RobotStudio™ 6.03 transfer

This paper present the content open and edit a program module, restoring the modified backup, comparing and transferring data... Please refer to the document to understand the content details.

RobotStudio™ 6.03 Transfer

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1 Transfer 4

1.1 Open and Edit a Program Module 4

1.2 Restoring the Modified Backup 6

1.3 Comparing and Transferring Data 8

1 Transfer

Overview

In this module we will simulate working with a virtual controller and a program created offline to show how the program can then be transferred into the real controller once the offline programming has been completed First we will work with the Rapid Editor to adjust a

program then we will set up a relationship to transfer the program between an offline (virtual controller) and an online (simulated real controller).

1.1 Open and Edit a Program Module

Overview

The editor in RobotStudio gives you the ability to work with and even create Rapid programs with syntax checking without the need to be connected to a controller (virtual or real (online)) All files types are supported here such as mod, sys, and cfg Here we will start by importing

an existing program module from a robot backup

1 Open the file modDeburr.mod from:

Courseware\Systems\IRB4600_online_BACKUP\RAPID\TASK1\PROGMOD

2 Next we will add some instruction to the procedure DeburrPart.

3 Add the instructionsSetDO doStartSpindle,1; andWaitDI diSpindleRunning,1; first in the

PROC DeburrPart and SetDO doStartSpindle,0; andWaitDI diSpindleRunning,0; last in the PROC

Note that as you type instructions you will see a red underscore This indicates that the program is constantly being checked for syntax This happens even when we are not connected to a controller

TIP! Refer to the RobotStudio training module “Programming and Simulating I/O

Signals” for tips and hints on how to work with the RAPID editor

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Note: The editor is also looking at all related files in a particular backup.

4 Double click on tSpindle in one of the instructions Here you will see where that particular data has been declared in the system

5 Right click on tSpindle and select Go To Definition Notice that the module where this

information is declared is now opened

6 Close both modules and save the modified modDeburr module (Replace the original file

by answering yes to the question “Do you want to save to file?)

1.2 Restoring the Modified Backup

Overview

Here we will simulate the result of restoring a backup into a real (online) controller.

To Prepare

Use Unpack&Work to open the Pack&Go fileDeburr Station IRB4600_Online.rspag from

the Courseware > Stations folder Unpack it to a new foldermyTransferSolution_Online at courseware\Solutions\Module_6\myTransferSolution_Online.

Restore the Backup

1 In the Controller Tab restore the backup that was saved in the previous step 4 on page 5.

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2 Answer yes to the following question The reason for this is that you are now using a virtual

key and a virtual controller in RobotStudio versus the actual key/controller if you were connected to the real robot

3 Play the simulation from the Simulation Tab or the Home Tab You will notice that the

tool does not follow the edge of the part (as the work object differs between the CAD model in the station and the actual position taught in the real world) If you want to see the

path the robot is following go back to the Rapid Tab and synchronize to the station Ensure

the path DeburrPart is selected.

4 Save and close the station

1.3 Comparing and Transferring Data

Overview

Here we will start up a station with a virtual controller to represent the programming

environment in which the robot program was created in We will then set up a relationship

between this offline (virtual) controller and a simulated online controller (also virtual in this case) to show how programs can be transferred between the virtual (offline) and real (online)

world

Preparations

Use Unpack&Work to open the Pack&Go fileDeburr Station IRB4600_Offline.rspag from

the Courseware > Stations folder Unpack it to a new foldermyTransferSolution_Offline at courseware\Solutions\Module_6\myTransferSolution_Offline.

Start the Online Controller

In this next step we will connect to another virtual controller In this case this, for the purpose

of this training module, is to simulate a connection to a real (online) controller.

1 In the Controller Tab open up the Add Controller icon and click on Start Virtual

Controller in order to start a virtual controller This will enable us to start another

controller within RobotStudio but it will not be part of the currently open station

(thus simulating a connection to an online controller)

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2 Select the controller that was used in the “Online” station in section 1.2 It should be

atmyTransferSolution_Online\Systems. You may have to add a system pool in order

to point to the correct file

3 Once the Online system is started you will notice the two systems on the Controller

Tab yet only one system (offline) is running in the station (Home Tab)

Creating a Relation

1 In the Controller Tab click on the Create Relation icon.

2 Name the relation DeburrTransfer Set the first controller IRB4600_offline_system (Station) controller as the owner Set the IRB4600_online_system (Local) as the

second controller

This relationship represents a situation where the program was done within the

RobotStudio environment (Offline in a station) and is being transferred into a live controller (Online) that is connected to the computer via the service port or a on a

network The “owning” controller must always be the VC.

3 Click OK

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5 Select the online controller and then click on the Request Write Access icon so we

have write access to the IRB4600_online_system controller.

6 We now have the option to compare the program between the two controllers by

clicking on the Compare button Also note we are given notice that there are lines

that are different between the two

There are two ways to compare the programs Source with Target and Target

with Result.

Source with Target will show you all the differences between the Source System

(system you are transferring from) and the Target System (system you are

transferring to).

Target with Result will show you the before and after (a preview) of the Target System prior to making the transfer.

7 Select Source with Target All of the differences between the two programs

are highlighted Red indicates differences between two lines of code while grey indicates code that is present in one system but not in the other You can page down to the next difference by clicking the up/down arrows as well as show only differences

In this example we are seeing a motion instruction that exists in the target controller that is not present in the source controller

8 Close the Rapid compare tab and this time select Target with Result.

Note the differences

9 Click on Transfer now to complete the transfer based upon the default

settings

10 Check the CalibData box to bring back the compare button

Notice the difference in the wobjdata This comparison is highlighting the different work object orientation we observed back on page 7 of this Module

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11 Transfer again to also update the workobject

12 Close the station and then reopen the Deburr Station IRB4600_Online.

13 Test run the simulation again and note the change in the orientation of the work object The tool should now follow the path on the edge of the part

14 Close the station

© Copyright 2016 ABB All right reserved

ABB AB Robotics Products SE-721 68 Västerås Sweden