Page 1 ROBOTICS Operating manual OmniCore...
Page 2 Trace back information: Workspace 21D version a1 Checked in 2021-11-26 Skribenta version 5.4.005...
Page 4 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, damage to persons or property, fitness for a specific purpose or the like.
Page 5: Table Of Contents
Basic settings for jogging ................... Reading the exact position .................. Incremental movement for precise positioning ............Restrictions to jogging ..................Lead-through ....................Motion supervision .................... Align tool ......................Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 6 6.10.6 Service Information System service routine ..........6.10.7 Load identification service routine .............. 6.10.8 Brake check service routine ..............6.10.9 Cyclic Brake Check service routine ............. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 7 10.6 Reset user data ....................10.7 FlexPendant logs ....................10.8 Update FlexPendant ..................10.9 Connection log ....................10.10 Connected Services log ..................10.11 System diagnostics ................... Index Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 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 conduct a risk assessment of the final application. It is the responsibility of the integrator to provide safety and user guides for the robot system.
Page 10 Application manual - Controller software OmniCore 3HAC066554-001 Technical reference manual - System parameters 3HAC065041-001 Application manual - Functional safety and SafeMove 3HAC066559-001 All documents can be found via myABB Business Portal, www.abb.com/myABB. Revisions Revision Description First edition. • The safety information is moved to the product manuals for the controller and the manipulator.
Page 11 Released with RobotWare 7.1. The following updates are made in this revision: • Removed information from Calibration chapter and inserted refer- ences to product manuals. • Added information about OmniCore C90XT in the section Omni- Core C line on page • Added information about Array data in various sections. •...
Page 12 Updated the section Editing data in specific tasks, modules, or routines on page 129. • Information about OmniCore E line added in the section OmniCore controller on page Released with RobotWare 7.5. The following updates are made in this revision: •...
Page 13: 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 14 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 15: 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 16: 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 17: The Flexpendant
FlexPendant. Main parts These are the main parts of the FlexPendant. xx1700001891 Connector Touchscreen Emergency stop device Joystick Reset button Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 18 If the FlexPendant freezes during operation, press the reset button to restart the FlexPendant. The reset button resets the FlexPendant, not the system on the controller. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 19 Press the Messages button for a longer duration to capture a screenshot of the current screen. For more details, see Capturing screenshots on page Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 20 SafeMove configuration is active in the controller. Note To enforce single-point of control from the FlexPendant, press and release the three-position enabling device twice. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 21 However, the left-handed users can easily adapt FlexPendant for their use. For more details, see the section Adapting the FlexPendant for left-handed users on page xx1800000045 Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 22: 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 23: Directory Structure On Omnicore
1 Introduction to OmniCore 1.5 Directory structure on OmniCore 1.5 Directory structure on OmniCore Default base directory structure The default base public directory structure on the OmniCore controller consists of the following directories: Directory Description HOME Intended for user files and for use by RAPID programs.
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Page 25: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 26: The User Interface
To close an application, press and hold the application in the task bar and tap on the displayed close button. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 27 X and Y axes. Move the semi-circular bar along the circumference to jog the robot along Z axis. Axes bar Locks all axes or individual axis. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 28 The QuickSet menu button displays the QuickSet window. button Context menu The context menu button displays a menu with available options button for a selected row. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 29: Status Bar
Tapping on any icon in this region displays the QuickSet window along with the status details. For more details, see QuickSet window on page Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 30 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 31 Controls the speed of program execution. Drag the scroll bar to control the speed. The speed of 100% indicates that the program is running at full speed. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 32 Displays the list of available tools. Work Object Displays the list of available work objects. Load Displays the list of available loads. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 33 Description Run Mode Selects the program run mode. • Single: Runs one cycle and then stops the execution. • Continuous: Runs continuously. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 34 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 35 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 36 2 Navigating and handling the FlexPendant 2.2.2 Status bar Continued ABB Ability The ABB Ability tab displays information about the Connected Services. xx2000000132 Button/Section Description Status Displays the status of connected services connection. Connection Status Displays the connection status of Connected Services.
