ABB Robotics

Technical reference manual System parameters

Trace back information: Workspace R12-2 version a10 Checked in 2012-10-11 Skribenta version 1184

Technical reference manual System parameters

RobotWare 5.15 Document ID: 3HAC17076-1 Revision: Q

Copyright 2004-2012 ABB. All rights reserved.

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. Additional copies of this manual may be obtained from ABB. The original language for this publication is English. Any other languages that are supplied have been translated from English.

Copyright 2004-2012 ABB. All rights reserved. ABB AB Robotics Products SE-721 68 Vsters Sweden

Table of contents

Table of contents
Overview of this manual ................................................................................................................... 19 Product documentation, M2004 ....................................................................................................... 25 1 About system parameters 1.1 1.2 1.3 2 About system parameters ................................................................................... Configuration files ............................................................................................. File system ...................................................................................................... 27 27 29 30 33 33 34 34 35 36 37 37 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 53 54 55 56 57 58 59 60 61 62 62 63 64 65 66 67 69 69 70 70 71 72 72

Topic Communication 2.1 2.2 The Communication topic ................................................................................... Workflows ........................................................................................................ 2.2.1 How to define an application protocol ......................................................... 2.2.2 How to define a physical channel ............................................................... 2.2.3 How to define a transmission protocol ......................................................... Type Application Protocol ................................................................................... 2.3.1 The Application Protocol type .................................................................... 2.3.2 Name .................................................................................................... 2.3.3 Type ..................................................................................................... 2.3.4 Transmission Protocol ............................................................................. 2.3.5 Server Address ....................................................................................... 2.3.6 Trusted ................................................................................................. 2.3.7 Local Path .............................................................................................. 2.3.8 Server Path ............................................................................................ 2.3.9 Username .............................................................................................. 2.3.10 Password .............................................................................................. 2.3.11 User ID .................................................................................................. 2.3.12 Group ID ................................................................................................ 2.3.13 Maximum File Size .................................................................................. 2.3.14 Memory Partition Size .............................................................................. 2.3.15 Show Device .......................................................................................... Type Physical Channel ....................................................................................... 2.4.1 The Physical Channel type ........................................................................ 2.4.2 Name .................................................................................................... 2.4.3 Connector .............................................................................................. 2.4.4 Baudrate ............................................................................................... 2.4.5 Parity .................................................................................................... 2.4.6 Number of Bits ........................................................................................ 2.4.7 Number of Stop Bits ................................................................................ 2.4.8 Duplex .................................................................................................. 2.4.9 Flow Control ........................................................................................... Type Transmission Protocol ................................................................................ 2.5.1 The Transmission Protocol type ................................................................. 2.5.2 Name .................................................................................................... 2.5.3 Type ..................................................................................................... 2.5.4 Physical Channel .................................................................................... 2.5.5 Local Address ........................................................................................ 2.5.6 Remote Address .....................................................................................

2.3

2.4

2.5

Topic Controller 3.1 3.2 3.3 The Controller topic ........................................................................................... Workflows ........................................................................................................ 3.2.1 How to activate hold-to-run control ............................................................. 3.2.2 How to define path return region ................................................................ Type Auto Condition Reset ................................................................................. 3.3.1 The Auto Condition Reset type ..................................................................

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

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3.3.2 Name .................................................................................................... 3.3.3 Reset .................................................................................................... 3.4 Type Automatic Loading of Modules ..................................................................... 3.4.1 The Automatic Loading of Modules type ...................................................... 3.4.2 File ....................................................................................................... 3.4.3 Task ..................................................................................................... 3.4.4 Installed ................................................................................................ 3.4.5 Shared .................................................................................................. 3.4.6 All Tasks ............................................................................................... 3.4.7 All Motion Tasks ..................................................................................... 3.4.8 Hidden .................................................................................................. 3.5 Type Event Routine ........................................................................................... 3.5.1 The Event Routine type ............................................................................ 3.5.2 Routine ................................................................................................. 3.5.3 Event .................................................................................................... 3.5.4 Sequence Number ................................................................................... 3.5.5 Task ..................................................................................................... 3.5.6 All Tasks ............................................................................................... 3.5.7 All Motion Tasks ..................................................................................... 3.6 Type Mechanical Unit Group ............................................................................... 3.6.1 The Mechanical Unit Group type ................................................................ 3.6.2 Name .................................................................................................... 3.6.3 Robot .................................................................................................... 3.6.4 Mechanical Unit 1, 2, 3, 4, 5, 6 ................................................................... 3.6.5 Use Motion Planner ................................................................................. 3.7 Type ModPos Settings ....................................................................................... 3.7.1 The ModPos Settings type ........................................................................ 3.7.2 Name .................................................................................................... 3.7.3 Limited ModPos ...................................................................................... 3.7.4 Mode .................................................................................................... 3.7.5 Limit Trans ............................................................................................. 3.7.6 Limit Rot ................................................................................................ 3.7.7 Limit External Trans ................................................................................. 3.7.8 Limit External Rot .................................................................................... 3.7.9 Change to LModPos in Auto ...................................................................... 3.8 Type Operator Safety ......................................................................................... 3.8.1 The Operator Safety type .......................................................................... 3.8.2 Function ................................................................................................ 3.8.3 Active ................................................................................................... 3.9 Type Options .................................................................................................... 3.9.1 The Options type ..................................................................................... 3.9.2 Name .................................................................................................... 3.9.3 Description ............................................................................................ 3.10 Type Path Return Region .................................................................................... 3.10.1 The Path Return Region type ..................................................................... 3.10.2 Mode .................................................................................................... 3.10.3 TCP Distance ......................................................................................... 3.10.4 TCP Rotation .......................................................................................... 3.10.5 External Distance .................................................................................... 3.10.6 External Rotation .................................................................................... 3.11 Type Run Mode Settings .................................................................................... 3.11.1 The Run Mode Settings type ..................................................................... 3.11.2 Name .................................................................................................... 3.11.3 Switch ................................................................................................... 3.12 Type Safety Run Chain ....................................................................................... 3.12.1 The Safety Run Chain type ........................................................................ 3.12.2 Function ................................................................................................ 3.12.3 Active ...................................................................................................

73 74 75 75 77 78 79 80 81 82 83 84 84 88 89 91 92 93 94 95 95 96 97 98 99 100 100 101 102 103 105 106 107 108 109 110 110 111 112 113 113 114 115 116 116 117 118 119 120 121 122 122 123 124 125 125 126 127

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3.13 Type System Misc ............................................................................................. 3.13.1 The System Misc type .............................................................................. 3.13.2 Name .................................................................................................... 3.13.3 Action values .......................................................................................... 3.13.3.1 NoOfRetry .................................................................................. 3.13.3.2 SimulateMenu ............................................................................. 3.13.3.3 ModalPayLoadMode .................................................................... 3.13.4 Value .................................................................................................... 3.14 Type Task ........................................................................................................ 3.14.1 The Task type ......................................................................................... 3.14.2 Task ..................................................................................................... 3.14.3 Task in Foreground ................................................................................. 3.14.4 Type ..................................................................................................... 3.14.5 Check Unresolved References ................................................................... 3.14.6 Main Entry ............................................................................................. 3.14.7 Trustlevel .............................................................................................. 3.14.8 Use Mechanical Unit Group ....................................................................... 3.14.9 MotionTask ............................................................................................ 3.14.10 Hidden .................................................................................................. 3.14.11 RMQ Type ............................................................................................. 3.14.12 RMQ Max Message Size ........................................................................... 3.14.13 RMQ Max No Of Messages ....................................................................... 3.14.14 RMQ Mode ............................................................................................. 4 Topic I/O 4.1 4.2 The I/O topic .................................................................................................... Workflows ........................................................................................................ 4.2.1 How to define I/O units ............................................................................. 4.2.2 How to list available unit types ................................................................... 4.2.3 How to define the unit type ........................................................................ 4.2.4 How to define input and output I/O signals ................................................... 4.2.5 How to define an I/O signal group ............................................................... 4.2.6 How to define system inputs ..................................................................... Type Access Level ............................................................................................ 4.3.1 The Access Level type ............................................................................. 4.3.2 Name .................................................................................................... 4.3.3 Rapid .................................................................................................... 4.3.4 Local Client in Manual Mode ..................................................................... 4.3.5 Local Client in Auto Mode ......................................................................... 4.3.6 Remote Client in Manual Mode .................................................................. 4.3.7 Remote Client in Auto Mode ...................................................................... Type Bus ......................................................................................................... 4.4.1 The Bus type .......................................................................................... 4.4.2 Name .................................................................................................... 4.4.3 Type of Bus ............................................................................................ 4.4.4 Connector ID .......................................................................................... 4.4.5 Label at Fieldbus Connector ...................................................................... 4.4.6 Automatic Bus Restart ............................................................................. 4.4.7 Unit Recovery Time ................................................................................. 4.4.8 Path to Bus Configuration File ................................................................... Type Cross Connection ...................................................................................... 4.5.1 The Cross Connection type ....................................................................... 4.5.2 Resultant ............................................................................................... 4.5.3 Actor 1 .................................................................................................. 4.5.4 Invert Actor 1, Invert Actor 2, Invert Actor 3, Invert Actor 4, Invert Actor 5 .......... 4.5.5 Operator 1, Operator 2, Operator 3, Operator 4 ............................................. 4.5.6 Actor 2, Actor 3, Actor 4, Actor 5 ................................................................ Type Fieldbus Command .................................................................................... 4.6.1 The Fieldbus Command type .....................................................................

128 128 129 130 130 131 132 133 134 134 135 136 137 138 139 140 141 142 143 144 145 146 147 149 149 150 150 151 152 153 155 156 157 157 159 160 161 162 163 164 165 165 167 168 169 170 171 172 173 174 174 176 177 178 180 181 182 182

4.3

4.4

4.5

4.6

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

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4.7

4.8

4.9

4.6.2 Assigned to Unit ..................................................................................... 4.6.3 Type of Fieldbus Command ...................................................................... 4.6.4 Value .................................................................................................... Type Fieldbus Command Type ............................................................................ 4.7.1 The Fieldbus Command Type type ............................................................. 4.7.2 Name .................................................................................................... 4.7.3 Type of Unit ........................................................................................... 4.7.4 Default Value .......................................................................................... 4.7.5 Download Order ...................................................................................... Type Signal ...................................................................................................... 4.8.1 The Signal type ....................................................................................... 4.8.2 Name .................................................................................................... 4.8.3 Type of Signal ........................................................................................ 4.8.4 Assigned to Unit ..................................................................................... 4.8.5 Signal Identification Label ......................................................................... 4.8.6 Unit Mapping .......................................................................................... 4.8.7 Category ............................................................................................... 4.8.8 Access Level .......................................................................................... 4.8.9 Default Value .......................................................................................... 4.8.10 Store Signal Value at Power Fail ................................................................ 4.8.11 Filter Time Passive .................................................................................. 4.8.12 Filter Time Active .................................................................................... 4.8.13 Invert Physical Value ............................................................................... 4.8.14 Analog Encoding Type ............................................................................. 4.8.15 Maximum Logical Value ............................................................................ 4.8.16 Maximum Physical Value .......................................................................... 4.8.17 Maximum Physical Value Limit ................................................................... 4.8.18 Maximum Bit Value .................................................................................. 4.8.19 Minimum Logical Value ............................................................................ 4.8.20 Minimum Physical Value ........................................................................... 4.8.21 Minimum Physical Value Limit ................................................................... 4.8.22 Minimum Bit Value .................................................................................. 4.8.23 Signal Value at System Failure and Power Fail ............................................. Type System Input ............................................................................................ 4.9.1 The System Input type ............................................................................. 4.9.2 Signal Name ........................................................................................... 4.9.3 Action ................................................................................................... 4.9.4 Action Values ......................................................................................... 4.9.4.1 Backup ...................................................................................... 4.9.4.2 Disable Backup ........................................................................... 4.9.4.3 Interrupt ..................................................................................... 4.9.4.4 Limit Speed ................................................................................ 4.9.4.5 Load ......................................................................................... 4.9.4.6 Load and Start ............................................................................ 4.9.4.7 Motors Off .................................................................................. 4.9.4.8 Motors On .................................................................................. 4.9.4.9 Motors On and Start ..................................................................... 4.9.4.10 Reset Emergency Stop ................................................................. 4.9.4.11 Reset Execution Error Signal ......................................................... 4.9.4.12 Start .......................................................................................... 4.9.4.13 Start at Main ............................................................................... 4.9.4.14 Stop .......................................................................................... 4.9.4.15 Quick Stop ................................................................................. 4.9.4.16 Soft Stop .................................................................................... 4.9.4.17 Stop at End of Cycle .................................................................... 4.9.4.18 Stop at End of Instruction .............................................................. 4.9.4.19 System Restart ........................................................................... 4.9.4.20 SimMode ................................................................................... 4.9.5 Argument 1 ............................................................................................

