module dialog box, enter a name for the module and set the attributes of the
module.
Select...
To make a module that...
Module Type Program
is a program module
Module Type System
is a system module
NOSTEPIN
cannot be entered during step-by-step execution. That is, all

instructions you create in the module are treated as one if the
program is executed step-by-step.
4. Click OK. The new module will appear in the Robot View Explorer as soon as the
window is refreshed, which is done automatically within a few seconds.
Related information
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7 Program a robot
7.4.4. Editing a module

Overview
A module is a container for program data, routines and instructions. With the program editor
you edit the modules in the controllers program memory. Each module you edit appears in a
program editor window of its own.
Prerequisites
The Module has to be loaded into a controller's program memory. See Loading a program on
page 192 for details.
details.
Edit a module
To edit a module, do this:
1. In the Robot View Explorer, browse to the module to edit through the Controller, Rapid
Tasks and Program nodes.
2. Double click the module to edit. It will now be displayed in a Program Editor window.
To edit the module at the beginning of an specific routine, expand the module and click
the routine.
3. In the Program Editor, click Enable Edit. You can now edit the program code in the Rapid
Editor Window:
To:
Do this:
Insert a procedure
routine,
Type the following lines in the module (Between the MODULE and
the ENDMODULE lines):
PROC routinename ()
ENDPROC
Insert a function routine, Type the following lines in the module (Between the MODULE and
FUNC datatype routinename ()
ENDFUNC
Insert a trap routine,
Type the following lines in the module (Between the MODULE and
TRAP routinename ()
ENDTRAP
Insert program code, like To place the insertion point at a specific routine, double click the
instructions or program routine in the Robot View Explorer.
data,
Position the pointer at the insertion point and start typing in the
code, or paste it from the clipboard.
Delete a routine,
To place the insertion point at the start of a specific routine, double

click the routine in the Robot View Explorer.
Select all of the routine and press the DELETE key.
Example: for deleting a procedure, select the PROC line and the
following ENDPROC line, including all the text between these
lines and then press the DELETE key.

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7 Program a robot
Continued
For information about RAPID syntax and available instructions, see the RAPID Reference
Manual.
4. Click Apply Changes when you want to save your changes to the module in the
controllers program memory. The module is then automatically checked for semantic and
syntactic errors. If any errors are found, they are displayed in the RAPID tab of the Output
window.
TIP!
If you are programming a robot others are likely to use, apply your changes often. If the
controller would be changed from automatic to manual mode you will loose unapplied
changes.
Related information
185
7 Program a robot
7.4.5. Locating program errors
7.4.5. Locating program errors

Overview
When you apply changes made to a module, the complete program is checked automatically.
The result of the check is displayed in the RAPID tab of the Output window.
What is checked?
The check will search for both syntactic and semantic errors in all modules that are loaded
into the program:
Syntactic errors means incorrect RAPID code. For instance, a missing argument that
is mandatory for an instruction is a syntactic error.
Semantic errors are incorrect links in the program. For instance, a procedure call to a
non-existing procedure is a semantic error.
Content of error report

When the error check is done an error report will be displayed in the RAPID Output window.
If any errors are found they will be listed, one error per row.
Below is an example of a line from an error report:
MyController/MAIN/MyMod(13): Error168: Reference error: Reference to
unknown procedure myproc
Part of Line
Description
MyController/
The name of the controller with the error.
MAIN/
The name of the task with the error.
MyMod
The name of the module with the error.
(13)
The line number of the error.
Error168
The RAPID Error code. This is used as a language

independent identifier of the error class.
Reference error
The Error Class, which describes the kind of error.
Reference to unknown procedure

myproc
The Error Message, which describes the error as

precisely as possible. In this example the last word
(myproc) is the name of a referenced procedure
that does not exist in the program.
Locate a program error

To jump from a line in the error report in the Output window to the position of the error in the
program editor:
In the Error report in the RAPID tab of the Output Window, double click the line reporting
the error.
Result
The Module with the error is now displayed in the program editor and scrolled to the position
of the error. If the module with the error is already open in the program editor, it is scrolled
down to position of the error.
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7 Program a robot
7.4.6. Deleting a module
7.4.6. Deleting a module

Overview
This information topic describes how you delete a module from a program in the controllers
program memory.
Limitation
When you delete a module in this way, you delete it from the controllers program memory
only. If the module is saved to a file, or included in a program that is saved to a file, or used
in another controller, the module will remain in this location.
Prerequisites
You must have Write access to the controller. See Requesting Write access on page 157for
details.
Delete a module
To delete a module from a program:
1. In the Robot View Explorer, browse to the module through the Controller, Rapid Tasks
and the Program nodes.
2. Select the module and press the DELETE key.
Related information
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7 Program a robot
7.5.1. About Saving Robot Programs
7.5 Save programs and modules

