Page 1 ROBOTICS Operating manual OmniCore...
Page 2 Trace back information: Workspace 20A version a2 Checked in 2020-02-21 Skribenta version 5.3.033...
Page 4 The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual. Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like.
Page 5: Table Of Contents
Before you start programming ................Programming concept ..................6.3.1 Handling of programs ................6.3.2 Handling of modules ................6.3.3 Handling of routines ................6.3.4 Handling of instructions ................Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 6 Handling inputs and outputs, I/O Introduction ...................... Viewing signal lists .................... Setting signals as favorite signals ................ Simulating the signals and changing the signal values ..........I/O devices ....................... Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 7 10.4 Back up the system ................... 10.5 Restore the system .................... 10.6 Reset user data ....................10.7 FlexPendant logs ....................10.8 Connection log ....................10.9 System diagnostics ................... Index Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
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Page 9: Overview Of This Manual
Overview of this manual Overview of this manual About this manual This manual contains instructions for operation of OmniCore controller based robots. Note It is the responsibility of the integrator to provide safety and user guides for the robot system.
Page 10 Creating new data instance on page 102. • The directory of BC_config_IO.sys file is corrected in the section Description of the I/O setup on page 164. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 11: Product Documentation
Product documentation Categories for user documentation from ABB Robotics The user documentation from ABB Robotics is divided into a number of categories. This listing is based on the type of information in the documents, regardless of whether the products are standard or optional.
Page 12 The operating manuals describe hands-on handling of the products. The manuals are aimed at those having first-hand operational contact with the product, that is production cell operators, programmers, and troubleshooters. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 13: Introduction To Omnicore
1 Introduction to OmniCore 1.1 About this section Overview This section presents an overview of the FlexPendant, the OmniCore controller, and RobotStudio. A robot consists of a robot controller, the FlexPendant, RobotStudio, and one or several manipulators or other mechanical units.
Page 14: The Omnicore Controller
The OmniCore controller contains all the functions needed to move and control the manipulator, and delivers flexibility, connectivity, and performance. The OmniCore controller gives ABB robots the ability to perform their tasks in a highly efficient manner and also increases the flexibility to incorporate the latest digital technologies.
Page 15: The Flexpendant
Use the joystick to move the manipulator. This is called jogging the robot. There are several settings for how the joystick will move the manipulator. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 16 Programmable keys, 1 - 4. Programmable keys are hardware buttons on the FlexPendant that can be used for dedicated, specific functions set by the user. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 17 If there is a need to enter safeguarded space, always bring the three-position enabling device. This is to enforce single point of control. A deviation exists in OmniCore from paragraph 5.3.5 Single point of control. Single point of control cannot be guaranteed in automatic mode because external clients can connect to the controller over the network.
Page 18 A left-hander, however, can easily rotate the display through 180 degrees and use his right hand to support the device. xx1800000045 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 19 Home Screen. By default, the Home screen displays all the applications available to you. If you are in some other window, tap the Applications button to view the Home screen. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 20: Robotstudio
1.4 RobotStudio Overview of RobotStudio RobotStudio is an engineering tool for the configuration and programming of ABB robots, both real robots on the shop floor and virtual robots in a PC. To achieve true offline programming, RobotStudio utilizes ABB VirtualRobot™ Technology.
Page 21: Navigating And Handling The Flexpendant
Hardware and software options This manual covers only the views of a basic RobotWare system. The details of the various options are explained in the application manuals. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 22: The User Interface
Available when you have selected one of the ap- plications on the FlexPendant start screen. The menu content reflects the selected application. Context menu The context menu displays available options for a selected row. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 23: Status Bar
When you tap on the QuickSet button the QuickSet window is displayed. The QuickSet window has the following tabs: • Control • • Execution • Visual • Info • ABB Ability • Logout/Restart Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 24 Edit Program Pointer Sets the program pointer to main. Cancel routine Cancels the execution of the current routine. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 25 Prevents the mechanical damage to the robot during jogging. Lead-through Allows you to grab the robot arms and jog the robot manually. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 26 This is used to run a RAPID program without the robot motion. Enable/Disable tasks This is used to enable or disable the selected task. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 27 Displays the position of each axis. Colored arrows Displays the direction in which the jog stick needs to be moved for jogging the selected axis. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 28 Displays the identity of the controller. App version Displays the version information of the FlexPendant application. Options Displays the options selected in the system. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 29 2 Navigating and handling the FlexPendant 2.2.2 Status bar Continued ABB Ability The ABB Ability tab displays the information about the Connected Services. Button/Section Description Status Displays the status of connected services connection. Connection Status Connection status of Connected Services.
