Académique Documents
Professionnel Documents
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RobotStudio
5.09
Overview ........................................................................................................................................14
1 Introduction 17
1.1 Overview ..................................................................................................................................17
1.2 Installation ...............................................................................................................................18
1.2.1 Installing RobotStudio....................................................................................................18
1.2.2 Installing RobotWare ....................................................................................................19
1.3 Licensing .................................................................................................................................20
1.3.1 License management ......................................................................................................20
1.3.2 Software Product Administrator.....................................................................................22
1.3.3 Installing the Sentinel Server software...........................................................................25
1.3.4 Specifying a license server .............................................................................................27
1.3.5 How to request and install a license key over the Internet.............................................28
1.3.6 How to request a license key using e-mail .....................................................................30
1.3.7 How to install a license key received by e-mail.............................................................32
1.3.8 Using a network license .................................................................................................34
1.4 Support ....................................................................................................................................36
1.4.1 Contacting ABB for support ..........................................................................................36
1.5 Terms and Concepts ..............................................................................................................37
1.5.1 Overview ........................................................................................................................37
1.5.2 Hardware concepts .........................................................................................................38
1.5.3 RobotWare concepts ......................................................................................................40
1.5.4 RAPID concepts .............................................................................................................43
1.5.5 Concepts of programing .................................................................................................45
Copyright 2007 ABB. All rights reserved.
Index 489
Overview
Usage
This manual should be used when working with RobotStudio.
Prerequisites
The reader should have basic knowledge of:
Robot programing
Generic Windows handling
3D CAD programs
Chapter Contents
1. Introduction Describes terms and concepts related to offline programing.
2. How to build Describes how to build stations in RobotStudio by creating robot
stations systems and importing CAD geometries.
3. How to program Describes how to create robot programs, for example, targets
robots for motions, paths and RAPID instructions.
4. How to simulate Describes how to test and simulate robot programs.
programs
5. Deployment and Describes how to copy stations, systems and programs for the
distribution RobotStudio PC to other PCs or to real controllers.
Continued
Chapter Contents
6. RobotStudio work Describes the different parts of the work area.
area reference
References
Reference Document Id
Product manual, IRC5 Robot Controllers 3HAC 021313-001
Operators Manual IRC5 with FlexPendant 3HAC 16590-001
Operators Manual RobotStudioOnline 3HAC 18236-001
Rapid reference manual 3HAC 7774-001
System parameters reference manual 3HAC 17076-001
Application manual MultiMove 3HAC 021272-001
Revisions
Revision Description
- First revision, for Early Adopters program.
A Added information about new functions, for example, MultiMove program-
ming, path modifications and curve modifications. Reorganisation of
chapters and topics.
Copyright 2007 ABB. All rights reserved.
1 Introduction
1.1. Overview
1.2 Installation
Overview
To work with RobotStudio, you need the following software:
RobotStudio
RobotWare, for creating and running robot systems
RobotStudio Online, for configuring systems
All these softwares can be installed from the RobotStudio CD of the latest available version
of the RobotStudio release.
Overview
Installing RobotWare creates a media pool, which is a folder on the PC containing the data
necessary for creating and modifying robot systems.
NOTE!
RobotStudio Online is only forward compatible, which means that you cannot run an older
version of RobotStudio Online together with a newer version of RobotWare. It is possible to
run a newer version of RobotStudio Online with an older version of RobotWare.
Install RobotWare
To install RobotWare to a media pool on the PC, follow these steps:
1. Insert the CD in the computer.
If a menu appears, continue with step 5.
If no menu appears, continue with step 2.
2. On the Start menu, click Run.
Copyright 2007 ABB. All rights reserved.
3. In the Open box, type the drive letter for your CD followed by:\launch.exe. For
example, if your CD drive has the letter D, then type D:\launch.exe.
4. Click OK.
5. Select a 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.
1.3 Licensing
Overview
ABB uses license keys to grant access to entire applications or specific application functions.
An application may even require additional license keys to allow access to optional features.
A license key consists of a data record in a license key file. After you generate a license key
request file from a wizard and send it to ABB, you will receive one or more license key files,
each containing one or more license keys for the various applications that you have purchased
from ABB.
License keys are installed from the License Key Installation Wizard. A single license key can
be shared among multiple applications. A license key is encrypted so that it can only be
decrypted by the ABB RoboticsIT License System. Installing a new license for a product and
version will overwrite the old license. Note: No warning will be shown before installing the
new license.
Continued
License keys may be configured so that they expire on a specified date, or after a the program
is run a specified number of times. A license key that never expires is permanent.
A license key is usually node locked, meaning that it is valid only on the workstation for
which the key was issued. Node-locking involves incorporating specific characteristics of a
particular workstation into the configuration of the license key, gathered from the system
fingerprint. For standalone license key applications, a fingerprint is automatically created
during the software package installation process.
Overview
Use the ABB Software Product Administrator (SPA) to:
Generate license key requests
Install license keys
View the status of licensed functions
Specify a network license server
Check out a network license
The SPA is implemented as a Microsoft Management Console Snap-In. The SPA might be
configured on your computer to be part of the Computer Management console.
xx0500002510
Continued
Continued
Columns Description
Status Displays the license status. Default value is Not Verified. To
verify, right-click the feature and select Verify. If everything is
OK, the value will be: License OK. It is also possible to right-click
a product in the tree window and select Verify.
Overview
To administer network licenses, a license server must first be set up. On the PC that will work
as a license server, the Sentinel License Server software therefore has to be installed.
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Continued
4. The InstallShield Wizard loads and the Welcome page appears. Click Next to continue.
xx0500002512
5. The License Agreement page appears. Select I accept, and click Next.
6. The Customer Information page appears. Enter the appropriate information in each box
and click Next.
7. The Destination Folder page appears. Select the default settings and click Next.
8. The Setup Type page appears. Select the default settings and click Next.
Overview
Use the Specify License Server dialog box to identify the computer used as the network
license server, so that the license system can locate the license keys.
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4. Click Close.
1.3.5. How to request and install a license key over the Internet
Overview
The License Key Request Wizard generates a request for a license key that will allow you to
access and run RobotStudio.
Run the wizard to request and automatically install the license key over the Internet. This will
allow you to access the product that you purchased and run it on your computer.
Procedure
Follow the steps below to run the License Key Request Wizard:
1. Launch the License Key Request Wizard using one of the following methods:
Run the wizard when prompted to do so during a product installation.
Continued
5. The User Information page appears. Enter the appropriate information in each box. All
boxes marked with an asterisk (*) are mandatory.
Note: The license key will be sent to the e-mail address specified in this dialog box, not
to where the mail is sent from.
Select the country name from the list box and click Next.
6. The Obtaining your license key from ABB page appears. Select Internet and click
Next.
7. The Requesting and Installing a Licence Key over the Internet page appears. Click
Start to send the license key request to ABB over the Internet. The dialog will display the
progress of the license key request procedure.
8. The License Key Request Completion page appears when the licence key has been
installed successfully. Click Finish to close the wizard.
Copyright 2007 ABB. All rights reserved.
Overview
The License Key Request Wizard generates a request for a license key that will allow you to
access and run RobotStudio.
Run the wizard and then send an e-mail with the license key request to
softwarefactory@se.abb.com. You will receive a licence key file that will allow you to access
specific features or applications that you purchased and run them on you computer.
If you are connected to the Internet, you can send the license key request over the Internet.
The license key will be automatically installed. For details, see How to request and install a
license key over the Internet on page 28.
Procedure
Follow the steps below to run the License Key Request Wizard.
Continued
Continue with How to install a license key received by e-mail on page 32.
Overview
The License Key Installation Wizard installs on a computer license keys that allow you to
access and run RobotStudio. Run the wizard using the license key file received by e-mail
from ABB.
Procedure
1. Launch the License Key Installation Wizard using any of the following methods:
Double-click a license key file (.xlkf extension).
In the Start menu, click Start, point to Programs, ABB Industrial IT, Robotics IT,
Licensing, and then click License Key Installation Wizard.
Select the root node in the Software Product Administrator (SPA) and run the Install
Continued
3. The License Information page appears. This step contains two different procedures,
depending on the type of license you are installing.
If you are installing a network license, select the Install the floating license keys on the
License Server computer check box to enable the Install button.
If you are installing a standalone license, and if all relevant hardware parameters match,
the Install button is already enabled.
If the hardware fingerprint contained in the license key file does not match the fingerprint
of the local computer:
The Install button is disabled when a conflict is discovered in the license key file.
The View Details button appears.
The Permit these Standalone check box appears.
A warning message appears.
Click:
View Details to open a dialog box that will present the details of the conflicts between
the computer hardware configuration and the system information specified in the
license key file.
Permit these Standalone check box to reenable the Install button.
4. Click Install to install the license key on the system.
5. Click Finish to exit the wizard.
Copyright 2007 ABB. All rights reserved.
Overview
A network license key can be checked out if a workstation needs to be disconnected from the
network; the software products are then functional for up to 30 days at a time. In addition, a
network license key may be checked in prior to the expiration date, whereby it becomes
immediately available to other users.
xx0500002441
Continued
Select the license key you wish to check in. Click Check In to check in the license.
xx0500002516
1.4 Support
Overview
Support is handled primarily by the local ABB offices.
See http://www.abb.com/roboticssoftware for contact information and generic support-
related information.
1.5.1. Overview
Overview
This section gives a short introduction to the hardware in a typical IRC5 robot cell. For
detailed explanations, see the manuals related to IRC5 robots specified in References on page
15.
Standard hardware
The table below is a list of hardware that is standard in an IRC5 robot cell.
Hardware Explanation
Robot manipulator An ABB industrial robot.
Control module Contains the main computer that controls the motion of the
manipulator. This includes RAPID execution and signal
handling. One control module can be connected to 1 4 drive
modules.
Drive module A module containing the electronics that power the motors of a
manipulator. The drive module can contain up to nine drive
units, each controlling one manipulator joint. Since the standard
robot manipulators have six joints, you usually use one drive
module per robot manipulator.
FlexController The controller cabinet for the IRC5 robots. It consists of one
control module and one drive module for each robot manipulator
Optional hardware
The table below is a list of hardware that may be used in an IRC5 robot cell.
Hardware Explanation
Track manipulator A moving stand holding the robot manipulator to give it a larger
work space. When the control module controls the motion of a
track manipulator, it is referred to as a Track External Axis.
Continued
Hardware Explanation
Positioner manipulator A moving stand normally holding a work piece or a fixture. When
the control module controls the motion of a positioner manipula-
tor, it is referred to as an External Axis.
FlexPositioner A second robot manipulator acting as a positioner manipulator.
It is controlled by the same control module as the positioner
manipulator.
Stationary tool A device that stands in a fixed location. The robot manipulator
picks up the work piece and brings it to the device to perform
specific tasks, such as gluing, grinding or welding.
Work piece The product being worked on.
Fixture A construction holding the work piece in a specific position so
that the repeatability of the production can be maintained.
Related information
Concepts of programing on page 45.
RAPID concepts on page 43.
RobotWare concepts on page 40.
Copyright 2007 ABB. All rights reserved.
Overview
This section gives a short introduction to terminology regarding RobotWare. For detailed
explanations, see the manuals related to IRC5 robots and RobotStudioOnline specified in
References on page 15.
RobotWare
The table below is a list of RobotWare terminology and concepts that can be useful when
working with RobotStudio.
Concept Explanation
RobotWare As a concept, refers to both the software used to create a
RobotWare System and the RobotWare systems themselves.
RobotWare CD Delivered with each control module. On the CD you will find the
RobotWare installation, RobotStudioonline and some other useful
software. Check the Release Notes on your CD for specifica-
tions.
RobotWare installation When installing RobotWare on a PC, you install into the
mediapool the specific versions of the files from which Robot-
Studioonline uses to create the RobotWare system.
When installing RobotStudio, only one version of RobotWare
will be installed. To simulate a specific RobotWare system, the
Continued
Concept Explanation
RobotWare License key Used when you create a new RobotWare system or upgrade an
existing system. The RobotWare license keys unlock the
RobotWare options included in the system, and determine the
RobotWare version from which the RobotWare system will be
built.
For IRC5 systems there are three types of RobotWare keys:
The controller key, which specifies the controller and
software options.
The drive keys, which specify the robots in the system.
The system has one drive key for each robot it uses.
Additional option keys, which specify additional options,
like positioner external axes.
A virtual license key allows you to select any RobotWare options
you wish, but a RobotWare system created from a virtual license
key can only be used in a virtual environment such as RobotStu-
dio.
RobotWare system A set of software files that, when loaded into a controller,
enables all functions, configurations, data and programs
controlling the robot system.
RobotWare systems are created in the RobotStudio or in the
RobotStudioonline software. The systems can be stored and
saved on a PC, as well as on the control module.
RobotWare systems can be edited by RobotStudio, RobotStu-
Copyright 2007 ABB. All rights reserved.
Continued
Related information
Hardware concepts on page 38.
Concepts of programing on page 45.
RAPID concepts on page 43.
Overview
This section gives a short introduction to the basic terminology of RAPID. For detailed
explanations, see the manuals related to RAPID and programing specified in References on
page 15.
Continued
Concept Explanation
Program files (.pgf) In IRC5 a RAPID program is a collection of module files (.mod)
and the program file (.pgf.) that references all the module files.
When loading a program file, all old program modules are
replaced by those referenced in the .pgf file. System modules
are unaffected by program load.
Related information
Hardware concepts on page 38.
Concepts of programing on page 45.
RobotWare concepts on page 40.
Overview
This section gives a short introduction to the terminology regarding programing. For detailed
explanations, see the manuals related to programing and IRC5 Robots specified in References
on page 15.
Programing concepts
The table below is a list of terminology and concepts that are used in robot programing.
Concept Explanation
Online programing Programing in RobotStudioOnline or on the FlexPendant
connected to the control module. This expression also implies
using the robot to create positions and motion.
Offline programing Programing without being connected to the robot or the control
module.
True offline programing Refers to the ABB Robotics concept of connecting a simulation
environment to a virtual controller. This enables not only
program creation, but also program testing and optimizing
offline.
Virtual controller A software that emulates a FlexController to allow the same
software (the RobotWare system) that is controlling the robots
to run on a PC. This gives the same behavior of the robots
Copyright 2007 ABB. All rights reserved.
Continued
Related information
About coordinate systems on page 49.
Hardware concepts on page 38.
RAPID concepts on page 43.
RobotWare concepts on page 40.
Overview
Targets (positions) and paths (sequences of move instructions to targets) are used when
programing robot motions in RobotStudio.
When you synchronize the RobotStudio station to the virtual controller, RAPID programs are
created from the paths.
Targets
A target is a coordinate that the robot shall reach. It contains the following information:
Information Description
Position The position of the target, defined in a workobject coordinate
system.
For more information, see About coordinate systems on page
49.
Orientation The orientation of the target, relative to the orientation of the
workobject. When the robot reaches the target, it will align the
TCPs orientation with the targets orientation.
For more information, see About coordinate systems on page
49.
Copyright 2007 ABB. All rights reserved.
Configuration Configuration values that specify how the robot shall reach the
target. For more information, see About robot axis configura-
tions on page 52.
Targets are converted to instances of the data type robtarget when synchronized to the virtual
controller.
Paths
A path is a sequence of move instructions to targets. Paths are used to make the robot move
along a sequence of targets.
Paths are converted to procedures when synchronized to the virtual controller.
Continued
Move instructions
A move instruction consists of:
a reference to a target
motion data, such as motion type, speed and zone
tooldata
a workobject reference
Action instructions
An action instruction is an application-defined RAPID string that can be used for setting and
changing parameters. Action instructions can be inserted before, after or between instruction
targets in paths.
Related information
Creating an action instruction on page 219.
Creating move instructions on page 213.
Creating targets on page 176.
Teaching targets on page 179.
Overview
This section gives a short introduction to coordinate systems that are often used for offline
programing. In RobotStudio, you can use all coordinate systems described below, as well as
user-defined coordinate systems, for relating objects and elements to each other.
Hierarchy
The coordinate systems relate to each other hierarchically, where the origin of each
coordinate system is defined as a position in one of its ancestries. Below are descriptions of
commonly used coordinate systems, starting at the top of the hierarchy.
Continued
xx0500001519
Continued
Axis configurations
Targets are defined and stored as coordinates in a WorkObject coordinate system. When the
controller calculates the position of the robot axes for reaching the target, it will often find
more than one possible solution to configuring the robot axes.
xx0500002365
To distinguish between the different configurations, all targets have a configuration value that
specifies the quaternion in which each axis shall be located.
Continued
Continued
Configuration monitoring
When executing a robot program, you can choose whether to monitor configuration values.
Continued
Related Information
For generic information about configuration data, see the Rapid Reference manual on the data
type confdata.
For information about configuration monitoring, see the Rapid Reference manual on the
instructions ConfL.and ConfJ.
For information about turning configuration monitoring on and off from RobotStudio, see
Creating an action instruction on page 219.
For information about assigning configurations to targets, see Setting robot axis configuration
for targets on page 187.
Copyright 2007 ABB. All rights reserved.
Overview
For programing or simulating in RobotStudio, you need models of your work pieces and
equipment. Models for some standard equipment are installed as libraries or geometries with
RobotStudio. If you have CAD models of your work pieces and custom equipment, these can
be imported as geometries to RobotStudio. If you do not have CAD files for the equipment,
you can create models in RobotStudio.
Continued
Continued
You need licenses for both the source format and the target format when converting licensed
formats.
Overview
RobotStudio uses Microsoft Visual Studio Tools for Applications (VSTA) as its Integrated
Development Environment (IDE), enabling advanced users to extend and customize its
functionality. You can, for example, write an add-in in C# or VB.Net to create a toolbar or
macro, debug code or inspect variable values during execution.
In addition, the Add-In browser acts as a single window for both VSTA add-ins and non-
VSTA, RobotStudio-specific add-ins known as PowerPacs.
Types of add-ins
The following add-ins may be available in the Add-In browser:
Object Description
PowerPac An add-in that accords with RobotStudio specifications, but is
not part of the VSTA system itself.
VSTA Station Add-In A VSTA add-in that has been attached to a station, and saved
to the station file.
VSTA User Add-In A VSTA add-in that has not been attached to a station and is
active only on the current users computer.
Using the shortcut menus of the Add-In browser, PowerPacs may be loaded or autoloaded,
Copyright 2007 ABB. All rights reserved.
while VSTA add-ins may be added, loaded, unloaded, reloaded, autoloaded, edited, deleted,
or removed from the station.
Building an add-in
To build an add-in, follow these steps:
1. To launch VSTA, from the Tools menu, click VSTA IDE.
2. Create a new project or open an existing one. Compose or edit as required.
3. To build the add-in, from the Build menu, click Build.
The add-in will be loaded in RobotStudio and appear as a user add-in in the Add-In
browser.
4. Save the project to your hard disk if you want the add-in to remain with the user.
Otherwise, open a station, right-click in the Add-In browser and then click Add to
Station.
Continues on next page
Continued
Related information
The Add-In browser on page 300.
Overview
This is an overview of how to build a station by including the equipment necessary to create
and simulate robot programs.
The first part of this overview describes the alternatives for creating a station with a system.
The second part describes importing or creating the objects to work with. The third part
describes the workflow for optimizing the station layout by finding the best placement of
robots and other equipment.
In most cases, following the workflows from start to finish is recommended, even if other
sequences are also possible.
Activity Description
Create a station with a This is the simplest way to create a new station containing a
template system robot and a link to a rudimentary system template, see Creating
a station with a template system on page 71.
Create a station with an This creates a new station containing one or more robots in
existing system accordance with an existing, built system, see Creating a station
Activity Description
Add more virtual If your station contains more then one controller, add the other
controllers virtual controllers. See Adding a system to a station on page
101.
Add tools Import tools for the robots. See Importing a tool on page 111.
Continued
Activity Description
Add other equipment Add additional equipment, like fixtures and tables, if needed for
the programing or simulation. If you have CAD models of the
equipment, you can import them; otherwise, you can create
models in RobotStudio. See Importing a library component or a
geometry on page 108 and Creating and modifying objects on
page 118, respectively.
Add work piece Add an object that represents the work piece to use when
creating and simulating robot programs. If you have CAD
models of the work piece, you can import them; otherwise, you
can create models in RobotStudio. See Importing a library
component or a geometry on page 108 and Creating and
modifying objects on page 118, respectively.
Activity Description
Place objects If you are building a model of a real station, start by placing all
objects with known positions. For objects without known
positions, find a suitable placement. See Positioning an item on
page 145.
Attach tools Attach the tools to the robot. See Attaching and detaching
Copyright 2007 ABB. All rights reserved.
Overview
A station may be built up from scratch by first creating an empty station and then adding a
system to it.
After the layout has been built, you must attach a system to the station.
Adding a system
To add a new or existing system, see Adding a template system on page 73 or Adding an
existing system on page 74.
To create a system from a layout, see Creating a system from layout on page 75.
To create a system from backup, see Creating a system from backup on page 88.
Related information
Overview
All items in a station can be moved to achieve the required layout. To move an item by
clicking in the graphics window, you first have to determine the selection level for the item,
and then select the item for action.
Continued
Related information
Setting the selection level on page 67.
Overview
When selecting items in the graphics window, you first have to determine the selection level.
An item can be selected on different levels. The selection level makes it possible to select only
specific types of items, or specified parts of objects.
The selection levels are curve, surface, entity, part, mechanism, group, target/frame and path.
The target/frame and path selection can be combined with any of the other selection levels.
Related information
Selecting an item on page 65.
About libraries, geometries and CAD files on page 56.
Copyright 2007 ABB. All rights reserved.
2.6.1. Overview
Overview
This section describes how you create, build, modify and copy systems to run on virtual
controllers in the station.
The system points out the robot models and options to use; it also stores configurations and
programs for the robots. Therefore, it is good practice to use a unique system for each station
even if the stations use the same basic setup. Otherwise, changes in one station may
accidently overwrite data used in another station.
Creating a system
A system can be created in the following ways:
Along with a new station, see Creating a station with a template system on page 71 or
Creating a station with an existing system on page 72.
After the creation of a station, see Adding a template system on page 73 or Adding an
existing system on page 74.
From a layout, see Creating a system from layout on page 75.
From backup, see Creating a system from backup on page 88.
Building a system
A system can be built from the System Builder, see Building a new system on page 78.
Continued
Modifying a system
A system can be modified from the System Builder, see Modifying a system on page 83.
Copying a system
A system can be copied from the System Builder, see Copying a system on page 89.
Copyright 2007 ABB. All rights reserved.
2.6.2.1. Overview
Overview
Creating a system entails applying a predefined template to a station, reusing an existing
system or letting RobotStudio propose a system based on a layout.
Prerequisites
To create a system, the following conditions must be met:
The RobotWare media pool must be installed on your PC. See Installing RobotWare
on page 19, 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 RobotStudio or
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.
Overview
A dialog box will help you create a station with a template system. This is the default option.
Related information
The New Station and Add System dialog boxes on page 308.
Copyright 2007 ABB. All rights reserved.
Overview
A dialog box will help you create a station with an existing system.
Related information
The New Station and Add System dialog boxes on page 308.
Overview
This dialox box is used to add a template system to an empty station or to build a multisystem
station.
Related information
The New Station and Add System dialog boxes on page 308.
Copyright 2007 ABB. All rights reserved.
Overview
This dialox box is used to add an existing system to an empty station or to build a multisystem
station.
Related information
Overview
The Create System from Layout Wizard creates a new system from the graphical layout.
This allows you to easily test various station configurations. You can even toggle between
robot types and add external axes.
5. Click Next.
Continued
Related information
The Create System from Layout Wizard on page 405.
The System Configuration window on page 424.
Overview
The System Builder is a useful tool for launching wizards and dialog boxes used to build,
modify and copy systems.
The System Builder aids in performing the following tasks:
Building a new system, see Building a new system on page 78.
Modifying an existing system, see Modifying a system on page 83.
Building a new system from a backup system, see The Create Controller System from
Backup Wizard on page 420.
Copying a system, see Copying a system on page 89.
Related information
The System Builder dialog box on page 416.
Copyright 2007 ABB. All rights reserved.
Overview
The New Controller System Wizard, used for building a new system, is launched from the
System Builder.
Continued
Continued
3. If you have a MultiMove system, repeat steps 1 and 2 for each drive key to add.
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.
4. Choose whether you want to create the system as it is now, or to continue with the wizard.
If you want to create the system as it is now, click Finish.
If you want to modify options, or add options, parameter data or additional files to the
home directory, click Next.
Modifying options
Here you can set up and configure the options in your system. For virtual systems, you also
select the robot models to use. To modify any options, follow these steps:
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.
Continued
Continued
Related information
The New Controller System Wizard on page 417.
Overview
The Modify Controller System Wizard, used to modify existing systems, is launched from
the System Builder.The wizard helps you with tasks like changing robots, adding and
removing external axes and other options. A system that is running must be first shut down
before modification. Alternatively, to change the parameters of a running system, use the
configuration editor in RobotStudioOnline.
The RobotWare versions that are available for the system are determined by the controller
key. The key is essential to the system and cannot be modified.
To use another RobotWare version than the available ones, create a new system with another
key, see Building a new system on page 78.
To optionally modify the program revision, follow the appropriate step or steps:
1. To keep the current RobotWare version, select Yes and then click Next .
2. To replace the current RobotWare version, Select No, replace it..
3. In the Media pool box, enter the path to the media pool. You can also click the Browse
button and browse to the folder.
4. In the New program revision box, select which version of RobotWare you want to use.
Only RobotWare versions that are valid for the RobotWare key are available.
5. Click Next.
Continued
Continued
4. To remove an additional option, iIn the Added options list, select the option you want to
remove.
5. Click Remove.
6. Choose whether you want to create the system as it is now, or to continue with the wizard.
If you want to create the system as it is now, click Finish.
If you want to modify parameter data or add files to or remove files from the home
directory, click Next.
Modifying options
To optionally modify any options, follow these steps:
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 steps 1 and 2 for all options you want to modify.
4. Choose whether you want to create the system as it is now, or to continue with the wizard.
If you want to create the system as it is now, click Finish.
If you want to modify parameter data or add files to or remove files from the home
directory, click Next.
Copyright 2007 ABB. All rights reserved.
Continued
4. Click Remove.
5. Choose whether you want to create the system as it is now, or to continue with the wizard.
If you want to create the system as it is now, click Finish.
If you want to add to or remove files from the home directory, click Next.
Result
Modifications will take effect when the wizard is completed.
If the system has been downloaded to a controller, it must be downloaded again before the
modifications will take effect on the controller.
Continued
Related information
The Modify Controller System Wizard on page 421.
Copyright 2007 ABB. All rights reserved.
Overview
The Create System from Backup Wizard, which creates a new system from a controller
system backup, is launched form the System Builder. In addition, you can change the program
revision and options.
Related information
The Create Controller System from Backup Wizard on page 420.
Overview
You can copy a system from the System Builder dialog box.
Copy a system
To copy a system, follow these steps:
1. On the Controller menu, click System Builder to bring up the System Builder dialog
box.
2. Select the system and click Copy. This opens the Copy Controller System dialog box.
3. Enter a name for the new system and a path, and then click OK.
Copyright 2007 ABB. All rights reserved.
2.6.4. Examples
Overview
In this example we will create a coordinated system with one IRB2400 and one IRB1600
robot to use in a new RobotStudio station.