183 184 185 186 186 187 188 189 190 191 191 195 196 197 198 199 201 202 203 204 205 206 207 208 209 211 212 213 214 215 216 217 218 219 219 220 221 222 222 224 225 227 229 231 233 234 236 237 239 240 242 244 245 246 247 248 249 250 251

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4.9.6 Argument 2 ............................................................................................ 4.9.7 Argument 3 ............................................................................................ 4.9.8 Argument 4 ............................................................................................ 4.9.9 Argument 5 ............................................................................................ 4.9.10 Argument 6 ............................................................................................ 4.9.11 System Input Actions ............................................................................... 4.10 Type System Output .......................................................................................... 4.10.1 The System Output type ........................................................................... 4.10.2 Status ................................................................................................... 4.10.3 Signal ................................................................................................... 4.10.4 Status values .......................................................................................... 4.10.4.1 Auto On ..................................................................................... 4.10.4.2 Backup Error .............................................................................. 4.10.4.3 Backup in progress ...................................................................... 4.10.4.4 Cycle On .................................................................................... 4.10.4.5 Emergency Stop .......................................................................... 4.10.4.6 Execution Error ........................................................................... 4.10.4.7 Limit Speed ................................................................................ 4.10.4.8 Mechanical Unit Active ................................................................. 4.10.4.9 Mechanical Unit Not Moving .......................................................... 4.10.4.10 Motors Off .................................................................................. 4.10.4.11 Motors On .................................................................................. 4.10.4.12 Motors Off State .......................................................................... 4.10.4.13 Motors On State .......................................................................... 4.10.4.14 Motion Supervision On ................................................................. 4.10.4.15 Motion Supervision Triggered ........................................................ 4.10.4.16 Path Return Region Error .............................................................. 4.10.4.17 Power Fail Error .......................................................................... 4.10.4.18 Production Execution Error ........................................................... 4.10.4.19 Run Chain OK ............................................................................. 4.10.4.20 Simulated I/O .............................................................................. 4.10.4.21 TaskExecuting ............................................................................ 4.10.4.22 TCP Speed ................................................................................. 4.10.4.23 TCP Speed Reference .................................................................. 4.10.4.24 SimMode ................................................................................... 4.10.5 Argument .............................................................................................. 4.10.6 Argument 2 ............................................................................................ 4.11 Type Unit ......................................................................................................... 4.11.1 The Unit type .......................................................................................... 4.11.2 Name .................................................................................................... 4.11.3 Type of Unit ........................................................................................... 4.11.4 Connected to Bus .................................................................................... 4.11.5 Unit Identification Label ............................................................................ 4.11.6 Unit Trustlevel ........................................................................................ 4.11.7 Unit Startup State .................................................................................... 4.11.8 Store Unit State at Power Fail .................................................................... 4.11.9 Regain Communication Reset ................................................................... 4.12 Type Unit Type ................................................................................................. 4.12.1 The Unit Type type .................................................................................. 4.12.2 Name .................................................................................................... 4.12.3 Type of Bus ............................................................................................ 4.12.4 Vendor Name ......................................................................................... 4.12.5 Product Name ........................................................................................ 4.12.6 Internal Slave ......................................................................................... 5 Topic Man-machine Communication 5.1 5.2

253 254 255 256 257 258 259 259 260 261 262 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 288 290 291 292 293 294 296 297 298 299 299 301 302 303 304 305 307

The Man-machine Communication topic ................................................................ 307 Type Automatically Switch Jog Unit ...................................................................... 308 5.2.1 The Automatically Switch Jog Unit type ....................................................... 308

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5.3

5.4

5.5

5.6

5.7

5.2.2 Enable switch jog unit .............................................................................. Type Backup Settings ........................................................................................ 5.3.1 The Backup Settings type ......................................................................... 5.3.2 Name .................................................................................................... 5.3.3 Path ...................................................................................................... 5.3.4 Unique name .......................................................................................... 5.3.5 Disable name change ............................................................................... Type Most Common Instruction ........................................................................... 5.4.1 The Most Common Instruction types ........................................................... 5.4.2 Name .................................................................................................... 5.4.3 Parameter Number .................................................................................. 5.4.4 Alternative Number .................................................................................. 5.4.5 Instruction Name ..................................................................................... 5.4.6 Only for Motion Task ................................................................................ Type Most Common I/O Signal ............................................................................ 5.5.1 The Most Common I/O Signal type ............................................................. 5.5.2 Signal Name ........................................................................................... 5.5.3 Signal Type ............................................................................................ Type Production Permission ................................................................................ 5.6.1 The Production Permission type ................................................................ 5.6.2 Name .................................................................................................... 5.6.3 Permission ............................................................................................. Type Warning at Start ........................................................................................ 5.7.1 The Warning at Start type ......................................................................... 5.7.2 Cursor PP Diff Warning ............................................................................ 5.7.3 Show PP to Cursor Button ........................................................................

309 310 310 311 312 313 314 315 315 317 318 319 320 321 322 322 323 324 325 325 326 327 328 328 329 330 331 331 333 333 335 336 337 339 341 343 344 346 348 349 349 350 351 352 353 354 355 355 356 357 358 359 360 361 362 363 364 365

Topic Motion 6.1 6.2 The Motion topic ............................................................................................... Workflows ........................................................................................................ 6.2.1 How to define base frame ......................................................................... 6.2.2 How to restrict the work area for articulated robots ........................................ 6.2.3 How to restrict the work area for parallel arm robots ...................................... 6.2.4 How to define arm check point ................................................................... 6.2.5 How to define arm loads ........................................................................... 6.2.6 How to optimize drive system parameters .................................................... 6.2.7 How to tune motion supervision ................................................................. 6.2.8 How to define transmission gear ratio for independent joints ........................... 6.2.9 How to define external torque .................................................................... 6.2.10 How to define supervision level .................................................................. Type Acceleration Data ...................................................................................... 6.3.1 The Acceleration Data type ....................................................................... 6.3.2 Name .................................................................................................... 6.3.3 Nominal Acceleration ............................................................................... 6.3.4 Nominal Deceleration ............................................................................... 6.3.5 Acceleration Derivate Ratio ....................................................................... 6.3.6 Deceleration Derivate Ratio ....................................................................... Type Arm ......................................................................................................... 6.4.1 The Arm type .......................................................................................... 6.4.2 Name .................................................................................................... 6.4.3 Independent Joint ................................................................................... 6.4.4 Upper Joint Bound .................................................................................. 6.4.5 Lower Joint Bound .................................................................................. 6.4.6 Independent Upper Joint Bound ................................................................. 6.4.7 Independent Lower Joint Bound ................................................................. 6.4.8 Calibration Position ................................................................................. 6.4.9 Performance Quota ................................................................................. 6.4.10 Jam Supervision Trim Factor ..................................................................... 6.4.11 Load Supervision Trim Factor ....................................................................

6.3

6.4

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6.4.12 Speed Supervision Trim Factor .................................................................. 6.4.13 Position Supervision Trim Factor ............................................................... 6.4.14 External Const Torque ............................................................................. 6.4.15 Use Arm Load ........................................................................................ 6.4.16 External Proportional Torque ..................................................................... 6.4.17 External Torque Zero Angle ...................................................................... 6.4.18 Load Id Acceleration Ratio ........................................................................ 6.4.19 Angle Acceleration Ratio .......................................................................... 6.4.20 Deactivate Cyclic Brake Check for axis ........................................................ 6.5 Type Arm Check Point ....................................................................................... 6.5.1 The Arm Check Point type ........................................................................ 6.5.2 Name .................................................................................................... 6.5.3 Position x, y, z ........................................................................................ 6.6 Type Arm Load ................................................................................................. 6.6.1 The Arm Load type .................................................................................. 6.6.2 Name .................................................................................................... 6.6.3 Mass ..................................................................................................... 6.6.4 Mass Center x, y, z .................................................................................. 6.6.5 Inertia x, y, z ........................................................................................... 6.7 Type Brake ...................................................................................................... 6.7.1 The Brake type ....................................................................................... 6.7.2 Name .................................................................................................... 6.7.3 Control Off Speed Limit ............................................................................ 6.7.4 Control Off Delay .................................................................................... 6.7.5 Brake Control On Delay ............................................................................ 6.7.6 Brake Control Min Delay ........................................................................... 6.7.7 Absolute Brake Torque ............................................................................. 6.7.8 Brake Ramp Speed Limit .......................................................................... 6.7.9 Max Brake Time ...................................................................................... 6.8 Type Control Parameters .................................................................................... 6.8.1 The Control Parameters type ..................................................................... 6.8.2 Name .................................................................................................... 6.8.3 Friction FFW On ...................................................................................... 6.8.4 Friction FFW Level .................................................................................. 6.8.5 Friction FFW Ramp .................................................................................. 6.9 Type Drive Module ............................................................................................ 6.9.1 The Drive Module type ............................................................................. 6.9.2 Name .................................................................................................... 6.9.3 Number ................................................................................................. 6.10 Type Drive System ............................................................................................ 6.10.1 The Drive System type ............................................................................. 6.10.2 Name .................................................................................................... 6.10.3 Use DC-Link ........................................................................................... 6.10.4 Use Drive Unit ........................................................................................ 6.10.5 Current Vector On ................................................................................... 6.11 Type Drive Unit ................................................................................................. 6.11.1 The Drive Unit type .................................................................................. 6.11.2 Name .................................................................................................... 6.11.3 Drive Unit Position ................................................................................... 6.12 Type Force Master ............................................................................................ 6.12.1 The Force Master type ............................................................................. 6.12.2 Name .................................................................................................... 6.12.3 Use Force Master Control ......................................................................... 6.12.4 References Bandwidth ............................................................................. 6.12.5 Use Ramp Time ...................................................................................... 6.12.6 Ramp when Increasing Force .................................................................... 6.12.7 Ramp Time ............................................................................................ 6.12.8 Collision LP Bandwidth ............................................................................ 6.12.9 Collision Alarm Torque .............................................................................

366 367 368 369 370 371 372 373 374 375 375 376 377 378 378 379 380 381 382 383 383 384 385 386 387 388 389 390 391 392 392 393 394 395 396 397 397 398 399 400 400 401 402 403 404 405 405 406 407 408 408 409 410 411 412 413 414 415 416

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6.13

6.14

6.15

6.16

6.17

6.12.10 Collision Speed ....................................................................................... 6.12.11 Collision Delta Position ............................................................................ 6.12.12 Force Detection Bandwidth ....................................................................... 6.12.13 Delay Ramp ........................................................................................... 6.12.14 Ramp to Real Contact .............................................................................. Type Force Master Control .................................................................................. 6.13.1 The Force Master Control type ................................................................... 6.13.2 Name .................................................................................................... 6.13.3 No. of Speed Limits ................................................................................. 6.13.4 Torque 1 ................................................................................................ 6.13.5 Torque 2 ................................................................................................ 6.13.6 Torque 3 ................................................................................................ 6.13.7 Torque 4 ................................................................................................ 6.13.8 Torque 5 ................................................................................................ 6.13.9 Torque 6 ................................................................................................ 6.13.10 Speed Limit 1 ......................................................................................... 6.13.11 Speed Limit 2 ......................................................................................... 6.13.12 Speed Limit 3 ......................................................................................... 6.13.13 Speed Limit 4 ......................................................................................... 6.13.14 Speed Limit 5 ......................................................................................... 6.13.15 Speed Limit 6 ......................................................................................... 6.13.16 Kv 1 ...................................................................................................... 6.13.17 Kv 2 ...................................................................................................... 6.13.18 Kv 3 ...................................................................................................... 6.13.19 Kv 4 ...................................................................................................... 6.13.20 Kv 5 ...................................................................................................... 6.13.21 Kv 6 ...................................................................................................... Type Friction Compensation ................................................................................ 6.14.1 The Friction Compensation type ................................................................. 6.14.2 Name .................................................................................................... 6.14.3 Friction FFW On ...................................................................................... 6.14.4 Friction FFW Level .................................................................................. 6.14.5 Friction FFW Ramp .................................................................................. Type Jog Parameters ......................................................................................... 6.15.1 The Jog Parameters type .......................................................................... 6.15.2 Name .................................................................................................... 6.15.3 Configurable Linear Step Size ................................................................... 6.15.4 Configurable Reorient Step Size ................................................................ 6.15.5 Configurable Joint Step Size ..................................................................... Type Joint ........................................................................................................ 6.16.1 The Joint type ......................................................................................... 6.16.2 Name .................................................................................................... 6.16.3 Logical Axis ........................................................................................... 6.16.4 Use Drive System .................................................................................... 6.16.5 Use Process ........................................................................................... 6.16.6 Lock Joint in Ipol ..................................................................................... 6.16.7 Follower to Joint ..................................................................................... Type Lag Control Master 0 .................................................................................. 6.17.1 The Lag Control Master 0 type ................................................................... 6.17.2 Name .................................................................................................... 6.17.3 Kp, Gain Position Loop ............................................................................. 6.17.4 Kv, Gain Speed Loop ............................................................................... 6.17.5 Ti Integration Time Speed Loop ................................................................. 6.17.6 Forced Control Active .............................................................................. 6.17.7 Forced Factor for Kp ................................................................................ 6.17.8 Forced Factor for Ki ................................................................................. 6.17.9 Raise Time for Kp .................................................................................... 6.17.10 Notch Filter Active ................................................................................... 6.17.11 Notch Filter Frequency .............................................................................