Page 30 Restart FlexPendant: This is used to restart the FlexPendant. Restart Application: This is used to restart a FlexPendant applica- tion. Exit Application: This is used to exit a FlexPendant application. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 31: Flexpendant Applications
If the option Program Package is not selected then programs must be created and edited using RobotStudio. The Jog application is used to jog the ABB industrial robot using an intuitive touch based user interface or using a joystick. Feature...
Page 32 2.2.3 FlexPendant applications Continued Settings The Settings application is used to configure the general settings of OmniCore controller and FlexPendant. Controller configuration includes Network, ABB Ability, Time and Language, Backup, Restore, System diagnostics and so on. FlexPendant configuration includes background settings and programmable keys.
Page 33 ✓ Show motion pointer position ✓ ✓ Execute service routines ✓ ✓ Calibrate The Calibrate application is used for calibration and definition of frames for ABB robots. Feature Limited App Essential App Program Pack- Package [3120-1] Package [3120-2] age [3151-1] Mechanical unit calibration ✓...
Page 34: Personalizing The Flexpendant
2.3 Personalizing the FlexPendant 2.3.1 Basic settings 2.3.1.1 Introduction Overview The FlexPendant can be personalized in a number of ways. This is described in this chapter. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 35: System Information
1 On the start screen, tap Settings. 2 Tap System. The About page displayed. On the left sidebar tap the Hardware Devices and Software Resources to access the respective information. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 36: Changing Date And Time
6 If you select Manual Time, in the Select date and Select time fields manually configure date and time. 7 Tap Apply. The selected settings are saved. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 37: Configuring The Interface Language
4 Tap on the desired language button. 5 Tap Apply. 6 Tap OK. The FlexPendant is restarted and the language of the user interface is changed. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 38: Identity Settings
3 In the Robot System Name field tap Edit. 4 Type or update the name of the robot. 5 Tap Apply. The changes are saved and the name of the robot is updated. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 39: Changing Programmable Keys
Press/Release - sets the signal value to 1 while the key is pressed (note that an inverted signal will be set to 0). • Pulse - the signal value pulses once. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 40 10 Tap Apply. The selected key is configured. 11 Configure the other keys, if needed. Note It is not mandatory to configure all the programmable keys. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 41: Updating The Applications
2.4 Updating the applications 2.4 Updating the applications Overview The FlexPendant applications are updated using the Update option. For more details, see Updating the applications on page 202. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
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Page 43: Omnicore Controller Operating Modes
3.1 Introduction 3 OmniCore controller operating modes 3.1 Introduction Overview The Omnicore controller is delivered with the Keyless Mode Selector option. Using this you can change the operating modes from FlexPendant. The following operating modes are available: • Manual mode, also known as Manual reduced speed mode.
Page 44: Changing Operating Modes
This does not apply to YuMi robots. The operating mode is changed. Note OmniCore goes to motors OFF state when the operating mode is changed. This does not apply to YuMi robots. For YuMi robots the motors are automatically on after changing to auto mode.