Continued
To modify options
When creating robot systems from real robot keys, the key sets the options. But since we are
using a virtual key, we have to set the options manually.
To set the options necessary for a MultiMove, follow these steps:
1. Scroll down to the RobotWare / Motion Coordination 1 group and select the
MultiMove Coordinated check box.
2. Scroll down to the RobotWare / I/O control group and select the Multitasking and the
Advanced RAPID check boxes.
3. Scroll down to the DriveModule1 / Drive module application group and expand the
ABB Standard manipulator option. Select the IRB 2400 Type A option, manipulator
variant IRB 2400L Type A.
Copyright 2007 ABB. All rights reserved.
4. Scroll down to the DriveModule2 / Drive module application group and expand the
ABB Standard manipulator option. Select the IRB 1600 option, manipulator variant
IRB 1600-5/1.2.
5. Click Finish and the system will be created.
Continued
What to do next
When starting the system in RobotStudio, both robots will be imported to the origin of the
world coordinate system. To configure the system correctly, continue with the following
procedures:
Repositioning the baseframe of one of the robots and restarting the system, see
Modifying the baseframe position on page 154.
Importing and placing all tools and equipment used in the station.
Creating and attaching workobjects correctly for MultiMove systems, see About
programing MultiMove on page 245.
2.6.4.2. Creating a system with support for one robot and one track external
axis
Overview
In this example we will create a system to use in a new RobotStudio station with one IRB4400
robot and one IRBT 4400S track external axis.
Prerequisites
When creating systems for track external axes, you need the configuration file for the track.
Configuration files for some common tracks are installed in the ABB Library/Tracks folder
with RobotStudio. To use other tracks, contact your ABB office for cfg files.
1. Select the Virtual key check box. A virtual controller key now appears in the Controller
Key box. In this example we will use the default media pool and RobotWare version.
2. Click Next to continue to the next page.
Continued
To modify options
When creating robot systems from real robot keys, the key sets the options. But since we are
using a virtual key, we have to set the options manually.
To set the options necessary for a track external axis, follow these steps:
1. Scroll down to the RobotWare / Hardware group and select the 709-x DeviceNet check
box.
This option is for the communication between the controller and the track external axis.
2. Scroll down to the RobotWare / I/O control group and select the Logical Cross
Connection check box.
This option is for the communication between the virtual controller and the track external
axis.
3. Scroll down to the DriveModule1 / Drive module application group and expand the
ABB Standard manipulator option. Select the IRB 4400 Type B option.
This option sets the robot to an IRB 4400 Type B.
4. Scroll down to the DriveModule1 / Additional axes configuration group and expand the
2.6.4.3. Creating a system with support for one robot and one positioner
external axis
Overview
In this example we will create a system to use in a new RobotStudio station with one IRB1600
robot and one IRBP 250D positioner external axis.
Prerequisites
When creating systems for positioner external axes, you need the media pool and the license
key file for that specific positioner. In this example we will use a media pool and license key
file for a demo positioner.
Paths to files and folders assume that RobotStudio and the RobotWare media pool have been
installed at their default locations on Windows XP. If not, adjust the paths accordingly.
Continued
TIP!
In the MediaPool folder media pools for several standard positioners are installed. They
are named by the positioners article number, with a suffix that indicates if it is configured
for single-robot or MultiMove systems.
2. Click the Right Arrow button next to the Enter key box to add the key for the positioner.
3. Click Next and continue to the next page of the wizard.
To modify options
When creating robot systems from real robot keys, the key sets the options. But since we are
using a virtual key, we have to set the options manually. To set the options necessary for a
positioner, follow these steps:
1. Scroll down to the RobotWare / Hardware group and select the 709-x DeviceNet check
Continued
5. Scroll down to the DriveModule1 / Additional axes configuration group and expand the
Add axes IRB/drive module 1600/2400/260 option and select the R2C2 Add drive
option.
Expand the Drive type in position Z4 and select the753-1 drive C in pos Z4 option.
Expand the Drive type in position Y4 and select the754-1 drive C in pos Y4 option.
Expand the Drive type in position X4 and select the755-1 drive C in pos X4 option.
This option adds drive modules for the positioner axes.
6. Click Finish and the system will be created. When starting the system in a RobotStudio
station, you have to set up the system to load a model for the positioner and to get the
motions to work properly. See Setting up a positioner external axis on page 158 for more
information.
Copyright 2007 ABB. All rights reserved.
Overview
This is an overview of the RobotWare options to set when creating a system for positioner
external axes. Note that besides setting the RobotWare options, you must add an additonal
option key for the positioner.
Continued
Overview
RobotStudio uses virtual controllers for running the robots. Virtual controllers can run both
systems for real robots and specific virtual systems for testing and evaluation purposes. A
virtual controller uses the same software as the controller to execute the RAPID program, to
calculate robot motions and to handle I/O signals.
When starting a virtual controller, point out which system to run on it. Since the system
contains information about the robots to use and important data such as robot programs and
configurations, it is important to select the right system for the station.
Overview
If your station uses several systems or if you started with an empty station, you can add
systems to an open station. Library files for the robots used by the systems will then be
imported to the station when the controller starts.
Copyright 2007 ABB. All rights reserved.
Continued
Adding a system
To start a system in a new virtual controller and automatically import the robots used by the
system, follow these steps:
1. If you have the Select system dialog box open, continue with the next step.
If you do not have the Select system dialog box open, go to the Controller menu and
click Add System.
2. Depending on whether the system to start on the virtual controller is ready or not, do one
of the following:
Activity Description
Create and start a copy of an existing From the Select system pool list, select the
system folder on your PC that contains the system to
This is recommended when you plan to add use. Select the system to copy from the
station-specific configurations or programs. Systems Found list and click Copy. In the
Copy System dialog box, enter a name for
the system and click OK.
Start an existing system as is From the Select system pool list, select the
This is useful when you already have created folder on your PC that contains the system to
a specific system for the station. use.
It is also useful if you do not plan to create
station-specific configurations or programs
and want a quick start.
Modify and start an existing system From the Select system pool list, select the
3. From the Systems Found list, select the system to use and click Start.
Continued
Related information
Connecting a robot library to a virtual controller on page 104.
About starting virtual controllers on page 100.
Copyright 2007 ABB. All rights reserved.
Overview
If you have manually imported a robot library you want to use with a system, instead of
importing a new library at startup, you can connect this library to a controller.
Limitation
You can only connect a robot library to a single-robot system.
The robot library must not already be connected to a controller.
Continued
3. Depending on whether the system to start on the virtual controller is ready or not, do one
of the following:
Activity Description
Create and start a copy of an existing From the Select system pool list, select the
system folder on your PC that contains the system to
This is recommended when you plan to add use. Select the system to copy from the
station-specific configurations or programs. Systems Found list and click Copy. In the
Copy System dialog box, enter a name for
the system and click OK.
Start an existing system as is From the Select system pool list, select the
This is useful when you already have created folder on your PC that contains the system to
a specific system for the station. use.
It is also useful if you do not plan to create
station-specific configurations or programs
and want a quick start.
Modify and start an existing system From the Select system pool list, select the
This is the way to add or change options in folder on your PC that contains the system to
the systems, for example, adding or replacing modify. Select the system to modify from the
robots and external axes. Systems Found list and click Modify. This
starts the System Builder from which you
make the modifications. For detailed informa-
tion, see Modifying a system on page 83.
Build and start a new system Click Create to start the System Builder
This option is used for building and starting a from which you build the new system. For
Copyright 2007 ABB. All rights reserved.
completely new system, either from detailed information about creating the
RobotWare keys or from virtual keys. system, see Building a new system on page
78.
4. From the Systems Found list, select the system to use and click Start.
Related information
About starting virtual controllers on page 100.
Overview
This section describes when and how to restart a virtual controller in RobotStudio.
Warm restart
Typically, you need to make an ordinary warm restart of a virtual controller when:
you have changed the baseframe of any of the robots belonging to that virtual
controller.
you have changed the robot's configuration, either with the Configuration Editor in
RobotStudioOnline or by loading new configuration files.
you have added new options or hardware to the system.
A system failure has occurred.
Cold restart
A cold restart is useful for restoring the system running on a virtual controller to the state it
was created in. The cold restart deletes all RAPID programs, data and custom configurations
Advanced restarts
In addition to warm and cold restarts, several advanced restarts are available from
RobotStudioOnline. For information about how to use them, see RobotStudioOnline operators
manual.
Continued
TIP!
If you have made changes to the system using RobotStudioOnline, you can also restart the
virtual controller from there.
Related information
About starting virtual controllers on page 100.
Copyright 2007 ABB. All rights reserved.
Overview
A library component is a RobotStudio object that has been saved separately. Normally,
components in a library are locked for editing.
A geometry is CAD data which you can import to use in RobotStudio. For a list of importable
CAD formats, see About libraries, geometries and CAD files on page 56.
Overview
A CAD converter is installed together with RobotStudio by default. In most cases you do not
have to convert CAD files before importing them to RobotStudio, but the CAD converter
might be useful for converting several files at once, or for converting with custom settings.
Prerequisites
Most of the file formats require separate licenses, see About libraries, geometries and CAD
files on page 56 for more information.
Conversion settings
The table below describes the settings for the conversion:
Setting Description
The Acis save file format Select which version of ACIS to save to when using ACIS as
list target format.
Continued
Setting Description
The Enable Healing check Controls whether the conversion engine attempts to heal
box geometric entities. Only supported for specified formats.
The Translate hidden/no- Controls whether the hidden entities are translated or
show entities check box discarded. Only supported for specified formats.
The VRML/STL Scale VRML and STL are often created in units that RobotStudio does
factors lists not expect; they thus need to be resized.
The Delete all generated Makes the CAD converter delete log files when exiting.
log files on exit check box
Overview
A tool is a special object, for example, an arc weld gun or a gripper, that operates on the work
piece. For achieving correct motions in robot programs, the parameters of the tool have to be
specified in the tool data. The most essential part of the tool data is the TCP, which is the
position of the tool center point relative to the wrist of the robot (which is the same as the
default tool, tool0).
When imported, the tool will not be related to the robot. So in order for the tool to move with
the robot, you must attach it to the robot.
Importing a tool
To import a tool to RobotStudio, follow these steps:
1. On the File menu, click Import Library.
2. Browse to the folder where the tool to be imported is located.
For predefined tools, click the ABB Library icon to the left in the dialog box and click
the Tools folder.
3. Select the requested tool and click Open.
If you want the tool to move with the robot, attach it to the robot. For detailed information,
Copyright 2007 ABB. All rights reserved.
Related information
Creating a robot hold tool on page 136.
Importing a library component or a geometry on page 108.
Overview
This is how to import a robot model without a controller to your station.
A robot which is not connected to a controller cannot be programed. To import a robot
connected to a virtual controller, configure a system for the robot and start it in a virtual
controller. For details, see Building a new system on page 78 and Adding a system to a station
on page 101, respectively.
Overview
The characteristics of the geometries and CAD models in the station may have great effect on
your work in RobotStudio, both in aspects of making the objects easier to program as well as
enhancing simulation performance.
Below are some guidelines for troubleshooting geometries.
Trouble Information
The pointer snaps to the This problem might be caused by wrong snap mode settings,
wrong parts of the objects imprecise selecting, hidden or lack of geometrical information.
when selecting in the To resolve these problems, do the following:
graphics window Check the selection level and snap mode settings. For
more information, see The Selection level toolbar on
page 470 and The Snap Mode toolbar on page 468,
respectively.
When making the selection, zoom and rotate the object
so that you are sure to click inside the object.
Check if the object has hidden details that might affect
the snapping. Remove details that are not necessary for
your programing or simulation. For more information,
see Modifying parts on page 127.
Some file formats only contain a graphical representa-
Copyright 2007 ABB. All rights reserved.
Continued
Trouble Information
The graphics window This might be due to the performance of your computer not
redraws or updates slowly being high enough for the size of the geometry files in your
station.
To reduce the size of the geometry files, do any of the following:
Use a lower detail level for rendering the geometry. For
more information, see The Graphic Appearance dialog
box on page 380.
Blends, chamfers and holes can be automatically
simplified by using the Defeature function. This can
greatly reduce graphic complexity, speed up simulations
and reduce memory usage. For more information, see
To defeature an object on page 117.
Check if the object has unnecessary details. Remove
details that are not necessary for your programing or
simulation. For more information, see Modifying parts on
page 127.
Continued
Trouble Information
Parts of the geometry are If parts of the geometry are not visible from some views, a
not visible probable cause is that the object is made up of 2D surfaces and
the option Backface culling is on.
Backface culling means that the faces of the object are only
visible from the front, and if the object (or any of its faces) is
oriented differently, they will not be visible.
To correct the problem, do one of the following:
Switch to modeling mode and invert the direction of the
face that is not displayed correctly. This not only corrects
the display, it also decreases the chance of faulty orien-
tations during graphical programing. For more informa-
tion, see To invert the direction of a single face on page
115 or To invert the direction of all faces of a part on page
116.
Turn backface culling off for the specific object. This
makes the object display correctly, but does not affect
the direction of the face, which might cause problems if
the face will be used for graphical programing. For more
information, see To deactivate backface culling for a
single object on page 116.
Turn backface culling off for all objects in the station. This
makes the objects display correctly, but does not affect
the direction of the face, which might cause problems if
the face will be used for graphical programing. It also
Copyright 2007 ABB. All rights reserved.
Continued
4. In the Modeling browser, expand the node for the object and browse down to and select
the face whose direction you want to invert.
5. On the Modify menu, click Invert. If the option backface culling is activated, the face
will now shift from visible to not visible, or the other way around, depending on from
which direction you view the face. If backface culling is deactivated, there will be no
visible indication that the direction of the face has been inverted.
Continued
To defeature an object
Defeaturing is used to simplify an object by detecting and removing CAD features, such as
blends, chamfers and holes that are smaller than a specified size.
NOTE!
The Defeature function is license dependent.
1. In the Modeling browser, select the part or body to be simplified. Right-click in the
browser, and then click Defeature. The Defeature dialog box opens.
2. In any of the three feature type boxes, enter values, as appropriate. To preview the scope
of the defeature operation, click Preview. The faces that are affected are highlighted in
the graphics window, and a message appears in the output window. Make any further
adjustments to the values, if necessary.
3. Click Apply to perform the defeature operation.
Related information
About libraries, geometries and CAD files on page 56.
The Options dialog box on page 447.
The Graphic Appearance dialog box on page 380.
Modifying parts on page 127.
The Defeature dialog box on page 466.
Copyright 2007 ABB. All rights reserved.
Overview
This section describes how to create or modify geometrical objects. Most of these operations
are done in RobotStudios modeling mode.
Overview
A frame is a generic coordinate system that you can use as reference when positioning
objects. Generic frames can also be converted to special kinds of coordinate systesm, like
workobjects or tool center points.
To create a frame
To create a generic frame, follow these steps:
1. On the Create menu, point to Create Frames and click either Create Frame or Create
Frame from Three Points.
2. In the dialog box, specify the positions or points for the frame. For details, see The Create
Frame dialog box on page 344 and The Create Frame from Three Points dialog box on
page 345, respectively.
Copyright 2007 ABB. All rights reserved.
Overview
When creating paths with targets based on the object geometries, curves are the geometrical
objects that RobotStudio uses. For example, if you want the robot to run along the edge of an
object, you can first create a curve along the border and then generate a complete path along
that curve, instead of manually finding and creating the necessary targets.
If the CAD model/geometry of the work piece does not already contain curves, you can create
the curves i RobotStudio.
To create a curve
1. On the View menu, click Modeling mode.
2. On the Create menu, point to Create Curves and click the curve you want to create. The
Create dialog box will be displayed in the tool window at the bottom of the Modeling
browser.
3. Enter requested values in in the dialog box and click Create. For detailed information
about the specific dialog box for the curve to create, see below:
The Create Line dialog box on page 330.
The Create Circle dialog box on page 331.
Continued
TIP!
To open the dialog boxes, you can also do the following:
Under the Create Objects tab at the bottom of the Objects browser, click Curves and
the requested curve.
Related information
Modifying curves on page 122.
Copyright 2007 ABB. All rights reserved.
Overview
When creating paths with targets based on the objects geometries, curves are the geometrical
objects that RobotStudio uses. By optimizing the curves before starting programing, you
reduce the touch-up of the generated paths.
To extend a curve
To extend an open curve with a straight line in the direction of the curves tangent, follow
these steps:
1. On the Modeling menu, click Modeling mode, if you are not there already.
2. On the Modify menu, point to Modify curve. The Modify curve dialog box will be
displayed in the tool window at the bottom of the Modeling browser.
3. Select Extend as modify method and then click the curve segment, close to the
appropriate vertex.
Note that when you rest the pointer over the curve the endpoint closest to the pointer is
highlighted. This is the endpoint that will be selected for extension when you click the
curve.
4. In the Distance from endpoint box, enter the length of the extension. In the graphics
window a yellow line displays a preview of the extension.
To join curves
To join several curves to one, follow these steps:
1. On the Modeling menu, click Modeling mode, if you are not there already.
2. On the Modify menu, point to Modify curve. The Modify curve dialog box will be
displayed in the tool window at the bottom of the Modeling browser.
3. Select Join as modify method and then click the curves to join in the graphics window.
The curves may be either intersecting or adjacent to be joined.
The Selected curves list displays the curves that will be joined. To remove a curve from
the list, select the list entry and press the DEL key.
Continued
4. In the Tolerance list, enter a value in millimeters. Adjancent curves whose end points lie
within the tolerance will be valid for the operation.
5. Click Apply. A new joined curve will now be created in a new part and the original curves
deleted.
projected curves.
To remove a bodies from the list, select the list entry and press the DEL key.
5. Click Apply. A new curve will now be created in a new part, wrapped around the surface
of the selected bodies.
To reverse curves
To reverse the direction of curves, follow these steps:
1. On the Modeling menu, click Modeling mode, if you are not there already.
2. On the Modify menu, point to Modify curve. The Modify curve dialog box will be
displayed in the tool window at the bottom of the Modeling browser.
Continued
3. Select Reverse as modify method and then click the curves to reverse in the graphics
window.
Note that when resting the pointer over a curve the current direction of the curve is
displayed by yellow arrows.
The Selected curves list displays the curves that will be reversed. To remove a curve from
the list, select the list entry and press the DEL key.
4. Click Apply. The curves will now be reversed.
To split a curve
To split an open curve to two individual curves, follow these steps:
1. On the Modeling menu, click Modeling mode, if you are not there already.
2. On the Modify menu, point to Modify curve. The Modify curve dialog box will be
displayed in the tool window at the bottom of the Modeling browser.
3. Select Split as modify method and then click the curve at the point to split at. Only open
curves can be split.
Note that when you rest the pointer over the curve, the point where the split will be is
highlighted. This point is affected by the current snap mode setting.
4. Click Apply. The curve will now be split to two separate curves in the same part.
To trim a curve
Related information
The Modify Curve dialog box on page 383.
Creating curves on page 120.
Overview
With the create solids commands you can create and build models of objects you do not have
CAD files or libraries for. With the create solids commands you create primitve solid bodies;
these can later be combined to more complex bodies.
Alternately, surfaces and curves can be extruded to 3D objects, which may then be converted
to solids. You can extrude along either a vector or a curve.
To create a solid
1. On the Modeling menu, click Modeling mode.
2. On the Create menu, point to Create solids and click the type of solid you want to create.
The Create dialog box will be displayed in the tool window at the bottom of the Modeling
browser.
3. Enter requested values in in the dialog box and click Create. For detailed information
about the specific dialog box for the curve to create, see below:
The Create Box dialog box on page 316.
The Create Box from 3-Point dialog box on page 318.
The Create Sphere dialog box on page 324.
Copyright 2007 ABB. All rights reserved.
Continued
Overview
When you import a geometry or create an object, it will be one part. A part can, however,
contain several bodies. For generic information about geometries, see About libraries,
geometries and CAD files on page 56.
In RobotStudios modeling mode you can modify the parts by adding, moving and deleting
the bodies.
NOTE!
Since libraries differ from geometries when importing, the modification of a library requires
a different procedure. For more information, see Modifying library components on page 128.
To modify a part
To modify a part, follow these steps:
1. Right-click in the Modeling browser, point to Filter and make sure that Show Bodies is
selected.
Copyright 2007 ABB. All rights reserved.
2. In the Modeling browser, expand the node for the part to modify. Then modify the part
by doing any of the following:
To Do this
Delete a body Select the body and press the DEL key.
Move a body from one part Drag the body or use the Copy and Paste commands on the
to another Edit menu.
Move one body relative to Select the body and then move it using any of the ordinary
the others commands for moving objects. See Placing items on page 142
for more information.
Overview
As external files, libraries are merely linked from a station. Therefore, to modify an imported
library component, the link must first be broken and later reestablished.
Related information
About libraries, geometries and CAD files on page 56.
Modifying parts on page 127.
Overview
Each object has a coordinate system of its own called local coordinate system in which the
object dimensions are defined. When the objects position is referred from other coordinate
system, it is the origin of this coordinate system that is used.
With the Set Local Origin command you reposition the objects local coordinate system, not
the object itself.
use:
6. In the Position X, Y, Z boxes, either type the new position or, select it by first clicking in
one of the value boxes and then clicking the point in the graphics window.
7. Type the Orientation.
8. Click Apply.
Continued
Related information
About coordinate systems on page 49.
The Set Local Origin dialog box on page 360.
Overview
This information topic describes how to create a new mechanism, that is, a graphical
representation of a robot, tool, external axis or device. The various parts of a mechanism
move along or around axes.
Workflow
Creating a mechanism is dependent upon skillful construction of the main nodes of the tree
structure. Four of theselinks, joints, frames/tools and calibrationare initially marked red.
As each node is configured with enough subnodes to make it valid, the marking turns to
green. As soon as all nodes have become valid, the mechanism will be considered compilable
and can be created. For additional validity criteria, see the table below.
It is recommended to configure each main node in the tree structure from the top down.
Depending on its current status, right-click or double-click a node or subnode to add, edit or
remove it.
Validity criteria
The table below is an overview of the validity criteria for each node
Copyright 2007 ABB. All rights reserved.
Continued
Continued
14. In the tree structure, right-click Dependency, and then click Add Dependency to bring
up the Create Dependency dialog box.
15. Complete the Create Dependency dialog box, and then click OK.
16. If all nodes are valid, compile the mechanism, see Compiling a mechanism on page 134.
Related information
The Mechanism Modeller on page 458.
Copyright 2007 ABB. All rights reserved.
Overview
A mechanism can be compiled if its name and all its nodes are valid.
When compiling, a new mechanism, created in the create mode of the Mechanism Modeler,
is added to the station with the default name "Mechanism_" followed by an index number.
When compiling, an existing editable mechanism, modified in the modify mode of the
Mechanism Modeler, is saved without any poses, joint mapping ot transition times.
Compile a mechanism
To compile a mechanism, follow these steps:
1. To compile a new or edited mechanism, click Compile Mechanism.
The mechanism is inserted into the active station. The link parts are cloned with new
names, but the corresponding links will update their part references. When the
Mechanism modeler is closed, these cloned parts will be removed.
2. The Mechanism Modeler now switches to modify mode. To complete the mechanism, see
Modifying a mechanism on page 135.
Related information
The Mechanism Modeller on page 458.
Overview
Upon compiling a mechanism, the Mechanism Modeler enters modify mode.
Workflow
The modify mode of the Mechanism Modeler has two purposes: to enable modification of an
editable mechanism in its tree structure, and to complete the modeling of a new or modified
mechanism.
Modify a mechanism
To complete the modeling of a mechanism, follow these steps:
1. If the values in the Joint Mapping group are correct, click Set.
2. Configure the Poses grid. To add a pose, click Add and then complete the Create Pose
dialog box. Click Apply, followed by OK.
To add a pose, click Add and then complete the Create Pose dialog box. Click Apply,
followed by OK.
To edit a pose, select it in the grid, click Edit, and then complete the Modify Pose dialog
box. Click OK.
To remove a pose, select it in the grid and then click Remove.
Copyright 2007 ABB. All rights reserved.
Related information
The Mechanism Modeller on page 458.
Overview
This information topic describes how to create a robot hold tool. For information about
creating a stationary tool, see Creating and setting up a stationary tool on page 138.
A tool is a special object, for example, an arc weld gun or a gripper, that operates on the work
piece. To ensure correct motions in robot programs, the parameters of the tool have to be
specified in the tool data.
The most essential part of the tool data is the TCP, which is the position of the tool center
point relative to its mounting position. During creation of the tool, its mounting point is the
origin of the world coordinate system.
Creating a tool
You can create a robot hold tool by using the Create Tool Wizard. The wizard allows you to
easily create a tool from an existing part or by using a dummy part to represent a tool. To
create a tool complete with tooldata, follow these steps:
1. On the Create menu, click Create Tool.
2. In the Tool Name box, enter a tool name and choose one of the following options:
3. Continue entering the Mass of the tool, the Center of Gravity and the Moment of Inertia
Ix, Iy, Iz, if these values are known. If you do not know the correct values, the tool can
still be used for programing motions, but this data must be corrected before running the
program on real robots or measuting cycle times.
Tip! If the tool is built from materials with a similar density, you can find the center of
gravity by clicking the tool model using the Center of gravity snap mode.
Continued
7. Click the arrow right button to transfer the values to the TCP(s): box.
If the tool shall have several TCPs, repeat steps 5 to 7 for each TCP.
8. Click Done. The tool will be created and appear in the Objects browser and in the
graphics window.
What to do next
To make the tool ready to use, do one of the following:
Copyright 2007 ABB. All rights reserved.
To make the robot hold the tool, attach the tool to the robot. For detailed information,
see Attaching and detaching objects on page 152.
In the graphics window, check the position and orientation of the TCP. If it is incorrect,
edit the values in the tool frame part of the tooldata. For detailed information, see
Modifying tooldata on page 141.
To simplify future usage of the created tool, save it as a library. On the File menu, click
Save As Library. Browse to the folder where you want to store the tool component,
enter a name for the tool component and click Save.
Related information
Importing a robot model on page 112.
The Create Tool Wizard on page 353.
Overview
This information topic describes how to create a stationary tool. For information about
creating a robot hold tool, see Creating a robot hold tool on page 136.
Using a stationary tool, the robot holds and moves the work piece in relation to the tool. Thus,
both the tooldata and the workobject must be set up correctly.
Overview
To simulate the robot tool, you need tooldata for the tool. If you import a predefined tool, or
if you create a tool using the Create Tool Wizard, the tooldata is automatically created;
otherwise, you have to create the tooldata yourself. For detailed information on creating a tool
using the Create Tool Wizard, see Creating a robot hold tool on page 136.
The tooldata simplifies the programing work with respect to the different tools that may come
in use. Defining separate sets of tooldata for different tools makes it possible to run the same
robot program with different tools: only the new tooldata has to be defined. The tooldata
contains the information required for moving and simulating the tool.
There are different ways to create tooldata in RobotStudio. Outlined below are descriptions
of two methods:
Create tooldata using the Create Tooldata command. This will create all data
necessary for programing, but there will be no visual tool during the simulation.
Create tooldata for an existing geometry.
active task.
2. On the Create menu, click Create Tooldata. The Create Tooldata dialog box will be
displayed in the tool window at the bottom of the Elements browser.
3. In the Misc Data group:
Enter the Name of the tool.
Select whether the tool is to be held by the robot in the Robot holds tool list.