417 418 419 420 421 422 422 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 444 445 446 447 448 449 449 450 451 452 453 454 454 455 456 457 458 459 460 461 461 462 463 464 465 466 467 468 469 470 471

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6.18

6.19

6.20

6.21

6.22

6.17.12 Notch Filter Width ................................................................................... 6.17.13 Notch Auto Mode .................................................................................... 6.17.14 Auto No Weave Frequency ....................................................................... 6.17.15 Auto Min Frequency ................................................................................ 6.17.16 Auto Max Relative Change ........................................................................ 6.17.17 FFW Mode ............................................................................................. 6.17.18 Bandwidth ............................................................................................. 6.17.19 Df ......................................................................................................... 6.17.20 Dw ....................................................................................................... 6.17.21 Delay .................................................................................................... 6.17.22 Inertia ................................................................................................... 6.17.23 K Soft Max Factor .................................................................................... 6.17.24 K Soft Min Factor .................................................................................... 6.17.25 Kp/Kv Ratio Factor .................................................................................. 6.17.26 Ramp Time ............................................................................................ Type Linked M Process ...................................................................................... 6.18.1 The Linked M Process type ....................................................................... 6.18.2 Name .................................................................................................... 6.18.3 Offset Adjust. Delay Time ......................................................................... 6.18.4 Max Follower Offset ................................................................................. 6.18.5 Max Offset Speed .................................................................................... 6.18.6 Offset Speed Ratio .................................................................................. 6.18.7 Ramp Time ............................................................................................ 6.18.8 Master Follower Kp .................................................................................. 6.18.9 Torque follower ....................................................................................... 6.18.10 Torque distribution .................................................................................. 6.18.11 Follower axis pos. acc. reduction ............................................................... Type Mains ...................................................................................................... 6.19.1 The Mains type ....................................................................................... 6.19.2 Name .................................................................................................... 6.19.3 Mains Tolerance Min ................................................................................ 6.19.4 Mains Tolerance Max ............................................................................... Type Measurement Channel ................................................................................ 6.20.1 The Measurement Channel type ................................................................. 6.20.2 Name .................................................................................................... 6.20.3 Use Measurement Board Type ................................................................... 6.20.4 Disconnect at Deactivate .......................................................................... 6.20.5 Measurement Link ................................................................................... 6.20.6 Board Position ........................................................................................ Type Mechanical Unit ......................................................................................... 6.21.1 The Mechanical Unit type .......................................................................... 6.21.2 Name .................................................................................................... 6.21.3 Use Activation Relay ................................................................................ 6.21.4 Use Brake Relay ..................................................................................... 6.21.5 Use Connection Relay .............................................................................. 6.21.6 Use Robot .............................................................................................. 6.21.7 Use Single 1, 2, 3, 4, 5, 6 .......................................................................... 6.21.8 Allow Move of User Frame ........................................................................ 6.21.9 Activate at Start Up .................................................................................. 6.21.10 Deactivation Forbidden ............................................................................ 6.21.11 Deactivate PTC superv. at disconnect ......................................................... 6.21.12 Activate from any motion task .................................................................... Type Motion Planner .......................................................................................... 6.22.1 The Motion Planner type ........................................................................... 6.22.2 Name .................................................................................................... 6.22.3 Brake on Time ........................................................................................ 6.22.4 Dynamic Resolution ................................................................................. 6.22.5 Path Resolution ...................................................................................... 6.22.6 Queue Time ...........................................................................................

472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 487 488 489 490 491 492 493 494 495 496 497 498 498 499 500 501 502 502 503 504 505 506 507 508 508 509 510 511 512 513 514 515 516 517 518 519 520 520 521 522 523 524 526

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6.23

6.24

6.25

6.26

6.27

6.22.7 Teach Mode Max Speed ........................................................................... 6.22.8 Process Update Time ............................................................................... 6.22.9 Prefetch Time ......................................................................................... 6.22.10 Event Preset Time ................................................................................... 6.22.11 CPU Load Equalization ............................................................................. 6.22.12 Restrict placing of circlepoints ................................................................... 6.22.13 Use Motion Supervision ............................................................................ 6.22.14 Motion Supervision Permanent Off ............................................................. 6.22.15 Motion Supervision Max Level ................................................................... 6.22.16 Remove Corner Path Warning ................................................................... 6.22.17 Time Event Supervision ............................................................................ 6.22.18 High Interpolation Priority ......................................................................... 6.22.19 Speed Control Warning ............................................................................ 6.22.20 Speed Control Percent ............................................................................. 6.22.21 Use spline parameters ............................................................................. 6.22.22 Use additional interp. object batch .............................................................. 6.22.23 Bandwidth of path pose filter ..................................................................... 6.22.24 Circle Speed Priority ................................................................................ 6.22.25 Number of Internal Event Objects ............................................................... Type Motion Supervision .................................................................................... 6.23.1 The Motion Supervision type ..................................................................... 6.23.2 Name .................................................................................................... 6.23.3 Path Collision Detection ........................................................................... 6.23.4 Jog Collision Detection ............................................................................. 6.23.5 Path Collision Detection Level ................................................................... 6.23.6 Jog Collision Detection Level .................................................................... 6.23.7 Collision Detection Memory ....................................................................... 6.23.8 Manipulator supervision ........................................................................... 6.23.9 Manipulator supervision level .................................................................... Type Motion System .......................................................................................... 6.24.1 The Motion System type ........................................................................... 6.24.2 Name .................................................................................................... 6.24.3 Min Temperature Cabinet ......................................................................... 6.24.4 Max Temperature Cabinet ......................................................................... 6.24.5 Min Temperature Robot ............................................................................ 6.24.6 Max Temperature Robot ........................................................................... Type Motor ...................................................................................................... 6.25.1 The Motor type ....................................................................................... 6.25.2 Name .................................................................................................... 6.25.3 Use Motor Type ...................................................................................... 6.25.4 Use Motor Calibration .............................................................................. Type Motor Calibration ....................................................................................... 6.26.1 The Motor Calibration type ........................................................................ 6.26.2 Name .................................................................................................... 6.26.3 Commutator Offset .................................................................................. 6.26.4 Commutator Offset Valid .......................................................................... 6.26.5 Calibration Offset .................................................................................... 6.26.6 Calibration Offset Valid ............................................................................. 6.26.7 Calibration Sensor Position ....................................................................... Type Motor Type ............................................................................................... 6.27.1 The type Motor Type ................................................................................ 6.27.2 Name .................................................................................................... 6.27.3 Pole Pairs .............................................................................................. 6.27.4 Stall Torque ........................................................................................... 6.27.5 ke Phase to Phase ................................................................................... 6.27.6 Max Current ........................................................................................... 6.27.7 Phase Resistance ................................................................................... 6.27.8 Phase Inductance ....................................................................................

527 528 529 530 531 532 534 535 536 537 538 539 540 541 542 543 544 545 546 547 547 548 549 550 551 552 553 554 555 556 556 557 558 559 560 561 562 562 563 564 565 566 566 567 568 569 570 571 572 573 573 574 575 576 577 578 579 580

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6.28 Type Path Sensor Synchronization ....................................................................... 6.28.1 The Path Sensor Synchronization type ........................................................ 6.28.2 Name .................................................................................................... 6.28.3 Max Advance Distance ............................................................................. 6.28.4 Max Delay Distance ................................................................................. 6.28.5 Max Synchronization Speed ...................................................................... 6.28.6 Min Synchronization Speed ....................................................................... 6.28.7 Synchronization Type .............................................................................. 6.29 Type Process ................................................................................................... 6.29.1 The Process type .................................................................................... 6.29.2 Name .................................................................................................... 6.29.3 Use SG Process ...................................................................................... 6.29.4 Use Linked Motor Process ........................................................................ 6.30 Type Relay ....................................................................................................... 6.30.1 The Relay type ........................................................................................ 6.30.2 Name .................................................................................................... 6.30.3 Output Signal ......................................................................................... 6.30.4 Input Signal ............................................................................................ 6.31 Type Robot ...................................................................................................... 6.31.1 The Robot type ....................................................................................... 6.31.2 Name .................................................................................................... 6.31.3 Use Robot Type ...................................................................................... 6.31.4 Use Old SMB .......................................................................................... 6.31.5 Use Robot Calibration .............................................................................. 6.31.6 Use Joint 1, 2, 3, 4, 5, 6 ............................................................................ 6.31.7 Base Frame x, y, z ................................................................................... 6.31.8 Base Frame q1, q2, q3, q4 ........................................................................ 6.31.9 Base Frame Moved by ............................................................................. 6.31.10 Gravity Alpha ......................................................................................... 6.31.11 Gravity Beta ........................................................................................... 6.31.12 Gamma Rotation ..................................................................................... 6.31.13 Upper Work Area x, y, z ............................................................................ 6.31.14 Lower Work Area x, y, z ............................................................................ 6.31.15 Upper Check Point Bound x, y, z ................................................................ 6.31.16 Lower Check Point Bound x, y, z ................................................................ 6.31.17 Use Six Axes Corvec ............................................................................... 6.31.18 Track Conveyor with Robot ....................................................................... 6.31.19 Max External Pos Adjustment .................................................................... 6.31.20 7 axes high performance motion ................................................................ 6.31.21 Time to Inposition .................................................................................... 6.31.22 Orientation Supervision Off ....................................................................... 6.31.23 Conveyor Tool Change Mode .................................................................... 6.31.24 Mech.Unit Not Moving Detection Level ........................................................ 6.32 Type Robot Serial Number .................................................................................. 6.32.1 The Robot Serial Number type ................................................................... 6.32.2 Name .................................................................................................... 6.32.3 Robot Serial Number High Part .................................................................. 6.32.4 Robot Serial Number Low Part ................................................................... 6.33 Type SG Process .............................................................................................. 6.33.1 The SG Process type ............................................................................... 6.33.2 Name .................................................................................................... 6.33.3 Use Force Master .................................................................................... 6.33.4 Sync Check Off ....................................................................................... 6.33.5 Close Time Adjust. .................................................................................. 6.33.6 Close Position Adjust. .............................................................................. 6.33.7 Force Ready Delay .................................................................................. 6.33.8 Max Force Control Motor Torque ................................................................ 6.33.9 Post-synchronization Time ........................................................................ 6.33.10 Calibration Mode .....................................................................................

581 581 582 583 584 586 587 588 589 589 590 591 592 593 593 594 595 596 597 597 598 599 600 601 602 603 604 605 606 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 622 623 624 625 626 626 628 629 630 631 632 633 634 635 636

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6.34

6.35

6.36

6.37

6.38

6.39

6.33.11 Calibration Force High ............................................................................. 6.33.12 Calibration Force Low .............................................................................. 6.33.13 Calibration Time ...................................................................................... 6.33.14 Number of Stored Forces .......................................................................... 6.33.15 Tip Force 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 .............................................................. 6.33.16 Motor Torque 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 ........................................................ 6.33.17 Squeeze Position 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 ................................................... 6.33.18 Soft Stop Timeout ................................................................................... Type Single ...................................................................................................... 6.34.1 The Single type ....................................................................................... 6.34.2 Name .................................................................................................... 6.34.3 Use Single Type ...................................................................................... 6.34.4 Use Joint ............................................................................................... 6.34.5 Base Frame x, y, z ................................................................................... 6.34.6 Base Frame q1, q2, q3, q4 ........................................................................ 6.34.7 Base Frame Coordinated .......................................................................... 6.34.8 Mech.Unit Not Moving Detection Level ........................................................ Type Single Type .............................................................................................. 6.35.1 The type Single Type ............................................................................... 6.35.2 Name .................................................................................................... 6.35.3 Mechanics ............................................................................................. Type Stress Duty Cycle ...................................................................................... 6.36.1 The Stress Duty Cycle type ....................................................................... 6.36.2 Name .................................................................................................... 6.36.3 Speed Absolute Max ................................................................................ 6.36.4 Torque Absolute Max ............................................................................... Type Supervision .............................................................................................. 6.37.1 The Supervision type ............................................................................... 6.37.2 Name .................................................................................................... 6.37.3 Brake Release Supervision On .................................................................. 6.37.4 Speed Supervision .................................................................................. 6.37.5 Position Supervision ................................................................................ 6.37.6 Counter Supervision ................................................................................ 6.37.7 Jam Supervision ..................................................................................... 6.37.8 Load Supervision .................................................................................... 6.37.9 Power Up Position Supervision .................................................................. 6.37.10 In Position Range .................................................................................... 6.37.11 Zero Speed ............................................................................................ 6.37.12 Affects Forced Control ............................................................................. 6.37.13 Forced on Position Limit ........................................................................... 6.37.14 Forced off Position Limit ........................................................................... 6.37.15 Thermal Supervision Sensitivity Ratio ......................................................... Type Supervision Type ....................................................................................... 6.38.1 The type Supervision Type ........................................................................ 6.38.2 Name .................................................................................................... 6.38.3 Max Force Control Position Error ............................................................... 6.38.4 Max Force Control Speed Limit .................................................................. 6.38.5 Dynamic Power Up Position Limit ............................................................... 6.38.6 Teach Max Speed Main ............................................................................ 6.38.7 Teach Max Speed DSP ............................................................................. 6.38.8 Max Jam Time ........................................................................................ 6.38.9 Max Overload Time ................................................................................. 6.38.10 Auto Max Speed Supervision Limit ............................................................. 6.38.11 Influence Group ...................................................................................... 6.38.12 Alarm Position Limit for Brake Release ........................................................ 6.38.13 Position OK Ratio for Brake Release ........................................................... Type Transmission ............................................................................................ 6.39.1 The Transmission type ............................................................................. 6.39.2 Name ....................................................................................................