Page 37 Rotate 180°: This is used to rotate the FlexPendant screen by 180°. This functionality is useful for left hand users. For more details, see the section Adapting the FlexPendant for left-handed users on page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 38: 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 39 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 40 ✓ 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 41 Navigates to the folder up by one level. Refreshes the files and folders. Displays the path of the selected folder. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 42 The application SafeMove is used to configure some parts of SafeMove. See Application manual - Functional safety and SafeMove. For full SafeMove configuration, see Visual SafeMove in RobotStudio. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 43: Personalizing The Flexpendant
2 Navigating and handling the FlexPendant 2.3.1 Introduction 2.3 Personalizing the FlexPendant 2.3.1 Introduction Overview The FlexPendant can be personalized in a number of ways. This is described in this chapter. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 44: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 45: Configuring The 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 system is updated. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 46: Configuring Date And Time
The selected settings are saved. Note It is important to correctly define the Time Zone including the country and sub Zone, as this is used for different digital services. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 47: Configuring The Interface Language
5 Tap Apply. The Change language confirmation window is displayed. 6 Tap Yes. The FlexPendant is restarted and the interface language is changed to the selected language. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 48: Configuring The Default View During System Events
FlexPendant Startup: Select this option to define the view when the FlexPendant starts. Note Tap Clear to remove the current selected view. 4 Tap Save. The changes are saved. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 49: Configuring The Programmable Keys
• Set to 1 - sets the signal value to 1. • Set to 0 - sets the signal value to 0. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 50 The value Move PP to Main is selected in the Key Pressed list. 10 Tap Apply. The selected key is configured. 11 Configure the other keys, if needed. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 51: Adapting The Flexpendant For Left-Handed Users
Hard buttons on page Emergency stop No effect. Differently located, at the bot- tom instead of at the top. Three-position enabling No effect device Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 52: Basic Procedures
Tap the arrow keys to change the insertion point, for instance when correcting typing errors. If you need to move... then tap... backward xx2000000923 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 53 If you need to move... then tap... forward xx2000000924 Deleting 1 Tap the Backspace key (top right) to delete characters to the left of the insertion point. xx2000000925 Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 54: Messages On The Flexpendant
See, Messages window on page How to generate program messages is described in Technical reference manual - RAPID Instructions, Functions and Data types. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 55: Capturing Screenshots
Use the File Transfer function in RobotStudio to access the image. The name of the file is in the format FlexPendantScreen_yyyy-MM-dd_HH-MM-ss-ms.png. Note For information regarding the FlexPendant hard buttons, see FlexPendant Main parts on page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 56: Filtering Data
Note When filtering I/O signals there are more options than other types of data. For example, you can filter data by Name or Type Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 57: Settings Search
Select the desired settings result to navigate to the corresponding settings window. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 58: Granting Access For Robotstudio
If you want to reject access, tap Deny. Note If you have granted the access and want to revoke it, tap Deny. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 59: Logging On And Off
4 Tap Log in. The selected user is logged in. Note After a log off, the Log in to controller window is displayed. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 60 The current active user is logged off from the controller and the Log in to controller window is displayed. Handling users and authorization levels Read more on how to add users or set the authorization in Operating manual - RobotStudio. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 61: Updating The Applications
2.5 Updating the applications 2.5 Updating the applications Overview The FlexPendant applications are updated using the Update option. For more details, see Updating the FlexPendant applications on page 256. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
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Page 63: 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 64: 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 65: Locking And Unlocking Operating Modes
Use the following procedure to configure a temporary PIN-code: 1 On the FlexPendant status bar, tap the QuickSet button. The Control Panel window is displayed. 2 Tap the Lock button. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 66 Use the following procedure to configure a permanent PIN-code: 1 On the FlexPendant status bar, tap the QuickSet button. The Control Panel window is displayed. 2 Tap the Lock button. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 67 Note A saved permanent PIN-code is valid until a user with the Key-less mode selector grant resets the permanent PIN-code. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 68 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 69: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 70: How To Check If The Robot Needs Calibration
For IRB 14050 when you select update the revolution counters, you are recommended to perform the calibration. Updating the revolution counters is described in the product manual for the robot. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 71 Do not attempt to perform the fine calibration procedure without the proper training and tools. Doing so may result in incorrect positioning that may cause injuries and property damage. Always consult a qualified service technician. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
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Page 73: Jogging