4. In the Tool Frame group:
Define the Position x, y, z of the tool.
Enter the Rotation rx, ry, rz of the tool.
Continued
Overview
The tooldata is the characteristics of the tool, for example, the position of the TCP of the tool
related to the tool0 of the robot.
Modifying tooldata
To modify the characteristics of an existing tool, follow these steps:
1. In the Elements browser, select the tooldata you want to modify.
2. On the Modify menu, click Modify Tooldata. The Modify Tooldata dialog box will be
displayed in the tool window at the bottom of the Elements browser.
3. In the Misc Data group:
Modify the Name of the tool.
Select if the tool is to be held by the robot in the Robot holds tool list.
4. In the Tool Frame group:
Modify the Position x, y, z of the tool.
Modify the Rotation rx, ry, rz of the tool.
5. In the Load Data group:
Enter a new Weight for the tool.
Copyright 2007 ABB. All rights reserved.
2.10.1. Overview
Overview
To achieve the required layout of your station, you need to import or create objects, place
them accordingly and, if applicable, attach them to other objects.
Placing objects means setting their position and rotation. If the objects are to be attached to
robots or other mechanisms, they will be placed at their attachment point automatically.
Place an object
To place an object is to put the object in the required position in the station, see Placing an
item on page 143 and Positioning an item on page 145.
Rotate an object
The objects in the station can be rotated to achieve the required layout, see Rotating an item
on page 147.
Attach an object
Objects that are to be used by the robots in any way, such as tools, need to be attached to the
Jog a robot
Robots can be placed by jogging. The robot axes can also be postioned by jogging, see
Jogging a robot on page 172.
Related information
Creating a robot hold tool on page 136.
Importing a tool on page 111.
Selecting an item on page 65.
Overview
To place an item is to move it in relation to another item in the station.
Placing an item
To place an item, follow these steps:
1. Select the item you want move, see Selecting an item on page 65.
2. On the Modify menu, click Place. The Place dialog box will be displayed in the tool
window at the bottom of the Objects browser or the Elements browser.
3. In the Place dialog box, set the reference coordinate system you want to use. For detailed
information, see Positioning an item on page 145.
4. Select how you want to place your item:
5. Click the points in the graphics window to transfer values to the from-point boxes to the
to-point boxes. For detailed information, see the links below.
6. Click Apply to perform the moves.
Continues on next page
Continued
TIP!
To open the Place dialog box, you can also do one of the following:
Right-click the object you want to move and click Place on the context menu.
Under the Selection tab at the bottom of the Objects browser, click Place.
Related information
The Place Object with Frame dialog box on page 364.
The Place Object by One Point dialog box on page 361.
The Place Object by Three Points dialog box on page 363.
The Place Object by Two Points dialog box on page 362.
Overview
The position of an item is its absolute position relative to a specified coordinate system. There
are two ways of positioning an item, by using either the freehand mode or the Set Position
dialog box.
Freehand positioning
There are two ways of freehand positioning of items:
On the Modify menu, point to Freehand Mode and click Move.
Select the item in the Elements browser or the Objects browser. Click the Move
button on the Freehand toolbar.
A coordinate system for positioning will be displayed at the item. Click one of the axes and
drag the item into position.
Positioning an item
To move an item to a specified position, follow these steps:
1. Select the item you want to move.
2. On the Modify menu, click Set Position. The Set Position dialog box will be displayed
in the tool window at the bottom of the Objects browser or the Elements browser.
Copyright 2007 ABB. All rights reserved.
3. In the Set Position dialog box, select the reference coordinate system you want to use:
4. In the Position X, Y, Z boxes, either type the new position, or select it by first clicking in
one of the value boxes and then clicking the point in the graphics window.
5. Type the Orientation for the item.
6. Click Apply to move the item.
Continued
TIP!
To open the Set Position dialog box, you can also do one of the following:
Right-click the item, either in the Objects browser or in the Elements browser, and
then click Set Position.
Under the Selection tab at the bottom of the browsers, click Set Position.
Related information
About coordinate systems on page 49.
The Set Position dialog box on page 358.
Overview
In RobotStudio you can rotate an item around an axis of a defined coordinate system or a user-
defined axis. There are two ways of rotating an item, by using either the freehand mode or the
Rotation dialog box.
Freehand rotation
To rotate an item in freehand mode, follow these steps:
1. Do one of the following:
On the View menu, point to Freehand Mode and click Rotate.
Select the item in the Elements browser or the Objects browser. Click the Rotate
button on the Freehand toolbar.
A coordinate system for rotation will be displayed at the item.
2. Click one of the rotational rings and drag the item into position.
If you press ALT when rotating an item, the rotation will snap 10 degrees at a time.
Rotating an item
To rotate an item, follow these steps:
Copyright 2007 ABB. All rights reserved.
1. Select the item you want to move, see Selecting an item on page 65.
2. On the Modify menu, click Rotate. The Rotate dialog box will be displayed in the tool
window at the bottom of the Objects browser or the Elements browser.
3. Select the reference coordinate system you want to use:
Continued
5. If you have selected the coordinate system User defined axis, specify the Axis start point
x, y, z and the Axis end point x, y, z.
6. Enter the Rotation of the item, and specify the axis around which the rotation is to take
place.
7. Click Apply to rotate the item.
Tip!
To open the Rotate dialog box, you can also do one of the following:
Right-click the item, either in the Objects browser or in the Elements browser, and
then click Rotate.
Under the Selection tab at the bottom of the browsers, click Rotate.
Related information
The Rotate dialog box on page 359.
The Freehand Mode toolbar on page 476.
Overview
The measurement functions calculates distances, angles and diameters between points you
select from the graphics window.
When using measurements, results and instructions on how to proceed are displayed in the
Output window.
TIP!
Make sure to select the appropriate snap mode and selection levels before making your
measurements.
Measuring
To measure distances or angles, follow these steps:
1. On the Tools menu, point to Measure.
2. Click the type of measurement you want to use:
angle defined by three points you select in the graphics window. Angle
The first point to select is the converging point, thereafter you
shall select one point on each line.
diameter, with the circle defined by three points you select from Diameter
the graphics window.
The mouse pointer will turn into a ruler when you have activated any of the measurement
functions.
3. In the graphics window, select the points or objects to measure between. Information
about the measuring points is displayed in the Output window.
The results will be displayed in the Measurements tab in the Output window when all
points have been selected.
Continued
4. Optionally, repeat step 3 for making a new measurement of the same type.
5. When you are done measuring, on the Tools menu, point to Measure and click the active
measurement type to quit the measurement mode.
TIP!
You can also activate and deactivate the measurement functions from the measurement
toolbar.
Related information
The Measurement toolbar on page 479.
Overview
A component group is a way of grouping objects that are related to each other to simplify the
overview in the Objects browser.
Overview
You can attach an object (child) to another object (parent). Attachments can be created on part
level and on mechanism level. When an object has been attached to a parent, moving the
parent also moves the child.
One of the most common attachments is to attach a tool to a robot.
To Click
attach the child object and move it to the Yes
Detaching an object
To detach an object that is attached to another object, follow this step:
1. In the Objects browser, right-click the attached object (child) and then click Detach. The
child will be detached from the parent and return to its position before the attachment.
Overview
Modifying the controller world repositions a controller and all its robots and equipment in the
station.
By default the controller world and the station world coordinate system coincide. This is
convenient when building a station with one single controller. However, when you have
several controllers in one station, or need to reposition a controller in an existing station, you
need to modify the controller world.
4. Specify the new location by first clicking in a coordinate box and then selecting the
position from the graphics window or by typing the coordinate values.
5. Click Apply to move the controller world to the specified location.
Related information
See Modifying the baseframe position on page 154 for information about how to move the
baseframe for one robot relative to the controllers world coordinate system.
The Set Controller World dialog box on page 414.
Overview
Modifying the baseframe position sets an offset between the controllers world coordinate
system and the baseframe of the mechanical unit. This is necessary when having several
mechanical units belonging to one controller, for example, several robots in MultiMove
systems or when using positioner external axes.
For moving the robot in a single-robot system in the station, you can move the controller
world instead. See Modifying the controller world on page 153 for more information.
Select To
Controller values Reset all changes to the baseframe made since the last time the
system was started.
Stored station values Reset all changes made to the baseframe since the last time the
station was saved.
Optionally, you can enter new values in the baseframe
coordinate boxes (relative to the controller world coordinate
system).
Use current station Read and use the current location of the baseframe.
values Optionally, you can enter new values in the baseframe
coordinate boxes (relative to the controller world coordinate
system).
6. Click OK.
Continues on next page
Continued
Related information
Modifying the controller world on page 153.
Copyright 2007 ABB. All rights reserved.
Overview
When starting a system with a track external axis in a RobotStudio station, you have to set up
the system to load a model for the track and get the motions to work properly.
Prerequisites
The system shall be created with support for track external axes. See Creating a system with
support for one robot and one track external axis on page 93 for an example of how to create
a system with support for a track external axis.
Continued
Result
Copyright 2007 ABB. All rights reserved.
The track is now added to the system and ready to be programmed. See About programing
external axes on page 256 for more information on how to program the track.
CAUTION!
If the system is cold started, the setup is deleted and the procedures described here must be
performed again.
Overview test
When starting a system with a positioner external axis in a RobotStudio station, you have to
set up the system to load a model for the positioner and to get the motions to work properly.
Prerequisites
The system shall be created with support for positioner external axes. See Setting up a
positioner external axis on page 158 for an example on how to create a system with support
for a track external axis.
Continued
individual fixtures, work pieces and workobjects to each station flange, or you can use one
set of objects that you attach and detach to the different flanges by events. See Creating an
event on page 279 for more information.
Result
The positioner is now set up and ready to be programed. See About programing external axes
on page 256 for more information.
CAUTION!
If the system is cold started, the setup is deleted and the procedures described here must be
performed again.
Overview
This is an overview of how to program a robot.
In most cases, going through the workflow from start to finish is recommended, even if it
possible to work in other sequences as well.
You can save and load text files containing RAPID modules from the synchronize command.
The synchronize command also creates RAPID programs from your station.
Prerequisites
Before creating a program for your robot, you should set up the station, including robots,
work pieces and fixtures, in which your robot will work. For detailed information, see
Workflow for building a new station on page 62.
Programing a robot
The table below describes the workflow for programing a robot to perform the task you
require.
Task Description
Create targets and paths Create the targets and paths the robot requires to perform the
Continued
Task Description
Synchronize the program Generates RAPID code from the RobotStudio items and
to the virtual controller enables the program to be simulated.
Perform text-based If you need to edit the instructions or data created by RobotStu-
editing dio, you can start the Program Editor. See Using the program
editor on page 266.
Collision detection Check that the robot or tool does not collide with the
surrounding equipment or the fixtures. If it does, adjust the
placements or orientations until no collisions occur. See About
collision detection on page 273.
Test the program Test the program by moving along the paths. See About testing
positions and motions on page 232.
Copyright 2007 ABB. All rights reserved.
Overview
A workobject is a coordinate system used to describe the position of a work piece. The
workobject consists of two frames: a user frame and an object frame. All programed positions
will be related to the object frame, which is related to the user frame, which is related to the
world coordinate system.
Continued
4. In the Object Frame group you can reposition the object frame relative to the user frame
by doing any of the following:
Set the position of the object frame by selecting values for Position x, y, z by clicking
in the Values box.
For the Rotation rx, ry, rz, select RPY (Euler XYX) or Quaternion, and enter the
rotation values in the Values dialog box.
Select the object frame by using the Frame by points dialog box, see Creating frames
by points on page 170.
Continued
5. In the Sync Properties group, enter the values for the new workobject:
In the Storage type list, select PERS or TASK PERS. Select TASK PERS if you
intend to use the workobject in MultiMove mode.
In the Module list, select the module in which to declare the workobject.
6. Click Create. The workobject will be created and displayed under the Targets node under
the robot node in the Elements browser.
TIP!
To open the Create Workobject dialog box, you can also do the following:
On the Elements toolbar, click the Create Workobject button.
Related information
The Create Workobject dialog box on page 351.
Overview
The Convert Frame to Workobject command makes it possible to create a new workobject
from an existing frame. The converted workobject gets the same name and position as the
selected frame.
Overview
A workobject is a coordinate system used to describe the position of a work piece. The
workobject consists of two frames: a user frame and an object frame. All programed positions
will be related to the object frame, which is related to the user frame, which is related to the
world coordinate system.
xx0500001519
Continued
3. In the Misc Data group, modify the values for the workobject:
Enter a Name for the workobject.
In the Robot holds workobject list, select True or False. If you select True, the robot
will move the work piece instead of the tool.
In the Moved by mechanical unit list, select the mechanical unit with which the robot
movements are coordinated. This setting is only valid when Programmed has been
set to False.
In the Programmed list, select True or False. True means that the workobject will
use a fixed coordinate system, and False that a movable coordinate system (that is,
coordinated external axes) will be used.
4. In the User Frame group, do one of the following:
Modify the user frame by entering values for the Position x, y, z and the Rotation rx,
ry, rz for the workobject.
Modify the user frame by using the Frame by points dialog box, see Creating frames
by points on page 170.
5. In the Object Frame group, do one of the following:
Modify the object frame by selecting values for Position x, y, z and Rotation rx, ry,
rz for the workobject.
Modify the object frame by using the Frame by points dialog box, see Creating
Copyright 2007 ABB. All rights reserved.
Overview
Using the Create Framedialog box, you create a frame by specfiying points on the axes of
the coordinate system and letting RobotStudio calulate the placement and orientation of the
frames origin.
Continued
Related information
Creating a workobject on page 164.
Modifying a workobject on page 168.
The Create Frame from Three Points dialog box on page 345.
Copyright 2007 ABB. All rights reserved.
Overview
To check if the robot can reach all positions on the work piece, you can jog the TCP or the
joints of the robot.
There are two ways to jog a robot:
by using the mouse in the freehand mode
by using the jog dialog boxes
NOTE: Jogging the robot close to its boundaries is best done by using the jog dialog boxes.
Prerequisites
To jog the TCP of a robot, the robots virtual controller must be running.
Jogging the TCP of a robot by using the mouse in the freehand mode
To jog the robot by using the mouse in freehand mode, follow these steps:
1. In the Objects browser, select the robot you want to move.
2. On the Motion menu, point to Freehand and click Jog Linear. A coordinate system will
Continued
TIP!
When jogging the robot to the target, you can use the freehand mode in combination with snap
mode to make the robot snap to specific positions in the geometry. For detailed information,
see Jogging a robot on page 172 and The Snap Mode toolbar on page 468.
Jogging the joints of a robot by using the mouse in the freehand mode
To jog the robot by using the mouse in freehand mode, follow these steps:
1. In the Objects browser, select the robot you want to move.
2. On the Motion menu, point to Freehand and click Jog Joint.
3. Click the joint you want to move and drag it to the preferred position.
If you press the ALT key when jogging the joints of the robot, the robot will move 10
degrees at a time. If you press the f key, the robot will move 0.1 degree at a time.
Jogging the TCP of a robot by using the Linear Jog dialog box
To jog each joint of the robot separately, follow these steps:
1. In the Objects browser, select the robot.
2. On the Motion menu, click Mechanism Linear Jog. The Linear Jog dialog box will be
displayed in the tool window at the bottom of the Objects browser.
3. Each row in the Linear Jog dialog box represents a direction or rotation for the TCP. Jog
the TCP along the preferred direction or rotation, either by clicking and dragging the bar
Copyright 2007 ABB. All rights reserved.
Continued
Jogging the joints of a robot by using the Jog Joint dialog box
To jog the joints of a robot, follow these steps:
1. In the Objects browser, select the robot.
2. On the Motion menu, click Mechanism Joint Jog. The Joint Jog dialog box will be
displayed in the tool window at the bottom of the Objects browser.
3. Each row in the Jog Joints dialog box represents a joint of the robot. Jog the joints either
by clicking and dragging the bar at each row, or by using the arrows to the right of each
row.
Set the length of each step in the Step box.
TIP!
To move the TCP or the joints of the robot by the mouse, you can also do the following:
On the Freehand toolbar, click the Jog Linear button or the Jog Joint button.
Related information
Adding a system to a station on page 101.
The Mechanism Joint Jog dialog box on page 388.
The Mechanism Linear Jog dialog box on page 390.
Jogging several mechanisms on page 175.
Overview
RobotStudio has two special functions for jogging several mechanisms at once.
Function Description
Mutlirobot jog When using multirobot jog, all selected mechanisms will follow
the TCP of the one being jogged.
Multirobot jog is available for all kinds of jogging.
Jogging with locked TCP When jogging a mechanism that moves a robot (like a track
external axis) with locked TCP, the robot will reposition so that
the position of the TCP does not change, even though its
baseframe is moved.
When jogging an external axis that moves the work object with
locked TCP, the robot will reposition so that its TCP follows the
work object in the same way as when using multirobot jog.
Locked TCP is available when jogging a mechanism that
belongs to the same task as a robot.
2. Select the jogging mode, jog one of the robots and the other ones will follow the
movement. For detailed information, see Jogging a robot on page 172.
Overview
You can create a new target manually either by entering the position for the target in the
Create Target dialog box or by clicking in the graphics window.
The target will be created in the active workobject.
Creating a target
To create a new target, follow these steps:
1. In the Elements toolbar, select the workobject in which you want to create the target.
2. On the Create menu, click Create Target. The Create Target dialog box will be
displayed in the tool window at the bottom of the Elements browser.
3. Select the Reference coordinate system you want to use to position the target:
4. In the Points box, click Add New and then click the desired position in the graphics
window to set the position of the target. You can also enter the values in the Coordinates
boxes and click Add.
5. Enter the Orientation for the target. A preliminary cross will be shown in the graphics
window at the selected position. Adjust the position, if necessary. To create the target,
click Create.
6. If you want to change the workobject for which the target is to be created, expand the
Create Target dialog box by clicking the More button. In the WorkObject list, select the
workobject in which you want to create the target.
Continued
7. If you want to change the target name from the default name, expand the Create Target
dialog box by clicking the More button and entering the new name in the Target name
box.
8. Click Create. The target will appear in the Elements browser and in the graphics window.
NOTE: The created target will not get any configuration for the robot axes. To add the
configuration values to the target, use either ModPos or the Configurations dialog box.
For detailed information, see Modifying a target with ModPos on page 181 or Setting
robot axis configuration for targets on page 187.
NOTE: If using external axes, the position of all activated external axes will be stored in
the target.
TIP!
To open the Create Target dialog box, you can also do one of the following:
Click the Create Target button in the Elements toolbar.
Under the Create Elements tab at the bottom of the Elements browser, click Create
Target.
Related information
About coordinate systems on page 49.
The Create Target dialog box on page 346.
Copyright 2007 ABB. All rights reserved.
Overview
A jointtarget is a specification of the position for the robot axes.
Creating a jointtarget
To create a jointtarget, follow these steps:
1. On the Create menu, click Create Jointtarget. The Create Jointtarget dialog box will
be displayed in the tool window at the bottom of the Elements browser.
2. If you want to change the default name of the jointtarget, enter the new name in the Name
box.
3. In the Axes Values group, do as follows:
For the Robot axes, click the Values box and then click the down arrow. The Joint
Values dialog box will be displayed. Enter the joint values in the boxes and click
Accept.
For the Joint axes, click the Values box and then click the down arrow. The Joint
Values dialog box will be displayed. Enter the joint values in the boxes and click
Accept.
4. Click Create. The jointtarget will appear in the Elements browser and in the graphics
Related information
The Create Jointtarget dialog box on page 347.
Overview
You can create a new target by jogging the robot and teaching a target at the active TCP.
Taught targets will be created with the axis configuration used when jogged to the target.
The target will be created in the active workobject.
Teaching a target
To teach a target, follow these steps:
1. In the Elements toolbar, select the workobject and tool in which you want to teach the
target.
2. Jog the robot to the preferred position, see Jogging a robot on page 172.
NOTE: To jog a robot linearly, a virtual controller must be running for that robot. For
detailed information, see Adding a system to a station on page 101.
3. On the Create menu, click Teach Target.
4. A new target will be created in the Elements browser, under the active workobject node.
In the graphics window a coordinate system will be created at the TCP position. The
configuration of the robot at the target will be saved.
NOTE: Each target is created in the active workobject. If you want to move the target to
Copyright 2007 ABB. All rights reserved.
another workobject, you must decide whether to change the position of the target or not
For detailed information, see Modifying a target position on page 180 or Modifying a
target with ModPos on page 181.
TIP!
To teach a target, you can also do the following:
In the Elements toolbar, click the Teach Target button.
TIP!
When jogging the robot to the target, you can use the freehand mode in combination with snap
mode to make the robot snap to specific positions in the geometry. For detailed information,
see Jogging a robot on page 172 and The Snap Mode toolbar on page 468.
Overview
By using the modify position command you can modify the position and rotation for a target.
Overview
The position of an existing target can be modified by jogging the robot to a new, preferred
position. By selecting a move instruction for the target in a path, the ModPos command can
be used to move the target to the TCP of the active tool.
When ModPos is executed, the target, referenced to by the move instruction, will be updated
with the following information:
position and orientation corresponding to the TCP of the active tool
the current configuration of the active robot
the current position and orientation values of all active external axes for the active
robot
NOTE: To jog a robot linearly, a virtual controller must be running for that robot. For detailed
information, see Adding a system to a station on page 101.
2. In the Elements browser, select the move instruction you want to modify. On the Modify
menu, click ModPos.
3. If the tool stored in the move instruction differs from the active tool, a warning will be
shown. If you click Cancel, the command will not be executed.
4. If you click OK, the move instruction will be updated with the TCP of the active tool. The
target referenced to by the move instruction will be moved in the graphics window, and
the move instruction will be updated with:
the position and orientation of the target (corresponding to the active TCP)
the current robot configuration
the current values for all external axes for the active robot
Continued
TIP!
The ModPos command can also be executed as follows:
Jog to the preferred position. In the Elements browser, right-click the move
instruction you want to modify, and then click ModPos.
Related information
Teaching targets on page 179.
Overview
The create path from curve command generates paths, complete with targets and instructions
along existing curves.
The path will be created in the active task.
The orientation of the targets that will be created will be according to the settings of the
approach/travel vectors in the Options dialog box. For detailed information, see Robotics on
page 454.
Prerequisites
To create a path from a curve, the following condition must be met:
A curve must have been created in the station, see Creating curves on page 120.
3. In the Select curves from graphics box, click Add New and then click the requested
curve in the graphics window.
4. Select Create on curve or Reference surface:
To Select
ensure that the path is generated on the Create on curve
curve.
If cleared, the path may be generated on the
reference surface, if one is used.
use a reference surface. Reference Surface
The initial orientation of the target will be
normal to the surface, and the parameters of
the target will relate to this orientation.
Continued
5. Select the workobject in which targets are to be created from the Insert targets in
workobject list.
6. Set the Target Parameters:
To Enter values in
specify the rotation around the X axis. Approach
specify the rotation around the Y axis. Travel
specify the rotation around the Z axis. Spin
create a start target at the specified distance Approach
from the first target on the curve, in the
approach direction.
create a departure target at the specified Depart
distance from the last target on the curve, in
the approach direction.
start the path at a different location along the Offset Start
curve than the start point.
end the path at a different location along the Offset End
curve than the end point.
create an offset which will be the same at Local Target Offset
every target along the path.
Continued
8. Click Create. The path and its targets appear in the Elements browser and in the graphics
window.
TIP!
To open the Create Path From Curve dialog box, you can also do the following:
Copyright 2007 ABB. All rights reserved.
Under the Create Elements tab at the bottom of the Elements browser, click Create
Path From Curve.
NOTE!
The targets created do not have any robot axis configurations set, which is required for use in
programs with configuration monitoring. For information about setting robot axes
configurations, see Setting robot axis configuration for targets on page 187.
Related information
The Create Path From Curve dialog box on page 356.
About robot axis configurations on page 52.
Overview
A path is a sequence of targets with move instructions that the robot follows. This topic
describes how to create paths manually.
If the work piece has curves or contours that correspond to the path to be created, you can
create the paths automatically. For detailed information, see Creating a path from curves on
page 183.
The path will be created in the active task.
Related information
Teaching targets on page 179.
Overview
The robot axis configuration specifies the position of the axes as the robot moves from target
to target, when multiple solutions are possible. This is necessary for executing move
instructions using configuration monitoring.
Taught targets have validated configurations, but targets created in any other way do not.
Also, targets that are repositioned lose their configuration. In RobotStudio, targets without a
valid configuration are marked with a yellow warning symbol. See About robot axis
configurations on page 52 for more information about configurations.
Continued
Related information
Creating an action instruction on page 219.
Overview
With this command you can change the name of several targets at once. You can either rename
targets individually, or you can rename all targets in one or several paths at once.
The new target names will consist of an optional prefix, an incremental number and an
optional suffix.
Renaming targets
To rename the targets in one or several paths, follow these steps:
Copyright 2007 ABB. All rights reserved.
Overview
If deleting or changing paths or move instructions during programing, you might end up with
large numbers of targets that are no longer used in any instructions. To make the workobjects
and their targets easier to grasp, you can delete all unused targets.
Overview
This is an overview of the tools for automating the modification of target orientations.
When creating paths from curves in RobotStudio, the orientation of the targets depends on the
characteristics of the curves and the surrounding surfaces. Below is an example of a path with
unordered target orientations and examples of how the different tools have affected the
targets.
Unordered orientations
In the path below, the target orientations are unordered. The function View tool at target has
been used for illustrating how the targets point in different directions.
Copyright 2007 ABB. All rights reserved.
xx0500001864
Continued
xx0500001865
Continued
xx0500001866
Copyright 2007 ABB. All rights reserved.
Continued
xx0500001867
Overview
To set a target orientation normal to a surface is to make it perpendicular to the surface. The
target can be oriented normal to the surface in two different ways:
The entire surface can be used as a reference for the normal. The target will be oriented
as the normal to the closest point at the surface. The entire surface is the default surface
reference.
A specific point on the surface can be used as the reference for the normal. The target
will be orientated as the normal to this point, regardless of whether the normal to the
closest point at the surface has another orientation.
Objects imported without geometry (for example, .jt files) can only refer to specific points on
the surface.
xx0500001865
Continued
Related information
The Set Normal To Surface dialog box on page 368.
Overview
With the align target orientation command you align the rotation of selected targets around
one axis without changing the rotation around the others.
TIP!
You can also align ordinary frames in the same way.
xx0500001866
Continued
3. In the Reference box, specify the target whose orientation you want to use as reference.
TIP: Click in the box, then select the target either from the graphics view or the Elements
browser.
4. In the Align Axis box, select the axis whose orientation you want to copy from the
reference target to the selected ones.
5. In the Lock Axis box, select the axis to rotate the target around. The orientation of this
axis will not be changed on the targets. For example, if the Z axis of all targets are
orientated normally to the surface of the work piece and you want to keep it this way, you
should lock the Z axis.
6. Click Apply to change the targets orientation.
TIP: You can change the Align and Lock axis and click Apply again to reorientate the
targets until you deselect them.
Related information
Copying and applying orientations for a targets on page 200.
Setting the target orientation normal to a surface on page 195.
Different ways to modify target orientations on page 191.
Overview
To transfer an orientation from one object to another is an easy way to align different frames
for simplifying the programing of the robot.
Tip!
You can also copy and apply an orientation from one object to another by following these
steps:
1. In the Objects browser, right-click the object from which to copy the orientation, and then
click Copy Orientation.