Page 45: Locking And Unlocking Operating Modes
Since the temporary PIN-code is reset every time the operator unlocks it, this procedure must be repeated every time to set a temporary PIN-code. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 46 4 Tap a 4 digit PIN-code on the number pad. 5 Tap OK. The permanent PIN-code is saved and is applicable for all the users. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 47 The temporary PIN-code is reset every time the user unlocks it. Note For permanent PIN-code, the users will have one minute time to change the operating mode before it is locked again. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
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Page 49: Calibration
FlexPendant. Detailed information about calibration, revolution counter update, and so on can be found in the respective robot product manual. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 50: How To Check If The Robot Needs Calibration
Updating the revolution counters is described in the section Updating revolution counters on page 56 performing a calibration is described in the section Calibration on page Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 51 Doing so may result in the incorrect positioning that may cause injur- ies and property damage. Always consult a qualified service technician. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 52: Fine Calibration
A confirmation window is displayed. 8 Tap Yes. 9 Select the axes that needs to be calibrated. 10 Tap Calibrate. A confirmation window is displayed. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 53 11 Tap Calibrate. The fine calibration for the selected axes is started. After calibration a confirmation window is displayed. 12 Tap OK. The fine calibration process is complete. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 54: Calibration
7 Press the Play button. The Axis Calibration service routine page is displayed. 8 Follow the on-screen instructions and calibrate the robot. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 55 By default, the axes that are not calibrated are selected. 7 Tap Calibrate selected axes. 8 Tap Start Calibration. The calibration process runs. 9 Tap Finish. The calibration process is complete. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 56: Updating Revolution Counters
6 In the Selection column select the axes for which revolution counters need to be updated. 7 Tap Update. The Revolution Counters Update confirmation window is displayed. 8 Tap Update. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 57 If the revolution counter is incorrectly updated, it will cause incorrect manipulator positioning, which in turn may cause damage or injury. Check the calibration position very carefully after each update. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
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Page 59: Jogging
If you have selected Touch Jog, tap on the axis that you want to move and drag it to the positive or negative direction. The axis is moved according to the movement. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 61: Coordinate Systems For Jogging
X axis, while moving the joystick to the sides will move the robot along the Y axis. Twisting the joystick will move the robot along the Z axis. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 62 To determining the positions of a number of holes to be drilled along the edge of the work object. • To create a weld between two walls in a box. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 63 Following is an example of tool coordinate system in use: • Use the tool coordinate system when you need to program or adjust operations for threading, drilling, milling, or sawing. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 64 If you jog in the base coordinate system for the inverted robot, movements will be very difficult to predict. Choose the shared world coordinate system instead. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 65 Please check your plant or cell documentation to determine the physical orientation of any additional axes. The illustration shows the movement patterns for each manipulator axis. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 66: Basic Settings For Jogging
Move the mechanical unit out of a hazardous position. • Move robot axes out of singularities. • Position axes for fine calibration. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 67 3 In the Joystick Movements section, navigate to the Increment Mode list, and select the increment type. 4 Jog the selected axis. The robot axis is moved according to the selected increment mode. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 68: Reading The Exact Position
Reading the exact position This procedure describes how to read the exact position. 1 On the start screen, tap Jog. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 69 Quaternion • Euler angles The Position angle format can be set to: • Angles The Presentation angle unit can be set to: • Degrees • Radians Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 70: Restrictions To Jogging
If the weight of tools and payloads is not set, then overload errors might occur when jogging. Loads for additional axes controlled by specific software (dynamic models) can only be set in programing. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 71: Lead-Through
Note For Yumi robots with SafeMove2, some different behaviors apply, see the product manual for the robot. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 72: Supervision
QuickSet icon on the status bar, tap the Info tab, and look for the option 3107-1 Collision Detection. For more information on Collision Detection, see Application manual - Controller software OmniCore. Functions in RobotWare base •...