637 638 639 640 641 643 645 646 647 647 648 649 650 651 652 653 654 655 655 656 657 658 658 659 660 661 662 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 677 678 679 680 681 682 683 684 685 686 687 688 689 690 690 691

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6.39.3 Rotating Move ........................................................................................ 6.39.4 Transmission Gear Ratio .......................................................................... 6.39.5 Transmission Gear High ........................................................................... 6.39.6 Transmission Gear Low ............................................................................ 6.40 Type Uncalibrated Control Master 0 ...................................................................... 6.40.1 The Uncalibrated Control Master 0 type ....................................................... 6.40.2 Name .................................................................................................... 6.40.3 Kp, Gain Position Loop ............................................................................. 6.40.4 Kv, Gain Speed Loop ............................................................................... 6.40.5 Ti Integration Time Speed Loop ................................................................. 6.40.6 Speed Max Uncalibrated ........................................................................... 6.40.7 Acceleration Max Uncalibrated .................................................................. 6.40.8 Deceleration Max Uncalibrated .................................................................. Index

692 693 694 695 696 696 697 698 699 700 701 702 703 705

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Overview of this manual

Overview of this manual

About this manual This manual describes the IRC5 system parameters by topic and type in an overview. It also covers some basic workflow descriptions on how to add, edit and delete parameters. This can be done via specific software tools, which are not described here, nor how to use them. The manual covers the most common types and parameters in the topics Communication, Controller, I/O, Man-machine Communication, and Motion. Usage This manual should be used as a reference during configuration of the robot system. The manual includes parameters for both the basic robot system and selected software and hardware options. The option parameters require that you have the specified option installed in your robot system. It is recommended that you create a backup or save the configuration files before changing any parameters. Note! This should only be performed by a trained technician! Who should read this manual? This manual is intended for: Prerequisites The reader should be familiar with: industrial robots and terminology. the RAPID programming language. how to configure system parameters using RobotStudio or FlexPendant. production technicians programmers service technicians

Organization of chapters The manual is organized in the following chapters:

Chapter 1 2 3 4 5 6 Content About system parameters Topic Communication Topic Controller Topic Man-machine Communication Topic I/O Topic Motion

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Continued

References The manual contains references to the following information products:

Reference Operating manual - Getting started, IRC5 and RobotStudio Operating manual - IRC5 with FlexPendant Operating manual - RobotStudio Operating manual - Trouble shooting IRC5 Operating manual - Calibration Pendulum Operating manual - Service Information System Technical reference manual - RAPID Instructions, Functions and Data types Technical reference manual - RAPID overview Technical reference manual - RAPID kernel Application manual - Additional axes and stand alone controller Application manual - DeviceNet Application manual - Engineering tools Application manual - INTERBUS Application manual - Motion coordination and supervision Application manual - Motion functions and events Application manual - Motion performance Application manual - MultiMove Application manual - PROFIBUS-DP Application manual - Robot communication and I/O control Application manual - Servo motor control Document ID 3HAC027097-001 3HAC16590-1 3HAC032104-001 3HAC020738-001 3HAC16578-1 3HAC025709-001 3HAC16581-1 3HAC16580-1 3HAC16585-1 3HAC021395-001 3HAC020676-001 3HAC020434-001 3HAC023009-001 3HAC18154-1 3HAC18152-1 3HAC18153-1 3HAC021272-001 3HAC023008-001 3HAC020435-001 3HAC020436-001

The following revisions of this manual have been released.

Revision A Description First edition, released with IRC5 RW 5.04. Released with IRC5 RW 5.05. The printed manual split in two parts. Chapter Man-machine Communication added. Chapter Motion extended with more types and parameter descriptions. Released with IRC5 RW 5.06. Chapter Motion extended to include all visible parameters. Released with IRC5 RW 5.07. Released with IRC5 RW 5.08. New parameters added in topics Motion and I/O. Type Drive System added in topic Motion.

B C D

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Overview of this manual

Continued

Revision E

Description Released with IRC5 RW 5.09. New parameters in Motion and I/O. New types Auto Condition Reset and Run Mode Settings added in topic Controller. All DeviceNet parameters moved to Application manual - DeviceNet. Released with IRC5 RW 5.10. Changes in topic I/O: System Input has new action value, Load. System Output has new parameter, Argument 2, and new status value, TaskExecuting. In addition, there are several minor changes in the sections about System Input and System Output. Changes in topic Controller: New parameters in type Task for the new functionality RAPID Message Queue. Released with IRC5 RW 5.11. New introduction to system parameters. Changes in topic Controller: Changes in Auto Condition Reset, Event Routine, and ModPos Settings. Changes in topic I/O: New action value in System Output. Changes in System Input. Changes in topic Man-machine Communication: New types Warning at Start and Automatically Switch Jog Unit. Changes in topic Motion: New parameters in Motion Planner and Motion Supervision. New type SIS Single Parameters. Released with IRC5 RW 5.12. Changes in topic Controller: New parameter RMQ Mode, in Task. Minor corrections in Auto Condition Reset, Automatic Loading of Modules, and Event Routine. Changes in topic I/O: New action value Production Execution Error, in System Input. Changes in types Fieldbus Command Type and Unit. Minor corrections in all types. Changes in topic Motion: Parameter Use Arm Load added. Released with RW5.12.02. Changes in topic Motion: Type Event Routine: Parameter The Event Routine type on page 84.

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Continued

Revision K

Description Updated for the RW 5.13 release. All SIS system parameters are moved to Operating manual - Service Information System. The section How to define work area in topic Motion is corrected and divided into two new sections, How to restrict the work area for articulated robots on page 335 and How to restrict the work area for parallel arm robots on page 336. Changes in topic Communication: Added the new system parameter Show Device on page 52 in the type Application Protocol. Changes in topic Controller: Updated the system parameters, Task on page 78, Shared on page 80, All Tasks on page 81, and All Motion Tasks on page 82 in the type Automatic Loading of Modules. Updated the system parameters, The Event Routine type on page 84 and Event on page 89 in the type Event Routine. Changes in topic I/O: The parameter Action on page 221 is updated and added the new system parameters Argument 3 on page 254 and Argument 4 on page 255 in the type System Input. Also added the new action value Backup on page 222 for the parameter Status. Changes in the type System Output: The Status on page 260 system parameter is updated. The status value system parameters TCP Speed on page 283 and Mechanical Unit Not Moving on page 270 are updated. Added the new status value parameters Backup in progress on page 264 and Backup Error on page 263. The parameters Unit Recovery Time on page 172 and Type of Bus on page 168 are updated in the type Bus. Updated the type The Signal type on page 191 and the Unit Mapping on page 199 system parameter. Updated the system parameter Regain Communication Reset on page 298 in the type Unit. Changes in topic Man-Machine Communication: Added the new type The Backup Settings type on page 310 and the corresponding new system parameters in topic Man-machine Communication. Changes in topic Motion: Added the new system parameters Max External Pos Adjustment on page 616and Orientation Supervision Off on page 619 in the type Robot. Added the new system parameter Use Drive Unit on page 403 in the type Drive System. Added the new system parameter Use Drive System on page 457 in the type Joint. Added the new type Drive Unit and the parameters The Drive Unit type on page 405, Name on page 406, and Drive Unit Position on page 407. Added the new system parameter Use spline parameters on page 542 and updated the system parameter Event Preset Time on page 530 in the type Motion Planner. The section about the type The Arm Load type on page 378 is updated. The image in the section How to define arm loads on page 339 is updated.

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Overview of this manual

Continued

Revision L

Description Updated for the RW 5.13.02 release. Changes in topic Motion: Added the new system parameter Use additional interp. object batch on page 543 in the type Motion Planner. Updated the system parameters Gravity Alpha on page 606, Gamma Rotation on page 609, and Orientation Supervision Off on page 619 in the type Robot. Changes in topic I/O: Updated the system parameter TaskExecuting on page 282 in the type System Output. Updated for the RW 5.14 release. Changes in the About system parameters chapter. Added the new section File system on page 30. Changes in the topic Controller. Updated the Usage section in the system parameter Reset on page 74. Changes in the topic I/O. Updated the Additional Information subsection in the system parameter Mechanical Unit Not Moving on page 270. Updated the Description subsection in the system parameters Stop on page 244 and Soft Stop on page 246. Updated the Allowed values subsection in the system parameter Default Value on page 203. Updated the various subsections in the type The Cross Connection type on page 174. Updated the information about the maximum number of user I/O signals and the maximum number of digital I/Osignals on I/O units in the Limitations subsection of the type The Signal type on page 191, in the Limitations subsection of the section How to define input and output I/O signals on page 153, and in the Limitations and Predifined unit type subsections of the type The Unit Type type on page 299. Changes in the topic Motion. Updated the Limitations subsection in the system parameter Manipulator supervision on page 554. Updated the Limitations subsection in the system parameter Manipulator supervision level on page 555. Updated the various subsections in the system parameter Mains Tolerance Max on page 501. Added the new system parameter Bandwidth of path pose filter on page 544. Updated the various subsections in the system parameter Conveyor Tool Change Mode on page 620. Added the new system parameter Use DC-Link on page 402. Added the new system parameter Teach Max Speed DSP on page 683. Removed the system parameter Teach Normalized Low Speed. Updated the system parameter Teach Max Speed Main on page 682. Updated for the RW 5.14.02 release Updated the image in the section Arms for relating arm load to on page 339. Updated the section Allowed values on page 551 in the Path Collision Detection Level system parameter. Updated the section Allowed values on page 552 in the Jog Collision Detection Level system parameter.

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Continued

Revision P

Description Updated for the RW 5.14.03 release Updated the section Server Path on page 45 with information about FTP Server FileZilla. Updated the Limitations and Allowed values in the section Name on page 129. Also added the new system parameter ModalPayLoadMode on page 132. Updated the Additional information section in The System Input type on page 219. Added a new system parameter Disable Backup on page 224. Updated the Description and Arguments in the section Interrupt on page 225. Added a new system parameters SimMode on page 250 and SimMode on page 285. Added a new system parameter Deactivate Cyclic Brake Check for axis on page 374. Added a new system parameter Use Robot Calibration on page 601. Added a new system parameter Thermal Supervision Sensitivity Ratio on page 676. Updated for the RW 5.15 release A note is added in Configuration files on page 29. Updated the figure in section Event routine execution examples on page 85. Added a new chapter Type Options on page 113 under topic Controller. Changed the limitation for handling the maximum number of cross connections from 100 to 300 in the section The Cross Connection type on page 174. Updated the section Action Values on page 222. Added a new action value Limit Speed on page 227. Added a new argument Argument 5 on page 256. Added a new argument Argument 6 on page 257. Added a new chapter System Input Actions on page 258. Added a new action value Limit Speed on page 268. Updated the value Mechanical Unit Not Moving on page 270. Changed the maximum limitation of Unit Type instances in the system from 60 to 100 in the section The Unit Type type on page 299. Added a new system parameter Max Brake Time on page 391. Added a new system parameter Circle Speed Priority on page 545. Added a new system parameter Number of Internal Event Objects on page 546. Added a new system parameter Use Robot Type on page 599. Added a new system parameter Mech.Unit Not Moving Detection Level on page 621. Added a new system parameter Squeeze Position 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 on page 645. Added a new system parameter Mech.Unit Not Moving Detection Level on page 654. Updated the allowed values in Mechanics on page 657.

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Product documentation, M2004

Product documentation, M2004

Categories for manipulator documentation The manipulator documentation 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. All documents listed can be ordered from ABB on a DVD. The documents listed are valid for M2004 manipulator systems. Product manuals Manipulators, controllers, DressPack/SpotPack, and most other hardware will be delivered with a Product manual that generally contains: Safety information. Installation and commissioning (descriptions of mechanical installation or electrical connections). Maintenance (descriptions of all required preventive maintenance procedures including intervals and expected life time of parts). Repair (descriptions of all recommended repair procedures including spare parts). Calibration. Decommissioning. Reference information (safety standards, unit conversions, screw joints, lists of tools ). Spare parts list with exploded views (or references to separate spare parts lists). Circuit diagrams (or references to circuit diagrams).

Technical reference manuals The technical reference manuals describe reference information for robotics products. Technical reference manual - Lubrication in gearboxes: Description of types and volumes of lubrication for the manipulator gearboxes. Technical reference manual - RAPID overview: An overview of the RAPID programming language. Technical reference manual - RAPID Instructions, Functions and Data types: Description and syntax for all RAPID instructions, functions, and data types. Technical reference manual - RAPID kernel: A formal description of the RAPID programming language. Technical reference manual - System parameters: Description of system parameters and configuration workflows.

Application manuals Specific applications (for example software or hardware options) are described in Application manuals. An application manual can describe one or several applications. Continues on next page
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Continued

An application manual generally contains information about: Operating manuals 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 trouble shooters. The group of manuals includes (among others): Operating manual - Emergency safety information Operating manual - General safety information Operating manual - Getting started, IRC5 and RobotStudio Operating manual - Introduction to RAPID Operating manual - IRC5 with FlexPendant Operating manual - RobotStudio Operating manual - Trouble shooting IRC5, for the controller and manipulator. The purpose of the application (what it does and when it is useful). What is included (for example cables, I/O boards, RAPID instructions, system parameters, DVD with PC software). How to install included or required hardware. How to use the application. Examples of how to use the application.

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1 About system parameters

1.1 About system parameters

1 About system parameters

1.1 About system parameters
Overview System parameters describe the configuration of the robot system. The parameters are configured according to order on delivery. By changing the parameters values, the performance of the system can be adjusted. The system parameters usually only need changing if the robot system is modified due to a changed process. Parameter structure The parameters are grouped together in a number of different configuration areas, named topics. These topics are divided into different types of parameters. For each type, a number of objects or instances can be defined, thus having the same type. Each such instance has a number of parameters, which must be given specific values. In some cases these parameters, depending on their values, are further structured in subparameters, also called arguments or action values. Topic definition A topic is a configuration area with a specific collection of parameters. There are six topics in the controller, each describing different areas in the robot system. All parameters are stored in a separate configuration file for each topic. These are known as cfg files (file extension .cfg). See Configuration files on page 29. Type definition A type is a section of a topic, which defines parameters of the same type. As indicated above, there can be many instances of the same type. All such instances are referred to with the name of the type. For example, an instance of the type Signal is called a Signal instance or just a Signal. Note that also each separate signal object has a unique name, for example digin1. System parameters definition All parameters of an object are assigned a value to describe the robot system configuration. The parameter values are normally predefined on delivery. The values are restricted to data type, and sometimes to be within an interval, which is described for each parameter in Technical reference manual - System parameters. Most parameters require a restart (warm start) of the controller to take effect after being changed. Some parameters are visible but not editable since they are a part of the system and should not be changed.