On YuMi robots without SafeMove the enabling device is disabled, hence, not used. There might be restrictions to how you can jog, see section Restrictions to jogging on page Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 74 Axis-by-axis motion mode moves one robot axis at a time. It is then hard to predict how the tool center point moves. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 76: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 77 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 78 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 79 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 80 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 81: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 82 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 83: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 84 Enable the Display Orientation Values option to configure the Orientation fomats. The Orientation format can be set to: • Quaternion • Euler angles The Presentation angle unit can be set to: • Degrees • Radians Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 85: Incremental Movement For Precise Positioning
Choose between Small, Medium, Large or User increments. Select the User option and tap Edit to define the values within in a certain range for each robot. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 86: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 87: Lead-Through
You can feel if an axis reaches its end position. Do not try to force the axis beyond this position. 3 If desired, save the position. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 88 For the CRB 15000, there is a button for updating/refreshing the load while lead-through is active. Note For Yumi robots with SafeMove, some different behaviors apply, see the product manual for the robot. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 89: Motion 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 90 Non motion execution. Starting the program incorrectly may cause serious injury or death, or damage the robot or other equipment. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 91: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 92: Working With Smartgripper
Overview SmartGripper is a RobotWare option that is used for facilitating the operation and programming of the ABB smart gripper. When you select the SmartGripper Support option in the System Options while creating a system using installation manager, the SmartGripper tab is displayed in the Jog application. Also, the settings for configuring the gripper is displayed in the Settings application.
Page 93 Allows you select the type of gripper. Firmware upgrade Displays the current version details of the gripper firmware. Enable/Disable Power to Enables/Disables the power to the gripper. Gripper Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 94 Current state Indicates the state of the gripper. For details about the gripper states, see Returned value in IRB 14050 gripper Product manual. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 95 SmartGripper settings. This can be configured only from RobotStudio now. For more information of the camera module, see the Application manual of Integrated Vision. xx2000001342 Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 96: Gripper Configuration
5 Tap the Calibrate button. When the button color turns blue from gray, the gripper is calibrated and the status is updated. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 97: Smart Gripper Function
8 Tap the On or Off button in the Blow Off section to start or stop the suction tool dropping down the objects. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
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Page 99: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 100: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 101: Programming Concept
Instead, you should save the program folder again and overwrite the old version, or rename the program. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 102 Starting programs on page 208. Saving a program This section describes how to save a loaded program to the controller hard disk. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 103 This section describes how to rename a loaded program. 1 On the start screen, tap Code, and then select Modules from the menu. 2 On the Context menu, tap Rename. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 104 You can only delete a loaded program. 1 On the start screen, tap Code, and then select Modules from the menu. 2 On the Context menu, tap Delete. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 105 6 Programming and testing 6.3.1 Handling of programs Continued 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 106: Handling Of Modules
1 On the start screen, tap Code, and then select Modules from the menu. 2 On the Context menu, tap Load Module. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 107 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 108 1 On the start screen, tap Code, and then select Modules from the menu. 2 Tap Change Declaration on the Context menu for the module. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 109 1 On the start screen, tap Code, and then select Modules from the menu. 2 Tap Delete on the Context menu for the module. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 110 6.3.2 Handling of modules Continued 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 111: Handling Of Routines
1 On the start screen, tap Code, and then select Program editor from the menu. 2 Tap Routines in the menu to the right. xx1900000232 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 112 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 113 This section describes how to define parameters in a routine. 1 On the start screen, tap Code, and then select Modules from the menu. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 114 The Change Declaration page is displayed. 4 If no parameters are shown, tap the Edit button next to the Parameters field. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 115 1 On the start screen, tap Code, and then select Program Editor from the menu. 2 Tap View Routines on the Context menu for the module. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 116 The changes to the routine are saved. How to make all declarations is detailed in section Creating a new routine on page 111. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 117 This section describes how to delete a routine from memory. 1 On the start screen, tap Code, and then select Program Editor from the menu. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 118 2 Tap View Routines on the Context menu for the module. 3 Tap Delete on the Context menu for the routine. The Delete Routine conformation window is displayed. 4 Tap OK. The selected routine is deleted. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 119: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 120 Position. The Update Position window is displayed. 5 Tap Update. The current robot position value is set in the selected position argument. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 121 If the selected instruction is the first line of the program, an option to paste the copied instruction Above or Below the first line is dis- played. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 122 1 On the start screen, tap Code, and then select Modules from the menu. 2 Open the module. 3 Tap on the instruction that you want to comment. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 123 3 Tap on the instruction that you want to shift. 4 Tap Edit. The editing options window is displayed. 5 Tap Change to <shift instruction name>. The selected instruction is changed to its shift instruction. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 124: Example: Add Movement Instructions