7.5.1. About Saving Robot Programs
Overview
This section describes how to save programs in the controllers program memory to files on
the computer. You can either save an entire program, or you can save single modules.
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7 Program a robot
7.5.2. Saving a program
7.5.2. Saving a program

Overview
This information topic describes how to save a complete program from the controllers
program memory to the PC.
What is saved?
When saving a program, a folder named as the program, will be created. This folder contains
the program file and one file for each program module in the program. System modules are
not saved.
The program file, which points out the modules in the program, is saved with the file
extension pgf. The module files, which contains the program code, are saved with the file
extension mod.
Backward compatibility
Programs saved from IRC5 controllers differ from programs saved from S4 controllers. S4
program files, which have the file extension prg, can be loaded on IRC5 controllers but IRC5
program files cannot be loaded on S4 controllers. However, you can load IRC5 modules on
S4 controllers one by one.
Save a program
To save a program:
1. In the Robot View Explorer, browse to the node for the program through the Controller
and the Rapid Tasks nodes.
2. On the Program menu, click Save program as. This will bring up the Save Program As
dialog box.
3. In the Save Program As dialog box, specify a name for the program and a folder where
you want to save the program. Then click OK.
Related information
Saving a module on page 190
Loading a program on page 192
Loading a module on page 193
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7 Program a robot
7.5.3. Saving a module
7.5.3. Saving a module

Overview
This information topic describes how to save a module from the controllers program
memory to a file on the computer.
Save a module
To save a module:
1. In the Robot View Explorer, browse to the module through the Controller, the Rapid
Tasks and the Program nodes.
2. On the Program menu, click Save Module as. This will bring up a Save As dialog box.
3. In the Save As dialog box, select the folder to save the module file in and enter a name
for the file.
4. Click OK.
The module is now saved to a file with the specified name in the specified folder. By
default, program modules will get the file extension .mod and system modules will get
the file extension .sys.
Related information
Saving a program on page 189
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7 Program a robot
7.6.1. About loading programs and modules
7.6 Load programs and modules

7.6.1. About loading programs and modules
Overview
This section describes how to load programs and modules from files on the computer.
To load a program means to read it into the controllers program memory. You can either load
a complete program, or you can load single modules.
Alternative ways to load programs
You can also load programs using the FlexPendant, which might be more convenient if the
program is located in a controller's home directory. See Operators Manual - IRC5 with
FlexPendant for detailed instructions.
Related information
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7 Program a robot
7.6.2. Loading a program
7.6.2. Loading a program

Overview
To load a program means to copy a program from the PC to the controllers RAPID task. If a
program already exists in the RAPID task, the modules of the loaded program will be added
to the existing program in the controllers program memory.
Load a program
To load a program:
1. In the Robot View Explorer, browse to the Program node through the Controller and the
Rapid Tasks nodes.
2. On the Program menu, click Load Program. This will bring up an Open file dialog box.
3. Browse to the program file to load and click OK.
If the controllers program memory already contains a module with the same name as any
module in the program you are loading, a dialog box will ask if you want to replace it.
If you click...
the...
Yes
existing module will be replaced by the new one.
No
new program will not be loaded.
Related information
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7 Program a robot
7.6.3. Loading a module
7.6.3. Loading a module

Overview
When you load a module it is added to the existing content of the controllers program
memory.
Load a Module
To load a module:
1. In the Robot View Explorer, browse to the Program node through the Controller and the
Rapid Tasks nodes.
2. On the Program menu, click Load Module. This will bring up an Open file dialog box.
3. Browse to the module to LOAD and click OK.
If the controllers program memory already contains a module with the same name as the
module you are loading, a dialog box will ask if you want to replace it.
If you click...
the...
Yes
existing module will be replaced by the new one.
No
new module will not be loaded.
Related information
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7 Program a robot
7.7.1. Deleting a Robot Program
7.7 Delete a robot program

7.7.1. Deleting a Robot Program
Overview
A robot program is a collection of modules. On the controller each progam is located in a task.
When you delete a program, all program modules in the task are deleted. System modules are
not affected.
Delete a program
To delete a program:
1. In the Robot View Explorer, browse to the Program to delete through the Controller and
the Rapid Tasks nodes.
2. On the Program menu, click Delete Program.
Related information
194
8 Handle I/O
8.1. Handle Input and Output signals
8 Handle I/O
8.1. Handle Input and Output signals
Overview
This chapter describes how to handle existing input and output signals. This includes to read
and set signals and to activate and deactivate I/O units.
Limitation
This chapter only describes how to work with existing, configured signals. For information
on how to add or remove signals, units and buses, or change the configurations in other ways,
see Configure systems on page 203 and Technical reference manual - System parameters.
Related information
For information about the parts of the I/O system window, from which you do most of the
procedures described in this chapter, see Layout of the I/O system window on page 77.
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8 Handle I/O
8.2. About the I/O system
8.2. About the I/O system