2. In the Objects browser, right-click the object to which to copy the orientation, and then
Copyright 2007 ABB. All rights reserved.
Overview
An easy way to make sure that targets have the same orientation is to use the copy and apply
orientation commands.
Continued
Tip!
To copy and apply an orientation for a target, you can also follow these steps:
1. In the Elements browser, right-click the source target, and then click Copy Orientation.
2. In the Elements browser, right-click the target onto which the orientation will be applied,
and then click Apply Orientation.
Related information
Aligning target or frame orientation on page 197.
Setting the target orientation normal to a surface on page 195.
Copyright 2007 ABB. All rights reserved.
Overview
The reverse path commands change the sequence of targets in the path so that the robot moves
from the last target to the first. When reversing paths, you can reverse either the target
sequence alone or the entire motion process.
The table below describes the differences in the reversing commands:
Reversing func-
Description
tion
None This is the original path, before reversing.
xx0500002040
Simple With Simple, you reverse only the target sequence. The new path will
keep the move instruction for each path segment and just reverse the
programed positions.
Note that move instructions are not changed, just the targets. Even the
MoveAbsJ instruction to the joint target is preserved, but placed last.
Continued
Reversing func-
Description
tion
Advanced With Advanced, both target sequence and move instructions are
reversed in a way that corresponds to recording the robot movements
and playing the movie backwards. For example, if the robot used a
linear motion to move from a target, it will use a linear motion to move
to the target after the reversal.
xx0500002042
Note that the move instructions have changed together with the
targets. For example, in the original path, a joint motion was used to
reach target 20 and a linear motion to leave it. After the reversal there
is a linear motion to the target and joint motion from it.
Also, note that the joint target has been converted into an ordinary
target; otherwise, it would not be possible to program a linear motion
to that position.
NOTE!
When reversing paths, the original paths are deleted. If you want to keep them, make copies
before reversal.
Copyright 2007 ABB. All rights reserved.
NOTE!
When reversing paths, only move instructions are handled. Action instructions, if any exist,
have to be inserted manually after the reversal.
Reversing paths
To reverse one or several paths, follow these steps:
1. In the graphics window or the Elements browser, select the paths to reverse.
2. On the Modify menu, point to Path, reverse and click either Simple or Advanced.
Overview
With the rotate path command you can rotate complete paths and move the targets used by
the paths accordingly. When rotating paths, the included targets will lose their axis
configurations, if any have been assigned.
Prerequisite
A frame or target must exist at the position to rotate around before starting the rotate path
command.
To rotate paths
To rotate one or several paths, follow these steps
1. In the Elements browser or the graphics window, select the paths to rotate.
2. On the Modify menu, point to Paths and click Rotate path.
The Rotate path dialog box will be displayed in the tool window at the bottom of the
Elements browser.
3. In the Reference frame list, select the frame to rotate the paths around.
Select To
4. If Selected frame was selected in the Reference frame list, specify a frame or target in
the text box by clicking in the box and then selecting the frame in the graphics window.
5. With the Rotation axis options, select the axis of the frame to rotate around.
Continued
Overview
The translate path function moves a path and all included targets.
Translating a path
To translate a path, follow these steps:
1. In the Elements browser or the graphics window, select the paths to translate.
2. On the Modify menu, point to Paths and click Translate path.
The Translate path dialog box will be displayed in the tool window at the bottom of the
Elements browser.
3. In the Reference frame list, select the coordinate system to use as reference for moving
the paths.
Select To
World move relative to the origin of the world coordinate system
Baseframe move relative to the origin of the robots baseframe
Workobject move relative to the origin of the workobject selected in the
Elements toolbar.
UCS move relative to the origin of a frame or target that previously
4. If Select frame was selected in the Reference frame list, specify a frame or target in the
text box by clicking in the box and then selecting the frame from the graphics window.
Continued
5. In the Translation vector box, specify the distance to move the path along the X, Y and
Z axes of the reference frame.
Translation vector is applicable only if a reference frame is used. If Point to Point is used
as reference, specify the start and end points for the translation, instead. To do this, click
in one of the boxes for the point to specify and then select the point in the graphics
window, or type the coordinates of the point.
6. Click Apply to perform the translation.
Copyright 2007 ABB. All rights reserved.
Overview
The interpolate functions reorient the targets in a path so that the difference in orientation
between the start and end targets is distributed evenly among the targets in between. The
interpolation can be either linear or absolute.
No interpolation
This is the path before any interpolation. Note that the last target is oriented differently than
the others.
Linear interpolation
This is the same path after linear interpolation.
xx0500002030
Continued
Note that the targets are oriented based on their placement relative to the start and end targets.
If a target were moved and you reran the linear interpolation, it would be reoriented according
to its new position.
If new targets were inserted between the existing ones and you reran the linear interpolation,
it would not affect the orientation of the existing targets.
Absolute interpolation
This is the same path after absolute interpolation
xx0500002031
Note that the targets are orientated based on their sequence in the path: each target has been
reoriented equally, regardless of its place.
If a target were moved and you reran the absolute interpolation, it would not affect the
orientation.
If new targets were inserted between the existing ones and you reran the absolute
interpolation, it would change the orientation of all targets.
Copyright 2007 ABB. All rights reserved.
Continued
4. If using the Select Start/End option, select the start and end targets for the interpolation
in the Start target and End target boxes, respectively.
5. Optionally, with the Lock Axis options, select an axis to not change the orientation
around.
6. Click Apply to perform the reorientation.
Overview
With the Tool Compensation command you offset a path so that it compensates for the radius
of a rotating tool. Since the targets in the path are moved, they will lose their axis
configurations, if any have been assigned.
Related information
Copyright 2007 ABB. All rights reserved.
3.10.1. Overview
Method Description
Creating a move instruction Creates move instructions based on one or several targets
based on an existing target selected in the Elements browser.
on page 213
Creating a move instruction Creates a move instruction and a corresponding target at
and a corresponding target once. The position of the target can either be selected from the
on page 214 graphics window or typed numerically.
Teaching a move instruction Teaching a move instruction creates a move instruction and a
on page 215 corresponding target at the robots current position. Teaching
a move instruction also stores the current configuration with
the target.
Prerequisites
The path in which you want to create the move instruction must have been created. For
detailed information, see Creating a path on page 186.
Copyright 2007 ABB. All rights reserved.
Continued
TIP!
You can also create the move instruction by right-clicking the target and selecting any of the
Add to Path commands.
Continued
TIP!
To open the Create Move Instruction dialog box, you can also do one of the following:
On the Elements toolbar, click the Create Move Instruction button.
Under the Create Elements tab at the bottom of the Elements browser, click Create
Move Instruction.
Related information
Creating targets on page 176.
The Create Move Instruction dialog box on page 348.
The Elements toolbar on page 477.
Copyright 2007 ABB. All rights reserved.
Overview
Most instructions have arguments that specify how the instruction shall be carried out. For
example, the MoveL instruction has arguments that specify the speed and accuracy with
which the robot moves to the target.
NOTE!
Some arguments are read from the virtual controller. If the virtual controller has not been
started, only the arguments stored in the station can be modified.
Modifying an instruction
To modify an instruction, follow these steps:
1. In the Elements browser, select the instruction you want to modify. If you want to apply
the same properties to several instructions, press the CTRL key and select them.
2. On the Modify menu, click Modify Instruction. The Modify Instruction dialog box will
be displayed in the tool window at the bottom of the Elements browser.
3. For move instructions, select joint or linear motion in the Motion type list. To set the
motion type to circular, see Creating a circular motion on page 218.
4. In the Instruction Argument group, modify the values for the instruction.
Continued
TIP!
To open the Modify Instruction dialog box, you can also do one of the following:
Right-click the instruction you want to modify, and then click Modify Instruction.
Under the Selection tab at the bottom of the Elements browser, click Modify
Instruction.
Overview
To create a circular motion to an instruction target, you must convert the motion type to
circular motion (that is, MoveC in RAPID).
A circular motion is defined by two motion instructions, where the first is the via-point and
the second contains the end point of the circular motion.
The circular motion can only be used for open circular arcs, not for closed circles. To create
a path for a closed circle, use two circular motions.
Prerequisites
To create a circular motion, the following conditions must be met:
At least two targets, the via-point target and the end point target, must have been
created. For detailed information, see Creating targets on page 176.
A path containing at least the via-point target and the end point target, in correct order,
must have been created. For detailed information, see Creating a path on page 186.
Overview
An action instruction is an instruction other than a move instruction. For example,
instructions can set parameters, or activate or deactivate equipment and functions.
Continued
Overview
For controlling I/O signals in the robot program, you use RAPID commands that set the
signals. These can be created either through the RAPID editor in RobotStudioOnline, or
directly in RobotStudio if you first create instruction templates for the instructions that set the
signals. See the RAPID reference manual for details about the instructions that control I/O
signals.
You can also create cross-connections and signal groups, which make one signal set the value
of several other signals. See the System parameters reference manual for details about cross-
connections and groups.
Controller back to the station. See Synchronization on page 264 for detailed instructions.
To use instruction templates to create RAPID instructions for setting I/O signals
To add RAPID instructions that set I/O signals, follow these steps:
1. On the Create menu, click Create Instruction Template and create instruction templates
for the RAPID instructions that set I/O signals (these are not part of the default set of
instruction templates). See Creating action instruction templates on page 224 for detailed
instructions.
2. Insert the action instructions that set the signals in your paths. See Creating an action
instruction on page 219 for detailed instructions.
Continued
Related information
For information about setting I/O signals during simulations and simulating signals set by
external equipment, see Simulating I/O signals on page 280.
For information about the content and function of the Event manager, see The Event manager
and Create New Event Wizard on page 394.
Overview
Editing instruction templates is done same way for both action instruction templates and
move instruction templates.
Related information
The instruction templates page on page 305.
The Rapid Reference manual, for detailed information about the instructions to make
templates for and their arguments. If the system contains software options, instructions
belonging to the option are described in the options manual.
Creating move instruction templates on page 226.
Creating action instruction templates on page 224.
Importing, exporting and validating templates on page 230.
Overview
Instruction templates contain predefined sets of argument values that are applied to the
instructions you create using the template. You can create templates for all instructions in the
system running on the virtual controller. To see which instructions are available and what
their arguments do, see the RAPID reference manual for your RobotWare version and the
reference sections in manuals for software options, if you have any installed on the system.
Action instruction templates are for all instructions that do not involve motions. For
information about creating templates for move instructions, see Creating move instruction
templates on page 226.
Prerequisite
When creating instruction descriptions, the virtual controller must be running, since the
available instruction types are read from the system.
Continued
4. In the Create Action Instruction Template dialog box, enter a name for the new
template and click Create. The new template is now created under the instruction
description node it belongs to.
5. Select the new template and in the arguments grid to the right of the tree view, set the
argument values that shall be applied when you create new instructions based on the
template. Finish by clicking Apply changes at the bottom of the grid.
For details about available arguments and what they do, see the RAPID reference manual
for ordinary RAPID instructions and the option manual for software option instructions.
Related information
The instruction templates page on page 305.
Importing, exporting and validating templates on page 230.
The Rapid Reference manual, for detailed information about the instructions to make
templates for and their arguments. If the system contains software options, instructions
belonging to the option are described in the options manual.
Overview
Instruction templates contain predefined sets of argument values that are applied to the
instructions you create using the template. You can create templates for all instructions in the
system running on the virtual controller. To see which instructions are available and what
their arguments do, see the RAPID reference manual for your RobotWare version and the
reference sections in manuals for software options, if you have any installed on the system.
Move instruction templates are for all instructions that involve motions. For information
about creating templates for other instructions, see Creating action instruction templates on
page 224.
Prerequisite
When creating instruction descriptions, the virtual controller must be running, since the
available instruction types are read from the system.
Continued
view, set the argument values that shall be applied when you create new instructions based
on the template. Finish for each template by clicking Apply changes at the bottom of the
grid.
For details about available arguments and what they do, see the RAPID reference manual
for ordinary RAPID instructions and the option manual for software option instructions.
Continued
Continued
Related information
Creating action instruction templates on page 224.
The instruction templates page on page 305.
Importing, exporting and validating templates on page 230.
The Rapid Reference manual, for detailed information about the instructions to make
templates for and their arguments. If the system contains software options, instructions
belonging to the option are described in the options manual.
Copyright 2007 ABB. All rights reserved.
Overview
Templates can be imported and exported on four levels: tasks, move instruction descriptions,
action instruction descriptions and process definitions.
The default directory for imported and exported template files is My Documents/RobotStudio.
Simply choosing another directory will then make that directory default. The default file
format is .xml.
Importing a template
To import a template file, follow these steps:
1. On the Instruction template page, click Import to bring up the Open File dialog box.
2. Select the file to import, and click OK.
Exporting a template
To export a template file, follow these steps:
1. On the Instruction template page, select an exportable node in the tree view and click
Export to bring up the Save File dialog box.
2. Click OK.
Continued
Related information
Editing instruction templates on page 223.
Creating action instruction templates on page 224.
Creating move instruction templates on page 226.
The instruction templates page on page 305.
Copyright 2007 ABB. All rights reserved.
Overview
RobotStudio has several functions for testing how robots reach and move to targets. They are
useful both for finding the optimal layout when building a station and during programing.
Below are brief descriptions of the functions for testing reachability and motions.
Checking reachability
The check reachability function displays whether the robot can reach selected targets and
motion instructions by changing the frames colors in the graphic view. Reachable frames are
colored green, unreachable red, and frames with reachable positions but not with current
orientation are colored yellow.
The reachability check is useful when building the station, since the reachability of several
targets are displayed at once. For detailed information see, Checking reachability on page
235.
Jumping to target
Jump to target tests whether the robot can reach a specific position. This is useful when
Continued
Moving to a pose
Moving to a pose moves a mechanism to a predefined joint value at a predefined time without
using the Virtual Controller. This is useful when movement of the external equipment (such
as a clamp or conveyer) must be simulated. For detailed information, see Moving to a pose
Copyright 2007 ABB. All rights reserved.
on page 241.
Simulating programs
Simulating programs involves running a program on the virtual controller as it is run on a real
controller. It is the most complete test whereby you can see how the robot interacts with
external equipment through events and I/O signals. For detailed information, see Setting up
and running a simulation on page 271.
Continued
Related information
Importing a robot model on page 112.
Creating a path on page 186.
Creating targets on page 176.
Adding a system to a station on page 101.
Modifying orientations on page 191.
Placing items on page 142.
Improving the reachability on page 244.
Overview
The check reachability function displays whether the robot can reach selected targets and
motion instructions by changing the frames colors in the graphic view. Reachable frames are
colored green, unreachable red, and frames with reachable positions but not with current
orientation are colored yellow.
Continued
Related information
The Reachability dialog box on page 391.
About testing positions and motions on page 232.
Overview
To get a better view of the orientation, a temporary copy of the tool can be displayed at each
target as though the robot was moved to it.
Prerequisites
To view a tool at a target, the following conditions must be met:
A tool must exist in the station. For detailed information, see Importing a library
component or a geometry on page 108 or Creating a robot hold tool on page 136.
At least one target must exist in the station. For detailed information, see Creating
targets on page 176.
the Elements browser, it is easy to see how the tool orientation changes.
3. To turn the function off, go to the View menu and clear the View Tool at Target check
box.
Related information
About testing positions and motions on page 232.
Overview
The Jump to target command positions the robot at the target, without testing if the motion
from the current position to the target is possible.
The Jump to target command is used on one target a time. For a continuous display of how
the robot reaches targets, use View robot at target. For more information, see Viewing a robot
at a target on page 239.
Jumping to a target
To position a robot at a target, follow these steps:
1. In the Elements browser, browse to the target to jump to through the Controller, Tasks
and WorkObjects nodes.
2. On the Motion menu, click Jump to target.
If the target has a valid configuration for the robot axes stored, the active TCP of the robot
will immediately be positioned at the target. If no valid configuration is stored, the Select
Robot configuration dialog box is displayed.
3. In the Select Robot Configuration dialog box, select a suitable configuration solution
and click Apply. The selected configuration is now stored with the target.
NOTE!
You can deactivate the configuration check when jumping to targets. The robot will then use
the configuration solution closest to the current one when reaching the target. For more
information, see The Options dialog box on page 447.
Related information
About testing positions and motions on page 232.
Improving the reachability on page 244.
Adding a system to a station on page 101.
About robot axis configurations on page 52.
Overview
When View robot at target is activated, the robot is automatically positioned with the tool at
the target when one is selected. If several robot axis configurations are possible for reaching
the target, the robot will use the one nearest the configuration it had before jumping to the
target.
Related information
About testing positions and motions on page 232.
Jumping to a target on page 238.
Copyright 2007 ABB. All rights reserved.
Overview
The move along path command is useful to check that the robot reaches all targets in a path
using the programed motion properties. It executes all motion instructions in the path in the
order in which they are inserted.
Prerequisites
To use the move along path command, the following conditions must be met:
At least one path must have been created in the station. For detailed information, see
Creating a path from curves on page 183 or Creating a path on page 186.
A virtual controller must be running for the robot to move along the path.
Related information
Overview
Moving to a pose moves a mechanism to a predefined joint value at a predefined time without
using the Virtual Controller. This is useful when movement of the external equipment (such
as a clamp or conveyer) must be simulated.
Prerequisites
At least one joint position must be defined.
Only one mechanism may be selected at a time.
Moving to a pose
To move to a pose, follow these steps:
1. In the Elements browser, select one mechanism to move.
2. On the Motion menu, point to Move to Pose and then click one of the available poses. In
the graphics window, the mechanism will move to the pose.
Related information
About testing positions and motions on page 232.
Copyright 2007 ABB. All rights reserved.
Overview
The Execute move instruction command is useful to check that the robot can reach a target
using the motion properties in a move instruction.
Prerequisites
To use the Execute move instruction command, the following conditions must be met:
The move instruction must exist, see Creating move instructions on page 213.
A virtual controller must be running for the robot with the move instruction, see
Adding a system to a station on page 101.
Overview
The Jump to home command moves the robot to its home position, which is the position with
neutral configuration values for all joints it had when the system was started for the first time.
If the system uses external axes, these will be moved to their home position as well.
Jumping to home
To jump the robot and all other mechanisms of the controller to their home positions, follow
these steps:
1. Select the robot to move to its home position.
2. On the Motion menu, click Jump to home.
Copyright 2007 ABB. All rights reserved.
Overview
If you are not satisfied with the results of the reachability tests, try the following actions for
improving the reachability.
Normal workflow
This is the typical workflow for creating MutliMove programs using the MultiMove function:
Action Description
Preparing the station Make sure the prerequisites for running MultiMove are
fulfilled, see Prerequisites on page 245.
Setting up the MultiMove Select the robots and paths to use in the program, see
Setting up the MultiMove on page 247.
Tuning motion behavior Tune motion behavior, such as tolerances and constraints
for TCP motions, see Adjusting the motion behavior on
page 249.
Copyright 2007 ABB. All rights reserved.
Creating the Program Generate the tasks for the robots, see Creating paths on
page 254.
Prerequisites
For using the MultiMove functions you must first have the following:
A virtual controller running a MultiMove system started in RobotStudio. See Creating
a MultiMove system with two coordinated robots on page 90 for an example of how
to create a MultiMove system.
All coordinate systems and tools used by the system.
The paths along which the tool shall move. The paths must be created in a workobject
that belongs to a tool robot and is attached to the work piece robot. A wizard will guide
you through attaching the workobjects if this has not been done before starting the
MultiMove functions.
Continued
For detailed information about MultiMove in RobotWare systems and RAPID programs, see
the MultiMove application manual.
Overview
When setting up the MultiMove, you specify the robots and paths to use in the program. The
setup contains three procedures:
Selecting Robots on page 247.
Selecting Paths on page 247.
Testing Paths on page 253.
Selecting Robots
This procedure is for selecting the robots in the station that shall be used for the MutliMove
program. All robots for the MultiMove program must belong to the same system.
1. To open the Setup page, click Setup bar below the MutliMove work area.
2. In the work area, click the System config bar for expanding the system config section.
3. In the Select System box, select the system that contains the robots to program.
The robots of the selected system are now displayed in the System grid below the Select
system box.
4. For each robot that shall be used in the program, select the check box in the Enable
column.
Copyright 2007 ABB. All rights reserved.
5. For each robot that shall be used in the program, specify whether it carries the tool or the
work piece using the options in the Carrier column.
Selecting Paths
This procedure is for selecting the paths the robots shall move along. You select among the
paths of the tool robot.
1. In the work area, click the Path config bar for expanding the path config section.
2. Select the Enable check box for the tool robot and click the expand button. This displays
the paths of the robot.
3. Select the order of the paths to execute by specifying them in right order using Path name
column.
4. For each path that shall be included in the program, select the check box in the Enable
column.
Continues on next page
Continued
Result
When you have set up the robots and paths, continue testing the Multimove and then tune the
motion properties, if necessary, see Testing the Multimove on page 253 and Adjusting the
motion behavior on page 249.
Overview
Adjusting the motion behavior means to set up rules for the robots motions, for example,
constraints on the position or orientation of the tool. Generally, the MultiMove program will
obtain the smoothest motions with the fastest cycle and process times with as few constraints
as possible.
For information about the configurable motion behaviors, see The Motion behavior page on
page 431.
lower value will restrict, and a higher value promote, motions on that axis.
Continued
3. For each pose you want to constrain, select the Enable check box and specify the
constraint values (location in the TCP coordinate system). To use the values from the
current TCP position, click Pick from TCP.
4. Optionally, adjust the Weight value for the constraint. A lower value results in a harder
constraint, while a higher value will allow a larger deviation.
Continued
Result
After changing the motion behavior, test the MultiMove. When you are satisfied with the
result, continue creating the program. See Testing the Multimove on page 253 and Creating
paths on page 254, respectively.
Copyright 2007 ABB. All rights reserved.
Overview
From the MultiTeach page you teach complete synchronized move instructions to the robots
in the MultiMove program.
Overview
Testing the MultiMove executes the motion instructions along the paths according to the
current settings on the setup and motions properties pages.
Testing Paths
This procedure is for setting the robots start position and testing the resulting movements
along the path sequence.
1. Jog the robots to what seems to be a good start position.
2. Click the Test tab at the bottom of the MultiMove work area for displaying the test area.
3. Optionally, select the Stop at end check box to make the simulation stop after moving
along the paths. Clearing this check box makes the simulation continue in a loop until you
click Pause.
4. Click Play to simulate the motions along the paths based on the current start position.
If you are satisfied with the motions, continue generating multimove paths, see Creating
paths on page 254. If the simulation cannot complete or if you are not satisfied with the
motions, pause the simulation and perform any of the actions below to adjust the motions:
Action Description
Copyright 2007 ABB. All rights reserved.
Examine the robots positions Click Pause and then use the arrow buttons to move to one
for critical targets. target a time.
Jog the robots to new start New start positions might result in changed motions, since the
positions. robots will use different configurations. In most cases,
positions near the robots joint limits shall be avoided.
Go to the Motion Properties The default setting for the motion properties is no constraints.
page and remove con- If this has been changed, constraints might exist that limit
straints. motions more than necessary.
Overview
When you are satisfied with the motions displayed when testing the Multimove program, the
next step is to convert the temporary move instructions used by the MultiMove function to
ordinary paths in RobotStudio.
Box Description
Start ID Specify the first ID number for the synchronization of the instruc-
tions for the robots.
ID step index Specify the gap between the succeeding ID numbers.
Sync ident prefix Specify a prefix for the syncident variable, which connects the
sync instructions in the tasks for the tool robot and the work
piece robot with each other.
4. Expand the WP Robot Settings group by clicking on its title bar and then check the
settings in the following boxes:
Box Description
WP Workobject Specify the work object to which the targets generated for the
work piece robot shall belong.
WP TCP Specify which tool data the work piece robot shall use when
reaching its targets.
Path prefix Specify a prefix for the generated paths here.
Target prefix Specify a prefix for the generated targets here.
5. Expand the Generate path group by clicking on its title bar and then click Create Paths.
Overview
In addition to using the functions that calculate and create optimized MulitMove paths, you
can program MulitMove manaully using a combination of the ordinary programing tools in
RobotStudio and a set of tools specific for MultiMove programing.
The main actions for programing MulitMove manually are outlined below. Not all actions
might be necessary, but the order in which they shall be carried out depends on the contents
of the station and your goals.
Action Description
Preparing the station Make sure that necessary work objects and tools are set
up in the station.
Creating Tasklists and This data specifies the tasks and paths that shall be syn-
Syncidents chronized with each other. See The Create Tasklist tool on
page 445 and the The Create SyncIdent tool on page 446,
respectively.
Adding and updating ID To add IDs to the intructions, you can use one of the
arguments to the instructions to following methods:
synchronize Using the Recalculate IDs tool to add and update IDs for
Copyright 2007 ABB. All rights reserved.
Overview
This is a brief overview of the functions and commands for programing external axes in
RobotStudio. For a more detailed description of external axes and how to program them, see
the product manual for the external axis to use and the RAPID reference manual.
Coordinated motions
Normally, external axes are used to move the workpiece, the robot or any other mechanism.
The motions of an external axis can be coordinated with those of a robot in two ways,
depending on the task in which the external axis is defined.
Continued
Overview
Activating a mechanical unit makes it controlled and monitored by the controller.
Consequently, the mechanical unit must be activated before programing or running programs.
If a system uses several external axes or interchangeable models with several work stations,
several mechanical units might share common drive units. If this is the case, you must make
sure to set the mechanical unit to use as active.
For more information about activating and deactivating mechanical units, see the RAPID
reference manual on the instructions ActUnit and DeactUnit.
Activating and deactivating mechanical units can be done either manually or
programmatically by RAPID instructions.
Continued
4. In the Instruction Arguments grid and the MechUnit list, select the unit to activate or
deactivate.
5. Click Create. When the path is executed either through the Move along path command,
or running the RAPID program, the instruction will be carried out.
Related information
The Activate Mechanical Units dialog box on page 410.
The Create Action Instruction dialog box on page 350.
Setting up a positioner external axis on page 158.
Setting up a a track external axis on page 156.
Copyright 2007 ABB. All rights reserved.
Overview
When targets are created in stations with a coordinated external axis, the position values of
the external axis are stored in the target. With the Modify External Axis function you can
reposition the external axis, thus making it possible for the robot to reach the target in new
ways.
Prerequisites
To modify the external axis values for a target, the following conditions must be met:
The external axis must be added to the system and set up correctly. For examples of
how to add support for an external axis to a system, see Creating a system with support
for one robot and one track external axis on page 93 and Creating a system with
support for one robot and one positioner external axis on page 95. For information
about how to set up an external axis in a RobotStudio station, see Setting up a a track
external axis on page 156 and Setting up a positioner external axis on page 158.
The external axis must be defined in the same task as the robot.
The external axis must be activated. For information about how to activate external
axes, see Activating and deactivating mechanical units on page 258.
Continued
Action Description
Type a new position value In the Eax column, select the value of the external axis you want
for an axis to edit, and enter the new value.
Jog the axis to the new Use the arrow buttons to the left of the Joint Values column for
position jogging the axis. Then click the right arrow button between the
Joint values column and the Eax column to transfer the current
joint value to the Eax value.
4. Click Apply.
Related information
About robot axis configurations on page 52.
Copyright 2007 ABB. All rights reserved.