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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 125 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 126: Program And Motion Pointers
The cursor indicates a complete instruction or any of the arguments. The cursor is shown as blue highlighting of the program code in Program Editor of Code. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 127: Debugging The Program
For collaborative robots, after selecting a programmed position, you need to just press and hold the Press and hold to Go To button to move the robot. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 128 Note For service routines the code is not displayed. 4 Tap QuickSet and run the routine. 5 Tap Cancel Call Routine. The selected routine is cancelled. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 129: Data Types
For the data type robtarget the option Update Position is also displayed. This option helps you to update the position argument with the position values of the selected robtarget. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 130: Creating New Data Instance
Scope: Set the accessibility for the data instance from the following options: Global - reachable by all the tasks. Local - reachable within the module. Task - reachable within the task. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 131 6 Tap Apply. The new data instance is created. Note Creation of new data type is described in the manual Operating manual - Integrator's guide OmniCore. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 132: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 133 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 134: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 135 6 Programming and testing 6.6.1 What is a tool? Continued Illustration en0400000803 Tool side Robot side Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 136: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 137 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 138: Creating A Tool
The Create Tool window is displayed. 3 Complete the tool information (see Tool declaration settings on page 139) and then tap Apply. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 139 The created tool is not useful until you define the tool data (TCP coordinates, orientation, weight, and so on). For more details, see Editing the tool data on page 146 Load identification service routine on page 185. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 140: Copying A Tool
3 Tap OK. A copy of the selected tooldata is created. Note The copied tooldata has the same values as the original, but the name is unique. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 141: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 142 How to proceed with tool frame definition on page 144. 6 Tap Next. The Tool TCP Definition, Define Orientation window is displayed. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 143 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 144 How to define elongator points on page 145. 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 145 Verify that the tool tip stays very close to the selected reference point as the robot moves. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 146: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 147 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 148: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 149: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 150 6 Programming and testing 6.6.8 Setup for stationary tools Continued You may enter the stationary tool’s definition manually. en0400000990 Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 151: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 153: Copying A Workobject
3 Tap OK. A copy of the selected wobjdata is created. Note The copied wobjdata has the same values as the original, but the name is unique. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 154: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 155 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 156: Defining The Work Object Coordinate System
5 Tap Modify to define the points. See How to define the user frame on page 158. 6 Tap Next. The Workobject Definition, Define Object frame window is displayed. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 157 How to define the object frame on page 159. 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 158 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 159 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 158. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 160: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 161: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 162: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 163: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 164: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 165 Setting the value for ModalPayLoadMode The ModalPayLoadMode is defined in RobotStudio. See Operating manual - RobotStudio. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 166: Copying A Payload
3 Tap OK. A copy of the selected loaddata is created. Note The copied loaddata has the same values as the original, but the name is unique. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 167: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 168 6.8.4 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 169: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 170: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 171 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 172: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 173: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 175 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 176 (MoveL p20). pressing the Forward the robot will move to p20 with the speed v1000. button again Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 177: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 178 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 179 • Must be in a loaded module, not installed. (Check the system parameter Installed in the type Automatic Loading of Modules in the topic Controller.) Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 180: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 181: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 182: Axis Calibration Service Routine
6.10.4 Axis Calibration service routine Description of the service routine Axis Calibration is a standard calibration method for calibration of ABB robots and is the most accurate method for the standard calibration. The following routines are available for the Axis Calibration method: •...