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
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 controllers 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 controllers memory. A common use for virtual signals is to set variables
and store changes in a robot program.
196
8 Handle I/O
8.3. Viewing I/O signals

Overview
The I/O signals are displayed in the I/O system window. This information topic describes how
to open the I/O system window and how to select which signals to view.
Open the I/O system
I/O system.
To view
Select this node
All Signals
The I/O System
xx0300000434
xx0300000433
xx0300000432
Select which signals to view
To select whether to view all signals for the opened node or just signals of a specific type:
1. Open the I/O window.
2. On the Controller menu, point to I/O System and View. Then select which signals to
view, based on signal type or category.
The available types are:
Abbreviation
Description
DI
Digital input signal
DO
Digital output signal
AI
Analog input signal
AO
Analog output signal
GI
Group of signals, working as one input signal
GO
Group of signals, working as one output signal

197
8 Handle I/O
Continued
I/O categories are not defined by default, but may be configured through the system
parameters.
198
8 Handle I/O
8.4. Setting I/O Signals

Overview
The I/O signals are displayed in the I/O system window. This information topic describes how
to open the I/O system window and how to set the signals.
Limitation
An Input signal can only be set if it is simulated, which means that it has been set in a state
where you can override its actual value.
Open the I/O system
I/O system.
To view
Select this node
All Signals
The I/O System
xx0300000434
xx0300000433
xx0300000432
Set Digital signals
Digital signals can either have the value 1 or 0. To change between these two values:
In the I/O system window, double-click the signal to change the value.
Set Analog signals
Analog signals can have any value within its specified limits. To set the value of an analog
signal:
1. In the I/O system window, double-click the signal to change the value.
This opens the Edit Value dialog box.
2. In the Edit Value dialog box, set the value of the signal and click OK.

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8 Handle I/O
Continued
Set Group of signals

Group of signals can have any value within its specified limits. A group of signals consists of
minimum 2 and maximum 32 digital signals. To set the value of a group of signals:
1. In the I/O system window, double-click the signal to change the value.
This opens the Edit Value dialog box.
2. In the Edit Value dialog box, set the value of the signal and click OK.
Simulate signals
To simulate a signal is to put in a state where you can override its actual value. This is useful
for testing purposes:
1. In the I/O system window, select the signal to simulate.
2. On the Controller menu, point to I/O System and click Simulated.
You can now assign another value than the actual one to the signal.
When you are finished testing the simulated value, click Simulated again.
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8 Handle I/O
8.5. Deactivating and activating I/O units

Overview
Deactivating an I/O unit makes the controller ignore the unit. This can be useful during
commissioning, for avoiding errors if the I/O unit is not connected to the controller yet.
The signals configured on the unit will still be visible when it is deactivated, but the controller
will not attempt to send or recieve any signals.
Activating the unit again will take it back to normal operation.
Deactivate I/O units
To deactivate an I/O unit:
1. In the Robot View, expand the node for the controller and browse to the node for the unit
to deactivate.
2. On the Controller menu, point to I/O System and select Deactivate Unit.
Activate I/O units
To activate an I/O unit that has been deactivated:
1. In the Robot View, expand the node for the controller and browse to the node for the unit
to activate.
2. On the Controller menu, point to I/O System and select Activate Unit.
Related information
For information on how to configure an I/O unit (for instance to add and remove signals or to
set the limits of the signal), see Configure systems on page 203.
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8 Handle I/O
202
9 Configure systems
9.1. Configure systems
9 Configure systems
9.1. Configure systems
Overview
This chapter describes how to work with the tools for setting system parameters.
For information about what to set the parameters to for achieving certain results, see the
Technical reference manual - System parameters for the RobotWare version of your system.
Ways to configure the system
In RobotStudioOnline you have tools for working with system parameters in the following
ways:
view topics, types, instances and parameters
edit the parameters of an instance
copy and paste instances
add and delete instances
load and save complete configuration files to and from controllers
Tools for configuring systems

When working with configurations, the following tools are useful:
Tool
Use
The Robot View

Explorer
With the Robot View Explorer you work with topics, and complete
configuration files.
The Configuration
Editor
With the Configuration Editor you work with the types and instances of
a specific topic.
The Instance Editor
With the Instance Editor, you specify the values of the parameters in
the instances of system parameter types.
Related information
203
9 Configure systems
9.2. About configurations
9.2. About configurations