Overview
RAPID programs and modules are normally stored in the RobotWare systems, as they are
created. You can also save the programs to files on the PC, which makes it possible to load
them to other controllers, either other virtual controllers or real IRC5 controllers.
Loading a program
To load a program, follow these steps:
1. On the Program menu, click Load Program. The Open dialog box will be displayed.
2. Browse to the location of the program to be loaded to your station and click Open.
Saving a program
To save a program, follow these steps:
Creating a module
To create a new module for a selected task, follow these steps:
1. On the Program menu, click New Module. The Create New Module dialog box will be
displayed.
2. Select the module type and permission and click Create.
Continued
Loading a module
To load a module, follow these steps:
1. On the Program menu, click Load Module. The Open dialog box will be displayed.
2. Browse to the location of the module to be loaded to your station and click Open.
Saving a module
To save a module, follow these steps:
1. On the Program menu, click Save Module As. The Save As dialog box will be displayed.
2. Browse to the location of the module to be loaded to your station and click Save.
Copyright 2007 ABB. All rights reserved.
3.14. Synchronization
Overview
To synchronize is to make sure that the RAPID program in the system running on the virtual
controller corresponds to the programs in RobotStudio. You can synchronize both from
RobotStudio to the virtual controller and from the virtual controller to RobotStudio.
In a RobotStudio station, robot positions and movements are defined by targets and move
instructions in paths. These correspond to data declarations and RAPID instructions in the
modules of the RAPID program. By synchronizing the station to the virtual controller, you
create RAPID code out of the data in the station. By synchronizing the virtual controller to
the station, you create paths and targets out of the RAPID program in the system running on
the virtual controller.
Continued
Related information
The Synchronize to Station dialog box on page 427.
Copyright 2007 ABB. All rights reserved.
Overview
The integrated program editor is useful for editing all robot tasks other than robot motion.
This section provides instructions on launching the editor and case examples illustrating
several useful functions, such as keyboard shortcuts, IntelliSense, code snippets and the
watch window.
Continued
1. Place the caret on the new statement and press F9 to set a breakpoint.
The breakpoint, indicated by a grey circle, is stored in the editor until changes are applied,
whereupon it turns red.
2. Ensure that the Ignore breakpoints button in the Program editor toolbar is not clicked,
and click the Play button on the Simulation toolbar.
The program will run and then stop at the breakpoint.
3. To run the program statement by statement, click the Step over button in the Program
editor toolbar.
Continued
Related information
Function Description
Play simulations Simulations run entire robot programs on virtual controllers just
as they are run on real FlexControllers.
For more information, see Setting up and running a simulation
on page 271.
Collision detection Collision detection displays and logs collisions and near-misses
for specified objects in the station. Normally used during
simulation of robot programs, it can also be used when building
the station.
For more information, see About collision detection on page
273.
Event handling With events you connect an action to a trigger. For example, you
can attach one object to another when they collide or a signal is
set. For more information, see Creating an event on page 279.
Copyright 2007 ABB. All rights reserved.
I/O Simulation In simulations I/O signals are normally set either by the robot
program or by events. With the I/O simulator you can set signals
manually, which provides a quick test of specific conditions. For
more information, see Simulating I/O signals on page 280.
Simulation Monitoring With the simulation monitoring functions you enhance the
simulation by adding traces along the TCP movements or alerts
triggered by defined speeds or motions. For more information,
see Enabling simulation monitoring on page 282.
Process time With the process timer you measure the time for a process to
measurement complete. For more information, see Measuring process time on
page 283.
Continued
Free runtime
Since all controllers use the same computer resources, their synchronization might not be
exactly as in the real world if they run independently of each other (called free run mode).
The cycle time will be correct, but the timing for setting signals and triggering events might
be inaccurate.
Time Slice
To make sure that the timing for signals and other interaction between the controllers is
accurate, time slices can be used. In this mode, RobotStudio synchronizes the controllers by
dividing time into small slices and waiting for all controllers to complete a current time slice
before any controller can start on a new one. Thus, the controllers are synchronized, and the
cycle time will be calculated correctly. The drawbacks are that the virtual FlexPendant cannot
be open, and that the simulation might be somewhat slow and jerky, depending on the
complexity of the simulation and the performance of the computer.
NOTE!
If the simulation uses events or involves several different controllers, the virtual time mode
Related information
About testing positions and motions on page 232.
Overview
Before you run a simulation you need to decide which paths are to be simulated.
Prerequisites
To set up a simulation, the following conditions must be met:
At least one path must have been created in the station. For detailed information, see
Creating a path on page 186.
The paths to be simulated must have been synchronized to the virtual controller. For
detailed information, see Synchronization on page 264.
To set up a simulation
To set up a simulation, follow these steps:
1. On the Simulation menu, click Set up. The Setup Simulation dialog box will be
displayed.
2. In the Active Tasks box, select the tasks to be active in the simulation.
3. If a single controller has been selected, select either the Continuous or Single Cycle
option.
Copyright 2007 ABB. All rights reserved.
4. From the Available Procedures list, transfer the procedures to be active in the simulation
to the Main Sequence lists by selecting them and clicking the left arrow button between
the lists. (This creates a procedure call in the main procedure).
5. To start the simulation from another procedure than the actual Main procedure (that is, to
set a temporary Main procedure instead of overwriting the current one), click Select entry
point and then specify the procedure to use as Main.
6. Click Apply to set the simulation. If you click OK, the simulation will be set and the
dialog box will be closed.
Continued
NOTE!
If the simulation uses events or involves several different controllers, the virtual time mode
Time Slice shall be used to make sure that the timing between the controllers is simulated
correctly. For more information about virtual time modes, see Simulation overview on page
269.
Running a simulation
To run a simulation, follow these steps:
1. Optionally, activate the Process Timer.
2. On the Simulation toolbar, click the Play button.
The output window will now display messages from the virtual controller.
3. To pause the simulation, click the Pause button.
4. To stop the simulation, click the Stop button.
5. To reset the simulation to its initial state, click the Reset button.
Related information
The Setup Simulation dialog box on page 392.
The Simulation toolbar on page 475.
Measuring process time on page 283.
Overview
With RobotStudio you can detect and log collisions between objects in the station.
The basic concepts of collision detection are explained below. For information about how to
set up and perform a collision detection, see Setting up and performing collision detection on
page 277.
Collision sets
A collision set contains two groups, Objects A and Objects B, in which you place the objects
to detect any collisions between them. When any object in Objects A collides with any object
in Objects B, the collision is displayed in the graphical view and logged in the output window.
You can have several collision sets in the station, but each collision set can only contain two
groups.
A common use of collision sets is to create one collision set for each robot in the station. For
each collision set you then put the robot and its tool in one group and all objects you do not
want it to collide with in the other. If a robot has several tools, or holds other objects, you can
either add these to the robots group as well or create specific collision sets for these setups.
Copyright 2007 ABB. All rights reserved.
Continued
Related information
Creating a collision set on page 275.
The Modify Collision set dialog box on page 371.
Simulation on page 456.
Overview
A collision set contains two groups, Objects A and Objects B, in which you place the objects
to detect any collisions between them. When any object in Objects A collides with any object
in Objects B, the collision is displayed in the graphical view and logged in the output window.
You can have several collision sets in the station, but each collision set can only contain two
groups.
If you have several objects you want to check for collisions with objects in the ObjectsA
node, for example, the work piece and the fixture, drag all of them to he ObjectsB node.
Result
You have now created a collision set. RobotStudio will check the positions of all objects and
detect when any object in ObjectsA collides with any object in ObjectsB.
Activation of detection and displayal of collisions depend on how the collision detection is
set up.
If the collision set is active, RobotStudio will check the positions of the objects in the groups,
and indicate any collision between them according to the current color settings. See Setting
up and performing collision detection on page 277.
Continued
Related information
About collision detection on page 273.
The Modify Collision set dialog box on page 371.
Overview
Collision detection checks whether robots or other moving parts collide with equipment in
the station. In complex stations, you can use several collision sets for detecting collisions
between several groups of objects.
After collision detection has been set up, it does not need to be started, but automatically
detects collisions according to the setup.
xx0500001552
Not active. Collisions between objects in this set will not be detected.
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Continued
Overview
Events enhance your simulations by defining actions that are carried out when specific trigger
conditions are fulfilled. You can use events to:
Attach one object to another, for example, a work piece to a gripper when simulating
material handling.
Set signals, for example, when simulating signals set by equipment other than the
controller.
Start or stop the process timer.
Used for creating new events, the Create New Event Wizard is launched from the Event
manager.
Prerequisites
Before creating the event, make sure that the station contains all signals and objects that are
planned to be used as triggers or affected by the action.
To create an event
To create an event, follow these steps:
1. On the Simulation menu, click Event manager.
Copyright 2007 ABB. All rights reserved.
2. On the navigation pane of the Event manager, click Add. This opens the New Event
Wizard.
3. Complete the New Event wizard to create the event. For detailed information about each
page of the wizard, see The Event manager and Create New Event Wizard on page 394.
Related information
Simulating I/O signals on page 280.
Attaching and detaching objects on page 152.
About collision detection on page 273.
Measuring process time on page 283.
The Simulation Monitor dialog box on page 403.
Overview
When simulating I/O signals you can either create events that set signal values when specified
trigger conditions are fulfilled, or you can set signal values manually.
Continued
Related information
For information about controlling I/O signals from the RAPID program, see Setting I/O
signals in programs on page 221.
For information about the content and function of the I/O simulator, see The I/O Simulator on
page 407.
For information about events, see The Event manager and Create New Event Wizard on page
394.
Copyright 2007 ABB. All rights reserved.
Overview
The simulation monitor commands are used to visually detect critical robot movements
during simulation by drawing a colored line that follows the TCP.
Overview
The process timer measures the time it takes for robots to run a simulation or move along a
path. When the timer is activated, the clock will start as soon as a process is started. If two
processes are started at the same time, the timer will not stop until the last one has stopped.
Overview
This information topic describes how to load a system used in RobotStudio to a real
controller. A system contains the robot configurations and programs, as well as information
about the position of the robots in the world coordinate system.
Prerequisites
To load a system to a real controller, the following conditions must be met:
The system must have been created with real RobotWare keys. Virtual systems cannot
be loaded to real controllers.
The controller must be an IRC5 controller. IRC5 systems cannot be loaded on older
controllers.
Loading a system
To load a system, follow these steps:
1. On the Program menu, click RobotStudio Online. This starts the program
RobotStudioOnline.
2. In RobotStudioOnline, start the system builder and use it to load the system to the controller.
For detailed information, see the help file of RobotStudioOnline.
Overview
RAPID programs are normally stored in the systems that run on the virtual controllers of your
station. To copy programs to systems on other controllers, save the programs to file on the PC
and then load these files to the destination controllers. You can save either entire programs or
specific modules.
Copying a program
To copy a program from one controller to another, follow these steps:
1. In the Elements browser, select the controller that contains the program to copy.
2. From the Program menu, save the program to file on the disc. For details, see Saving a
program on page 262.
3. If necessary, copy the files to a location that is accessible to the other controller.
4. For instructions on loading the program to a system on a virtual controller, a FlexControl-
ler or a non-running system, see the table below.
System location Do this
Virtual controller, running From the Program menu, load the program. For detailed
in RobotStudio information, see Saving a module on page 263.
FlexController Using RobotStudioOnline, connect to the FlexController and
Copyright 2007 ABB. All rights reserved.
Related information
RAPID concepts on page 43.
Concepts of programing on page 45.
Overview
The Pack & Go / Unpack & Work feature makes it possible to create a package (zip file) of
an active station that can be unpacked on another computer. The package contains all
necessary files, except media pools.
Packing a station
To pack a station, follow these steps:
1. On the File menu, click Pack & Go to open the Pack & Go Wizard.
2. On the Welcome to the Pack & Go Wizard page, click Next.
3. On the Destination page, specifiy the destination directory of the package by either
entering the path in the box or browsing to it. Click Next.
4. On the Libraries page, select one of the three options. Click Next.
5. On the Systems page, select the check box to include backups of all robot systems.
Optionally, select the check box to include a media pool for additional options. Click
Next.
6. On the Ready to pack page, review the information and then click Finish.
7. On the Pack & Go succeeded page, review the results and then click Close to close the
Unpacking a station
To unpack a station, follow these steps:
1. On the File menu, click Unpack & Work to open the Unpack & Work Wizard.
2. On the Welcome to the Unpack & Work Wizard page, click Next.
3. On the Select package page, specifiy the package to be unpacked by either entering the
path in the box or browsing to it. Specify as well the destination directory of the files.
Click Next.
4. On the Controller Systems page, specify the path to the media pool and the RobotWare
version. Optionally, select the check box to automatically restore backup. Click Next.
Continued
5. On the Ready to unpack page, review the information and then click Finish.
6. On the Unpack & Work succeeded page, review the results and then click Close to close
the wizard.
Related information
The Pack & Go Wizard on page 310.
The Unpack & Work Wizard on page 313.
Copyright 2007 ABB. All rights reserved.
Overview
The screen capture command contains two functions. The screenshot function allows you to
capture an image of the application, while the screen recorder allows you to make a recording
of your work in RobotStudio, either of the entire GUI or just the graphics window. These
functions are useful for demonstrations and training purposes.
Prerequisites
The screen recorder requires that Windows Media Encoder (WME) 9 is installed on your
computer.
For optimal results, first configure the options, see Options:General:Screenshot on page 449
and Options:General:Screen Recorder on page 450.
Related Information
The Screen Capture toolbar on page 487.
Object Description
Click this icon to open a help window.
xx0500001361
Click this icon to open the active dialog box in a new window.
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xx0500001363
Copyright 2007 ABB. All rights reserved.
The Clear button Click this button to clear all the entries in the dialog box.
The Create button Click this button to execute the command.
The Apply button Click this button to execute the command.
The Close button Click this button to close the active dialog box.
xx0500002417 xx0500002421
Rotate the station CTRL + SHIFT + Press CTRL + SHIFT + the left mouse
button while dragging the mouse to rotate
the station.
With a 3-button mouse you can use the
xx0500002424 xx0500002421
middle and right buttons, instead of the
keyboard combination.
Pan the station CTRL + Press CTRL + the left mouse button while
dragging the mouse to pan the station.
Zoom the station CTRL + Press CTRL + the right mouse button while
dragging the mouse to the left to zoom out.
Dragging to the right zooms in.
With a 3-button mouse you can also use
xx0500002426 xx0500002423
the middle button, instead of the keyboard
combination.
Zoom using window SHIFT + Press SHIFT + the right mouse button
while dragging the mouse across the area
to zoom into.
xx0500002425 xx0500002423
Select using window SHIFT + Press SHIFT + the left mouse button while
dragging the mouse across the area to
select all items that match the current
selection level.
xx0500002428 xx0500002421
Overview
The objects browser is a hierarchical display of physical items, such as robots and tools.
Tool A tool.
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xx0500001366
Copyright 2007 ABB. All rights reserved.
xx0500001367
xx0500001478
Continued
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Overview
The elements browser is a hierarchical display of non-physical items, such as targets and
paths.
xx0500001373
Virtual Controller The system for controlling the robots, just like a
real IRC5 controller.
xx0500001374
xx0500001376
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Workobjects & Targets Contains all workobjects and targets for the task
or robot.
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xx0500001477
Continued
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xx0500001379
Target without assigned A target for which no axis configuration has been
configuration assigned, for example, a repositioned target or a
new target created by means other than
xx0500001849 teaching.
Target without found con- An unreachable target, that is, for which no axis
figuration configuration has been found.
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Overview
The modeling browser displays all editable objects and their building blocks. It is available
only in modeling mode.
xx0600002704
xx0600002706
Related information
Copyright 2007 ABB. All rights reserved.
Overview
The program browser displays the tasks and modules. It is available only in programming
mode.
controllerConnect-
edTrans.gif
Rapid16Trans.gif
Continued
mod-
ule.encrypted.gif
Overview
The Add-In browser is opened from the View menu.
Continued
Related information
About VSTA as the IDE on page 59.
Copyright 2007 ABB. All rights reserved.
Overview
To maintain full control of the graphics window at all times when working with RobotStudio,
all dialog boxes are displayed in the tool window, which is found at the bottom of the Objects
browser or the Element browser.
The contents of the tool window may vary, depending on the active dialog box.
Overview
The output window displays information about events that occur in the station, for instance,
when simulations are started or stopped. The information in the output window is useful when
troubleshooting stations.
Event types
The three event types indicate the severity of the event:
Active events
Some of the events are active. These are linked to an action for resolving the problem that
generated the event. To activate the linked action, double-click the message.
Continues on next page
Continued
Filter events
To filter the messages in the output window, right-click in the output window and then
click Show messages. From the options All, Errors, Information, Warnings and
Warnings and Errors, select the type of messages you want to display.
Save to file
To save a message from the output window to file, select it, right-click and then click Save
to file. Choose a name and location in the dialog box. Multiple messages can be selected
by pressing SHIFT while clicking the messages.
Overview
The instruction templates page is opened in the work area.
xx0600003320
Item Description
1 Buttons for importing, exporting and validating.
2 The instruction template tree. This hierarchal tree set organizes the templates.
Templates are always the lowest level nodes. For details about specific nodes
in the tree, see item 5 and below.
3 Brief description for editing and creating instruction templates.
4 The Instruction grid. All arguments and settings for the object selected in the
tree are displayed here. Only white boxes are editable. Red values indicate
that the values are invalid.
Continued
Item Description
5 The Instruction templates top node. Here you can see to which task the
templates belong.
6 The Action instructions node contains everything related to action instruction
templates.
7 An Action instruction description node, here represented by the Set DO
instruction, defines the arguments that can be set for the action instruction
templates of that kind.
You can create action instruction descriptions for all action instructions known
by the system running on the virtual controller.
8 An Action instruction template node, here represented by Default, contains
instances of the action instruction descriptions, with defined values for the
arguments.
9 The Move instructions node contains everything related to move instruction
templates.
10 The Move instruction descriptions node contains all move instructions
descriptions for the task.
If the description for an instruction is not present in the list, right-click this node
to add it. You can create move instruction descriptions for all move instructions
known by the system running on the virtual controller.
11 A Move instruction description node, here represented by the MoveAbsJ
node, defines the arguments that can be set for the move instruction templates
of that kind.
Continued
Item Description
15 A Move instruction template node, here represented by MoveJ, contains
instances of move instruction descriptions with argument values customized
for specific processes.
Related information
Creating action instruction templates on page 224.
Creating move instruction templates on page 226.
Importing, exporting and validating templates on page 230.
Editing instruction templates on page 223.
Rapid Reference manual, for detailed information about the instructions to make templates
for and their arguments. If the system contains software options, instructions belonging to the
option are described in the options manual.
Copyright 2007 ABB. All rights reserved.
Overview
With the New Station dialog box you create a new station with a template system , an existing
system, or no system.
With the Add System dialog box you add a template system or an existing system to a station.
Due to the similarity of these dialog boxes, their contents are presented in one subsection.
Continued
The Libraries group Select whether to import libraries or to use existing station
libraries.
Overview
The pack & go wizard is used to create a package (zip file) of an active station, which can be
unpacked and opened on another computer.
Common buttons
The table below describes the buttons common to most pages of the Pack & Go Wizard.
Object Description
Help Click this button to open a help window.
Cancel Click this button to close the wizard without any changes.
Back Click this button to return to the previous page of the wizard.
Next Click this button to move to the next page of the wizard.
Object Description
The Enter location for the Specify the destination directory of the package.
Object Description
The Disconnect option This option disconnects the libraries and merges them with the
station file.
Continued
Object Description
The Copy option This option is used to copy library files into the package. Library
references in the station will point to their relative location in the
package.
The Dont pack libraries This option excludes libraries from the package.
option
The Dont pack ABB Select this check box to exclude libraries that are part of the
standard libraries check RobotStudio installation.
box
Object Description
The Include backups of Select this check box to include backups in the package.
all robot systems in the
package check box
The Include MediaPool Select this check box to include a media pool for additional
for additional options in options in the package.
the package check box
The table below describes the contents of the Pack & Go Wizard, Ready to pack.
Object Description
The Finish button Create the package.
Object Description
The Close button Close the wizard.
Continued
Related information
Pack & Go / Unpack & Work on page 288.
The Unpack & Work Wizard on page 313.
Overview
The unpack & work wizard unpacks and opens the package created by the pack & go wizard.
Common buttons
The table below describes the buttons common to most pages of the Unpack & Work
Wizard.
Object Description
Help Click this button to open a help window.
Cancel Click this button to close the wizard without any changes.
Back Click this button to return to the previous page of the wizard.
Next Click this button to move to the next page of the wizard.
Object Description
The Select the Pack & Go Specify the package to be unpacked.
Copyright 2007 ABB. All rights reserved.
Object Description
The Media Pool box Specify the path to the media pool.
The Browse button Click this button to locate the media pool.
Continued
Object Description
The RobotWare version Specify the RobotWare version required by the controller.
list
The Automatically Select this check box to automatically restore backup for the
restore backup check box system.
Object Description
The Finish button Unpack and open the station.
Related information
Pack & Go / Unpack & Work on page 288.
The Pack & Go Wizard on page 310.
Overview
With this command you can change the name of several targets at once. You can either rename
targets individually, or you can rename all targets in one or several paths at once.
The new target names will consist of an optional prefix, an incremental number and an
optional suffix.
Related information
Renaming targets on page 189.
Overview
This command is used to create a box body by defining a corner point and dimensions along
the X, Y and Z axes.
This dialog box is available only in modeling mode.
Overview
C
B
The table below describes the contents of the Create Box dialog box.
Object Description
The Reference list Select the reference coordinate system to which all positions or
points will be related.
The Corner Point (A) Click in one of these boxes, and then click the corner point in the
boxes graphics window to transfer the values to the Corner Point
boxes, or type the position. The corner point will be the local
origin of the box.
The Orientation boxes If the object shall be rotated relative to the reference coordinate
system, specify the rotation.
The Length (B) box Specify the box dimension along its X axis.
The Width (C) box Specify the box dimension along its Y axis.
Continued
Object Description
TheHeight (D) box Specify the box dimension along its Z axis.
Related information
Creating 3D objects on page 125.
Copyright 2007 ABB. All rights reserved.
Overview
This command is used to create a box body by defining three corner points.
This dialog box is available only in modeling mode.
Overview
A
xx0600002662
The table below describes the contents of the Create Box dialog box.
Object Description
The Reference list Select the Reference coordinate system to which all positions
Continued
Related information
Creating 3D objects on page 125.
Copyright 2007 ABB. All rights reserved.
Overview
This command is used to create a conic body by defining a base center point, a radius or a
diameter and height.
This dialog box is available only in modeling mode.
Overview
B
A
xx0600002663
The table below describes the contents of the Create Cone dialog box.
Object Description
Related information
Creating 3D objects on page 125.
Overview
This command is used to create a cylindrical body by defining a base center point, a radius or
a diameter and height.
This dialog box is available only in modeling mode.
Overview
B
A
xx0600002664
The table below describes the contents of the Create Cylinder dialog box.
Object Description
Copyright 2007 ABB. All rights reserved.
The Reference list Select the Reference coordinate system to which all positions
or points will be related.
The Base Center Point Click in one of these boxes, and then click the center point in the
(A) boxes graphics window to transfer the values to the Base Center
Point boxes, or type the position. The center point will be the
local origin of the cylinder.
The Orientation boxes If the object shall be rotated relative to the reference coordinate
system, specify the rotation.
The Radius (B) box Specify the radius of the cylinder.
The Diameter box Specify the diameter of the cylinder.
The Height (C) box Specify the height of the cylinder.
Related information
Creating 3D objects on page 125.
Overview
The create pyramid command is used to create a pyramidal body by defining a center point,
corner points, height and number of sides.
This dialog box is available only in modeling mode.
Overview
B
A
xx0600002667
The table below describes the contents of the Create Pyramid dialog box.
Object Description
Continued
Related information
Creating 3D objects on page 125.
Copyright 2007 ABB. All rights reserved.
Overview
This command is used to create a spherical body by defining a center point and a radius or
diameter.
This dialog box is available only in modeling mode.
Overview
B
A
xx0600002668
The table below describes the contents of the Create Sphere dialog box.
Object Description
Related information
Creating 3D objects on page 125.
Overview
This command is used to create a circular surface by defining a center point and a radius or
diameter.
This dialog box is available only in modeling mode.
Overview
B
A
xx0600002669
The table below describes the contents of the Create Surface Circle dialog box.
Copyright 2007 ABB. All rights reserved.
Object Description
The Reference list Select the Reference coordinate system, to which all positions
or points will be related.
The Center Point (A) Click in one of these boxes, and then click the center point in the
boxes graphics window to transfer the values to the Center Point
boxes, or type the position. The center point will be the local
origin of the circle.
The Orientation boxes If the object shall be rotated relative to the reference coordinate
system, specify the rotation.
The Radius (B) box Specify the radius of the circle.
The Diameter box Specify the diameter of the circle.
Continued
Related Information
Creating 3D objects on page 125.
Overview
This command is used to create a rectangular surface by defining a start point, length and
width.
This dialog box is available only in modeling mode.
Overview
A
B
xx0600002671
The table below describes the contents of the Create Surface Rectangle dialog box.
Object Description
Copyright 2007 ABB. All rights reserved.
The Reference list Select the Reference coordinate system to which all positions
or points will be related.
The Start Point (A) boxes Click in one of these boxes, and then click the center point in the
graphics window to transfer the values to the Start Point boxes,
or type the position. The start point will be the local origin of the
rectangle.
The Orientation boxes If the object shall be rotated relative the reference coordinate
system, specify the rotation.
The Length (B) box Specify the length of the rectangle.
The Width (C) box Specify the width of the rectangle
Related information
Creating 3D objects on page 125.
Overview
This command is used to create a polygonal surface by defining a center point and a number
of vertices.
This dialog box is available only in modeling mode.
Overview
B
A
xx0600002670
The table below describes the contents of the Create Surface Polygon dialog box.
Object Description
Related information
Creating 3D objects on page 125.
Overview
This command is used to create a surface from a curve.
This dialog box is available only in modeling mode.
Overview
The table below describes the contents of the Create Surface from Curve dialog box.
Object Description
The Select Curve from Select a curve by clicking it in the graphics window.
graphics box
Related Information
Creating 3D objects on page 125.
Copyright 2007 ABB. All rights reserved.
Overview
The create line command is used to create lines.
xx0500001513
The table below describes the contents of the Create Line dialog box.
Object Description
Related information
Creating curves on page 120.
Overview
The create circle command is used to create circles.
xx0500001512
The table below describes the contents of the Create Circle dialog box.
Object Description
The Reference list Select the reference coordinate system to which all positions or
points will be related.
Copyright 2007 ABB. All rights reserved.
The Center point (A) Click in one of these boxes, and then click the center point in the
boxes graphics window to transfer the values to the Center Point
boxes.
The Orientation boxes Specify the orientation coordinates for the circle.
The Radius (A-B) box Specify the radius of the circle.
The Diameter box Alternatively, specify the diameter.
Related information
Creating curves on page 120.
Overview
The Create Three Points Circle command is used to create a circle from three specified points.
xx0500001518
The table below describes the contents of the Create Three Points Circle dialog box.
Object Description
The Reference list Select the reference coordinate system to which all positions or
points will be related.
Related information
Creating curves on page 120.
Overview
The create arc command is used to create an arc.
Overview
xx0500001520
The table below describes the contents of the Create Arc dialog box.