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1 About system parameters

1.1 About system parameters Continued Working with system parameters System parameters are configured using RobotStudio or the FlexPendant. This is detailed in Operating manual - RobotStudio and Operating manual - IRC5 with FlexPendant. Experienced users can also edit the configuration files. In the configuration files all types and parameters have specific names. To help working with such text files these names are indicated in the parameter descriptions under the caption "Cfg name". Example illustration This example illustrates the structure from topic, down to arguments (also called action values).

en0800000183

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1 About system parameters

1.2 Configuration files

1.2 Configuration files

Configuration files A configuration file is a text file that lists the values of system parameters. Note that if the parameter is assigned the default value, then it will not be listed in the configuration file. There are six configuration areas in the controller, saved as configuration files (*.cfg). Configuration files are by default saved in the folder SYSPAR for the system, for example ..\MySystem\SYSPAR\. The configuration files are included in backups. Note Configuration files shall not be loaded in systems running an older RobotWare version than in which they were created.
Topic: Communication Controller I/O Man-machine Communication Motion Process Configuration area: Configuration file:

Serial channels and file transfer protocols SIO.cfg Safety and RAPID specific functions I/O boards and signals Functions to simplify working with the system The robot and external axes Process specific tools andequipment SYS.cfg EIO.cfg MMC.cfg MOC.cfg PROC.cfg

Example This is an example from SIO.cfg, topic Communication.

# COM_PHY_CHANNEL: -Name "COM1" -Connector "COM1" -Name "LAN1" -Connector "LAN" -Name "SER1" -Connector "SERVICE" # COM_TRP: -Name "TCPIP1" -Type "TCP/IP" -PhyChannel "LAN1"

Explanation Three instances of the type Physical Channel. One instance with Name defined as COM1 and Connector defined as COM1. One instance with Name defined as LAN1 and Connector defined as LAN. One instance with Name defined as SER1 and Connector defined as SERVICE. One instance with Name defined as TCPIP1, Type defined as TCP/IP, and Physical Channel defined as LAN1.

One instance of the type Transmission Protocol.

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1 About system parameters

1.3 File system

1.3 File system

Overview This section describes the paths on the controller, USB device, or mounted disks. Examples of paths Environment variables NOTE: The character : can be used in the environment variables.
Path BACKUP:my_dir BACKUP/my_dir HOME:my_dir SYSTEM:my_dir Description The backup is placed in /hd0a/BACKUP/my_dir The backup is placed in /hd0a/BACKUP/my_dir The backup is placed in /hd0a/<system_name>/HOME/my_dir The backup is placed in /hd0a/<system_name>/my_dir

Drives on the controller NOTE: The character : can not be used in the path.
Path /hd0a/my_dir /bd0/my_dir /bd1/my_dir /bdx/my_dir Description Flash drive or hard drive on the controller. USB device on the controller. Second USB device on the controller. x:th USB device on the controller.

If using more than one USB device, they are numbered in the order that they are connected. Directories on the controller
Path /my_dir/ Description The backup is placed in /hd0a/my_dir

/bd0/my_dir The backup is placed in /hd0a/bd0/my_dir if no USB stick is inserted.

Current directory Current directory is not defined but varies depending on what happens in the system. Therefore, all references should be defined with complete paths (or using environment variables). Mounted disks There must be an FTP or NFS connection to a running FTP/NFS server with read and write access to the backup directory. Verify the connection after loading the Communication configuration (SIO.cfg) and restarting the controller. In the following example, the device is named as pc:
pc:/my_dir

Related information Backup on page 222 Load on page 229 Continues on next page
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1 About system parameters

1.3 File system Continued Load and Start on page 231

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2 Topic Communication
2.1 The Communication topic

2 Topic Communication
2.1 The Communication topic
Overview This chapter describes the types and parameters of the Communication topic. Each parameter is described in the section for its type. Description The Communication topic contains parameters for configuring the controller's serial channels and file transfer protocols. The parameters are organized in three types: 1 Application protocol 2 Physical channel 3 Transmission protocol

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2 Topic Communication
2.2.1 How to define an application protocol

2.2 Workflows 2.2.1 How to define an application protocol

Overview Application protocols are options for data transmission in the robot system. Prerequisites A physical channel and a transmission protocol must be defined before an application protocol can be defined. The option NFS Client or FTP Client must be installed in the robot system. How to define an application protocol To define an application protocol: 1 In the topic Communication, choose the type Application Protocol. 2 Select the application protocol to define, or add a new one. 3 Enter, delete or change the parameters of the application protocol. Note that the required parameters vary depending on the option installed. See description of the type Application Protocol for examples. For detailed information about each parameter and examples of typical configurations, see the descriptions in the type Application Protocol. 4 Save the changes Related information The Application Protocol type on page 37. How to define a physical channel on page 35. How to define a transmission protocol on page 36. Application manual - Robot communication and I/O control.

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2 Topic Communication
2.2.2 How to define a physical channel

2.2.2 How to define a physical channel

Overview With the Physical Channels you configure the serial channels, which can be used for communication with printers, terminals, computers, and other equipment. How to define a physical channel To define a physical channel: 1 In the topic Communication, choose the type Physical Channel. 2 Select the physical channel to define, or add a new one. 3 Enter, delete or change the parameters of the physical channel. For detailed information about each parameter, see the descriptions in the type Physical Channel. 4 Save the changes. Related information The Physical Channel type on page 53.

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2 Topic Communication
2.2.3 How to define a transmission protocol

2.2.3 How to define a transmission protocol

Overview Transmission protocols are standards for data transmission. Prerequisites A physical channel must be defined before a transmission protocol can be defined. How to define a transmission protocol To define a transmission protocol: 1 In the topic Communication, choose the type Transmission Protocol. 2 Select the transmission protocol to define, or add a new one. 3 Edit the parameters of the transmission protocol. For detailed information about each parameter, see descriptions in the type Transmission Protocol. 4 Save the changes. Related information The Transmission Protocol type on page 62. How to define a physical channel on page 35.

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2 Topic Communication
2.3.1 The Application Protocol type

2.3 Type Application Protocol 2.3.1 The Application Protocol type

Overview This section describes the type Application Protocol, which belongs to the topic Communication. Each parameter of this type is described in a separate information topic in this section. Cfg name COM_APP Type description Application protocols are standards for data transmission on application level. The robot system can use different protocols, but only one at a time. The application protocols are options for the robot system. Prerequisites A physical channel and a transmission protocol must be defined before an application protocol can be defined. Related information How to define an application protocol on page 34. How to define a physical channel on page 35. How to define a transmission protocol on page 36. Application manual - Robot communication and I/O control. Example: FTP This is a typical example of a configuration for FTP Client.
Parameter: Name Type Transmission Protocol Server Address Trusted Local Path Server Path Username Password Maximum File Size Memory Partition Size Value: MyFTP FTP TCPIP1 100.100.1.10 Yes pc: c:\backup Operator1 robot 1000 500

Continues on next page

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2 Topic Communication
2.3.1 The Application Protocol type Continued Example: NFS This is a typical example of a configuration for NFS Client.
Parameter: Name Type Transmission Protocol Server Address Trusted Local Path Server Path User ID Group ID Value: MyNFS NFS TCPIP1 255.255.100.105 Yes pc: c:\backup 10 0

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2 Topic Communication
2.3.2 Name

2.3.2 Name
Parent Name belongs to the type Application Protocol, in the topic Communication. Cfg name Name Description The name of the application protocol. Usage Used as a protocol label (to tell the application protocols apart). Allowed values A string with maximum 40 characters.

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2 Topic Communication
2.3.3 Type

2.3.3 Type
Parent Type belongs to the type Application Protocol, in the topic Communication. Cfg name Type Description The type of application protocol. Usage Specify the type of application protocol, FTP or NFS. Allowed values FTP or NFS Related information Application manual - Robot communication and I/O control.

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2 Topic Communication
2.3.4 Transmission Protocol

2.3.4 Transmission Protocol

Parent Transmission Protocol belongs to the type Application Protocol, in the topic Communication. Cfg name Trp Description Specifies which transmission protocol is used by the application protocol. Usage Transmission Protocol is set to the same value as the parameter Name, in the type Transmission Protocol, for the transmission protocol you want to use (e.g. TCP/IP). Allowed values A string with maximum 40 characters. Related information Name on page 63. Application manual - Robot communication and I/O control.

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2 Topic Communication
2.3.5 Server Address

2.3.5 Server Address

Parent Server Address belongs to the type Application Protocol, in the topic Communication. Cfg name ServerAddress Description The IP address of the computer that runs the server application that the application protocol communicates with. Usage If the application protocol is used for communication with a remote computer, the IP address of that computer is specified in Server Address. Allowed values Four integers between 0 and 255, separated with dots. Related information Application manual - Robot communication and I/O control. Example An IP address typically looks like this: 100.100.100.100

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2 Topic Communication
2.3.6 Trusted

2.3.6 Trusted
Parent Trusted belongs to the type Application Protocol, in the topic Communication. Cfg name Trusted Description A flag that specifies if losing the connection should make the program stop. Usage An application protocol used for backups or similar can have Trusted set to No. If the connection is lost, the program continues and the backup can be made later. An application protocol that relies on the connection for safety must have Trusted set to Yes. If the connection is lost, the program will stop and no hazardous situations can occur because of the lost connection. Allowed values Yes or No. Related information Application manual - Robot communication and I/O control.

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2 Topic Communication
2.3.7 Local Path

2.3.7 Local Path

Parent Local Path belongs to the type Application Protocol, in the topic Communication. Cfg name LocalPath Description The controller's reference to the connection. Usage When the connection is used from a RAPID program or the FlexPendant, it is referenced with the name defined in Local Path. Defines what the shared unit will be called on the robot. The parameter value must end with a colon (:). Allowed values A string with a maximum of 20 characters. The string must end with a colon (:). Related information Application manual - Robot communication and I/O control. Example The application protocol is used for a connection with unit C: on a remote PC. Local Path is set to pc:. The file C:\test.prg can then be accessed from a RAPID program or the FlexPendant as pc:test.prg.

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2 Topic Communication
2.3.8 Server Path

2.3.8 Server Path

Parent Server Path belongs to the type Application Protocol, in the topic Communication. Cfg name ServerPath Description The name of the disk or folder to connect to, on a remote computer. Usage Specify the path of the disk or folder that the application protocol should connect to. Note The exported path should not be specified if communicating with an FTP server of type Distinct FTP, FileZilla or MS IIS. Allowed values A string with a maximum of 40 characters. Related information Application manual - Robot communication and I/O control. Example The usage of Server Path may depend on which FTP server is being used. For most FTP servers If the application protocol should connect to the folder C:\Robot1\Backup on a remote computer, Server Path is set to C:\Robot1\Backup. For FTP servers Distinct FTP, MS IIS, and FileZilla If the server exports C:\Robot1 and the application protocol want to connect to C:\Robot1\Backup, Server Path is set to Backup.

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2 Topic Communication
2.3.9 Username

2.3.9 Username
Parent Username belongs to the type Application Protocol, in the topic Communication. Cfg name UserName Description The user name used by the robot when it logs on to an FTP server on a remote computer. Usage Create a user account on the FTP server. The user name of this account is then specified in Username, and the password in Password. Limitations Username is only used with the RobotWare option FTP Client. Allowed values A string with a maximum of 40 characters. Related information Password on page 47. Application manual - Robot communication and I/O control.

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2 Topic Communication
2.3.10 Password

2.3.10 Password
Parent Password belongs to the type Application Protocol, in the topic Communication. Cfg name Password Description The password used by the robot when it logs on to an FTP server on a remote computer. Usage Create a user account on the FTP server. The user name of this account is then specified in Username, and the password in Password. Limitations Password is only used with the RobotWare option FTP Client. Allowed values A string with a maximum of 40 characters. Additional information Note that the password written here will be visible to all who have access to the system parameters. Related information Username on page 46. Application manual - Robot communication and I/O control.

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2 Topic Communication
2.3.11 User ID

2.3.11 User ID
Parent User ID belongs to the type Application Protocol, in the topic Communication. Cfg name UserID Description Used by the NFS protocol as a way of authorizing the user to access a specific server. Usage If the NFS server requires a User ID and Group ID for access to the server, these numbers are specified in the parameters User ID and Group ID. If this parameter is not used, set it to the default value 0. Note that User ID must be the same for all mountings on one controller. Limitations User ID is only used with the RobotWare option NFS Client. Allowed values An integer between 0 and 2,147,483,647. Default value is 0. Related information Group ID on page 49. Application manual - Robot communication and I/O control.

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2 Topic Communication
2.3.12 Group ID

2.3.12 Group ID
Parent Group ID belongs to the type Application Protocol, in the topic Communication. Cfg name GroupID Description Used by the NFS protocol as a way of authorizing the user to access a specific server. Usage If the NFS server requires a User ID and Group ID for access to the server, these numbers are specified in the parameters User ID and Group ID. If this parameter is not used, set it to the default value 0. Note that Group ID must be the same for all mountings on one controller. Limitations Group ID is only used with the RobotWare option NFS Client. Allowed values An integer between 0 and 2,147,483,647. Default value is 0. Related information User ID on page 48. Application manual - Robot communication and I/O control.