Page 73: Align Tool
For collaborative robots, the motors are on by default unless extra safety options are selected in the system. 5 Continue holding the three-position enabling device and tap and hold Start align. The tool is aligned. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
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Page 75: Programming And Testing
6 Programming and testing 6.1 Introduction 6 Programming and testing 6.1 Introduction Overview This chapter provides you information about creating programs and testing those programs. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 76: Before You Start Programming
For more details about the RAPID language and structure, see Technical reference manual - RAPID Overview and Technical reference manual - RAPID Instructions, Functions and Data types. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 77: Programming Concept
This section describes how to create a new program. 1 On the start screen, tap Code, and then select Modules from the menu. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 78 1 On the start screen, tap Code, and then select Modules from the menu. 2 On the Context menu, tap Save as. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 79 The program is renamed. Deleting a program This section describes how to delete a program. Note You can only delete a loaded program. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 80 2 On the Context menu, tap Delete. 3 In the Delete Program confirmation window, tap OK to delete, or Cancel to keep the program intact. xx1900000225 Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 81: Handling Of Modules
3 In the Create New Module window, enter a Module Name, and select if Module Type should be Program or System. Tap Apply. xx1900000226 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 82 1 On the start screen, tap Code, and then select Modules from the menu. 2 Tap Save as on the Context menu for the module. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 83 This section describes how to change the type of module. 1 On the start screen, tap Code, and then select Modules from the menu. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 84 2 Tap Delete on the Context menu for the module. 3 The Delete Module confirmation window is displayed: xx1900000231 4 Tap OK. The selected module is deleted and removed from the module list. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 85: Handling Of Routines
1 On the start screen, tap Code, and then select Code editor from the menu. 2 Tap Routines in the menu to the right. xx1900000232 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 86 4 The Create New Routine page is displayed: xx1900000254 Complete the routine declaration by entering the following information: • Routine Name Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 87 This section describes how to define parameters in a routine. 1 On the start screen, tap Code, and then select Code editor from the menu. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 88 2 Tap View Routines on the Context menu for the module. xx1900000228 3 Tap Change declaration on the Context menu for the routine. xx1900000271 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 89 This section describes how to create a copy of a routine. 1 On the start screen, tap Code, and then select Code editor from the menu. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 90 A copy of the selected routine is created. How to make all declarations is detailed in section Creating a new routine on page Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 91 The Change Declaration dialog is displayed. 4 Edit the values according to your requirement. 5 Tap Apply. The changes to the routine are saved. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 92 2 Tap View Routines on the Context menu for the module. xx1900000228 3 Tap Move Routine on the Context menu for the routine. xx1900000271 The Move Routine dialog is displayed. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 93 1 On the start screen, tap Code, and then select Code editor from the menu. 2 Tap View Routines on the Context menu for the module. xx1900000228 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 94 1 On the start screen, tap Code, and then select Code editor from the menu. 2 Tap View Routines on the Context menu for the module. xx1900000228 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 95 3 Tap Delete on the Context menu for the routine. xx1900000271 The Delete Routine conformation window is displayed. 4 Tap OK. The selected routine is deleted. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 96: Handling Of Instructions
6 Tap Apply. The changes are updated in the selected instruction. 7 Tap Check Program. The validity of the modified program is verified. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 97 3 Tap on the instruction that you want to comment. 4 Tap Edit. 5 Tap Comment. The selected instruction is commented and is skipped during the program execution. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 98: Operating Manual - Omnicore 3Hac065036-001 Revision: D
The program is saved. Result Your program code should look like this: Proc main() MoveL *, v50, fine, tool0; MoveL *, v50, z50, tool0; Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 99 6 Programming and testing 6.3.5 Example: Add movement instructions Continued MoveL *, v50, z50, tool0; MoveL *, v50, z50, tool0; MoveL *, v50, fine, tool0; End Proc; Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 100: About The Program And Motion Pointers
If the program pointer is moved, the Code Editor shows the code at the position of the program pointer. The same behavior applies to Advanced View in Operate. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 101: Data Types
Only used types: Displays only the used data types. • All data types: Displays all the data types. 4 Tap on a data type to view its details. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 102: Creating New Data Instance
Storage type: Set the type of memory used for the data instance from the following options: Persistent to retain the data between sessions. Variable if the data instance is variable. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 103 Tap the Routine menu to select routine. 5 In the Initial Value tab, select the values according to the selected data type. 6 Tap Apply. The new data instance is created. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 104: Editing Data Instances
3 Tap Delete on the context menu for the data instance that you want to delete. 4 Tap Yes. The selected data instance is deleted. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 105 A copy of the selected data instance is created. Note The copied data instance has the same values as the original, but the name is unique. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 106: Tools
The controller continuously monitors the load and writes an event log if the load is higher than expected. This event log is saved and logged in the controller memory. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 107 6 Programming and testing 6.5.1 What is a tool? Continued Illustration en0400000803 Tool side Robot side Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 108: What Is The Tool Center Point
A typical moving TCP can be defined in relation to, for example the tip of a arc welding gun, the center of a spot welding gun, or the end of a grading tool. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 109 In some applications a stationary TCP is used, for example when a stationary spot welding gun is used. In such cases the TCP can be defined in relation to the stationary equipment instead of the moving manipulator. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 110: Creating A Tool
The Create Tool window is displayed. 3 Complete the tool information (see Tool declaration settings on page 111) and then tap Apply. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 111 The created tool is not useful until you have defined the tool data (TCP coordinates, orientation, weight etc.). See Editing the tool data on page 117 section about LoadIdentify in Operating manual - OmniCore. Operating manual - OmniCore 3HAC065036-001 Revision: D...