Overview
Below are terms and concepts that are used in a specific way for configuration of systems
explained.
System Parameters
The System Parameters are the sum of all parameters that configure the system. The system
parameters are divided into Topics (e.g. Motion) and Type (e.g. Motion system). The Type
itself has Parameters (e.g. Break on timeout). The sum of all Parameters forms the System
Parameters.
Topic
A topic is a collection of parameters that relates to a specific area. Controller, Communication
and Motion are examples of topics.
The topic is the highest level in the system parameter structure.
Type
A type is a set of parameters for a specific configuration task.
A type can be seen as a pattern describing the construction and properties for the parameters
included in the task. For instance, the type Motion System defines which parameters shall be
used for configuring a motion system.
Instance
An instance is an actualization of a type: it is a specific set of parameters with unique values
created from a type pattern.
In the Configuration Editor each row in the Instance list is an instance of the type selected in
the Type list.
Parameter
A parameter is a property to set when configuring the robot system.
Configuration file
A configuration file contains all public parameters of a specific topic.
Related information
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9 Configure systems
9.3. Viewing configurations
9.3. Viewing configurations

Overview
You view the controllers configuration with several different tools, depending on the level
you want to view:
Topics are displayed in the Robot View Explorer.
Types, instances, and parameters are displayed in the Configuration Editor.
Detailed information about each parameter in an instance is displayed in the Instance

Editor.
Each step in the instruction below will take you to a more detailed view of the configuration.
View configurations
To view a controllers configuration:
1. To view the topics of a controller, go to the Robot View Explorer and expand the
Configuration node for the controller.
All topics in are now displayed as child nodes to the Configuration node.
2. To view the types and instances of a topic, double-click the topic node for the topic to
view.
The Configuration Editor is now opened, listing all types of the topic in the Type name
list. In the Instance list, each instance of the type selected in the Type name list is
displayed as row. The parameter values of the instances are displayed in the columns of
the instance list.
3. To view detailed parameter information for an instance, double-click the instance.
The instance editor now displays the current value, restrictions and limits of each
parameter in the instance.
Related information
205
9 Configure systems
9.4. Editing parameters

Overview
When editing parameters you use the Instance Editor, which is opened from the Configuration
Editor.
You can either edit the parameters of one single instance, or you can edit several instances at
one time. Editing several instances at one time is useful when you want to change the same
parameter in several instances, like when moving signals from one I/O unit to another.
This section only describes how to set the parameters. For information on what to set the
parameters to for achieving certain results, see the Technical reference manual - System
parameters for the RobotWare version of your system.
Prerequisites
You must have Write access to the controller. SeeAbout access rights on page 156 for details.
Edit parameters
To edit the parameters of one or several instances:
1. In the Robot View Explorer, expand the Controller and the Configuration node and
double-click the topic that contains the parameters to edit.
This opens the Configuration Editor.
2. In the Type name list of the Configuration Editor, select the type that the parameter to edit
belongs to.
The instances of the type is now displayed in the Instance list of the Configuration Editor.
3. In the Instance list, select the instances to edit and press the Enter Key. To select several
instances at once, hold down the SHIFT or CTRL key while selecting.
The Instance Editor is now displayed.
4. In the Parameter list of the Instance Editor, select the parameter to edit and change the
value of the parameter in the Value box.
When editing several instances at one time, the parameter values you specify will be
applied to all instances. For parameters that you do not specify any new value, each
instance will keep its existing value for that parameter.
5. Click OK to apply the changes to the configuration database of the controller.
For many parameters, the changes will not take affect until the controller is restarted. If
your changes require a restart, you will be notified of this.
Result
You have now updated the controllers system parameters. If the changes require a restart of
the controller, the changes will not take affect until you do this. If you are going to make
several changes, you can wait with the restart until all changes are done.

206
9 Configure systems
Continued
Related information
A complete description of how to work with parameters, configuration files, etc is found in
Operators Manual - RobotStudioOnline
Restarting a controller on page 172
207
9 Configure systems
9.5. Adding instances

Overview
Instances are specific sets of parameters, with unique values, created from a type pattern.
With the Configuration Editor, you can select a type and create a new instance of it. For
example, adding a new instance of the type Signal creates a new signal in the system.
Prerequisite
Limitation
For some types, it is not possible to change the number of instances. The command Add
Instance is then unavailable.
Add instance
To add an instance:
double-click the topic that contains the type of which you want to add an instance.
2. In the Type name list of the Configuration Editor, select the type of which you want to
add an instance.
3. On the Controller menu, point to Configuration and click Add type (the word type is
replaced by the type you selected previously).
You can also right-click anywhere in the configuration editor and then select Add type
from the shortcut menu.
A new instance with default values is added and displayed in the Instance Editor
window.
4. If required, edit the values. For details, see Editing parameters on page 206.
5. Click OK to save the new instance.
The values in the new instance are now validated. If the values are valid, the instance is
saved. Otherwise, you will be notified of which parameter values to correct.
For many instances, the changes will not take affect until the controller is restarted. If your
changes require a restart you will be notified of this.
Result

208
9 Configure systems
Continued
Related information
209
9 Configure systems
9.6. Copying instances