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2 Topic Communication
2.3.13 Maximum File Size

2.3.13 Maximum File Size

Parent Maximum File Size belongs to the type Application Protocol, in the topic Communication. Cfg name MaxFileSize Description The parameter Maximum File Size defines the maximum file size for files to be transferred between the controller and remote clients. Usage Transferring large files between the controller and remote clients, e.g. a pc, can make the system slow. By setting the maximum allowed file size to be transferred, the system will not be slowed down when files are being transferred. If the file size is larger than the value of Maximum File Size, an error report is generated in the event handler. Limitations Maximum File Size is only used with the RobotWare option FTP Client. Allowed values File size in kB (kilo bytes), between 1 and 2000. Default value is 500 kB. Related information Application manual - Robot communication and I/O control.

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2 Topic Communication
2.3.14 Memory Partition Size

2.3.14 Memory Partition Size

Parent Memory Partition Size belongs to the type Application Protocol, in the topic Communication. Cfg name CommPartSize Description The parameter Memory Partition Size defines the size of the allocated memory partition for the FTP communication. Usage By using a separate memory partition for the FTP communication, the risk of disturbing other program execution is avoided. If no separate memory partition is desired, set the value to 0. Prerequisites Memory Partition Size is only used with the RobotWare option FTP Client. Allowed values Partition size in kB (kilo bytes), between 0 and 2000. Default value is 300 kB. Note that values above default value cannot be guaranteed to function. The available memory partition size depends on what other options are installed. Related information Application manual - Robot communication and I/O control.

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2 Topic Communication
2.3.15 Show Device

2.3.15 Show Device

Parent Show Device belongs to the type Application Protocol, in the topic Communication. Cfg name ShowDevice Description Show Device defines if the storage device should be visible in the list of storage devices on the FlexPendant. Usage The Show Device parameter can be used to restrict access to an FTP or an NFS mounted storage device. If the ShowDevice parameter is set to No, it will not be visible in the open/save dialogs on the FlexPendant. NOTE! If the path of the storage device is known to the user, it is possible to access that storage device by entering the path in the open/save dialogs on the FlexPendant, regardless of the value of the Show Device parameter. Prerequisites Show Device is used only with the RobotWare options FTP client and NFS client. Allowed values Yes or No.

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2 Topic Communication
2.4.1 The Physical Channel type

2.4 Type Physical Channel 2.4.1 The Physical Channel type

Overview This section describes the type Physical Channel, which belongs to the topic Communication. Each parameter of this type is described in a separate information topic in this section. Cfg name COM_PHY_CHANNEL Type description Physical channels are used for configuring the serial channels on the controller. As standard, the controller has one serial channel, which can be used for communication with printers, terminals, computers, and other equipment. If the controller has option Multiple Serial Ports installed, there can be three serial channels available.
Serial channel: COM1 COM2 COM3 Description: A standard RS232 port Only available if Multiple Serial Ports is installed Only available if Multiple Serial Ports is installed

Related information How to define a physical channel on page 35.

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2 Topic Communication
2.4.2 Name

2.4.2 Name
Parent Name belongs to the type Physical Channel, in the topic Communication. Cfg name Name Description Name specifies the logical connection. It is used when accessing the physical serial channel. Allowed values A string with maximum 16 characters.

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2 Topic Communication
2.4.3 Connector

2.4.3 Connector
Parent Connector belongs to the type Physical Channel, in the topic Communication. Cfg name Connector Description Connector connects a physical communication port with a specific configuration in the system. Allowed values COM1 in a standard system. Also, COM2 and COM3, in a system with Multiple Serial Ports installed.

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2 Topic Communication
2.4.4 Baudrate

2.4.4 Baudrate
Parent Baudrate belongs to the type Physical Channel, in the topic Communication. Cfg name Baudrate Description Baudrate defines the baud the controller will operate on for the selected physical channel. Usage Baud is the signalling rate of the communication, which determines the maximum speed of the data transfer in serial channels. The higher the baud, the faster the communication can be. Limitations Both devices, the serial ports in both ends, that communicate on the channel have to use the same baud. The devices have to be defined with the same transmission speed. Therefore, Baudrate must be set to the baud of the device that is connected to the controller. Allowed values A value between 300-38,400, specifying the signal rate. The default value is 9,600.

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2 Topic Communication
2.4.5 Parity

2.4.5 Parity
Parent Parity belongs to the type Physical Channel, in the topic Communication. Cfg name Parity Description Parity configures the parity check for the data transfer. Usage Parity check is an error detection method to help detect data corruption that might occur during transmission of data. The parity check adds a parity bit to each byte that is transmitted. Depending on whether the transmitted byte contains an odd or even number of 1-bits, the parity bit will be either 0 or 1. Each time a data byte is received, it is checked that the number of 1-bits matches the parity bit. Limitations Both receiver and transmitter of data must agree on the type of parity. Allowed values
Value:: Odd Even None Description: The number of 1-bits in a transfer byte must be odd. If they are odd, the parity bit is set to 0. The number of 1-bits in a transfer byte must be odd. If they are even, the parity bit is set to 1. No parity check is performed.

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2 Topic Communication
2.4.6 Number of Bits

2.4.6 Number of Bits

Parent Number of Bits belongs to the type Physical Channel, in the topic Communication. Cfg name NoOfBits Description Number of Bits defines the number of data bits in each byte. Usage The number of bits depends on the device the controller should communicate with. Both receiver and transmitter must agree on the number of data bits as well as the baudrate. There may either be 7 or 8 data bits depending on the selection made. Limitations Both receiver and transmitter of data must agree on the number of bits. Allowed values 7 or 8, specifying the number of data bits. Related information Baudrate on page 56.

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2 Topic Communication
2.4.7 Number of Stop Bits

2.4.7 Number of Stop Bits

Parent Number of Stop Bits belongs to the type Physical Channel, in the topic Communication. Cfg name NoOfStopBits Description Number of Stop Bits defines the number of stop bits. Usage A stop bit is used to identify the end of a data byte when it is transmitted. A stop bit can be detected correctly even if the previous data bit also had a value of 1. This is accomplished by the stop bit's duration. Limitations Both receiver and transmitter of data must agree on the number of bits. Stop bits are excluded from the parity calculation. For more information about parity, see Parity. Allowed values 1 or 2, specifying the number of stop bits. Related information Parity on page 57.

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2 Topic Communication
2.4.8 Duplex

2.4.8 Duplex
Parent Duplex belongs to the type Physical Channel, in the topic Communication. Cfg name Duplex Description Duplex defines whether or not the controller shall be able to send and receive data simultaneously on this physical channel. Usage Duplex is the ability to transport data in both directions. With full duplex the controller is able to both send and receive data at the same time. With half duplex the data flow is limited to one direction at a time. Allowed values FULL or HALF.

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2 Topic Communication
2.4.9 Flow Control

2.4.9 Flow Control

Parent Flow Control belongs to the type Physical Channel, in the topic Communication. Cfg name FlowControl Description Flow Control defines which type of data flow control is used between the devices that are communicating on the physical channel. Usage Flow control adjusts the data transfer so that no data is sent before the receiving device can receive it. Flow control is extra important when the sending device can send data at a higher speed than the receiving device is able to receive. Limitation Both receiver and transmitter of data must agree on the type of flow control used. Allowed values
Value RTS/CTS Description Hardware flow control, uses signals on the serial cable to control if sending or receiving is enabled.

XON/XOFF Software flow control, uses characters in the communication stream to control sending and receiving of data. NONE Flow control will not be used.

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2 Topic Communication
2.5.1 The Transmission Protocol type

2.5 Type Transmission Protocol 2.5.1 The Transmission Protocol type

Overview This section describes the type Transmission Protocol which belongs to the topic Communication. Each parameter of this type is described in a separate information topic in this section. Cfg name COM_TRP Type description Transmission protocols are standards for data transmission. Related information How to define a transmission protocol on page 36.

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2 Topic Communication
2.5.2 Name

2.5.2 Name
Parent Name belongs to the type Transmission Protocol, in the topic Communication. Cfg name Name Description Name specifies the name of the transmission protocol. Transmission protocols are used for transferring data. Allowed values A string with maximum 16 characters.

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2 Topic Communication
2.5.3 Type

2.5.3 Type
Parent Type belongs to the type Transmission Protocol, in the topic Communication. Cfg name Type Description Type defines the type of transmission protocol to be used. Limitations TCP/IP settings can only be viewed from the Configuration Editor in RobotStudio. For detailed information, see Operating manual - RobotStudio. Allowed values
Value: Description: PPP Point-To-Point protocol, provides communication for simple links which transport packets between two nodes. Thereby, it is only possible to run PPP on the serial channels, i.e. COM1. Protocol without handshakes.

RAW

Related information The Physical Channel type on page 53. Operating manual - RobotStudio. For configuration of the LAN port, see Operating manual - IRC5 with FlexPendant.

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2 Topic Communication
2.5.4 Physical Channel

2.5.4 Physical Channel

Parent Physical Channel belongs to the type Transmission Protocol, in the topic Communication. Cfg name PhyChannel Description Physical Channel connects a transmission protocol with a physical channel. Limitations It is not possible to connect to the LAN port. For configuration of the LAN port, see Operating manual - IRC5 with FlexPendant. Allowed values COM1, in a standard system. Also, COM2 and COM3, in a system with Multiple Serial Ports installed. Related information The Physical Channel type on page 53. Operating manual - IRC5 with FlexPendant.

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2 Topic Communication
2.5.5 Local Address

2.5.5 Local Address

Parent Local Address belongs to the type Transmission Protocol, in the topic Communication. Cfg name LocalAdress Description Local Address specifies an IP address of the controller's serial port, i.e. COM1. Limitations The parameter Local Address can only be used when the parameter Type has the value PPP. Allowed values A string consisting of 4 integer values between 0 and 255, each specifying one of the four parts, separated by dots. Related information Type on page 64. Example An IP address consists of four parts, each with eight bits, separated by dots: 100.100.100.100 or 138.227.1.45.

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2 Topic Communication
2.5.6 Remote Address

2.5.6 Remote Address

Parent Remote Address belongs to the type Transmission Protocol, in the topic Communication. Cfg name RemoteAdress Description Remote Address specifies an IP address of the remote peer's serial port. This can be the IP address of the serial port on a PC used for communication with the controller. Limitations The parameter Remote Address can only be used when the parameter Type has the value PPP. Allowed values A string consisting of 4 integer values between 0 and 255, each specifying one of the four parts, separated by dots. Related information Type on page 64. Example An IP address consists of four parts, each with eight bits, separated by dots: 100.100.100.100 or 138.227.1.45.

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3 Topic Controller
3.1 The Controller topic

3 Topic Controller
3.1 The Controller topic
Overview This chapter describes the types and parameters of the Controller topic. Each parameter is described in the section for its type. Description The Controller topic contains parameters for safety and RAPID specific functions. The parameters are organized in the following types: 1 Auto Condition Reset 2 Automatic Loading of Modules 3 Event Routine 4 Mechanical Unit Group 5 ModPos Settings 6 Operator Safety 7 Path Return Region 8 Run Mode Settings 9 Present Options 10 Safety Run Chain 11 System Misc 12 Task

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3 Topic Controller
3.2.1 How to activate hold-to-run control

3.2 Workflows 3.2.1 How to activate hold-to-run control

Overview Safety in program execution is essential. The function hold-to-run control is used when extra safety is necessary in the operating mode Manual. The hold-to-run function only allows robot movements when a button is manually actuated and immediately stops these movements when released. Additional information The hold-to-run control is always activated in Manual Full Speed mode. How to activate the hold-to-run control To activate the hold-to-run control for manual reduced speed mode: 1 In the Controller topic, choose the type Operator Safety. 2 Edit the parameters for robot movement control and execution. Set the parameter Active to True. For detailed information about the parameters, see the descriptions in the Operator Safety type. 3 Save the changes. Related information The Operator Safety type on page 110. Operating manual - IRC5 with FlexPendant.

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3 Topic Controller
3.2.2 How to define path return region

3.2.2 How to define path return region

Return movement A return movement must take place if the current robot path deviates from the programmed path. This happens for example if an uncontrolled stop has occurred or the robot has been jogged away from its path. A return movement begins when program start is ordered and stops before the program continues with the instruction that was interrupted. Path return region In a return movement, the path return region specifies the distance from the current robot position to the last executed path. The maximum path return region can be set both for start in manual mode and for start in automatic mode. How to define path return region To define the path return region: 1 In the Controller topic, choose the type Path Return Region. 2 Edit the Mode parameter to specify the operating mode. 3 Edit the parameters for movement in the selected mode. For detailed information about each parameter, see the descriptions in the type Path Return Region. 4 Save the changes. Related information The Path Return Region type on page 116.

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3 Topic Controller
3.3.1 The Auto Condition Reset type

3.3 Type Auto Condition Reset 3.3.1 The Auto Condition Reset type
Overview This section describes the type Auto Condition Reset, which belongs to the topic Controller. Each parameter of the type is described in a separate information topic in this section. Cfg name AUTO_COND_RESET Type description The type Auto Condition Reset defines if a number of conditions should be reset when switching to auto mode. A message box is displayed on the FlexPendant with information about the reset conditions. Limitations There can be only one instance of the type Auto Condition Reset.

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3 Topic Controller
3.3.2 Name

3.3.2 Name
Parent Name belongs to the type Auto Condition Reset, in the topic Controller. Cfg name name Allowed values AllDebugSettings (cannot be changed).

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3 Topic Controller
3.3.3 Reset

3.3.3 Reset
Parent Reset belongs to the type Auto Condition Reset, in the topic Controller. Cfg name reset Description Reset defines if a number of conditions should be reset when switching to auto mode. If any of the conditions cannot be executed, then switching to auto will be rejected. The Reset setting is also applied when starting the controller in auto mode. Usage If Reset is set to YES then the following conditions are reset when switching to auto: The Program Pointer (PP) is set to Main module for all tasks if callchain does not originate from Main routine. All tasks are enabled. All stopped background tasks are started. Simulation of all simulated I/O signals is removed. Speed is set to 100%. RAPID Spy is deactivated.