Page 183: 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 184: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 185: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 187 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 188 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 189 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 190 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 191 Cancel Call Routine in Program Editor 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 192 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 193 In fact, only the following parameters are possible to identify: • Iz, the inertia around the z-axis. • m, the total mass. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 194 See LoadID in Technical reference manual - RAPID Instructions, Functions and Data types. The product manual for the robot contain information on how and where to mount the loads. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 195 6 Programming and testing 6.10.7 Load identification service routine Continued How to define the system parameters for arm loads is described in Technical reference manual - System parameters. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 196: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 197 The following formula should be used: Max Static Arm Torque = (M*L*g)/n Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 198 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 199 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 200 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 201 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 202: Cyclic Brake Check Service Routine
TRAPS or event routines while Cyclic Brake Check is active. Note The RAPID function IsBrakeCheckActive can be used to check if Cyclic Brake Check is active. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 203 It is recommended to configure the maxim- um value in Max CBC test interval (h) as 8 hours. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 204 ! Call to the predefined service routine CyclicBrakeCheck CyclicBrakeCheck; ENDIF ..ENDPROC Brake maintenance Brake maintenance is a feature in the Cyclic Brake Check functionality. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 205 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 206: Wrist Optimization Service Routine
6.10.10 Wrist optimization service routine Overview The wrist optimization service routine is used to improve the TCP reorientation performance. More information is available in the product manual for the manipulator. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 207: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 208: Basic Procedures
Recently used programs section. tap the Load Program button if there is no list of recently used programs. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 209 2 The selected program is loaded. 3 Tap Advanced and select Reset Program Pointer to Main. The program pointer is set to main. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 210 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 211: Stopping Programs
Execute the next instruction without completing the move. by pressing the Forward but- ton again. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 212: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 213 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 214 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 Program Editor in Code. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 215: 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. • Tap Cancel to cancel the program. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 216: Using Motion Supervision And Non Motion Execution
When non motion execution is activated it can be executed in: • manual mode • manual full speed mode • auto mode Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 217 Non motion execution. Starting the program incorrectly may cause serious injury or death, or damages the robot or other equipment. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 218: Managing Dashboards
Once a card is created you can associate the card to dashboards. For more details, Assigning cards to dashboard on page 219. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 219 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 220 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 221: Managing Positions
Go To position on page 227. CAUTION Changing programmed positions may significantly alter the robot’s movement pattern. Always make sure the changes are safe for both equipment and personnel. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 222: Teach Position
3 In the program click and select the position that needs to be updated. 4 Using joystick jog the robot to a new position. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 223 The elements available in the array are displayed. 2 Using joystick jog the robot to a new position. 3 Select the element. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 224 1 Tap on the position argument that has array data and that needs to be edited. 2 Tap Teach Position. The elements available in the array are displayed. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 225 In example B the robot is stopped on path in position P10. The robot is jogged off path to the new position (P10x) and the position P10 is modified. xx0800000175 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 226 P20x) to P30 without returning to the previous planned path (via the old P20). The new planned path from P20 (P20x) to P30 is calculated using these two positions and position P10. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 227: Go To Position
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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 228: Working With Displacements And Offsets
MoveL Offs(p10, 100, 50, 0), v50... Define the offset for the position with the following expressions: 1 Original position / starting point Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 229 You can tap on Change Data Type and the other buttons available on the expression editor to fine tune the selected instruction. 8 Tap Apply. The changes are saved. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 230: Connecting And Detaching A Flexpendant
1 On the status bar, tap the QuickSet button. 2 Tap the Logout/Restart tab. 3 In the FlexPendant section, tap Detach FlexPendant. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 231 A popup window with 30 seconds countdown timer is displayed. 5 When the countdown is progressing, loosen the locking ring and detach the FlexPendant from the controller. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 232 Always inspect the connector for dirt or damage before connecting it to the controller. Clean or replace any damaged parts. E line controllers For the OmniCore controller, there is an adaptor cable before connecting the FlexPendant. Plug in the adapter cable connector to the controller and tighten the locking screws.