Page 112: Defining The Tool Frame
2 Tap the tool you want to edit. The Edit Tool window is displayed. 3 Tap Define in the menu. The Tool TCP Definition, Define Position window is displayed. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 113 How to proceed with tool frame definition on page 115. 6 Tap Next. The Tool TCP Definition, Define Orientation window is displayed. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 114 8 Tap Modify to modify the positions. Then tap Next. The Tool TCP Definition, Calibration Result window is displayed. 9 Tap Finish to save the calibration. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 115 How to define elongator points on page 116. 5 If, for some reason, you want to redo the calibration procedure described in step 1-4, tap Cancel. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 116 Verify that the tool tip stays very close to the selected reference point as the robot moves. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 117: Editing The Tool Data
If you already have the measurements of the tool, or for some reason want to measure them manually, the values can be entered in the tool data. en0400000881 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 118 If necessary, enter the tool's moment of inertia. [kgm tload.ix tload.iy tload.iz Tap Save to use the new values, Cancel to leave the definition unchanged. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 119: Deleting A Tool
If the tool, work object or payload is referenced by any program, those programs cannot run without changes. If you delete a tool you cannot continue the program from the current position. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 120: Setup For Stationary Tools
You also need to attach elongators to the stationary tool if you need to set up the orientation. You should enter the reference tip’s tool definition manually to minimize errors when calculating the stationary tool’s coordinate system. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 121 6 Programming and testing 6.5.7 Setup for stationary tools Continued You may enter the stationary tool’s definition manually. en0400000990 Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 122: Work Objects
Payloads are important when working with grippers. In order to position and manipulate an object as accurate as possible its weight must be accounted for. You must choose which one to use for jogging. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 124: Defining A Work Object
7 In the Object Method list select the User defined with 3 points method. 8 Select each point, jog the robot to the approach point, and tap Modify. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 125 The Results tab is displayed. 10 Verify the calculation result. If any change is required tap the Back button and redefine the parameters. 11 Tap Finish. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 126: Defining The Work Object Coordinate System
5 Tap Modify to define the points. See How to define the user frame on page 128. 6 Tap Next. The Workobject Definition, Define Object frame window is displayed. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 127 How to define the object frame on page 129. 9 Tap Next. The Workobject Definition, Calibration Result window is displayed. 10 Tap Finish to save the calibration. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 128 3 Select the point in the list. 4 Tap Modify to define the point. 5 Repeat steps 2 to 4 for the remaining points. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 129 1 In the Object Methods drop down menu, select User defined with 3 points. 2 See steps 2 to 4 in the description of How to define the user frame on page 128. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 130: Editing The Work Object Data
The cartesian coordinates of the position of the user uframe.trans.x frame uframe.trans.y uframe.trans.z The user frame orientation uframe.rot.q1 uframe.rot.q2 uframe.rot.q3 uframe.rot.q4 Note Editing work object data can also be done from the Code window. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 131: Deleting A Work Object
3 Tap Delete on the context menu for the work object that you want to delete. 4 The Confirm deletion of data window is displayed. 5 Tap Delete. The selected work object is deleted. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 132: Setup Stationary Work Object
The data that defines the work object appears. 4 Set robhold to On (=TRUE). 5 Tap Save to use the new setup, Cancel to leave the work object unchanged. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 133: Payloads
Payloads are important when working with grippers. In order to position and manipulate an object as accurate as possible its weight must be accounted for. You must choose which one to use for jogging. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 134: Creating A Payload
If you change the name of a payload after it is referenced in any program you must also change all occurrences of that payload’s name. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 135 Setting the value for ModalPayLoadMode The ModalPayLoadMode is defined in RobotStudio. See Operating manual - RobotStudio. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 136: Editing The Payload Data
TCP or work object. Thus it is possible to use the same payload loaddata for any robhold or stationary tool being active. This saves the time (for example, during commissioning). Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 137 6.7.3 Editing the payload data Continued For more information about PayLoadsInWristCoords, see Technical reference manual - System parameters and Technical reference manual - RAPID Instructions, Functions and Data types. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 138: Deleting A Payload