Object Description
The Reference list Select the reference coordinate system to which all positions or
points will be related.
Copyright 2007 ABB. All rights reserved.
The Start Point (A) boxes Click in one of these boxes, and then click the start point in the
graphics window to transfer the values to the Start Point boxes.
The Mid Point (B) boxes Click in one of these boxes, and then click the second point in
the graphics window to transfer the values to the Mid Point
boxes.
The End Point (C) boxes Click in one of these boxes, and then click the end point in the
graphics window to transfer the values to the End Point boxes.
Related information
Creating curves on page 120.
Overview
The create elliptical arc command is used to create an elliptical arc.
xx0500001522
The table below describes the contents of the Create Elliptical Arc dialog box.
Object Description
The Reference list Select the reference coordinate system to which all positions or
points will be related.
Related information
Creating curves on page 120.
Overview
The create ellipse command is used to create an ellipse.
xx0500001521
The table below describes the contents of the Create Ellipse dialog box.
Object Description
The Reference list Select the reference coordinate system to which all positions or
points will be related.
Copyright 2007 ABB. All rights reserved.
The Center Point (A) Click in one of the Center Point boxes, and then click the center
boxes point in the graphics window to transfer the values to the Center
Point boxes.
Major Axis End Point (B) Click in one of these boxes, and then click the end point for the
major axis of the ellipse in the graphics window to transfer the
values to the Major Axis End Point boxes.
The Minor Radius (C) box Specify the length of the minor axis of the ellipse. The minor
radius will be created perpendicular to the major axis.
Related information
Creating curves on page 120.
Overview
The create rectangle command is used to create a rectangle.
xx0500001516
The table below describes the contents of the Create Rectangle dialog box.
Object Description
The Reference list Select the reference coordinate system to which all positions or
points will be related.
Related information
Creating curves on page 120.
Overview
The create polygon command is used to create a polygon.
xx0500001514
The table below describes the contents of the Create Polygon dialog box.
Object Description
The Reference list Select the reference coordinate system to which all positions or
points will be related.
Copyright 2007 ABB. All rights reserved.
The Center Point (A) Click in one of these boxes, and then click the center point in the
boxes graphics window to transfer the values to the Center Point
boxes.
The First Vertex Point (B) Click in one of these boxes, and then click the first vertex point
boxes in the graphics window to transfer the values to the First Vertex
Point boxes. The distance between the center point and the first
vertex point will be used for all vertex points.
The Vertices box Specify the number of points to be used when creating the
polygon. The maximum number of vertices is 50.
Related information
Creating curves on page 120.
Overview
The create polyline command is used to create a polyline.
xx0500001515
The table below describes the contents of the Create Polyline dialog box.
Object Description
The Reference list Select the reference coordinate system to which all positions or
points will be related.
Related information
Creating curves on page 120.
Overview
The create spline command is used to create a spline.
xx0500001517
The table below describes the contents of the Create Spline dialog box.
Object Description
The Reference list Select the reference coordinate system to which all positions or
points will be related.
Copyright 2007 ABB. All rights reserved.
The Point Coordinates Specify each node of the spline here, one at a time, by either
boxes typing the values, or by clicking in one of these boxes, and then
selecting the point in the graphics window to transfer its coordi-
nates.
The Add button Click this button to add a point and its coordinates to the list.
The Modify button Click this button to modify an already defined point, after you
have selected it in the list and entered new values.
List This nodes of the spline. To add more nodes, click Add New,
click the desired point in the graphics window, and then click
Add.
Related information
Creating curves on page 120.
Overview
The create border between bodies command is used to create a curve at the intersection of two
bodies.
This dialog box is available only in modeling mode.
Prerequisites
To use the create border between bodies command, the station must contain at least two
objects.
The table below describes the contents of the Create Border Between Bodies dialog box.
Object Description
The First Body box Click in this box and then select the first body in the graphics
window.
The Second Body box Click in this box and then select the second body in the graphics
window.
Related information
Creating curves on page 120.
Overview
The create border around surface command is used to create a curve along the edges of a
selected surface.
This dialog box is only available in modeling mode.
Prerequisites
To use the create border around surface command, the station must contain at least one object
with a graphical representation.
xx0500001523
The table below describes the contents of the Create Border Around Surface dialog box.
Object Description
The Select Surface box Click in this box and then select a surface in the graphics
window.
Related information
Creating curves on page 120.
Overview
The create border from points command is used to create a curve from points.
This dialog box is available only in modeling mode.
Prerequisites
To use the create border from points command, the station must contain at least one object.
en0500001531
The table below describes the contents of the Create Border From Points dialog box.
Continued
Related information
Creating curves on page 120.
Copyright 2007 ABB. All rights reserved.
Overview
The create frame command is used to create frames.
Object Description
The Reference list Select the Reference coordinate system to which all positions
or points will be related.
The Frame Position Click in one of these boxes, and then click the frame position in
boxes the graphics window to transfer the values to the Frame
Position boxes.
The Frame Orientation Specify the coordinates for the frame orientation.
boxes
The Set as UCS check box Select this check box to set the created frame as the user
coordinate system.
Overview
The create frame from three points command is used to create frames from three points.
Object Description
The Position option Select this option if you want to create the frame by using a
position and two points.
The Frame Position Click in one of these boxes, and then click the frame position in
boxes the graphics window to transfer the values to the Frame
Position boxes.
The Point on X axis boxes Click in one of these boxes, and then click the point position in
the graphics window to transfer the values to the Point on X
axis boxes.
The Point on X-Y plane Click in one of these boxes, and then click the point position in
boxes the graphics window to transfer the values to the Point on X-Y
plane boxes.
The Three Point option Select this option if you want to create the frame by using three
points.
Copyright 2007 ABB. All rights reserved.
The First Point on X axis Click in one of these boxes, and then click the point position in
boxes the graphics window to transfer the values to the First Point on
X axis boxes.
The Second Point on X Click in one of these boxes, and then click the point position in
axis boxes the graphics window to transfer the values to the Second Point
on X axis boxes.
The Point on Y axis boxes Click in one of these boxes, and then click the point position in
the graphics window to transfer the values to the Point on Y
axis boxes.
The Set as UCS check box Select this check box to set the created frame as the user
coordinate system.
Related information
Creating frames by points on page 170.
Overview
The create target command is used to create targets.
Object Description
The Reference list Select the reference coordinate system to which all positions or
points will be related.
The Position boxes Click in one of these boxes, and then click the position in the
graphics window to transfer the values to the Position boxes.
The Orientation boxes Specify the orientation of the target.
The Add button Click this button to add a point and its coordinates to the Points
list.
The Modify button Click this button to modify an already defined point, after you
have selected it in the Points list and entered new values.
The Points list The target points. To add more points, click Add New, click the
desired point in the graphics window, and then click Add.
The More/Less button Click this button to expand or collapse parts of the create target
Related information
Creating targets on page 176.
Overview
The create jointtarget command is used to create jointtargets.
The create jointtarget dialog box and the modify jointtarget dialog box are identical.
Overview
The table below describes the contents of the Create Jointtarget dialog box.
Object Description
The Misc data group
The Name box Specify the name of the joint target.
The Axes values group
The Robot axes column Click the Values list, enter the values in the Joint values dialog
box and click Accept.
The External axes column Click the Values list, enter the values in the Joint values dialog
box and click Accept.
The Sync properties
group
The Storage Type list Select the Storage Type TASK PERS if you intend to use the
jointtarget in multimove mode.
Copyright 2007 ABB. All rights reserved.
The Module list Select the module in which you want to declare the jointtarget.
Related information
Creating jointtargets on page 178.
Overview
The create move instruction command is used to create a new move instruction and
corresponding target. The move instruction will be based on the current settings in the
Elements toolbar, and different dialog boxes will be displayed whether the selected
instruction template is for robtargets or jointtargets.
Continued
Related information
Creating move instructions on page 213.
Copyright 2007 ABB. All rights reserved.
Overview
The create action instruction command is used to create an action instruction.
Heading Description
Instruction Templates Select from the list the instruction template to be used in the
action instruction.
The Instruction Enter the requested instruction data. For detailed information,
Arguments group see the RAPID Reference Manual.
Related information
Creating an action instruction on page 219.
Overview
The create workobject command is used to create a workobject.
The create workobject dialog box and the modify workobject dialog box are identical.
Object Description
The Misc Data group
The Name box Specify the name of the workobject.
The Robot holds Select whether the workobject is to be held by the robot. If you
workobject list select True, the robot will hold the workobject. The tool can then
either be stationary or held by another robot.
The Moved by Select the mechanical unit that moves the workobject. This
mechanical unit list option is applicable only if Programmed is set to False.
The Programmed list Select True if the workobject is to use a fixed coordinate system,
and False if a movable (that is, external axes) will be used.
The User Frame group
The Position x, y, z boxes Click in one of these boxes, and then click the position in the
Copyright 2007 ABB. All rights reserved.
Continued
Object Description
The Storage type list Select PERS or TASK PERS. Select the Storage Type TASK
PERS if you intend to use the workobject in multimove mode.
The Module list Select the module in which to declare the workobject.
Related information
Creating a workobject on page 164.
Creating frames by points on page 170.
Overview
The create tool wizard is used to create a tool, which is an object for a graphical representation
and tooldata that defines the its properties.
Object Description
The Tool Name box Specify the tool name..
The Use Existing option If you want to use an existing geometry for the tool, select it from
the list.
The part to select must be a single part. Parts with attachments
cannot be selected.
The Use Dummy option If you do not have any geometries in your station, you can use
a dummy as the picture of the tool. This option creates the tool
in the shape of a cone with the base at the origin of the world
coordinate system and the point at the origin of the TCP.
The Mass box Specify the mass of the tool.
Copyright 2007 ABB. All rights reserved.
The Center of Gravity Specify the center of gravity for the tool.
boxes
The Moment of Inertia Ix, Specify the moment of inertia for the tool.
Iy, Iz boxes
The Help button Click this button to open a help window.
The Cancel button Click this button to close the wizard without creating any tool.
The Back button Click this button to move to the previous page of the wizard.
The Next button Click this button to move to the next page of the wizard.
Continued
Object Description
The TCP Name box Specify the TCP name. If you have several TCPs for one tool,
each TCP must have a unique name.
The Values from Target/ To read the TCP position and orientation values from an existing
Frame box target or frame, first click in this box and then select the frame,
either in the graphics window or Elements browser.
The Position boxes Manually specify the coordinates for the position of the TCP. You
can also click the position in the graphics window to transfer the
values to the Position boxes.
The Orientation boxes Manually specify the orientation of the tool.
-> Click the arrow right button to transfer the TCP values to the
TCP(s) box.
TCP(s) list Here the created TCPs are visible.
The Delete button Click this button to delete TCPs from the TCP(s) list.
The Edit button Click this button to edit TCPs in the TCP(s) list.
The Help button Click this button to open a help window.
The Cancel button Click this button to close the wizard without creating any tool.
Related information
Creating a robot hold tool on page 136.
Overview
The create tooldata command is used to create tooldata. The tooldata defines the properties
of the tool.
The create tooldata dialog box and the modify tooldata dialog box are identical, so to modify
your tooldata, please refer to the description below.
Overview
The table below describes the contents of the Create Tooldata dialog box.
Object Description
The Misc Data group
The Name box Here you can change the name of the tooldata to be created.
The Robot holds tool list Select whether the tool is to be held by the robot. If you select
False, the robot will use a stationary tool.
The Tool Frame group
The Position x, y, z boxes Click in one of these boxes, and then click the position in the
graphics window to transfer the values to the Position boxes.
The Rotation rx, ry, rz Specify the orientation of the tool.
boxes
Copyright 2007 ABB. All rights reserved.
Related information
Creating tooldata on page 139.
Overview
Create path from curve generates paths, complete with instructions and targets, along existing
curves.
The orientation of the targets that will be created will be according to the settings of the
approach/travel vectors in the Options dialog box. For detailed information, see Robotics on
page 454.
Prerequisites
A curve must have been created in the station. For detailed information, see Creating curves
on page 120.
Object Description
The Select curves from Select the curve that you want to create a path from by clicking
graphics list Add New and then clicking the selected curve in the graphics
window.
The Create on curve This check box ensures that the path is generated on the curve.
Continued
Object Description
The Depart box Creates a departure target at the specified distance from the last
target on the curve, in the approach direction.
The Offset Start box If you want a different starting point than the beginning of the
curve, enter the offset from the start point in the Offset Start
box.
The Offset End box If you want a different end point than the end of the curve, enter
the offset from the end point in the Offset End box.
The Local Target Offset Enter the local target offset to generate the same offset at each
box target.
The Approximation
Parameters group
The Max Chord Dev box Specifies the maximum allowed deviation between the chord of
the curve and the path. A low tolerance will generate a more
accurate path with more targets than a high tolerance.
The Linear/circular Selects whether linear segments shall represent the curve or if
options circular segments should be used in the path.
The Min Distance box Specifies the minimum distance between the targets. This box
is only applicable for linear paths.
The Max Rad box Specifies the maximum radius for circular movements in the
path. Larger circular segments will be replaced by linear
segments. This box is applicable only for circular paths.
Copyright 2007 ABB. All rights reserved.
Related information
Creating a path from curves on page 183.
Robotics on page 454.
Overview
The set position command is used to set the position of objects and elements in the station.
Object Description
The Reference list Select the reference coordinate system to which all positions or
points will be related.
The Position X, Y, Z boxes Click in one of these boxes, and then click the position of the
item in the graphics window to transfer the values to the
Position boxes. You can also type the position values.
The Orientation boxes Specify the orientation for the item.
Related information
Positioning an item on page 145.
Overview
The rotate command is used to rotate objects and elements in your station.
Object Description
The Reference list Select the reference coordinate system to which all positions or
points will be related.
The Rotate around x, y, z Click in one of these boxes, and then click the center position in
boxes the graphics window to transfer the values to the Rotate around
x, y, z boxes.
The Axis start point x, y, z Specify the start point of the axis. The box is activated only when
boxes the reference User Defined axis has been selected.
The Axis end point x, y, z Specify the end point of the axis. The box is activated only when
boxes the reference User Defined axis has been selected.
The Rotation box Specify the rotation.
The X/Y/Z options Select the axis around which the rotation is to be performed.
Copyright 2007 ABB. All rights reserved.
Related information
Rotating an item on page 147.
Overview
Each object has a coordinate system of its own called the local coordinate system. The origin
of this coordinate system relative to the object is initially set when the object is created. With
the Set Local Origin command, you reposition the objects local coordinate system, not the
object itself.
This dialog box is only available in modeling mode.
Overview
The table below describes the contents of the Create Box dialog box.
Object Description
The Reference list Selects the reference coordinate system to which all positions
or points will be related.
The Position X, Y, Z This point will be the new position of the origin.
boxes Either type the position, or click in one of the boxes and then
select the point in the graphics.
The Orientation boxes If the object shall be rotated relative to the reference coordinate
system, specify the rotation.
6.7.4. Place
Overview
The place object by one point command is used to place objects in your station by using one
point.
Object Description
The Reference list Select the reference coordinate system to which all positions or
points will be related.
The Primary Point - From Select the reference coordinate system to which all positions or
boxes points will be related.
The Primary Point - To Click in one of these boxes, and then click the primary point in
boxes the graphics window to transfer the values to the Primary Point
- To boxes.
The Translate along Select whether the translation is to be performed along the X, Y
these axes check boxes or Z axis, or several of the axes.
Copyright 2007 ABB. All rights reserved.
Related information
Placing an item on page 143.
Overview
The place object by two points command is used to place objects in your station using two
points.
Object Description
The Reference list Select the reference coordinate system to which all positions or
points will be related.
The Primary Point - From Select the reference coordinate system to which all positions or
boxes points will be related.
The Primary Point - To Click in one of these boxes, and then click the primary point in
boxes the graphics window to transfer the values to the Primary Point
- To boxes.
The Point on X-Axis - Click in one of these boxes, and then click the point on the x axis
From boxes in the graphics window to transfer the values to the Point on X-
Axis - From boxes.
The Point on X-Axis - To Click in one of these boxes, and then click the point on the x axis
boxes in the graphics window to transfer the values to the Point on X-
Related information
Placing an item on page 143.
Overview
The place object with three points command is used to place objects in your station using
three points.
Object Description
The Reference list Select the reference coordinate system to which all positions or
points will be related.
The Primary Point - From Click in one of these boxes, and then click the primary point in
boxes the graphics window to transfer the values to the Primary Point
- From boxes.
The Primary Point - To Click in one of these boxes, and then click the primary point in
boxes the graphics window to transfer the values to the Primary Point
- To boxes.
The Point on X-Axis - Click in one of these boxes, and then click the point on the x axis
From boxes in the graphics window to transfer the values to the Point on X-
Axis - From boxes.
The Point on X-Axis - To Click in one of these boxes, and then click the point on the x axis
Copyright 2007 ABB. All rights reserved.
Related information
Placing an item on page 143.
Overview
The place object with frame command is used to place objects in your station using frames.
Object Description
The Select Frame box Specify the name of the frame with which you want to place the
object.
Related information
Placing an item on page 143.
Overview
This command is used to create a new body by the intersection between two bodies.
This dialog box is available only in modeling mode.
Overview
The table below describes the contents of the Intersect dialog box.
Object Description
The Keep Original check Select this check box to keep the original bodies when creating
box the new body.
The Intersect... (A) box Select the body from which you want to make an intersection (A)
by clicking it in the graphics window.
The ...and (B) box Select the body with which you want to make an intersection (B)
by clicking it in the graphics window.
A new body will be created based on the common area between
the selected bodies A and B.
Copyright 2007 ABB. All rights reserved.
A B
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Related information
The Union dialog box on page 366.
The Subtract dialog box on page 367.
Overview
This command is used to create a new body by making a union between two existing bodies.
This dialog box is available only in modeling mode.
Overview
The table below describes the contents of the Intersect dialog box.
Object Description
The Keep Original check Select this check box to keep the original bodies when creating
box the new body.
The Union... (A) box Select the body that you want to unify (A) by clicking it in the
graphics window.
The ...and (B) box Select the body that you want to unify (B) by clicking it in the
graphics window.
A new body will be created based on the areas of the two
selected bodies A and B.
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Related information
The Subtract dialog box on page 367.
The Intersect dialog box on page 365.
Overview
This command is used to create new bodies by subtracting an existing body from another.
This dialog box is available only in modeling mode.
Overview
The table below describes the contents of the Subtract dialog box.
Object Description
The Keep Original check Select this check box to keep the original bodies when creating
box the new body.
The Subtract... (A) box Select the body from which you want to subtract (A) by clicking
it in the graphics window.
The ...with (B) box Select the body you want to subtract (B) by clicking it in the
graphics window.
A new body will be created based on the area of body A
subtracted with the common volume between body A and B.
Copyright 2007 ABB. All rights reserved.
A B
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Related information
The Intersect dialog box on page 365.
The Union dialog box on page 366.
Overview
The set normal to surface command is used to set the normal orientation of an item to a
surface.
Object Description
The Surface or Part box To select the surface or part, click it in the graphics window.
The Approach Direction Click this button to specify the approach direction.
button
The Offset button Specify the offset of the normal from the surface.
Related information
Setting the target orientation normal to a surface on page 195.
Overview
With the align target orientation command you align the rotation of selected targets around
one axis without changing the rotation around the others.
Related information
Different ways to modify target orientations on page 191.
Aligning target or frame orientation on page 197.
Copyright 2007 ABB. All rights reserved.
Overview
With the align frame orientation command you align the rotation of selected frames around
one axis, without changing the rotation around the others.
Related information
Different ways to modify target orientations on page 191.
Aligning target or frame orientation on page 197.
Overview
The modify collision set command is used to modify collision sets.
Object Description
The Active check box Select this check box to activate the collision set.
The Near miss box Specify the distance for the near-miss signal.
The Collision color box Click the colored rectangle to change the color indicating a
collision of the objects in the collision set.
The Near miss color box Click the colored rectangle to change the color indicating a near-
miss of the objects in the collision set.
Related information
Creating a collision set on page 275.
Copyright 2007 ABB. All rights reserved.
Overview
The modify instruction command is used to modify instructions for the robot.
The Modify Instruction dialog box contains the arguments and other editable properties for
the instruction. Consequently, the content of the dialog box depends on the type of instruction
you are about to modify.
For a brief description of each instruction type, see the description of the Create dialog box
for each instruction type. For a detailed description of the arguments to modify for each
instruction, see the RAPID reference manual.
Related information
The Create Move Instruction dialog box on page 348.
Modifying an instruction on page 216.
The Create Action Instruction dialog box on page 350.
Creating an action instruction on page 219.
Overview
The modify external axis command is used to modify the position of the external axes.
Overview
The table below describes the contents of the Modify External Axis dialog box.
Object Description
The Joint values group
< Jog the joint of the external axis corresponding to each row by
clicking the < button.
> Jog the joint of the external axis corresponding to each row by
clicking the > button.
value box Enter the axis value for the corresponding joint of the external
axis in the value box.
<- With the arrow left button, you transfer the value from the Eax
box to the corresponding value box.
-> With the arrow right button, you transfer the value from the value
box to the corresponding Eax box.
Eax Specify the value of the corresponding joint of the external axis.
Copyright 2007 ABB. All rights reserved.
Overview
The translate path function moves a path and all included targets.
Overview
With the rotate path command you can rotate complete paths and move the targets used by
the paths accordingly. When rotating paths, the included targets will lose their axis
configurations, if any have been assigned.
Related information
Rotating paths on page 204.
Copyright 2007 ABB. All rights reserved.
Overview
The interpolate functions reorient the targets in a path so that the difference in orientation
between the start and end targets is distributed evenly among the targets in between. The
interpolation can be either linear or absolute.
Overview
The mirror path function mirrors all motions instructions and their targets to a new path.
Continued
Object Description
The Mirror Robot Config- Select this option to also mirror the robot axis configuration for
uration option the targets. Selecting this option will mirror the robots motions
completely.
For using this option, the following conditions must be met:
The Reference frame must be set to Baseframe.
The Mirror plane must be set to X-Z.
The tool of each move instruction must have its TCP in
the X-Z plane of tool0.
All targets in the path must have robot axis configuration
set.
The virtual controller must be running.
For more information about robot axis configurations, see About
robot axis configurations on page 52.
The More / Less buttons Click this button to show or hide the commands for naming and
location of generated targets and paths.
The New path name box Specify the name of the path that will be generated by the
mirroring here.
The Target prefix box Specify a prefix for the targets that will be generated by the
mirroring here.
The Receiving robot box Specify the robot task in which the new targets and path shall be
created.
The Receiving work Specify the work object in which the new targets shall be
Overview
With the Tool Compensation command you offset a path so that it compensates for the radius
of a rotating tool. Since the targets in the path are moved, they will lose their axis
configurations, if any have been assigned.
Related information
Compensating paths for tool radius on page 211.
Copyright 2007 ABB. All rights reserved.
Overview
With the graphic appearance dialog box you set the graphic properties for an individual
object. The settings made here override the generic settings made in the options dialog box.
The dialog box contains one view group where you select the part of the object to affect, and
three tabs with settings.
Object Description
The Selection options Select the parts of the object whose appearance you wish to
change. When Body or Surface/Curve is selected, you select
the object to work with in the preview display.
The Preview display Displays a preview of the appearance settings.
Continued
Object Description
The Flip normals button Click this button to change the direction of all faces on the
model.
The Curve properties group
The Line width box Specify the width of lines in the object here.
The Detail Level group
The detail level options Select the detail level of the model here. Only the levels
selected in the Options dialog box when the object was created
or imported are available.
Object Description
The Simple Color color Click this color box to select another color for the object.
box
The Transparency slider Use this slider to control the transparency of the object.
The Materials properties group
The color boxes Set the color of the object for different light situations here.
Copyright 2007 ABB. All rights reserved.
Object Description
The Base texture list Select an image or a video file to apply on the surface here. To
add files to the list, click the browse button next to the list and
browse to the files to add.
If the applied texture is not visible, it might be due to the large
differences in the ratio between the dimensions of the object
and the texture. Use Normalize described below to set the ratio
to 1.
Continued
Object Description
The Blend with material Select this check box to blend the texture with the colors and
check box properties specified on the Material tab.
The Texture coordinates group
The Swap u/v button Click this button to swap the horizontal and vertical directions of
the texture.
The Modify check boxes Select along which directions the commands listed below shall
be applied.
u is the horizontal axis of the texture.
v is the vertical axis of the texture.
The Normalize button Click this button to set the ratio between the dimensions of the
object and the texture to 1.
The Flip button Click this button to invert the coordinates along the selected
axes. This is the same as mirroring around the other axis.
The Stretch button Click this button to stretch the texture along the selected axes.
The Shrink button Click this button to shrink the texture along the selected axes.
The Shift < button Click this button to move the texture along the selected axes.
The Shift> button Click this button to move the texture along the selected axes.
Overview
The modify curve dialog box contains functions for modifying curves. Creating and
optimizing curves simplifies the motion programing.
The modify curve dialog box is available only in modeling mode.
The Split option Split a curve in two bodies. Only open curves can be split. For
more information, see Split-specific information on page 386.
The Trim option Cut a segment of a curve between intersection or end points.
For more information, see Trim-specific information on page
387.
Continued
Extend-specific information
The table below describes the content of the modify curve dialog box specific for Extend
modifications:
Part Description
The Selected curve list Display the name of the curve to extend. Select the curve by
clicking it in the graphics window.
Note that when you rest the pointer over the curve the endpoint
closest to the pointer is highlighted. This is the endpoint that will
be selected for extension when you click the curve.
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The Endpoint to extend Display the position of the endpoint to extend. To change the
boxes endpoint, select the curve again, but click it closer to the other
endpoint.
The Distance from Type the length of the extension here. You can also click a point
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Continued
Join-specific information
The table below describes the content of the Modify curve dialog box specific for Join mod-
ifications:
Part Description
The Selected curves box Display the names of the curves to join. Select the curves by
clicking them in the graphics window. To remove a curve from
the list, select the list entry and press the DEL key.
The curves may be either intersecting or adjacent to be joined.
The Tolerance list Specifies the distance within which the end points of adjacent
curves may lie to be joined.
Project-specific information
The table below describes the content of the Modify curve dialog box specific for Project
modifications:
Part Description
The Selected curve box Display the name of the curves to project. Select the curves by
clicking them in the graphics window.
Note that when you rest the pointer over the curve the projection
direction is displayed. The project direction is always the
negative Z direction of the User Coordinate System. To change
the projection direction, create a new frame with the desired
orientation and set it as user coordinate system.
Copyright 2007 ABB. All rights reserved.
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The Target bodies box Display the name of the bodies to project the curve on. Select
the bodies by first clicking in the box and then clicking the bodies
in the graphics window.
Continued
Reverse-specific information
The table below describes the content of the Modify curve dialog box specific for Reverse
modifications:
Part Description
The Selected curves box Display the names of the curves to reverse. Select the curves
by clicking them in the graphics window.
Note that when resting the pointer over a curve the current
direction of the curve is displayed by yellow arrows.
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Split-specific information
The table below describes the content of the Modify curve dialog box specific for Split mod-
ifications:
Part Description
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Continued
Part Description
The Point on curve boxes These boxes show the position of the split point. To change the
split point, select the curve again, but click another part of it.