Page 233 Plug in the connector on the controller and tighten the locking ring. xx1900000975 CAUTION Make sure that the emergency stop device is not pressed in when connecting the FlexPendant. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
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Page 235: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 236: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 237: 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 236. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 238: Simulating The Signals And Changing The Signal Values
If there is a cross connection created between two signals, changing the value of one signal automatically changes the value of the corresponding cross connected signal. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 239 For an analog signal, in the Value column, tap on the number pad icon, type a value using the number pad within the allowed range, and then tap OK. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 240: I/O Devices
Configure Allows you to configure the selected I/O device. Note The Configure option is available only for the network type EtherNet IP. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 241 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: J © Copyright 2019-2021 ABB. All rights reserved.
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Page 243: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 244: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 245: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 246: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 247: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 248: Start Installer
5 Tap Install RobotWare System and select the installation package folder. The selected installation package is added. 6 Tap Start RobotWare System. 7 Tap Start. The controller is restarted and the system is installed. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 249: Restart
10 Install, update, restart, and other configuration 10.3 Restart 10.3 Restart Restart controller ABB robot systems are designed to operate unattended for long times. There is no need to periodically restart the functioning systems. Restart the controller when: • new hardware has been installed.
Page 250 10 Install, update, restart, and other configuration 10.3 Restart Continued The Restart window is displayed. 3 Tap OK. The FlexPendant is restarted. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 251: Back Up The System
1 On the start screen, tap Settings, and then Backup & Recovery. The Backup page is displayed with a default name and a default location to store the backup. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 252 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 253: Restore The System
3 Browse for the location where the backup is located and select the backup file. 4 If required select the Safety Settings options. 5 Tap Restore. The restore is performed, and the system is restarted. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 254: 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: J © Copyright 2019-2021 ABB. All rights reserved.
Page 255: Flexpendant Logs
4 To change the storage path, in the Location field tap Browse and select the required path. 5 Tap Save. The FlexPendant log is saved in the selected path. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 256: Update Flexpendant
2 If there are updates, a file is displayed in the Available Updates section. xx2000002046 3 Tap Update All. The applications are updated and the FlexPendant is restarted. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 257 After a restart if the FlexPendant detects a new version of applications in the system, it displays the following message. Tap Install to update the FlexPendant applications. xx2000002047 Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 258: Connection Log
5 To change the storage path, in the Location field tap Browse and select the required path. 6 Tap Save. The current connection state of the connectivity module is saved in the selected location. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 259: Connected Services Log
5 Tap Save. The Connected Services log is is saved in ZIP format in the selected path and a confirmation message is displayed. 6 Tap OK. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 260: System Diagnostics
4 To change the storage path, in the Location field tap Browse and select the required path. 5 Tap Save. The file is saved in the selected location. Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 261: Index
86 define, 145 joystick, 17 emergency stop device using, 18 FlexPendant, 18 joystick directions enabling device, 17–18, 20 illustration, 80 using, 170 Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 262 81 running, 177 personalizing, 43 ServiceInfo, 184 PIN code Settings permanent PIN code, 66 search, 57 temporary PIN code, 65 Settings application, 39 positions signals Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 263 81 tool center point wrist optimization, 206 about, 138 write access calculation result, 145 granting, 58 define, 144 message, 54 defining, 145 rejecting, 58 measuring, 146 Operating manual - OmniCore 3HAC065036-001 Revision: J © Copyright 2019-2021 ABB. All rights reserved.
Page 266 SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics & Discrete Automation 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 2019-2021 ABB. All rights reserved. Specifications subject to change without notice.

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