If the tool, work object or payload is referenced by any program, those programs cannot run without changes. If you delete a tool you cannot continue the program from the current position. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 139: Testing
4 Press and hold the thumb button. If Start was pressed, the program execution continues as long as you hold the thumb button. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 140 If the button is released, the program execution will stop immediately. 5 If the three-position enabling device is released, intentionally or by accident, the procedure must be repeated to enable running. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 141: Running The Program From A Specific Instruction
Make sure that no personnel are in the safeguarded space. Before running the robot, read the safety information in the product manual for the controller. 3 Press the Start button on the FlexPendant. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 142: Running A Specific Routine
2 Tap Debug and then PP to Routine to place the program pointer at the start of the routine. 3 Press the Start button on the FlexPendant. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 144 The motion pointer will indicate p10 and the program pointer will move up to MoveJ p10. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 145 (MoveL p20). pressing the Forward the robot will move to p20 with the speed v1000. button again Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 146: Service Routines
You can also find calibration related service routines in the Calibrate menu. 2 The available service routines are displayed. 3 Select the routine according to your requirement. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 147 However, it is not possible to save more than one interrupted movement each time as wanted, if the service routine would be called from an error handler with StorePath and RestoPath. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 148 • Must be in a loaded module, not installed. (Check the system parameter Installed in the type Automatic Loading of Modules in the Controller topic.) Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 149: Connected Services Reset Service Routine
3 Tap Yes. 4 Press the START button on the FlexPendant. A confirmation page is displayed with operator messages. 5 Tap Reset. The software agent is reset. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 150: Battery Shutdown Service Routine
Before starting the service routine Bat_shutdown, run the robot to its calibration position. This will make it easier to recover after the sleep mode. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 151: Calibration Pendulum Service Routine
When to use this service routine CalPendulum is a service routine used with Calibration Pendulum, the standard method for calibrating the non-collaborative (articulated) ABB robots. This is the most accurate method for the standard type of calibration, and it is also the recommended method in order to achieve proper performance.
Page 152: Service Information System Service Routine
Status OK indicates that no service interval limit has been exceeded by that counter. Status NOK indicates that service interval limit has been exceeded by that counter. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 153: Load Identification Service Routine
To identify the mass of B and C, axis 3 has to perform some movement. This means that to identify the mass, the upper arm load A must be known and correctly defined first. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 155 The axes 3, 5, and 6 are not close to their corresponding working range limits. • The speed is set to 100%. • The system is in manual mode. Note LoadIdentify cannot be used for tool0. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 156 12 If the robot is not in a correct position for load identification, you will be asked to jog one or more axes roughly to a specified position. When you have done this tap OK to confirm. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 157 There is a message if the load is approved or not, and an Analyze button to view more information. • Load approved • Load not approved • Load approved only with wrist down Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 158 10 Select the configuration angle. The optimum is +90 or -90 degrees. If this is impossible, tap Other and set the angle. The minimum is +30 or -30 degrees. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 159 Cancel Call Routine in the code editor's debug menu. Limitations for LoadIdentify Only tool loads and payloads can be identified with LoadIdentify. Thus arm loads cannot be identified. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 160 Because there is not 6 axes, a 4-axis robot cannot identify all parameters of the load. The following parameters cannot be identified: • - The inertia around the x-axis. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 161 If this happens, it should still be possible to get good results by running the LoadIdentify routine again, preferably with another position of the last axis. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 162: Brake Check Service Routine
FlexPendant and do not use the instructions VelSet, AccSet, SpeedRefresh, or any other instruction that affects the motion performance in TRAPS or event routines. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 163 The following formula should be used: Max Static Arm Torque = (M*L*g)/n Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 164 Max Static Arm Torque = Tbrake min/1.35 Tbrake min for ABB motor units can be found in the product specification for the specific motor unit, see Product specification - Motor Units and Gear Units. For more information about parameter Max Static Arm Torque, see topic Motion, type Brake in Technical reference manual - System parameters.