Trim-specific information
The table below describes the content of the Modify curve dialog box specific for Trim mod-
ifications:
Part Description
The Selected curve box Display the name of the curve to trim. Select the curve by
clicking it in the graphics window.
Note that when you rest the pointer over the curve the closest
vertexes are highlighted. It is the segment between those points
that will be cut.
Copyright 2007 ABB. All rights reserved.
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Related information
Modifying curves on page 122.
Overview
The mechanism joint jog command is used to jog joints of the mechanisms in your station.
Heading Description
The Joint sliders Move the joints of the objects by dragging the slider on the row
corresponding to each joint. Alternatively, click the buttons to
the right of the row, or type a value.
The Cfg box The current configuration value.
The TCP box The current position of the TCP.
The Step box Specify the length of the joint movements for each click of the
buttons to the right of each joint row.
The External Axis list If the robot uses external axes, you can select an axis to jog
from this list. The external axes must belong to the same task
as the object you are jogging for occurring in this list. If no
external axes are present in the same task, this list is not
Continued
Related information
Jogging a robot on page 172.
Copyright 2007 ABB. All rights reserved.
Overview
The mechanism linear jog command is used to jog mechanisms linearly in your station.
Heading Description
The X, Y and Z boxes Specify the value for the new X, Y and Z positions in the
respective box, or use the arrow buttons to the right.
The RX, RY and RZ boxes Specify the number of degrees you want the mechanism to
rotate around the X, Y and Z axis, respectively, or use the arrow
buttons to the right.
The Cfg box The current configuration of the robot axes.
The Reference list Select the reference coordinate system in which to jog the robot.
The Step box Specify the step movement per deg/rad.
Related information
Jogging a robot on page 172.
Overview
The check reachability function displays whether the robot can reach selected targets and
motion instructions by changing the frames colors in the graphic view. Reachable frames are
colored green, unreachable red, and frames with reachable positions but not with current
orientation are colored yellow.
Object Description
The Check reachability Select or clear this checkbox to show or hide the reachability for
for targets, paths, move the objects in the list.
instructions check box
The objects list The list contains the objects that has been selected for reach-
ability checking.
The Remove button If you select an object in the list and click this button, it will no
longer be checked for reachability.
The Add button Click this button to add objects slected in the Objects browser or
the graphics window to the objects list.
Copyright 2007 ABB. All rights reserved.
Related information
Checking reachability on page 235.
Overview
The setup simulation dialog box is used to set up a simulation.
Object Description
The Active Tasks group
The Select Active Tasks Select the tasks to be active in the simulation.
box
The Run Mode options Select the run mode when a single controller is selected. The
options are Continuous and Single Cycle.
The Simulation
Sequence group
The Main Sequence box Displays the procedures that will be run when you play the
simulation.
<- Click the arrow left button to transfer the selected procedure to
Continued
Related information
Setting up and running a simulation on page 271.
Copyright 2007 ABB. All rights reserved.
Overview
Events enhance your simulations by defining actions that are carried out when specific trigger
conditions are fulfilled. You can use events to:
Attach one object to another, for example, a work piece to a gripper when simulating
material handling.
Set signals, for example, when simulating signals set by equipment other than the
controller.
Start or stop the process timer.
Used for creating new events, the Create New Event Wizard is launched from the Event
manager.
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Continued
Part Description
1 The Task pane.
Here you create new events, or copy or delete existing events selected in the
Event grid.
For detailed information, see The task pane parts on page 395.
2 The Event grid.
Displays all events in the station. Here you select events to edit, copy or
delete.
For detailed information, see The event grid columns on page 396.
3 The Trigger editor.
Here you edit the properties of the events trigger. The upper part of the trigger
editor is the same for all triggers, and the lower part adapts to the selected
trigger type.
For detailed information, see The trigger editor parts on page 398.
4 The Action editor.
Here you edit the properties of the events action. The upper part of the action
editor is the same for all actions, and the lower part adapts to the selected
action type.
For detailed information, see The action editor parts on page 400.
Part Description
The Add button Starts the Create New Event Wizard.
The Delete button Deletes the event selected in the Event grid.
The Copy button Copies the event selected in the Event grid.
The Refresh button Refreshes the Event manager.
Continued
Continued
Column Description
Action Type Displays the action type that occurs in conjunction with the
trigger
I/O Signal Action = Changes the value of a digital input or
output signal.
Attach Object = Attaches an object to another.
Detach Object = Detaches an object from another.
For more information about attachments, see Attaching and
detaching objects on page 152.
Turn On/Off Simulation Monitor = Toggles the simulation
monitor of a specific mechanism.
Turn On/Off Timer = Toggles the process timer.
Move Mechanism to Pose = Moves the selected mechanism
to a predefined pose and thereafter sends a station signal.
Activates or deactivates the process timer.
Move Graphical Object = Moves a graphical object to a new
position and orientation.
Show/Hide Graphical Object = Shows or hides the graphical
object.
Do Nothing = No action occurs.
Multiple = The event triggers multiple actions, either all at once
or one at a time, each time the trigger is activated. Each action
can be viewed in the action editor.
Copyright 2007 ABB. All rights reserved.
Action System When the action type is Change I/O, this column displays the
system to which the signal to change belongs.
A dash (-) signifies a virtual signal.
Action Name Displays the name of the signal to change, when the action type
is Change I/O.
Continued
Column Description
Action Parameter Displays the condition after the action has occurred.
0 = The I/O signal will be set to false.
1 = The I/O signal will be set to true.
On = Turns the process timer on.
Off = Turns the process timer off.
Object1 -> Object2 = Displays the object to which another will
be attached when the action type is Attach object.
Object1 <- Object2 = Displays the object from which another
will be detached when the action type is Detach object.
Ended = A collision ends within the collision set used as trigger.
Near miss started = A near-miss starts within the collision set
used as trigger.
Near miss ended = A near-miss ends within the collision set
used as trigger.
Multiple = Signifies multiple actions.
Time Displays the time when the event trigger was executed.
Continued
Continued
Continued
The Detach from list Select the object in the station to detach from.
Continued
Overview
The simulation monitor dialog box contains TCP trace and simulation alerts. The simulation
monitor commands are used to visually detect critical robot movements during simulation.
Object Description
The Enable TCP Trace Select this check box to activate tracing of the TCP path for the
check box selected robot.
The Trace length box Specify the maximum length of the trace in millimeters.
Trace Color Displays the color of the trace when no alerts are activated. To
change the color of the trace, click the colored box.
Alert color Displays the color of the trace when any of the alerts defined on
the Alerts tab exceeds a threshold value. To change the color
of the trace, click the colored box.
The Clear Trace button Click this button to remove the current trace from the graphics
window.
Copyright 2007 ABB. All rights reserved.
Object Description
The Enable Simulation Select this check box to activate simulation alerts for the
Alerts check box selected robot.
The Log Alerts to Output Select this check box to see a warning message when a
Window check box threshold value is exceeded. If TCP trace is not enabled, this is
the only display of the alert.
The TCP Speed (m/s) box Specify the threshold value for TCP speed alerts.
The TCP Acceleration (m/ Specify the threshold value for TCP acceleration alerts.
s2) box
The Wrist Singularity Specify how close joint five can be to zero rotation before
(deg) box alerting.
The Joint Limits (deg) box Specify how close each joint can be to its limits before alerting.
Continues on next page
Continued
Related Information
Enabling simulation monitoring on page 282.
Overview
The Create System from Layout Wizard is used to create a new robot system from the
graphical layout.
Common buttons
The table below describe the buttons common for all steps of the Create System from
Layout Wizard.
Object Description
The Help button Click this button to open the help window.
The Cancel button Click this button to close the wizard without any changes.
The Back button Click this button to move to the previous window of the wizard.
The Next button Click this button to move to the next window of the wizard.
The Finish button Clickthis button to modify the system with the current status.
The Create System from Layout Wizard, System Name and Location page
Copyright 2007 ABB. All rights reserved.
The table below describe the contents of the Create System from Layout Wizard, System
Name and Location page.
Object Description
The System Name box The default system name is "System" followed by the first free
index in the directory..
The Location box The default location is that of the last used system pool.
The Browse button Click this button to browse for the system directory.
The MediaPool Location This is read from the registry key ...\HKLM\SOFT-
box WARE\ABB\RoboticsIT\RobotWareOS.
The Browse button Click this button to browse for the media pool directory.
The RobotWare Version The default RobotWare version is the latest found in the current
box media pool.
Continued
The Create System from Layout Wizard, Select Mechanisms for the system page
The table below describe the contents of the Create System from Layout Wizard, Select
Mechanisms for the system page.
Object Description
The Mechanisms check Contains all the station mechanisms that are not yet connected
box list to a system.
The Create System from Layout Wizard, Configure the system page
The table below describe the contents of the Create System from Layout Wizard,
Configure the system page.
Object Description
The Unmapped Contains the selected mechanisms that have not yet been
Mechanisms list mapped to a task.
Click this button to connect the selected unmapped mechanism
to a controller task.
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The Add task button Click this button to add a task to the list
Overview
With RobotStudios I/O simulator you view and manually set existing signals, groups and
cross-connections during program execution, thus making it possible to simulate or
manipulate the signals.
The I/O simulator displays the signals for one system at a time in groups of 16 signals. For
handling large sets of signals, you can filter which signals to display and also create custom
lists with favorite signals for quick access.
xx0500002555
Continued
Part Description
1. The Select System list. Select the system whose signals you want to view.
2. The Filter type list. Select the type of filter to use.
3. The Filter Specification list. Select the filter for limiting the signal display. For
example, if Board is set as filter type, then you select the board whose signals
you want to view.
4. The Inputs list. Displays all input signals that pass the applied filter.
If more than 16 signals pass, only 16 signals at a time are displayed. Then use
the I/O range list to select the signals to view.
5. The Outputs list. Displays all output signals that pass the applied filter. If more
than 16 signals pass, only 16 signals at a time are displayed. Then use the I/
O range list to select the signals to view.
6. The Edit Lists button. Click this button to create or edit lists of favorite signals.
7. The I/O Range list. When more than 16 signals pass the filter, use this list to
select the range of signals to display.
Continued
Signal icons
The table below describes the signal icons in the I/O simulator:
Icon Description
Digital signal with value 1.
xx0500002558
xx0500002558
The cross in the upper right corner indicates that the signals are
a cross-connection.
xx0500002558
xx0500002562
Related information
Copyright 2007 ABB. All rights reserved.
Overview
The activate mechanical units dialog box is used to manually activate or deactivate tracks,
positioners and other mechanical units. Activating a mechanical unit makes it controlled and
monitored by the controller. For more information about activating and deactivating
mechanical units, see the RAPID reference manual on the instructions ActUnit and
DeactUnit.
Heading Description
The Mechanical Units The dialog box contains one check box for each mechanical unit
check boxes in the station. A selected check box means that the unit is
activated. If several mechanical units share a common drive
unit, only one at a time can be activated.
For more information about mechanical units and activation or
deactivation, see the RAPID reference manual.
Related information
Overview
With this dialog box you create lists with favorite signals for quick access in the I/O simulator
window.
The I/O simulator displays the signals for one system at a time in groups of 16 signals. For
handling large sets of signals, you can filter which signals to display and also create custom
lists with favorite signals for quick access.
The Delete button Deletes the signal selected in the Signals in Lists list from the
selected list.
The Available Signals list Displays all signals in the current system. To create new signals,
edit the systems I/O configuration using RobotStudioOnline.
The OK button Click this button to apply the changes made to the lists.
Continued
Related information
The I/O Simulator on page 407.
Overview
The station signals dialog box is used to create a list of station signals for quick access in the
I/O simulator window. Station signals exist virtually in the station, not in the controller.
2. In the Select System list, select Station Signals and then click Edit Signals.
Related information
The I/O Simulator on page 407.
Overview
With the set controller world function you can change the position of the controller world
coordinate system relative to the station world coordinate system from the default position
where the two coordinate systems coincide.
Object Description
The Reference list Select the reference coordinate system to which all positions or
points will be related.
The Position X, Y, Z boxes Click in one of these boxes, and then click the position of the
item in the graphics window to transfer the values to the
Position boxes. You can also type the position values.
The Orientation boxes Specify the orientation for the item.
Related information
Modifying the controller world on page 153.
Overview
The system control panel is used to switch between the operational modes of the controller,
thus by-passing the FlexPendant. This feature is available only in Programming mode.
The Enable Device button In a manual mode, click this button to simulate holding the
enabling device to turn on the motors.
The Release Device In a manual mode, click this button to turn off the motors.
button
The Reset Emergency If the controller enters the emergency stop state, click this button
Stop button to reset the state.
The Close button Click this button to close the dialog box.
Overview
The system builder is your tool for creating, modifying, copying and deleting systems.
Object Description
The System directory list Specifies the folder for your systems. Either type the path to the
folder or click the Browse button to browse to it. Select the
system in the box beneath the list.
The System Properties Displays system information, such as version and serial
list number, for the selected system.
The Comments box Here you can view, create and modify comments on a system.
The Save button Click this button to save changes to the comments.
The Create New button Click this button to start The New Controller System Wizard on
page 417.
The Create from Backup Click this button to start The Create Controller System from
button Backup Wizard on page 420.
Overview
This wizard is used to create a new controller system. It allows you to select RobotWare
options.
The Virtual Key check box Specify this check box to use a virtual key.
The Browse button Alternatively, browse to the folder containing the controller key.
The Media Pool box Specify the media pool containing the matching RobotWare
program.
The Browse button Alternatively, browse to the media pool.
The RobotWare Version Specify the RobotWare version.
list
Continued
Object Description
The Browse button Alternatively, browse to the drive key.
The right arrow button Click this button to move the selected drive key to the Added
Drive Keys list.
The Added Drive Keys list Displays the added drive keys. The order of their entry can be
manipulated with the up and down arrow buttons.
The Remove Drive Key Click this button to remove an added drive key from the list.
button
Continued
Overview
This wizard is used to create a new system from a controller system backup. It allows you to
change the program revision and options.
The Create Controller System from Backup Wizard, Name and location page
The table below describes the contents of the Name and location page:
Object Description
The Name box Specify the name of the new system.
The Path box Specify where the system will be stored.
The Browse button Alternatively, browse to where the system will be stored.
The Create Controller System from Backup Wizard, Location of system controller backup
The table below describes the contents of the Location of system controller backup page:
Object Description
The Backup folder box Specify the backup folder for creating the system.
Overview
This wizard is used to modify a controller system. It allows you to modify the program
revision and options, as well as calibration data.
Continued
The Modify Controller System, Add files to/Remove files from Home Directory page
The table below describes the contents of the Add files to/Remove files from Home Directory
page:
Object Description
The Files list Specify the file to be added to the home directory of the system.
The Browse button Alternatively, browse to the file.
The right arrow button Click this button to move a selected file to the Added files list.
The Added files list Displays the parameter data files to be added.
Continued
Object Description
The Remove button Click this button to remove a selected added file from the list.
Overview
The system configuration window contains functions for making and viewing advanced
system configurations, such as changing controller and baseframe positions, calibrating and
setting up external axes.
The left side of the system configuration window contains a hierarchical tree with which you
browse to different aspects of the system. The right side contains a property sheet for the
aspect selected in the tree. Below are short descriptions of the property sheets for each aspect
node of the system configuration.
CAUTION!
Changing the system configurations may result in corrupted systems or unexpected robot
behaviors. Be sure to understand the effects of the changes before proceeding.
Overview
The synchronize to VC command is used to synchronize data from a station to the virtual
controller.
Object Description
The Element column In this column, all elements that can be synchronized, such as
data, paths and targets, are displayed.
To include the element in the synchronization, select the check
box in front of the element name.
The Module column In this column, the module in the RAPID program to which the
element will be synchronized is displayed.
To change the module for an element, right-click the current one
and select, or type a new in the list.
The Storage class column In this column, the storage class of each element is displayed.
For detailed information about storage classes for the different
Copyright 2007 ABB. All rights reserved.
Continued
Object Description
The Select path targets Click this button to select in the Elements column all targets in
button the path.
This button is available only in advanced mode after a path is
selected.
Simple/Advanced Click this button to toggle between the simple and advanced
display modes.
In simple mode, the tooldata, workobjects, storage classes and
inline columns will not be displayed.
Related information
Synchronization on page 264.
Overview
The synchronize to station command is used to synchronize data from a controller or a virtual
controller to the station.
Object Description
The Select Procedure to Select the procedures that you want to synchronize to your
synchronize box station.
The OK button Click this button to execute the command and close the dialog
box.
The Cancel button Click this button to cancel the command and close the dialog
box.
Related information
Synchronization on page 264.
Copyright 2007 ABB. All rights reserved.
Overview
This chapter describes the elements of the MultiMove window.
Main pages
The MultiMove window has six pages. For browsing between the pages, click the tabs in the
navigation pane. By default the tabs are arranged in an order that corresponds to the typical
workflow:
Page Description
1. Setup In this page you specify the robots and paths that shall be
programed. For details, see The Setup page on page 429.
2. Motion Behavior In this page you adjust the motion behavior of the robots. For
details, see The Motion behavior page on page 431.
3. Create Paths In this page you create the tasks for the robots, according to
the paths specified during the setup. For details, see The
Create Paths page on page 434.
4. MultiTeach In this page you teach complete synchronized move instruc-
Overview
The setup page is used for specifying the robots and paths to be used in the MultiMove
program.
The setup page is divided into three groups:
System Config on page 429.
Path Config on page 429.
Start position on page 430.
System Config
The System Config group contains the following commands:
Part Description
The Select System box Here you select the system that contains the robots to
program.
The System grid Each robot in the system is presented in its own row in this
grid. In the columns you make the settings as described below.
The Enable column Select this check box to use the robot in the MultiMove
program.
Copyright 2007 ABB. All rights reserved.
The Type column Specify if the robot holds the tool or the work piece.
The Robot column Displays the name of the robot.
Path Config
The Path Config group contains the following commands:
Part Description
The Update button Click this button to update the paths in the grid if any of the
paths have been changed. The button turns red if a change
has been detected and an update is necessary.
The Paths grid Each path in the station is presented in its own row in this grid.
In the columns you make the settings as described below.
The Enable column Select this check box for the paths to use for the program.
Continued
Part Description
The Order column Displays the order in which the paths will be executed. To
change the order, use the lists in the path column for
rearranging the rows in which the paths appear.
The Path column Sets the path to be executed here.
Start position
The Start position group contains the following commands:
Part Description
The Select Robot that other When creating a new start position, select a robot that the
should jump to list other will try to reach here.
The Apply button Jumps the other robots to the new start position.
Overview
The motion behavior page is used for specifying constraints and rules for how the robots shall
move relative to each other. The default setting is no particular constraints, which results in
the fewest joint movements. However, changing the motion behavior might be useful for:
Locking the orientation or position of the tool.
Optimizing cycle time or reachability by allowing tolerances.
Avoiding collisions or singularity by restricting joint motions.
The settings on the motion behavior page are divided into four groups:
Joint Influence on page 432.
TCP Constraints on page 432.
Tool Tolerance on page 433.
Tool Offset on page 433.
for each joint or TCP direction shall affect the robots relative to each other. It is the difference
between the weight values that matters, not the absolute values. If contradicting behaviors
have been set, the one with the lowest weight value will win.
Tool Tolerance, instead of restricting, enables more motions. Therefore, tolerances may
improve cycle and process times and enhance the reachability of the robots. Tolerances, too,
have weight value; here is set how much the robots shall use the tolerance. A low value
indicates that the tolerance will be used a lot, while a high value means that the robots will
try to avoid using the tolerance.
Continued
Joint Influence
The joint influence controls the balance of how much the robots will use their joints.
Decreasing the weight value for one axis will restrict the motion for this axis, while increasing
it will promote motion on this axis relative to alternative axes.
It contains the following commands:
Part Description
The Select Robot box Select the robots joints to constrain in this box.
The Joints for robot grid Displays the robots joints and their constraint weights. Each
joint is presented in its own row.
The Axis column Displays which axis the constraint affects.
The Influence column Specify how much the motion for the axis is constrained. 0
means a locked axis, while 100 means no constraint relative to
default constraint values.
TCP Constraints
The TCP constraints control the position and orientation of the tool. Enabling a TCP
constraint will decrease the motion of the tool and increase the motion of the work piece.
It contains the following commands:
Part Description
Continued
Tool Tolerance
The tool tolerances control the allowed deviation between the tool and the work piece. By
default, tolerances are not enabled, which means that no deviation is allowed. Enabling a
tolerance, if applicable, might improve motion performance. For example, if the tool is
symmetric around its Z axis, you can enable the Rz tolerance without affecting the accuracy
of the generated paths.
It contains the following commands:
Part Description
The Enable column Select this check box to activate the tolerance for this tool
pose.
The Pose column Displays the tool pose that is affected by the constraint.
The Value column Specify the pose value to apply the tolerance around.
The Influence column Specify the size of the tolerance. 0 means no deviation is
allowed, while 100 means all deviations are allowed.
Tool Offset
The tool offset sets a fixed distance between the tool and the paths.
It contains the following commands:
Copyright 2007 ABB. All rights reserved.
Part Description
The Enable column Select this check box to activate the offset for this tool pose.
The Pose column Displays the tool pose that is affected by the offset setting.
The Offset column Specify the value of the offset here.
Overview
The Create Paths page is used for creating RobotStudio paths for the MultiMove robots. The
created paths will accord with the motions displayed during the most recently played test
simulation.
The Create Paths page is divided into two groups:
Settings
With the settings group you set up the MultiMove properties that connect the tasks for the tool
robot and work piece robot to each other. It contains the following commands:
Part Description
The Start ID box Specify the first ID number for the synchronization of the
instructions for the robots.
The ID Step index box Specify the gap between the succeeding ID numbers.
The Sync ident prefix box Specify a prefix for the syncident variable, which connects the
sync instructions in the tasks for the tool robot and the work
piece robot with each other.
The Task list prefix box Specify a prefix for the tasklist variable, which identifies the
tasks for the tool robot and work piece robot to synchronize.
WP robot settings
With the WP robot settings group you set up the properties for the task that will be generated
for the work piece robot. It contains the following commands:
Part Description
The WP Workobject box Specify the work object to which the targets generated for the
work piece robot shall belong.
The WP TCP box Specify which tool data the work piece robot shall use when
reaching its targets.
Continued
Generate paths
The generate path group contains the button that creates the paths:
Part Description
The Create paths button Clicking this button generates paths in RobotStudio for the
latest tested motions according to the settings specified.
Copyright 2007 ABB. All rights reserved.
Overview
From the MultiTeach page you teach complete synchronized move instructions for the robots
in the MultiMove program.
The MultiTeach page is divided into two groups:
Settings
The Settings group contains:
Part Description
The Path Prefix box Specify a prefix for the paths to create.
The Target Prefix box Specify a prefix for the generated targets here.
The Start ID box Specify the first ID number for the synchronization of the
instructions for the robots.
The ID step index box Specify the gap between the succeeding ID numbers.
The Sync ident prefix box Specify a prefix for the syncident variable, which connects the
sync instructions in the tasks for the tool robot and the work
piece robot with each other.
The Tasks lists prefix box Specify a prefix for the tasklist variable, which identifies the
tasks for the tool robot and work piece robot to synchronize.
Continued
Teach
The Teach group contains:
Part Description
The MultiTeach Displays a hierarchal tree which contains the created move
Information box instructions. The tree is organized the same way as the tree in
the elements browser. For detailed information about the tree,
see RobotStudios help on the Elements browser.
The MultiTeach button Creates move instructions for the robots selected in the settings
to their current positions. The created move instructions are
immediately inserted at their correct places in the MultiTeach
Information tree.
The Done button Confirms the creation of the instructions.
Copyright 2007 ABB. All rights reserved.
Overview
RobotStudios MultiMove window has a page with commands for testing multimove
programs. Its default placement is at the bottom of the MultiMove window.
The test page contain three groups:
Part Description
The << < > >> buttons Jumps the robots, respectively, to the previous and next
targets in paths. The double arrow buttons jump several
targets at once, while the single arrow buttons jump one target
for each click.
The Play button Click this button to move the robots along the paths.
Play also has a list box in which you can activate the following
commands:
Save current position: Saves the current start
position. Since the calculated motions are based on the
robot start position saving the start position is useful
when testing alternative solutions.
Continued
Part Description
The Stop at end check box Select this check box to make the simulation stop after running
the paths one time. If cleared, the simulation will continue
playing over and over until it is stopped manually.
The Simulate Online check Select this check box to run the simulation as the movements
box are calculated.
This is useful for troubleshooting purposes, since it displays
and reports targets the robot cannot reach.
The Cancel on error check Select this check box to stop the simulation if an error occurs.
box Cancel on errors is recommended to use when simulate online
is used to minimize the number of error messages once the
first error is identified.
The Watch Close Loop Select this check box to display the search for a suitable start
check box position in the graphics window.
Clear the check box to jump the robots to the start position
when it is found.
Overview
The MultiMove configure system wizard guides you through configuring robots and
workobjects for MultiMove system. If the workobjects are not configured correctly when the
MultiMove functions are started, you will be asked whether to run the wizard. You can also
start it manually from the Tools page of MultiMove.
The wizard contains four pages, the information pane at the bottom indicates the current page.
Limitation
The wizard will not help you configure the RobotWare system correctly. If the correct options
are not used you will not be able to synchronize generated MultiMove paths to the virtual
controller, even if you can use the MultiMove functions in RobotStudio.
Continued
Overview
The Path Analyzer checks whether existing paths are coordinated correctly for MultiMove.
The analyzer opens in a window of its own and contains three pages. The information pane
at the bottom indicates the current page.
xx0600002648
xx0600002649
Error. The paths are not compatible in the specified aspect, and
the robot program is not executable.
xx0600002650
Overview
This is one of the tools for working manually with MultiMove programs. It sets new sync ID
arguments to the move instructions in a MultiMove path. By using the tool with the same start
ID and ID step index on all paths that shall be synchronized, you can be sure that the IDs
match if all paths contain the same number of move instructions.
For more information, see the MultiMove Application manual.
Overview
This is one of the tools for working manually with MultiMove programs. It adds sync ID
arguments to all move instructions in the path and, optionally, SyncMoveOn/Off
instructions, thus preparing an ordinary path for MultiMove use.
You use the tool on one path a time, so for creating a MultiMove program, you convert one
path for each robot and then create a tasklist and syncidents which you add to the Sync
instructions.
For more information, see the MultiMove Application manual.
Overview
This is one of the tools for working manually with MultiMove programs. It creates a variable
of the RAPID data type tasks, which identifies the tasks that will be synchronized. In each
SyncMoveOn or WaitSyncTask instruction, you then specify which tasklist to use.
For more information, see the MultiMove Application manual.
Overview
This is one of the tools for working manually with MultiMove programs. It creates a variable
of the RAPID data type SyncIdent, which identifies the sync instructions that shall be
synchronized.
For more information, see the MultiMove Application manual.
Overview
The options dialog box is used to customize the settings of your station.
Common buttons
The table below describes the buttons common for all pages of the Options dialog box.
Object Description
Apply Click this button to execute the command.
Reset Click this button to reset to the settings you had before this
session all values that you have changed on the current
page.
Default Click this button to reset to their default values all settings on
the current page.
OK Click this button to execute the changes and close the dialog
box.
Copyright 2007 ABB. All rights reserved.
Cancel Click this button to close the dialog box without applying any
changes.
Specific options
For specific information about the options on each page, see:
General on page 448.
Graphics on page 451.