Overview
With the Configuration Editor, you can create a new instance by copying existing ones.
Prerequisite
Limitation
For some types, it is not possible to change the number of instances. The command Copy
Copy an instance
To copy an instance:
double-click the topic that contains the instance to copy.
copy an instance.
3. In the Instance list, select one or several instances to copy.
If you select several instances and they dont have the same value for all parameters, these
parameters will have no default values in the new instances.
4. On the Controller menu, point to Configuration and click Copy Type (the word type is
replaced by the type you selected previously).
You can also right-click the instance to copy and then select Copy Type from the shortcut
menu.
A new instance with the same values as the one you copied is added and displayed in the
Instance Editor window.
5. Change the name of the instance. If required, also edit the other values. For details, see
Editing parameters on page 206.
6. Click OK to save the new instance.
The values in the new instance are now validated. If the values are valid, the instance is
saved. Otherwise, you will be notified of which parameter values to correct.
Result

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9 Configure systems
Continued
Related information
211
9 Configure systems
9.7. Deleting instances
9.7. Deleting instances

Overview
From the Configuration Editor, you can delete instances.
Prerequisite
Limitation
For some types, it is not possible to change the number of instances. The command Delete
Delete an instance
To delete an instance:
double-click the topic that contains the type of which you want to delete an instance.
delete an instance.
3. In the Instance list, select the instance to delete.
4. On the Controller menu, point to Configuration and then click Delete type (the word
type is replaced by the type you selected previously).
You can also right-click the instance to delete and then select Delete type from the
shortcut menu.
5. A message box is displayed, asking if you want to delete or keep the instance. Click Yes
to confirm that you want to delete it.
Result
Related information
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9 Configure systems
9.8. Saving system parameters to configuration files
9.8. Saving system parameters to configuration files

Overview
The system parameters of a configuration topic can be saved to a configuration file, stored on
the PC or any of its network drives.
The configuration files can then be loaded into a controller. They are thereby useful as
backups, or for transferring configurations from one controller to another.
File naming conventions
The configuration files should be named with a name that relates to their corresponding
topics. When saving configuration files, the correct name for each file will be suggested by
default.
Save one configuration file
To save a single topic to a configuration file to the PC:
1. In the Robot View Explorer, expand the Configuration node and select the topic to save
to a file.
2. On the Controller menu, point to Configuration and select Save System Parameters... .
You can also right-click the topic and then select Save System Parameters... from the
shortcut menu.
3. In the Save As dialog box, browse for the folder to save the file in.
4. Click Save.
Save several configuration files
To save several topics to configuration files on the PC:
1. In the Robot View Explorer, select the Configuration node.
2. On the Controller menu, point to Configuration and select Save System Parameters....
You can also right-click the configuration node and then select Save System
Parameters... from the context menu.
3. In the Save System Parameters dialog box, select the topics to save to files. Then click
Save... .
4. In the Browse for Folder dialog box, browse for the folder to save the files in.
Then click OK.
The selected topics will now be saved as configuration files with default names in the
specified folder.
Related information
Loading system parameters from configuration files on page 214
213
9 Configure systems
9.9. Loading system parameters from configuration files

Overview
A configuration file contains the system parameters of a configuration topic. They are thereby
useful as backups, or for transferring configurations from one controller to another.
Prerequisite
You must have write access to the controller. See About access rights on page 156 for details.
Limitation
When loading a configuration file to a controller, it must be of the same major version as the
controller. For instance, you cannot load configuration files from an S4 system to an IRC 5
controller.
Load a configuration file
To load a configuration file to a controller:
1. In the Robot View Explorer select the Configuration node.
2. On the Controller menu, point to Configuration and select Load Parameters.
You can also right-click the configuration node and then select Load Parameters from
the context menu.
This opens the Select mode dialog box.
3. In the Select mode dialog box, select how you want to combine the parameters in the
configuration file to load with the existing parameters:
If you want to
then
replace the entire configuration of the topic

with the one in the configuration file.
select Delete existing parameters before

loading
add new parameters from the configuration click Load parameters if no duplicates
file to the topic, without modifying the existing
ones.
add new parameters from the configuration click Load parameters and replace
file to the topic and update the existing ones duplicates
with values from the configuration file.
Parameters that only exist in the controller
and not in the configuration file will not be
changed at all.
4. Click Open and browse to the configuration file to load. Then click Open again.
5. In the information box, click OK to confirm that you want to load the parameters from
the configuration file.
6. When the loading of the configuration file is finished, close the Select mode dialog box.
If a restart of the controller is necessary for the new parameters to take affect, you will be
notified of this.