Page 165 Description of the EIO.cfg file EIO:CFG_1.0:6:1:: EIO_SIGNAL: -Name "BCACT1" -SignalType "DO" -Name "BCOK1" -SignalType "DO" -Name "BCWAR1" -SignalType "DO" -Name "BCERR1" -SignalType "DO" Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 166 During the first brake check test Signal Signal state BCOK BCERR BCWAR BCACT Interrupted brake check test, program pointer still in BrakeCheck routine Signal Signal state BCOK Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 167 Max Static Arm Torque defined in Nm on motor side. A warning limit is set with a higher torque value (depending on the brake). Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 168: Cyclic Brake Check Service Routine
Cyclic Brake Check can be initiated in the following way: • Run the Cyclic Brake Check service routine from FlexPendant. The controller must be in manual mode. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 169 In Pre warning time (h), set how long before the end of the interval a warning should be displayed on the FlexPendant. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 170 Brake maintenance is a feature in the Cyclic Brake Check functionality. Cyclic Brake Check automatically detects if maintenance of the mechanical brakes is needed and activates the Brake maintenance functionality during execution. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 171 If the Cyclic Brake Check is interrupted more than 3 times, a new cyclic brake check is required. Only reduced speed can be used until a new Cyclic Brake Check is performed. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
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Page 173: Running In Production
The content in this section applies to a robot and not a robot system. It is the responsibility of the integrator to provide a safety and users manual for the robot system. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 174: Basic Procedures
Tap No to continue with the existing program and proceed to step 8. 7 Browse to the location, select a program file, and tap Load. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 175 1 On the start screen, tap Code, and then select Code Editor from the menu. 2 On the right menu tap Debug. 3 Select PP to Main The program pointer is set to main. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 176 If the robot system encounters program code errors while the program is running, it will stop the program and the error is logged in the event log. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 177: Stopping Programs
Execute the next instruction without completing the move. by pressing the Forward but- ton again. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 178: Using Multitasking Programs
All the active tasks are started. 5 Stop program execution by pressing the Stop button on the FlexPendant. All the active tasks are stopped. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 179 The folders and files available in the selected device are displayed. 4 Navigate and choose the required program file. Note The supported file format is .pgf 5 Tap Load. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 180 In Operate, there is one tab for each task. To switch between viewing the different tasks, tap on the tabs. To edit several tasks in parallel, use the Code Editor in Code. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 181: Returning The Robot To The Path
Tap Yes to return to the path and continue the program. • Tap No to return to the next target position and continue the program. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 182 7 Running in production 7.2.4 Returning the robot to the path Continued • Tap Cancel to cancel the program. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 183: Managing Dashboards
1 On the start screen, tap Operate, and then select Define Dashboards from the menu. 2 Tap Create New Dashboard on the context menu. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 184 4 Navigate to the Associated Dashboards section and tap Associate. The Select Dashboards page is displayed with a list of available dashboards. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 185 4 Tap on the delete icon next to the card that you want remove from the selected dashboard. The card is deleted from the Associated Cards section. 5 Tap Apply. The changes are saved. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 186: Connecting And Detaching A Flexpendant
2 Tap the Logout/Restart tab. 3 In the FlexPendant section, tap Detach FlexPendant. The Detach FlexPendant window is displayed. 4 Tap Detach. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 187 The controller must be in manual mode when connecting the FlexPendant. CAUTION Always inspect the connector for dirt or damage before connecting it to the controller. Clean or replace any damaged parts. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 188 Plug in the connector on the controller and tighten the locking ring. xx1900000975 CAUTION Make sure that the emergency stop button is not pressed in when connecting the FlexPendant. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 189: Modifying Positions
The robot is moved from the current position to the selected programmed position. Note For collaborative robots, after selecting a programmed position, you need to just press and hold the Go To button to move the robot. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
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Page 191: Handling Inputs And Outputs, I/O
8 Handling inputs and outputs, I/O 8.1 Introduction 8 Handling inputs and outputs, I/O 8.1 Introduction Overview The inputs and outputs signals can be managed using the I/O application or RobotStudio. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 192: Viewing Signal Lists
4 Select the category of the signal that you want to view. The signals of the selected category are displayed. You can use the search box to quickly filter and view a particular signal. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 193: Setting Signals As Favorite Signals
