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RobotStudio™ 6.03 Transfer The information in this manual is subject to change without notice and should not be construed as a commitment by ABB ABB assumes no responsibility for any errors that may appear in this manual Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein This manual and parts thereof must not be reproduced or copied without ABB's written permission, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose Contravention will be prosecuted Additional copies of this manual may be obtained from ABB at its then current charge © Copyright 2016 ABB All right reserved ABB AB Robotics Products SE-721 68 Västerås Sweden 2016-06-17 ABB Transfer 1.1 Open and Edit a Program Module 1.2 Restoring the Modified Backup 1.3 Comparing and Transferring Data Transfer 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 Open the file modDeburr.mod from: Courseware\Systems\IRB4600_online_BACKUP\RAPID\TASK1\PROGMOD Next we will add some instruction to the procedure DeburrPart Add the instructions SetDO doStartSpindle,1; and WaitDI diSpindleRunning,1; first in the PROC DeburrPart and SetDO doStartSpindle,0; and WaitDI 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 Transfer Note: The editor is also looking at all related files in a particular backup Double click on tSpindle in one of the instructions Here you will see where that particular data has been declared in the system Right click on tSpindle and select Go To Definition Notice that the module where this information is declared is now opened 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?) Transfer 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 file Deburr Station IRB4600_Online.rspag from the Courseware > Stations folder Unpack it to a new folder myTransferSolution_Online at courseware\Solutions\Module_6\myTransferSolution_Online Restore the Backup In the Controller Tab restore the backup that was saved in the previous step on page Transfer 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 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 Save and close the station Transfer 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 file Deburr Station IRB4600_Offline.rspag from the Courseware > Stations folder Unpack it to a new folder myTransferSolution_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 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) Transfer Select the controller that was used in the “Online” station in section 1.2 It should be at myTransferSolution_Online\Systems You may have to add a system pool in order to point to the correct file Transfer 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 In the Controller Tab click on the Create Relation icon 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 Click OK The relationship tab will open however once you expand the nodes you will see that “access is denied – write access is required.” 10 Transfer Select the online controller and then click on the Request Write Access icon so we have write access to the IRB4600_online_system controller 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 11 Transfer 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 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 Close the Rapid compare tab and this time select Target with Result Note the differences 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 of this Module 12 Transfer 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 13 ... 2016-06-17 ABB Transfer 1.1 Open and Edit a Program Module 1.2 Restoring the Modified Backup 1.3 Comparing and Transferring Data Transfer Transfer Overview... myTransferSolution_Online at coursewareSolutionsModule_6myTransferSolution_Online Restore the Backup In the Controller Tab restore the backup that was saved in the previous step on page Transfer. .. 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