If Reset is set to NO, then none of the above conditions are reset automatically. If a service routine is running and PP was manually moved to another routine before the service routine was called, then the above does not apply. Switching to auto will then be rejected. Allowed values YES NO Default value is YES.

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3 Topic Controller
3.4.1 The Automatic Loading of Modules type

3.4 Type Automatic Loading of Modules 3.4.1 The Automatic Loading of Modules type
Overview This section describes the type Automatic Loading of Modules which belongs to the topic Controller. Each parameter of this type is described in a separate information topic in this section. Cfg name CAB_TASK_MODULES Type description RAPID modules can be loaded automatically when the controller is restarted if they are specified in the type Automatic Loading of Modules. Usage There must be one instance of the type Automatic Loading of Modules for each of the module to be loaded. System restart All changes in the type Automatic Loading of Modules will take effect after a normal restart or a restart of the program server (P-start). Additional information If the configuration module is changed, it may in one case (see below) replace the loaded module after a normal restart. In any other case, you will get a warning. To replace the loaded module regardless of task type, do a P-start. The configuration module replaces the loaded module if the: loaded module is a program module AND the task is semistatic.

The program pointer is only lost if a configuration change results in unloading of the module that the program pointer is in. If a shared or installed module is changed from True to False, or is moved to another task, the task will be reinstalled and the program pointer is reset. All previously loaded modules are reloaded and unsaved changes will not be lost. If a changed and unsaved user-loaded module is unloaded due to configuration changes, it will be saved to a recovery directory and pointed out in an ELOG message. If a changed and unsaved configuration loaded module is unloaded due to configuration changes, it will be saved from where it was loaded. All tasks are reinstalled with modules according to the configuration after a P-start. Note that after a P-start, all user-loaded modules are lost.

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3 Topic Controller
3.4.1 The Automatic Loading of Modules type Continued Related information The Task type on page 134. Technical reference manual - RAPID overview. ELOG messages are described in Operating manual - Trouble shooting IRC5. Restarts are described in Operating manual - IRC5 with FlexPendant.

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3.4.2 File

3.4.2 File
Parent File belongs to the type Automatic Loading of Modules, in the topic Controller. Cfg name File Description The parameter File describes a path to the module file. Usage The module file shall contain one module to be loaded, installed, or shared. Allowed values A path, for example, HOME:base.sys Related information Technical reference manual - RAPID overview.

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3.4.3 Task

3.4.3 Task
Parent Task belongs to the type Automatic Loading of Modules, in the topic Controller. Cfg name Task Description Task is the symbolic name of the task to which the module will be loaded. Usage The task is defined in the type Task. The available task(s) is shown under the type Task. Limitations Cannot be combined with All Tasks, All Motion Tasks, or Shared. Allowed values A task name with maximum 30 characters. Additional information All automatically loaded modules need information on which task they will be loaded or installed in, even if only one task is configured in the system. Related information The Task type on page 134. All Tasks on page 81. Shared on page 80. Application manual - Engineering tools.

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3.4.4 Installed

3.4.4 Installed
Parent Installed belongs to the type Automatic Loading of Modules, in the topic Controller. Cfg name Installed Description A module can be installed or loaded. A loaded module is visible in remote clients, for example, RobotStudio and FlexPendant. An installed module is not visible, that is, it does not occur in the list of modules. Usage Set Installed to Yes to install a module, and to No to load a module. Limitations Cannot be combined with Shared. Allowed values YES or NO. The default value is No. Additional information To remove an installed module, the parameter Installed must be set to No and restart the system. Related information Shared on page 80. All Tasks on page 81. Technical reference manual - RAPID overview.

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3.4.5 Shared

3.4.5 Shared
Parent Shared belongs to the type Automatic Loading of Modules, in the topic Controller. Cfg name Shared Description It is possible to install the module (and all its objects) as shared so it is reachable from all the tasks. Usage If a module should be reachable from any task, set the parameter Shared to YES. This installs the module to the system internal shared task, not visible from any user interface or in the configuration. All data in the module is then shared (that is the same) for all tasks. Limitations Cannot be combined with Task, All Tasks, All Motion Tasks, or Installed. Allowed values YES or NO. Default value is No. Additional information
If Shared: Yes No No and if Installed: No Yes No Then: The module is installed shared. Module data is shared between all tasks. The module is installed and only available from the named task. The module is loaded.

Related information All Tasks on page 81. Task on page 78. Installed on page 79.

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3.4.6 All Tasks

3.4.6 All Tasks

Parent All Tasks belongs to the type Automatic Loading of Modules, in the topic Controller. Cfg name AllTask Description The All Tasks module will be loaded or installed in all the tasks available in the system. Note that there can be more tasks available in the system than can be seen, that is, tasks with Type defined as STATIC or SEMISTATIC, or Hidden defined as YES. Usage The tasks are defined in the type Task. Limitations Cannot be combined with Task, All Motion Tasks, or Shared. A module with All Motion Tasks set to Yes can only contain the code possible to run in any motion task in the system. Allowed values YES NO Default value is No. Additional information If All Tasks is set to Yes and Installed is set to Yes then the module is installed in each task as a separate module. That is, the module data is not shared between the tasks (as opposed to if the module is installed shared). Related information Task on page 78. Shared on page 80. The Task type on page 134.

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3.4.7 All Motion Tasks

3.4.7 All Motion Tasks

Parent All Motion Tasks belongs to the type Automatic Loading of Modules, in the topic Controller. Cfg name AllMotionTask Description The All Motion Tasks module will be loaded or installed in all motion tasks available in the system. Usage The tasks are defined in the type Task. Limitations Cannot be combined with Task, Shared, or All Tasks. A module with All Motion Tasks set to Yes can only contain the code possible to run in any motion task in the system. Allowed values YES NO The default value is NO. Additional information If All Motion Tasks is set to Yes and Installed is set to Yes then the module is installed in each motion task as a separate module. That is, module data is not shared between the tasks (as opposed to if the module is installed shared). Related information Task on page 78. Shared on page 80. The Task type on page 134.

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3.4.8 Hidden

3.4.8 Hidden
Parent Hidden belongs to the type Automatic Loading of Modules, in the topic Controller. Cfg name Hidden Description RAPID modules, routines and data may be hidden, which may be used to prevent inexperienced end users from tampering (accidentally deleting or changing) with the contents. Note that the hidden contents is not protected! It can easily be shown again by setting the parameter value to NO. Note that any hidden contents will still be available when using the SetDataSearch instruction to search RAPID data. Limitations This parameter affects only modules, routines, and data that are loaded automatically on start, that is no programs etc. that are loaded by the operator once the system has been started. Changes to the parameter will be effective only after a P-start. Allowed values YES NO Default value is NO.

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3.5.1 The Event Routine type

3.5 Type Event Routine 3.5.1 The Event Routine type

Overview This section describes the type Event Routine which belongs to the topic Controller. Each parameter of this type is described in a separate information topic in this section. Cfg name CAB_EXEC_HOOKS Type description The type Event Routine contains parameters for event handling. Special system events, such as program stop, can be connected to a RAPID routine. When the event occurs, the connected event routine is executed automatically. An event routine is made up of one or more instructions. The routine runs in the task specified in parameter Task or All Tasks. The tasks available are dependent on the type Tasks. Event routines The following event routines are available: PowerOn Start Step Restart Stop QStop Reset

Event routines can be started for one or many tasks. A normal task execution will not wait for the event routines in other tasks. Tasks that are dependent on the event routines of other tasks shall therefore be synchronized, for example, with WaitSyncTask before a normal task execution. A stopped event routine will continue from where it was stopped when pressing the start button on the FlexPendant or when calling the start command via a system I/O. Pressing the stop button when the Stop event routine is executing does not generate a new Stop event. However, if a problem has occured in the event routine then pressing the stop button will force the execution to leave the event routine after 10 seconds. The only way to cancel a stopped event routine from system I/O is to start the program from main.

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3 Topic Controller
3.5.1 The Event Routine type Continued A Stop instruction (without the optional argument -All) or a Break instruction in an event routine will stop the program execution. This means that instructions after the Stop or Break instruction will never be executed. See Example1 on page 86. Event routine execution examples The following is an illustration of the sample code that is shown below it. The examples that follow show which event routines are executed for the various buttons pressed on the FlexPendant.

1. / 2.

3. / 4.

5. / 6.

p10
xx1100000050

p20

PROC main() MoveJ p20, v100, fine, tool0; MoveJ p10, v100, fine, tool0; ENDPROC

Example 1 The following procedure shows that the START, STOP, and RESTART event routines are executed when the Start and Stop buttons are pressed on the FlexPendant.
Step 1 2 3 4 5 6 Action Tap PP to Main. Press the Start button. Press the Stop button. Press the Start button. p20 is reached. Execution continues. Executed event routine START STOP RESTART -

Example 2 The following procedure shows that the START, STOP, and RESTART event routines are executed when the Start, Stop, and Step buttons are pressed on the FlexPendant.
Step 1 2 3 Action Tap PP to Main. Press the Start button. Press the Stop button. Executed event routine START STOP

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3 Topic Controller
3.5.1 The Event Routine type Continued
Step 4 5 6 Action Press the Step button. p20 is reached. Execution stops. Executed event routine RESTART STOP

Example 3 The following procedure shows that the START, STOP, and STEP event routines are executed when the Step and Stop buttons are pressed on the FlexPendant.
Step 1 2 3 4 5 6 Action Tap PP to Main. Press the Step butto.n Press the Stop button. Press the Step button. p20 is reached. Execution stops. Executed event routine START STOP STEP -

System restart Any changes in configuration of event routines are activated after a normal restart. Example1 This example illustrates the consequences after a Stop instruction in a routine. At restart mydo will be set to 1. mydo will never be set to 0 since the execution stops after the stop instruction. The instruction TPWrite will never be executed because myexample2 has sequence number (SeqNo) 1.
MODULE example(SYSMODULE) PROC myexample1() SetDO mydo, 1; Stop; SetDO mydo, 0; ENDPROC PROC myexample2() TPWrite "This is an example"; ENDPROC ENDMODULE CAB_EXEC_HOOKS: -Routine "myexample1" -Shelf "RESTART" -Routine "myexample2" -Shelf "RESTART" -SeqNo 1

Example2 This example illustrates how to use the same routine for both Start and Step events.

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3.5.1 The Event Routine type Continued
MODULE example(SYSMODULE) PROC myexample2() TEST RunMode() CASE RUN_CONT_CYCLE: ! PLAY button pressed ... CASE RUN_INSTR_FWD: ! FORWARD STEP button pressed ... CASE RUN_INSTR_BWD: ! BACKWARD STEP button pressed ... ENDTEST ENDPROC ENDMODULE CAB_EXEC_HOOKS: -Routine "myexample2" -Shelf "START" -Routine "myexample2" -Shelf "STEP"

Related information The Task type on page 134. Technical reference manual - RAPID overview. Technical reference manual - RAPID Instructions, Functions and Data types. The function EventType can be useful.

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3.5.2 Routine

3.5.2 Routine
Parent Routine belongs to the type Event Routine, in the topic Controller. Cfg name Routine Description Routine specifies which routine that should be run for an event. Usage Define the routine to be assigned to a system event. It is advisable to use a routine in a system module. Limitations The specified routine must be a procedure without any parameters. The event Reset requires a routine in a system module. Allowed values A string defining a routine.

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3.5.3 Event

3.5.3 Event
Parent Event belongs to the type Event Routine, in the topic Controller. Cfg name Shelf Description Event specifies which system event in the robot system the routine should run. Usage A system event can trigger a corresponding routine to be run, see Operating manual - IRC5 with FlexPendant. It is advisable to keep the routines short and quick. Limitations The following limitations should be considered: The events are not activated when executing a routine manually, for example, a service routine. A maximum of 20 routines may be specified for each system event and each task (multitasking). The same routine can be used in more than one event (e.g. the same routine can be run for both Start and Restart). The specified event routine cannot be executed if the task program has semantic errors (reference errors and so on). If this is the case, the system generates an error. Only the event routine for Start can have motion instructions. A motion instruction in any other event routine will result in a runtime execution error. The only exception is the motion instruction StepBwdPath, which is allowed in the event routine for Restart.

Allowed values The following values are allowed.

Value: Power On Start Description: The specified routine is run when the robot is restarted (warm start or cold start) from a remote client or by power on. Execution is started from the beginning of the program. This is when you press the start or step buttons after having: loaded a new program or a new module ordered Start from beginning ordered Debug/Move PP to Main ordered Debug/Move PP to Routine moved the program pointer in such a way that the execution order is lost.

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3.5.3 Event Continued
Value: Step Description: The specified routine is run for every forward and backward step. Check with RAPID function RunMode to see if it is a forward or backward step. Check with RAPID function ExecLevel to see if it is executing on trap or normal level. The program was stopped: with the stop button with a STOP instruction stop after current instruction. Note: A delayed stop after current cycle will not execute the routines connected to this state. The event is not activated at Exit instruction or stop due to execution error. The robot was quick stopped (emergency stop). Execution is started from the position where it was stopped, or from another instruction the program pointer has been moved to, without having lost the execution order. The event is not activated after having executed one instruction in step by step mode (FWD or MStep). Close and load a new program using the FlexPendant. The event is not activated after having loaded a system module or a program module.

Stop

QStop Restart

Reset

Additional information The following event routines are predefined for all tasks in all systems and must not be removed.
Event: Reset Start Power On Routine: SYS_RESET SYS_RESET SYS_POWERON Sequence no. 0 0 0

Related information Operating manual - IRC5 with FlexPendant.