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9 Configure systems
Continued
Related information
Saving system parameters to configuration files on page 213
215
9 Configure systems
216

10.1. About event records

10.1. About event records
Overview
This chapter describes how you record and handle events from a controller with the Event
Recorder in RobotStudioOnline.
What is a record of events?
A record of events is a list of events, copied from the controllers event logs. A record of
events has no predefined size limits, it is only limited by the available diskspace.
Modifications to the record of events will not change the controllers event log, since the
record is copied from the controllers event log.
Content of the record of events
The record of events contains all the controllers events that match your filter settings, with
the following information for each event:
Type
The event type is an indication of the events severity.
Code
The event code is a number that identifies the event messages.
Title
The event title is a short description of the event.
Category
The event category is an indication of the events source.
Date
The date of when the event occurred.
Time
The time of when the event occurred.
For detailed descriptions of the event information, see What is an event? on page 218.
What you can do with event recorder
With the event recorder you can do the following:
View recorded events from a controller.
Filter which events to view and record.
Sort the recorded events.
View additional information, if any exists, for selected events.
Save the record of events as an event log file on your PC.
Clear the record of events.
Related information
Layout of the Event Recorder window on page 80
217

10.2. What is an event?

Overview
An event is a message that notifies you that something has happened with the controller, for
instance a change in the operation mode or that an error has occurred. If an event requires any
action from you, this is stated in the event.
Events are displayed on the FlexPendant, in the Event Recorder, or any optional tool for
displaying events.
Event types
The event type is an indication of the events severity.
There exists three types of events:
Event type
Description
Information
An information message is a normal system event, such as starting

and stopping programs, change in operational mode, motors on and
off and others.
Information messages never require any actions from you. They can
be useful for error tracking, statistics collecting or monitoring user
triggered event routines.
Warning
A warning is an event that you need to be aware of but is not so severe

that the process or RAPID program needs to be stopped.
Warnings must sometimes be acknowledged. Warnings often indicate
underlying problems that sooner or later need to be solved. For
information about acknowledging an event, see the Operators manual
- IRC5 with FlexPendant.
Error
An error is an event that prevents the robot system from proceeding.

The running process or RAPID program cannot continue and is
stopped.
All errors must be acknowledged. Most errors also require some
immediate action from you in order to be solved. For information about
acknowledging an event, see the Operators manual - IRC5 with
FlexPendant.
Event code
The event code is a number that identifies the event messages. Each event message has a a
unique code. Together with date and time the event code can identify each specific occurrence
of an event.
Event title
The event title is a short description of the event.

218

Continued
Category
The event category is an indication of the events source.
The Category...
Contains...
Common
all recent events.
Operational
events related to changes in operation or operating mode.
System
events related to the current system.
Hardware
events related to controller hardware.
Program
events related to the running process applications and RAPID

programs.
Motion
events related to the robots, or other mechanical units, movement.
Operator
events related to the use of the FlexPendant.
I/O &
Communication
events related to input and output signals, serial or network

communication and process buses.
User
custom messages that have been programmed into RAPID programs.
Internal
internal low level controller errors for ABB service personnel.
Process
events related to Industrial Processes options. Examples of Industrial

Processes options are Spot, Arc and Dispense.
Cfg
errors in the configuration file.
Depending on how the system is configured, additional categories may exist.

Date and time
The date and time of when the event occurred in the controller. Together with the event code
the date and time can identify each specific occurrence of an event.
Related information
The event recorder on page 79
About event records on page 217
Trouble shooting manual, IRC5
219

10.3. Recording events

Overview
The event recorder records all events when it is started, by default it also displays the recent
events. To get a customized view of the events, you can also specify which previous events
to view as well as you can sort and filter the record of events.
Start the default recording of events
To start the default recording of all events, with history:
1. In the Robot View Explorer, select the system for which you want to record the events.
2. On the Controller menu, point to Events and click Event Recorder.
The Event Recorder is now started.
Start a recording with customized history settings
To start a recording with other history settings than the default one:
1. Click Stop to stop the running recording, if it is not stopped already.
2. Optionally, save the existing record before starting a new one.
3. Select whether to start an empty record or to include the history of previous events in the
record.
To ...
...then...
Start an empty record
clear the With history check box.
Include previous events from the

controllers event log in the record
select the With history check box. This will make the
Selected Category box, where you select which
category of previous events to include, available.
4. If you have selected the With History check box, select which category of previous
events to include. See What is an event? on page 218 for information about the categories.
5. Click Start.
Sort an record of events
To sort a record:
Click on the header for the column you want to sort by. To switch between ascending and
descending sorting, click the header once again.
Filter a record of events
To filter a record:
In the View Category box, select which events you want to display in the record. See
What is an event? on page 218 for information about the categories.