The favorite signals are listed under the Favorite Signals category on the Signals page. To view a selected category of signals, use the procedure Viewing signal lists on page 192. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 194: Simulating The Signals And Changing The Signal Values
For an analog signal, in the Value column tap on the arrow. A soft numeric keyboard is displayed. Type a value between 0 and 10 and tap Apply. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 195: I/O Devices
Firmware Update Allows you to upgrade the firmware. Note Actions - Firmware option is available only for the network type EtherNet IP. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 196 3 Tap Browse and select the firmware from the location it is stored. 4 Tap Upgrade. The firmware for the selected EtherNet IP I/O device is upgraded. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 197: Handling The Event Log
Open the event log to: • view the current event logs. • study specific event log in detail. • manage the log entries. The log can be printed from RobotStudio. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 198: Accessing The Event Log
2 Select a category in the list to filter the event logs. 3 Tap a log entry. The selected event log message is displayed. Note Tap the Back button to go back to the Event Log list. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 199: Saving Log Entries
3 Select a location and select a folder to store the file. 4 In the File name text box, type a name for the file. 5 Tap Save. The log entries are saved. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 200: Clearing The Log Entries
1 Tap the Event log icon on the status bar. 2 Select Clear all from the context menu. A confirmation window is displayed. 3 Tap OK. The log entries in all the domains are deleted. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 201: Install, Update, Restart, And Other Configuration
10 Install, update, restart, and other configuration 10.1 Introduction Overview This chapter provides information about installing a RobotWare system, updating the FlexPendant applications, backup the system, and other configuration. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 202: Start Installer
2 If there are updates, a file is displayed in the Available Updates section. 3 Tap Update All. The applications are updated and the FlexPendant is restarted. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 203: Restart
10 Install, update, restart, and other configuration 10.3 Restart 10.3 Restart Restart controller and FlexPendant ABB robot systems are designed to operate unattended for long times. There is no need to periodically restart functioning systems. Restart the robot system when: •...
Page 204: Back Up The System
While the backup is in process background tasks continue to execute. 1 On the start screen, tap Settings, and then Backup & Recovery. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 205 The unnecessary files in the home directory can then be deleted without any problems. Note If a fault occurs during the backup, for example, full disk or power failure, the whole backup structure is deleted. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 206: Restore The System
Browse for the location where the backup is located and select which of the following options should be restored: • Safety Settings 3 Tap Restore to restore the selected options. The restore is performed, and the system is restarted. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 207: Reset User Data
4 Tap Reset. A confirmation message is displayed. 5 Tap OK. The controller is restarted and the system is updated according to the selected reset data settings. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 208: Flexpendant Logs
4 If required, to change the storage path, in the Folder Name field tap Browse and select the required path. 5 Tap Create. The FlexPendant log is saved in the selected path. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 209: Connection Log
5 If required, to change the storage path, in the Folder Name field tap Browse and select the required path. 6 Tap Create. The current connection state of the connectivity module is saved in the selected path. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 210: System Diagnostics
4 If required, to change the backup location, in the Folder Name field tap Browse and select path. 5 Tap Create. The file is saved in the selected location. Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 211: Index
84 programs, 77 handling of, 81 FlexPendant loading, 82 connecting, disconnecting, 186 renaming, 83 hardware buttons, 16 saving, 82 how to hold, 18 Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 212 177 three-position enabling device, 15, 17 thumb button, 15 using, 18 reset button tool center point location, 15 about, 110 using, 16 calculation result, 116 Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 213 124 aligning, 73 deleting, 131 creating, 110 displacements, 124, 126 deleting, 119 editing work objects data, 130 editing definitions, 118 selecting, 66 identifying loads, 153 Operating manual - OmniCore 3HAC065036-001 Revision: D © Copyright 20192020 ABB. All rights reserved.
Page 216 PuDong District SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics and Motion 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 20192020 ABB. All rights reserved. Specifications subject to change without notice.

ABB OmniCore Operating Manual

1 Introduction to Omnicore

2 Navigating and Handling the Flexpendant

3 Omnicore Controller Operating Modes

4 Calibration

5 Jogging

6 Programming and Testing

7 Running in Production

8 Handling Inputs and Outputs, I/O

9 Handling the Event Log

10 Install, Update, Restart, and Other Configuration

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