Robotics on page 454.
Simulation on page 456.
6.13.1.2. General
Overview
In the general part of the options dialog box, you customize the unit settings of your station
and select if you want acknowledge dialog boxes to be displayed.
Options:General:Appearance
The table below describes the contents of the General:Appearance page of the Options dialog
box.
Object Description
The Select application Select the language to be used.
language list
The Display Position Edit Select the check box if you want to display the position boxes
boxes with Red/Green/ in the modify dialog boxes with colored background. Default
Blue background check value: selected.
box
Options:General:Clipboard
The table below describes the contents of the General:Clipboard page of the Options dialog
box.
Object Description
The Show acknowledge Select this check box if you want an acknowledge dialog box to
dialog when deleting be displayed before deleting objects. Default value: selected.
objects check box
Continued
Object Description
The Show acknowledge Select this check box if you want an acknowledge dialog box to
dialog when deleting be displayed before deleting elements. Default value: selected.
targets and correspond-
ing move instructions
check box
Options:General:Screenshot
The table below describes the contents of the General:Screenshot page of the Options dialog
box.
Object Description
The Entire application Select this option to capture the entire application.
window option
The Active document Select this option to capture the active document window,
window option typically the graphics window.
The Copy to clipboard Select this check box to save the captured image to the system
check box clipboard.
The Save to file check box Select this check box to save the captured image to file.
The Location box Specify the location of the image file. The default location is the
"My Pictures" system folder.
... Browse for the location.
Continued
Object Description
The File name box Specify the name of the image file. The default name is "Robot-
Studio" to which is added a date.
The file suffix list Select the desired file format. The default format is JPG.
Options:General:Screen Recorder
The table below describes the contents of the General:Screen Recorder page of the Options
dialog box
Object Description
The Framerate list Specify the framerate in frames per second.
The Same as window Select this option to use the same resolution as in the graphics
option window.
The Limit resolution Select this option to scale down the resolution.
option
The Maximum width list Specify the maximum width in pixels.
The Maximum height list Specify the maximum height in pixels.
Options:General:Advanced
The table below describes the contents of the General:Advanced page of the Options dialog
box.
Object Description
Related information
The Options dialog box on page 447.
6.13.1.3. Graphics
Overview
In the graphics pages of the options dialog box, you customize the graphics appearance of
your station, such as colors, whether or not to show the grids, the detail level and the
navigation sensitivity.
Options:Graphics:Renderer
The table below describes the contents of the Graphics:Renderer page of the Options dialog
box.
Object Description
The Select API to use for Select the low-level API to be used for rendering 3D graphics.
3D graphics options The default value is OpenGL, but Direct3D might be faster or
stabler.
Options:Graphics:Appearance
The table below describes the contents of the Graphics:Appearance page of the Options
dialog box.
Object Description
The Background color Click the colored rectangle to change the background color.
box
Copyright 2007 ABB. All rights reserved.
The Gradient check box Select the check box if you want to display the background color
in gradient style. Default value: cleared.
The Show floor check box Select the check box if you want the floor (at z=0) to be
displayed. Change the floor color by clicking the colored
rectangle. Default values: selected.
The Color box Click the colored rectangle to change the color of the floor.
The Transparent check Select the check box if you want the floor to be transparent.
box Default values: selected.
The Show UCS Grid Select the check box if you want the UCS grid to be displayed.
check box Default value: selected.
The Grid Space X box Change the UCS grid space in the X coordinate direction by
entering the requested value in the box. Default value: 1000 mm
(or equivalent in other units).
Continued
Object Description
The Grid Space Y box Change the UCS grid space in the Y coordinate direction by
entering the requested value in the box. Default value: 1000 mm
(or equivalent in other units).
The Show coordinate Select the check box if you want the coordinate systems to be
system check box displayed. Default value: selected.
Options:Graphics:Performance
The table below describes the contents of the Graphics:Performance page of the Options
dialog box.
Object Description
The Detail level options Select if the detail level is to be Auto, Fine, Medium or Coarse.
Default value: Auto.
The Cull back-facing Select the check box if you want to ignore the back-facing
triangles check box triangles. Default value: selected.
Culling back-facing triangles improves the graphics
performance but may give unexpected display if surfaces in
models are not faced correctly.
The Enable twosided Select the check box if you want to enable two-sided lighting.
lighting check box Default value: cleared.
The Cull objects smaller Select the size in pixels under which objects will be disregarded.
than box Default value: 2 pixels.
The settings you make here are generic for all objects in RobotStudio. With the Graphic
Appareance dialog box you can, however, override some of these settings for single objects.
For more information, see The Graphic Appearance dialog box on page 380.
Continued
Options:Graphics:Behavior
The table below describes the contents of the Graphics:Behavior page of the Options dialog
box.
Object Description
The Navigation Select the navigation sensitivity when using the mouse
sensitivity slider movements or navigation buttons by clicking the bar and
dragging it into position. Default value: 1.
The Selection radius Change the selection radius (that is, how close the mouse
(pixels) box cursor click must be to an item to be selected) by entering the
requested pixel value in the box. Default value: 5.
The Selection highlight Set if the selected object shall be distinguished in the Graphics
options window by a color, by an outline or not at all. Default value: color.
The Highlight color box Click the colored rectangle to change the highlight color.
The Activate selection Select the check box to enable temporarily highlighting of items
preview check box that may be selected when the mouse cursor passes over them.
Default value: selected.
The Show local Select the check box to show the local coordinate system for the
coordinate system for selected objects. Default value: selected.
selected objects check
box
Options:Graphics:Geometry
Copyright 2007 ABB. All rights reserved.
The table below describes the contents of the Graphics:Geometry part of the Options dialog
box.
Object Description
The Normal Tolerance Enter the maximum deviation of surface normals in the Fine,
boxes Medium or Coarse boxes. Default values (in deg): Fine: 10,
Medium: 22.5, Coarse: 45 (or equivalent in other units).
The Surface Tolerance Enter the maximum spatial deviation of surfaces in the Fine,
boxes Medium or Coarse boxes. Default values (in deg): Fine: 2,
Medium: 10, Coarse: 50 (or equivalent in other units).
The Curve Tolerance Enter the maximum spatial deviation of curves in the Fine,
boxes Medium or Coarse boxes. Default values (in deg): Fine: 0.2,
Medium: 1, Coarse: 5 (or equivalent in other units).
Related information
The Options dialog box on page 447.
6.13.1.4. Robotics
Overview
In the robotics pages of the options dialog box, you customize the settings for the robotics of
your station.
Options:Robotics:Controller
The table below describes the contents of the Robotics:Controller page of the Options dialog
box.
Object Description
The Warn about running Select this check box if you want RobotStudio to warn you if a
Virtual Controller virtual controller process is running when RobotStudio is started.
processes on startup With the warning you will receive the option to terminate these
check box processes. Default value: selected.
If RobotStudio is not closed correctly (for example, if closed from
the task manager), parts of the virtual controller might keep
running. Before starting a new virtual controller, or the same one
again, it is recommended to terminate these virtual controller
processes.
Options:Robotics:Rapid
The table below describes the contents of the Robotics:Rapid page of the Options dialog box.
Continued
Options:Robotics:Editor
The table below describes the contents of the Robotics:Editor page of the Options dialog box.
Object Description
The Wrap long lines Select this check box if you want to wrap long lines.
check box
The Text styles group Specify the appearance of the various text classes.
Options:Robotics:Mechanism
The table below describes the contents of the Robotics:Mechanism page of the Options
dialog box.
Object Description
The Approach Vector list Select the approach vector. Default value: Z.
The Travel Vector list Select the travel vector. Default value: X.
The Enable configuration Select this check box if you want to enable the configuration
check for jump to target/ check configurations when jumping to target or move instruc-
move instruction check tions. When selected and a target does not have a validated
box configuration assigned, you will be asked to set one. When
cleared, the configuration closest to the current one is used.
Default value: selected.
Options:Robotics:Virtual FlexPendant
Copyright 2007 ABB. All rights reserved.
The table below describes the contents of the Robotics:Virtual FlexPendant page of the
Options dialog box.
Object Description
The Always on top check Select this check box if you want to have the virtual FlexPendant
box always on top. Default value: selected.
The Enable transparency Select this check box if you want parts of the virtual FlexPendant
check box to be transparent. Default value: selected.
6.13.1.5. Simulation
Overview
In the simulation pages of the options dialog box, you customize the simulation properties for
your station.
Options:Simulation:Collision
The table below describes the contents of the Simulation:Collision page of the Options
dialog box.
Object Description
The Perform collision Select if collision detection is to be performed during simulation
detection options or always. Default value: During simulation.
The Stop simulation at Select this check box if you want the simulation to stop at a
collision check box collision. Default value: cleared.
The Log collisions to Select this check box if you want the collisions to be logged to
Output window check box the output window. Default value: selected.
The Log collisions to file: Select this check box if you want to log the collisions to a file.
check box Browse for the file to log in by clicking the browse button. Default
value: cleared.
The Enable fast collision Select this check box to enhance the performance by detecting
detection check box collisions between geometrical bounding boxes instead of
geometrical triangles. This might result in falsely reported
Continued
Options:Simulation:Virtual Time
The table below describes the contents of the Simulation:Virtual Time page of the Options
dialog box.
Object Description
The Virtual Time mode- This option makes RobotStudio always use the free run mode.
Free run option For information about the virtual time modes, see Simulation
overview on page 269.
The Virtual Time mode - This option makes RobotStudio always use the time slice mode.
Time Slice option For information about the virtual time modes, see Simulation
overview on page 269.
Related information
The Options dialog box on page 447.
About collision detection on page 273.
The Modify Collision set dialog box on page 371.
Copyright 2007 ABB. All rights reserved.
Overview
The Mechanism Modeler is a tool for creating new mechanisms (robots, tools, external axes
or devices), modifying mechanisms created by this tool, and setting joint masks, poses and
transition times.
Object Description
The Mechanism Model Specifies the model name of the mechanism.
Name box
The Mechanism Type list Specifies the mechanism type.
Tree structure The components of the mechanism in a tree structure. The tree
structure will not be visible unless the mechanism is editable.
Each node (link, joint, frame, calibration and dependency) can
be edited in its own dialog box, see below.
The Compile Mechanism Click this button to compile the mechanism. This button will not
Object Description
The Link Name box Specifies the name of the link.
The Selected Part list Specifies the parts to add to the Part list box.
The Set as BaseLink The BaseLink is where the kinematical chain begins. This must
button be the parent of the first joint. A mechanism may have only one
BaseLink.
Continued
Object Description
Adds a selected part to the Part list box.
xx0600003086
The Remove Part button Click this button to remove a selected part from the Part list box.
The Selected Part group This group manipulates the transform of the selected part.
The Part Position boxes Specify the position of the part.
The Part Orientation Specify the orientation of the part.
boxes
The Apply to Part button Click this button to apply the settings to the part.
The OK button Click this button to close the dialog box with edits.
A joint is the axis where two links move in relation to each other, rotationally or prismatically.
Selecting a joint node will display a yellow-green line in the graphics window.
The table below describes the contents of the Modify Joint dialog box.
Object Description
The Joint Name box Specifies the name of the joint.
The Joint Type group. Specifies the joint type. The default option is Rotational.
Changing the Joint Type clears the Joint Limits below.
The Parent Link list Specifies the parent link, usually the first joint of the mechanism.
The Child Link list Specifies the child link. To be valid, the parent and child links
may not be identical to each other, and the pair must be unique.
The Active check box Select this check box to make the joint active. An active joint is
one that a user can move, while an inactive joint is a slave to an
active joint.
Continued
Object Description
The Joint Axis group This group specifies the axis around or along which the child
moves.
The First Position boxes Specify the start point of the axis vector.
The Second Position Specify the end point of the axis vector.
boxes
The Jog Axis slider Demonstrates how the child link moves along its axis.
The Limit Type list Specifies the limits in each direction to which a joint may move.
The options are Constant, Variable and No.
The Joint Limits group This group is visible in Constant or Variable mode.
The Min Limit list Specifies the minimum joint limit.
The Max Limit list Specifies the maximum joint limit.
The Joint Limits group This group is visible in Constant or Variable mode.
The Variable Limits group In Variable mode, variable limit points may be added as an
advanced way of delimiting the area of movement.
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Continued
Object Description
The Remove button Click this button to remove a selected point from the Point list
box.
The OK button Click this button to close the dialog box with edits.
Object Description
The Frame/Tool Data Specifies the name of the frame or tool data.
name box
The Belongs to Link list Specifies the link to which the frame or tool belongs.
The Position boxes Specify the position of the transform.
The Orientation boxes Specify the orientation of the transform.
The Select values from Select this box to select the values from a target or frame, which
target/Frame check box is selected in the box beneath the check box.
The Tool Data group This group is visible if the mechanism is a tool.
The Mass list Specifies the mass of the tool.
The Center of Gravity Specify the center of gravity of the tool.
Copyright 2007 ABB. All rights reserved.
boxes
The Moment of Inertia lx, Specify the moment of inertia of the tool.
ly, lz boxes
The OK button Click this button to close the dialog box with edits.
Object Description
The Calibration belongs Specifies the joint to be calibrated.
to Joint list
The Position boxes Specify the position of the transform.
Continued
Object Description
The Orientation boxes Specify the orientation of the transform.
The OK button Click this button to close the dialog box with edits.
Object Description
The Joint list Specifies the joint whose motion will be controlled by other
joints.
The Use LeadJoint and Select this option to specify a lead joint and factor.
factor option
The LeadJoint list Specifies the lead joint.
The Factor list This list holds a double which denotes the extent to which the
lead joint will control the main joint.
The Use Formula option Select this option to enter a formula in the box.
The OK button Click this button to close the dialog box with edits.
Object Description
The Joint Mapping group These boxes handle the joint mapping of the mechanism. When
editing, the mechanism must be disconnected from its library.
The values must be integers from 1 6 in ascending order.
The Set button Click this button to set the joint mapping.
The Poses grid Displays the poses and their joint values.
Selecting a pose will move the mechanism to it in the graphics
window.
The Add button Click this button to bring up the Create Pose dialog box for
adding a pose.
Continued
Object Description
The Edit button Click this button to bring up the Modify Pose dialog box for
editing a selected pose.
A SyncPose cannot be edited unless the mechanism is discon-
nected from its library.
The Remove button Click this button to remove the selected pose.
A single SyncPose cannot be removed.
The Set Transition Times Click this button to edit the transition times.
button
Object Description
The Pose Name box Specifies the name of the pose. If the pose is a SyncPose, this
box is not editable.
The names "HomePosition" and "SyncPosition" are disallowed.
The Home Pose check box Select this box to specify the home pose of the mechanism. If
selected, the non-editable pose name will be "HomePose".
The Launch Joint Jog Click this button to bring up the joint jog tool.
Tool button
Copyright 2007 ABB. All rights reserved.
The Use Current button Click this button to set the current joint values in the Joint
Values group.
The Reset Values button Click this button to reset the joint values in the Joint Values
group to what they were when the dialog box was opened.
The Joint Values group Specify the joint values of the pose.
The OK button Click this button to close the dialog box with edits.
Object Description
The From Pose columns Specifies the start of the transition for the named pose.
Continued
Object Description
The To Pose rows Specifies the end of the transition for the named pose.
The OK button Click this button to close the dialog box with edits.
Related information
Creating a new mechanism on page 131.
Compiling a mechanism on page 134.
Modifying a mechanism on page 135.
Overview
This dialog box is used to extrude a 3D object from a surface or curve.
This dialog box is available only in modeling mode.
Object Description
The Surface or Curve box Denotes the surface or curve to be extruded.
To select the surface or curve, first click in the box, then select
the surface or curve in the graphics window.
The Extrude Along Enables extrusion along a specified vector.
Vector option
The From Point (mm) box The start point of the vector.
The To Point (mm) box The end point of the vector.
The Extrude Along Curve Enables extrusion along a specified curve.
option
The Curve box Denotes the curve used as a sweep path.
Copyright 2007 ABB. All rights reserved.
xx0600003076
To select the curve, first click the box, then the curve in the
graphics window.
The Make Solid check box Select this check box to convert the extruded form into a solid.
Related information
Creating 3D objects on page 125.
Overview
This dialog box is used to simplify an object by detecting and removing CAD features such
as blends, chamfers and holes.
Object Description
The Blend radius (mm) Specifies the maximum size of the blend radius that is detected
box and removed.
The Chamfer width (mm) Specifies the maximum size of the chamfer width that is
box detected and removed.
The Hole diameter (mm) Specifies the maximum size of the hole diameter that is
box detected and removed.
The Preview button Click this button to preview the result of the defeature operation.
All faces that are affected are then highlighted in the graphics
window, and a message reporting the count of those faces is
displayed in the output window.
Related information
6.15 Toolbars
6.15.1. Toolbars
Overview
RobotStudio has several toolbars with buttons for quick access to commonly used commands
or settings. The commands on the toolbars are categorized according to their functions. This
section describes the toolbars and the commands available from them.
Overview
With the snap mode toolbar you set the point the cursor will move to when you click an item
in the graphics window.
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Center
Snaps the cursor to center points.
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Mid
Snaps the cursor to midpoints.
xx0400001353
End
xx0400001352
Edge
Snaps the cursor to the edge points.
xx0400001351
Gravity
Snaps the cursor to the center of gravity.
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Local Origin
Snaps the cursor to the local origin of an object.
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Continued
xx0400001342
Copyright 2007 ABB. All rights reserved.
Overview
From the selection level toolbar you set which type of object to select when clicking in the
graphics window. For example, you can decide whether to select single targets or whole
paths.
Surface
Surfaces are surfaces of bodies. In order to select surfaces, the
body must have an associated geometry.
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Body
Bodies are 2D or 3D geometrical building blocks.
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Part
Group
Groups are objects that are created for grouping other objects in
the Objects browser.
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Continued
Button Description
Target/Frame
Targets, Frames, Tooldata and Workobjects. Targets are defined
positions and orientations for the robot, corresponding to
xx0400001329
RobTarget in RAPID. Frames are coordinate systems. Tooldata
is the parameters for a tool. Workobjects are coordinate
systems.
Path
Paths are defined sequences of either move instructions or
action instructions, for programing robot motions.
xx0400001330
For more information about the geometries and their building blocks, see About libraries,
geometries and CAD files on page 56.
Automatic settings
When possible, RobotStudio sets the correct selection level automatically. For example, when
you click the Jog Joint button, the selection level is automatically set to part, since it is the
parts you use when jogging the robot this way.
Overview
The view toolbar lets you change the view of the station.
Button Description
Zoom In
Zooms in on the station.
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Zoom Out
Zooms out from the station.
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View All
Sets the zoom to fit the whole station.
xx0400001318
View Center
Centers the view around the selected point.
View Front
View the front of the station.
xx0400001320
View Right
View the station from the right.
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View Top
View the station from the top.
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Overview
On the file toolbar you find buttons for the most common commands, for example, save and
cut.
Button Heading
New Station
Opens a new station.
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Open Station
Opens an existing station
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Save
Saves the station in its current state.
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Copyright 2007 ABB. All rights reserved.
Previous commands
Displays a list of the previously executed commands.
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Following commands
Displays the commands executed after the current command.
This button is available only after you have used the Previous
xx0500001469 action button.
Cut
Cuts the selected item and stores it on the clipboard.
xx0500001465
Copy
Copies the selected item to the clipboard.
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Continued
Button Heading
Paste
Inserts the items from the clipboard into the selected location.
xx0500001467
Overview
The simulation toolbar contains the commands for playing simulations. For setting up the
paths to include in the simulation, see Setting up and running a simulation on page 271.
Button Description
Play
Simulates the RAPID program corresponding to the simulation setup.
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Pause
Pauses the simulation. Click Play to start the simulation from the paused state.
xx0500002550
Stop
Stops the simulation and returns it to the initial state.
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Copyright 2007 ABB. All rights reserved.
Reset
Returns the simulation to the initial state.
xx0500002551.gif
Related information
The Setup Simulation dialog box on page 392.
Overview
The freehand mode toolbar enables you to move items in a freehand mode in the graphics
window.
Object Description
Reference Coordinate system
Select the required coordinate system from the list in
the Reference Coordinate system box.
xx0500001406
Move
Enables movement of an object in the selected
reference coordinate system.
xx0400001332
Rotate
Enables rotation around the X, Y and Z axes of an
object.
xx0400001333
Jog Linear
xx0400001335
Jog Reorient
Enables rotation of the TCP.
xx0400001336
Jog Joint
Enables jogging of the different parts of a robot.
xx0400001334
xx0500001461
Overview
The elements toolbar displays the active tasks and contains the most commonly used create
commands.
Object Description
Active Task
Select the task to which the following manip-
ulations will be applied.
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Active Tool
Select the tooldata to use when creating new
motion instructions or action instructions.
xx0400001345
Active Process
Copyright 2007 ABB. All rights reserved.
Create Path
Creates a path in the active task.
xx0400001347
Create Target
Opens the Create Target dialog box in the
tool window at the bottom of the Elements
xx0400001348
browser.
Continued
Object Description
Create Move Instruction
Opens the Create Move Instruction dialog
box in tool window at the bottom of the
xx0500001458
Elements browser.
Teach Target
Creates a target at the current TCP in the
active workobject.
xx0500001459
Overview
The measurement toolbar is used to measure distances and angles between objects in the
graphics window. The results are displayed as short instructions in the output window.
xx0500002005
Closest Distance
Measures the closest distance between two objects in the graphics window.
xx0500002006
Angle
Measures the angle between two converging lines.
When measuring angles, first select the converging point, then one point on
xx0500002007 each line.
Copyright 2007 ABB. All rights reserved.
Diameter
Measures the diameter of a circular shape.
When measuring diameters, select the three points on the circular shape.
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Related information
Measuring objects and distances on page 149.
Overview
The process timer toolbar contains the commands to measure process time.
Button Description
Clock
Activates the clock.
xx0500002545
Reset
Resets the clock to zero.
xx0500002547
Overview
On the create curve toolbar you have buttons for creating curves. Clicking a button opens the
Create dialog box for the curve type in the tool window below the Modeling browser.
The toolbar is available only in modeling mode.
Create Circle
Opens a dialog box in which you create a circle by defining a
center point and the radius or diameter. For more information,
xx0600002712 see The Create Circle dialog box on page 331.
Create Three-Point circle
Opens a dialog box in which you create a circle by defining three
points on it. For more information, see The Create Three Points
Copyright 2007 ABB. All rights reserved.
Continued
Button Description
Create Rectangle
Opens a dialog box in which you create a rectangle. For more
information, see The Create Rectangle dialog box on page 336.
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Create Polygon
Opens a dialog box in which you create a polygon. For more
information, see The Create Polygon dialog box on page 337.
xx0600002718
Create Polyline
Opens a dialog box in which you create a polyline. For more
information, see The Create Polyline dialog box on page 338.
xx0600002719
Create Spline
Opens a dialog box in which you create a spline. For more infor-
mation, see The Create Spline dialog box on page 339.
xx0600002720
Overview
On the create surface toolbar you have buttons for creating 2D objects. Clicking a button
opens the Create dialog box for the surface type in the tool window below the Modeling
browser.
The toolbar is available only in modeling mode.
Overview
The buttons on the create solids toolbar are used for creating 3D objects. Clicking a button
opens the Create dialog box for the solid type in the tool window below the Modeling
browser.
The toolbar is available only in modeling mode.
Create Cylinder
Opens a dialog box in which you create a cylinder. For more
information, see The Create Cylinder dialog box on page 321.
xx0600002726
Create Pyramid
Opens a dialog box in which you create a pyramid. For more
information, see The Create Pyramid dialog box on page 322.
xx0600002727
Create Sphere
Opens a dialog box in which you create a sphere. For more
information, see The Create Sphere dialog box on page 324.
xx0600002728
Overview
The program editor toolbar contains buttons for working in the program editor.
Button Description
Start
Starts the execution of all normal RAPID tasks in the system.
xx0600003383
Stop
Stops the execution of all normal RAPID tasks in the system.
xx0600003384
Step over
Starts and executes one statement in all normal tasks in the
system.
xx0600003385
Step in
Copyright 2007 ABB. All rights reserved.
Step out
Executes all remaining statements of the current routine, and
stops after the call to the current routine.
xx0600003387
Ignore breakpoints
Ignores all breakpoints during simulation.
xx0600003394
Toggle breakpoint
Toggles a breakpoint at the cursor.
xx0600003388
Continued
Button Description
Apply
Applies the changes to the module in the program editor to the
system.
xx0600003389
Check program
Verifies the syntactic and semantic correctness of all modules in
the system.
xx0600003390
Print
Prints the contents of the program editor.
xx0600003391
Related information
Using the program editor on page 266.
Overview
The screen capture toolbar contains buttons for screenshots and screen recording.
Overview
The table below describes the buttons on the Screen Capture toolbar:
Button Description
Record application
Starts the recording of the entire application window.
xx0700000314
Record graphics
Starts the recording of the active graphics window.
xx0700000315
Stop
Stops the recording.
xx0700000316
Play
Plays the latest recording.
Copyright 2007 ABB. All rights reserved.
xx0700000317
Related information
Screen Capture on page 290.
A configuration monitoring
action instruction 350 about 54
about 48 confJ
create 219 about 54
modify 216 ConfL
alerts about 54
activate 282 controller
approach vector modify baseframe 154
set for mechanisms 455 move 153
axes configuration 52 start 101
set 187 controller system
copy 89
B create 70
base coordinate system 49 controller world coordinate system 49
baseframe coordinate systems 49
modify 154 show or hide 451
box curve
create 316 create 120
create by three points 318 create path 183
modify 122
C cycle tme
CAD file measure 283
troubleshoot and optimize 113 cylinder
CAD formats create 321
convert 109
D
cfg value 52
circular motion data declaration 43
Copyright 2007 ABB. All rights reserved.
jog 172
part
jog several robots 175
set local origin 129
modify baseframe 154
path
modify controller wolrd 153
about 47
move to home 243
check reachability 235
programming overview 162
create 186
robot axes configuration 52
create from curve 183
set 187
interpolate target orientation 208
robotics
move 206
concept overview 37
move along 240
options 454
reverse 202
RobotStudioOnline 40
rotate 204
RobotWare 40
set robot axes configurations 187
license key 41
translate 206
RobotWare system 41
positioner
copy 89
modify position 260
RobotWare, Install Media Pool 19
setting up 158
routine 43
S RobotWare 41
selection System, create 70
options 453 T
selection level 67
target
signals
about 47
set 280
align orientation 197
simulate
check reachability 235
alerts 282
copy orientation 200
create event 279
create 176
measure process time 283
create jointtarget 178
set signals 280
jump to 238
TCP trace 282
modify position 180
Simulation
modify with modpos 181
collision detection options 456, 457
set configuration 187
simulation 269
set orientation normal to surface 195
about collision detection 273
teach 179
options 456
view tool 237
sphere
target orientation
create 324
interpolate 208
Standalone license key, Installing 32
TCP 49
Standalone License Key, Requesting 30
TCP trace
start in virtual controller 101
activate 282
station
three.point method
build workflow 62
create frame by 170
create 64
tolerances
pan 292
set for geometries 451, 453
rotate 292
U
UCS 51
show or hide 451
units
options 448
user coordinate system 51
V
virtual controller
start 101
W
WorkObject 50
workobject
create 164
modify 168
world coordinate system 49
Copyright 2007 ABB. All rights reserved.