220

Continued
Save a record of events

From the Event Recorder you can save a record of events, with any applied filtering, to a log
file on your PC.
A record can only be saved if it contains unsaved changes. If the record is empty, or already
saved, the Save button is unavailable.
To save a record to a log file:
1. Click Save.
2. In the Save As dialog box, enter the name and location for the log file.
Clear the record of events
The record of events can hold more events then the controllers event log. Therefore it might
be impossible to retrieve all events from the cleared record once again, even if the recording
is restarted with history.
If the events in the record might be needed for future reference, it is recommended to save it
as a log file before clearing.
To clear the record:
Click Clear.
Related information
What is an event? on page 218
The event recorder on page 79
221
Index
A
Access Rights, About 156
Access Rights, Release Write access 158
Access, Request for Write 157
Add controller dialog box, parts 139
Add, Document Link 132
Advanced menu 47
Autotext 182
B
Backup, Create 149
Backup, Restore 150
Boot Media 116
C
Close, Robot View 129
Code, AutoText 182
Code, Edit Rapid Module 184
Code, Parameter info 182
Code, Syntax Color 181
Colors, Syntax Coloring 181
Comments, on system 92
Configuration Editor, Overview 66
Configuration Editor, Parts 68
Configuration Files, About 204
Configuration files, load 214
Configuration Files, Save 213
Configuration menu 46
Configuration, Add Instance 208
Configuration, Delete Instance 212
Configuration, Edit Parameter 206
Configurations, About 204
Configurations, Copy Instance 210
Configurations, load from files 214
Configurations, View 205
connection, computer and controller 29
control tools, overview 14
Controller menu 45
Controller Status Window, Layout 58
Controller Status Window, Overview 57
Controller Status, View 142
controller system, create 93
Controller, Add to Robot View 138
Controller, Back Up 149
Controller, connect to RobotStudioOnline 31
Controller, Overview 137
Controller, remove from robot view 140
Controller, Restart 172
Controller, Restore System 150
Controller, Set Date and Time 144
Controller, View Properties 143
Controllers, about detection 33
Create, New Robot View 125
C-start, Restart Controller 172
D
Date, Set on Controller 144
Delete, Document Link 134
Detection, of controllers 33
Dockable windows, customzie 38
Document Link, Add 132

Document Link, Remove 134
Document Link, Rename 135
Document Links, About 130
Document Links, Organize 131
Document Links, Restore 136
E
Edit menu 42
Entry routine 177
Error, Locate Program Error 186
Ethernet 28
Event Record
save 221
Event record, clear 221
Event record, filter 220
Event record, sort 220
Event Recorder, overview 79
Event Recorder, parts 80
Event records, about 217
Event, overview 218
Events menu 46
Events, record 220
F
File menu 41
Folders, Organize 131
Function, Add 184
Function, Delete 184
Function,Edit 184
G
Grants, about 160
Grants, give to groups 165
Group, about 159
group, add 164
group, add user 162
group, remove 165
group, rename 164
Groups, administrate 164
Groups, give grants 165
H
Help menu 51
Help, Print 22
I
I/O signals, set 199
I/O signals, view 197
I/O System menu 46
I/O units, activate and deactivate 201
Icons, in Robot View Explorer 53
Instance Editor, Overview 66
Instance Editor, Parts 70
Instance, About 204
Instance, Add 208
Instance, Copy 210
Instance, delete 212
Instance, Edit 206
I-start, Restart Controller 172
223
Index
L
Layout, Robot View Explorer 53
License Key, Request 26
Licnese Key, Install 26
Link, to Document 132
Linked Files, Locate 136
Locate, Linked Files 136
M
main module 177
Main routine 177
Manage, Robot Views 123
Media Pool, about 118
Media Pool, Install 34
Media pool, modify system options 119
Module, Add 183
Module, Delete 187
Module, Edit 184
Module, Load from file 193
Module, Save to File 190
N
Network settings for controller connection 29
New Project Dialog Box 126
O
Open, Robot View 127
Organize, folders and document links 131
Output Window, Overview 82
Output window, parts 83
P
Parameter Info, in robot programming 182
Parameter, About 204
Parameter, Edit 206
Parameters, Copy Instance 210
Parameters, Delete Instance 212
Parameters, load from files 214
Parameters, Save as Configuration Files 213
Parameters, View 205
Password, change for user 162
PC, connecting 27
Procedure, Add 184
Procedure, Delete 184
Procedure, Edit 184
Progam, Add module 183
Program Editor, AutoText 182
Program Editor, Overview 72
Program Editor, Parameter Info 182
Program Editor, parts 74
Program Editor, Syntax Coloring 181
Program menu 48
Program module 177
Program, Create 179
Program, Delete Module 187
Program, Edit 180
Program, Load from file 192
Program, Load Module from File 193
Program, Locate Error 186
Program, Save Module to File 190
Program, Save to File 189
224
Programming, about 175

Properties, View Controller and System Properties 143
R
RAPID application 176
Rapid Code, Autotext 182
Rapid Code, Parameter Info 182
Rapid Code, Syntax Coloring 181
RAPID programming,about 175
Rapid, Add Module 183
Rapid, Delete Module 187
Rapid, Edit Module 184
Rapid, Edit Program 180
Rapid, Load Module from File 193
Rapid, Load program from file 192
RAPID, Locate Program Error 186
Rapid, Save Module To File 190
Rapid, Save Program to File 189
RAPID, structure 176
remote subnet 30
Remove, Document Link 134
Rename, Document Link 135
Restore, Broken Document Links 136
Rights, Request Write Access 157
Robot programming, about 175
Robot View Explorer, About 52
Robot View Explorer, Layout 53
Robot View, Add Controller 138
Robot View, Close 129
Robot View, Create new 125
Robot View, Open 127
robot view, remove controller 140
Robot View, Save 128
Robot Views, About 124
Robot Views, Manage 123
Robot, connect to RobotStudioOnline 31
RobotStudioOnline, connect to controller 31
RobotWare, about the media pool 118
RobotWare, Install Media Pool 34
Routine 177
Routine, Add 184
Routine, Delete 184
Routine, Edit 184
S
Save, Robot View 128
service port 27
Set date and Time Dialog box, parts 146
Settings for connecting computer to controller 29
Settings, Date and Time on Controller 144
signals, set I/O 199
Signals, view I/O 197
System Builder, overview 60
System Builder, parts 61
System configurations, about 203
System ID 151
System module 178
System options, modify media pool 119
System package 116
System Parameters, About 204
System Parameters, Add Instance 208
Index
System Parameters, Copy Instance 210

System Parameters, Delete Instance 212
System Parameters, Edit 206
System parameters, load from files 214
System Parameters, Save as configuration files 213
System Parameters, View 205
System Properties, view in Systrem Builder 91
System, back up 149
System, comments 92
System, create 93
System, load to controller 115
System, modify 106
System, Restore 150
System, select 90
System, View Properties 143
Systems, Overview 89
T
tasks 177
Template ID 151
Time, Set on Controller 144
tool, overview control tools 14
Tools menu 49
Topic, About 204
Topic, Save as Configuration Files 213
Trap, Add 184
Trap, Delete 184
Trap, Edit 184
Type, About 204
Type, Delete Instance 212
U
UAS, about 159
UAS, administrate users 161
User, about 159
User, add 161
User, add to group 162
User, change password 162
User, change user name 162
User, enable and disable 162
User, remove 161
Users, administrate 161
V
View Menu 43
W
Warm start, Restart Controller 172
Window, layout 36
Windows menu 50
Windows, customize 38
Write Access, About 156
Write access, release 158
Write access, request 157
X
X-start, Restart Controller 172
225

IRC5-Robot Studio Online Operators Manual 3HAC18236-1 - Revd - en

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IRC5-Robot Studio Online Operators Manual 3HAC18236-1 - Revd - en

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Operators manual

Copyright 2003 ABB All rights reserved.

1.1 What is RobotStudioOnline? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.3.1 Help for using RobotStudio Online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.1 Get started. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3.1 Navigate in RobotStudioOnline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3.4.1 The menus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

3.5.1 The Robot View Explorer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

3.6.1 The controller status window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

3.7.1 The System Builder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

3.8.1 The file management window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

3.9.1 The Configuration Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

3.9.2 Layout of the Configuration Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

3.10.1 The Program Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

3.11.1 The I/O System window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

3.12.1 The event recorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

3.13.1 The Output window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

3.14.1 The UAS administration tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Administrate systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 Create a new system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

4.5.1 Creating a new system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

4.6.1 Starting the Create System from Backup Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

4.7.1 Copying a system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

4.8.1 Modifying a system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.9 Load a system to a controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

4.9.1 Loading a system to a controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

4.10 Create boot media. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

4.10.1 About boot media . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

4.11.1 About the media pool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

4.12.1 Adding RobotWare option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

5.1 Handle Robot Views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

5.3.1 Creating a new Robot View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

5.4.1 Documents in robot views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

6.1 Handle controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

6.2.1 Adding a controller to a Robot View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

6.3.1 Viewing controller status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

6.4.1 Backing up a system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

6.5.1 Transferring data between the PC and a controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

6.6.1 About access rights. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

6.7 Managing the user authorization system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

6.7.1 About user authorization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 Program a robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

7.4.1 About editing programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

7.5.1 About Saving Robot Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

7.6.1 About loading programs and modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

7.7.1 Deleting a Robot Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

10.1 About event records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217

be familiar with basic robot concepts.

know generic program handling on a Windows computer.

Continues on next page

Introduction to RobotStudioOnline and how to use the

How to install RobotStudioOnline on a PC and connect it to

3. Navigate and handle

Windows, menus and other parts of RobotStudioOnline:

How to create and modify robot systems and how to

5. Handle robot views

How to connect to a controller and handle it from

How to create and edit robot programs.

How to handle existing input and output signals.

How to view and modify the robots system parameters.

10. Handle event records

RAPID reference manual

Operators manual, IRC5 with FlexPendant