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3.5.4 Sequence Number

3.5.4 Sequence Number

Parent Sequence Number belongs to the type Event Routine, in the topic Controller. Cfg name SeqNo Description Sequence Number specifies in which order the routine should be executed for a specific event. Usage Order the event routines in a sequence where the first routine shall have a low value and the routines that shall run last has the highest value. 0 will run first. Note! If several event routines has the same sequence number, the execution order will be unpredictable. Allowed values A value between 0 and 100. Default value is 0.

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3.5.5 Task

3.5.5 Task
Parent Task belongs to the type Event Routine, in the topic Controller. Cfg name Task Description Task specifies the name of the task that the routine will run in. Usage The task is defined in the type Task. Limitations Cannot be combined with All Tasks or All Motion Tasks. Allowed values Names of configured tasks of the type Task. Additional information All event routines need information on which task they will run, even though only one task is configured in the system. Related information The Task type on page 134. All Tasks on page 93. All Motion Tasks on page 94.

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3.5.6 All Tasks

3.5.6 All Tasks

Parent All Tasks belongs to the type Event Routine, in the topic Controller. Cfg name AllTasks Description All Tasks defines if the routine will run in all configured tasks in the system. Note that there can be more tasks available in the system than can be seen, that is tasks with Type defined as STATIC or SEMISTATIC, or Hidden defiined as YES. Usage The tasks are defined in the type Task. Limitations Cannot be combined with Task or All Motion Tasks. A routine with All Tasks set to Yes can only contain code possible to run in any task in the system. Allowed values YES NO The default value is No. Additional information All event routines need information on which task they will run, even if only one task is configured in the system. Related information Task on page 92. The Task type on page 134.

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3.5.7 All Motion Tasks

3.5.7 All Motion Tasks

Parent All Motion Tasks belongs to the type Event Routine, in the topic Controller. Cfg name AllMotionTasks Description All Motion Tasks defines if the routine will run in all configured motion tasks in the system. Usage The tasks are defined in the type Task. Limitations Cannot be combined with Task or All Tasks. A routine with All Motion Tasks set to Yes can only contain code possible to run in any motion task in the system. Allowed values Yes No The default value is No. Additional information All event routines need information on which task they will run, even if only one task is configured in the system. Related information Task on page 92. The Task type on page 134.

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3.6.1 The Mechanical Unit Group type

3.6 Type Mechanical Unit Group 3.6.1 The Mechanical Unit Group type
Overview This section describes the type Mechanical Unit Group, which belongs to the topic Controller. Each parameter of the type is described in a separate information topic in this section. Cfg name MECHANICAL_UNIT_GROUP Type description With the option MultiMove comes the possibility to control several robots from one controller. Each task can control one robot and up to six positioners. The mechanical units that will be controlled by one task are grouped in a mechanical unit group. Related information Use Mechanical Unit Group on page 141. Application manual - MultiMove.

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3.6.2 Name

3.6.2 Name
Parent Name belongs to the type Mechanical Unit Group, in the topic Controller. Cfg name Name Description The name of the mechanical unit group. Usage This is the public identity of the mechanical unit group. It is used by the parameter Use Mechanical Unit Group in the type Tasks. Limitations Mechanical Unit Group is only used if you have the option MultiMove. Allowed values A string with maximum 32 characters. Related information Use Mechanical Unit Group on page 141.

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3.6.3 Robot

3.6.3 Robot
Parent Robot belongs to the type Mechanical Unit Group, in the topic Controller. Cfg name Robot Description Specifies the robot (with TCP), if there is any, in the mechanical unit group. Usage Robot is set to the same value as the parameter Name for the Mechanical Unit Group type that it represents. Limitations The parameter Robot is only used if you have the option MultiMove. Allowed values A string with maximum 32 characters. Related information Name on page 96.

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3.6.4 Mechanical Unit 1, 2, 3, 4, 5, 6

3.6.4 Mechanical Unit 1, 2, 3, 4, 5, 6

Parent Mechanical Unit 1, Mechanical Unit 2, Mechanical Unit 3, Mechanical Unit 4, Mechanical Unit 5, and Mechanical Unit 6 belongs to the type Mechanical Unit Group, in the topic Controller. Cfg name MechanicalUnit_1 MechanicalUnit_2 MechanicalUnit_3 MechanicalUnit_4 MechanicalUnit_5 MechanicalUnit_6 Description Mechanical Unit 1 specifies the first mechanical unit without TCP, if there is any, in the mechanical unit group. Mechanical Unit 2 specifies the second mechanical unit without TCP, if there is more than one, in the mechanical unit group. Mechanical Unit 3 specifies the third mechanical unit without TCP, if there are more than two, in the mechanical unit group. Mechanical Unit 4 specifies the fourth mechanical unit without TCP, if there are more than three, in the mechanical unit group. Mechanical Unit 5 specifies the fifth mechanical unit without TCP, if there are more than four, in the mechanical unit group. Mechanical Unit 6 specifies the sixth mechanical unit without TCP, if there are more than five, in the mechanical unit group. Usage Mechanical Unit is set to the same value as the parameter Name for the Mechanical Unit Group type that it represents. Limitations The parameters Mechanical Unit is only used if you have the option MultiMove. Allowed values A string with maximum 32 characters. Related information Name on page 96.

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3.6.5 Use Motion Planner

3.6.5 Use Motion Planner

Parent Use Motion Planner belongs to the type Mechanical Unit Group, in the topic Controller. Cfg name UseMotionPlanner Description Specifies which motion planner shall be used for calculating the movements of the mechanical units in this group. Usage Use Motion Planner is set to the same value as the parameter Name for the Motion Planner type that you want to use. Limitations The parameter Use Motion Planner is only used if you have the option MultiMove. Allowed values A string with maximum 32 characters. Related information The Motion Planner type on page 520 in the topic Motion.

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3.7.1 The ModPos Settings type

3.7 Type ModPos Settings 3.7.1 The ModPos Settings type

Overview This section describes the type ModPos Settings which belongs to the topic Controller. Each parameter of this type is described in a separate information topic in this section. Cfg name HOTEDIT_MODPOS Type description It is sometimes desirable to limit how much a robtarget position can be moved by a ModPos or HotEdit operation. The limited deviation concerns both the linear distance and the orientation. Limitations There can be only one set of parameters of the type ModPos Settings in the system.

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3.7.2 Name

3.7.2 Name
Parent Name belongs to the type ModPos Settings, in the topic Controller. Cfg name name Description Name defines that the parameter configuration is for ModPos. Allowed values modpos Related information Operating manual - IRC5 with FlexPendant.

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3.7.3 Limited ModPos

3.7.3 Limited ModPos

Parent Limited ModPos belongs to the type ModPos Settings, in the topic Controller. Cfg name type Description Limited ModPos defines if a ModPos change must be within a limited sphere for the position deviation and within a limited cone for the reorientation. Usage Set Limited ModPos to False when no limit is required, and to True when limits should apply. Allowed values FALSE or TRUE. Default value is FALSE.

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3.7.4 Mode

3.7.4 Mode
Parent Mode belongs to the type ModPos Settings, in the topic Controller. Cfg name mode Description Mode defines how the limit is defined; to an absolute point or relative to the current position. Usage Setting Mode to Absolute means that the limited sphere/cone is around a fixed original point, i.e. position changes are accumulated and the accumulated deviation value is checked against the set max limits each time a change is made. Setting Mode to Relative means that the limited sphere/cone is around the current point and will be moved when you modify the position. Limitations Mode is available only if Limited ModPos is set to TRUE. Absolute is effective only on named robtargets, for example, p10, p20. * robtargets are not visible on the tree view. Allowed values Absolute or Relative. Default value is Relative. Related information Limited ModPos on page 102. Example In this example, the original point P1 is moved two times, first to P2 and then to P3. In figure A, Mode is set to Absolute, and in figure B, Mode is set to Relative. The allowed move distance, R does not change in figure A. This makes it impossible to move the point to P3, as this is beyond R.

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3.7.4 Mode Continued In figure B however, the allowed move distance follows the last point. So from P1 it is possible to move as far as R1 allows, and from P2, it is allowed to move as far as R2, etc.

en0500001454

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3.7.5 Limit Trans

3.7.5 Limit Trans

Parent Limit Trans belongs to the type ModPos Settings, in the topic Controller. Cfg name limittrans Description Limit Trans defines the maximum allowed deviation in mm from the current or original position. Usage If Limited ModPos is set to TRUE, then Limit Trans is used by both ModPos and HotEdit, otherwise it is only used by HotEdit. Allowed values 0 - 1000 mm. Default value is 5. Related information Limited ModPos on page 102.

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3.7.6 Limit Rot

3.7.6 Limit Rot

Parent Limit Rot belongs to the type ModPos Settings, in the topic Controller. Cfg name limitrot Description Limit Rot defines the maximum allowed reorientation in degrees from the current or original position. Usage If Limited ModPos is set to TRUE, then Limit Rot is used by both ModPos and HotEdit, otherwise it is only used by HotEdit. Allowed values 0 - 360 degrees (0 - 6.280 radians). Default value is 10 degrees (0.17 radians). Additional information Convert degrees to radians: radians = (degrees/360)*(2*pi) Related information Limited ModPos on page 102.

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3.7.7 Limit External Trans

3.7.7 Limit External Trans

Parent Limit External Trans belongs to the type ModPos Settings, in the topic Controller. Cfg name limitexttrans Description Limit External Trans defines the maximum allowed deviation in mm from the current or original position concerning external linear axes. Usage If Limited ModPos is set to TRUE, then Limit External Trans is used by both ModPos and HotEdit, otherwise it is only used by HotEdit. Allowed values 0 - 1000 mm. Default value is 50. Related information Limited ModPos on page 102.

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3.7.8 Limit External Rot

3.7.8 Limit External Rot

Parent Limit External Rot belongs to the type ModPos Settings, in the topic Controller. Cfg name limitextrot Description Limit External Rot defines the maximum allowed deviation in degrees from the current or original position concerning external rotational axes. Usage If Limited ModPos is set to TRUE, then Limit External Rot is used by both ModPos and HotEdit, otherwise it is only used by HotEdit. Allowed values 0 - 360 degrees (0 - 6.280 radians). Default value is 10 degrees (0.17 radians). Additional information Convert degrees to radians: radians = (degrees/360)*(2*pi) Related information Limited ModPos on page 102.

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3.7.9 Change to LModPos in Auto

3.7.9 Change to LModPos in Auto

Parent Change to LModPos in Auto belongs to the type ModPos Settings, in the topic Controller. Cfg name ifauto Description Change to LModPos in Auto defines if it is possible to force the system to change to Limited ModPos automatically when switching from Manual to Auto. When going back to Manual the configured value is valid. Usage Setting Change to LModPos in Auto to No means that Limited ModPos will not be activated when switching from Manual to Auto. Yes means that Limited ModPos will be activated when the operator's key is switched to Auto Mode. Limitations Change to LModPos in Auto is only available if Name is ModPos. Allowed values Yes or No. Default value is No. Related information Limited ModPos on page 102. Name on page 101.

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3.8.1 The Operator Safety type

3.8 Type Operator Safety 3.8.1 The Operator Safety type

Overview This section describes the type Operator Safety which belongs to the topic Controller. Each parameter of this type is described in a separate information topic in this section. Cfg name MASTER_BOOL Type description The Operator Safety type is used to define extra safety for system execution. Related information How to activate hold-to-run control on page 70. Operating manual - IRC5 with FlexPendant, chapter Safety.

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3.8.2 Function

3.8.2 Function
Parent Function belongs to the type Operator Safety, in the topic Controller. Cfg name Name Description Function defines safety functions for the robot system. Allowed values
Value Description

Hold-to-run Hold-to-run enables a functionality that requires a button to be pressed in to allow execution in Manual Reduce Speed mode. When the button is released the executions are immediately stopped. Hold-to-run is always activated in Manual Full Speed operating mode. Hold-to-run is further described in standard ISO 10218 (EN775).

Related information How to activate hold-to-run control on page 70. Operating manual - IRC5 with FlexPendant chapter Safety.

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3.8.3 Active

3.8.3 Active
Parent Active belongs to the type Operator Safety, in the topic Controller. Cfg name Select Description Active defines whether the value of Function is activated. Allowed values
Value TRUE FALSE Description Activated Not activated

Related information Function on page 111.

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3.9.1 The Options type

3.9 Type Options 3.9.1 The Options type

Overview This section describes the type Options, which belongs to the topic Controller. Each parameter of the type is described in a separate information topic in this section. Cfg name PRESENT_OPTIONS Type description Options contains read-only names and descriptions of the installed options in the system.

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3.9.2 Name

3.9.2 Name
Parent Name belongs to the type Options, in the topic Controller. Cfg name name Description Short unique ID of an option. Usage Uniquely identifies an option. Limitations Read-only

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3.9.3 Description

3.9.3 Description
Parent Description belongs to the type Options, in the topic Controller. Cfg name desc Description Complete name of an option. Usage Human friendly identification of an option. Limitations Read-only

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3.10.1 The Path Return Region type

3.10 Type Path Return Region 3.10.1 The Path Return Region type
Overview This section describes the type Path Return Region which belongs to the topic Controller. Each parameter of the type is described in a separate information topic in this section. Cfg name CAB_REGAIN_DIST Type description In a return movement, the path return region specifies the distance from the current robot position to the last executed path. The maximum path region can be set both for start in manual mode and for start in automatic mode. There must be two sets of parameters defined for this type; one for automatic mode (AUTO) and one for manual mode (MAN). Both are predefined on delivery. Return movements A return movement must take place when the current path of the robot deviates from the programmed path. For example, this is required when an uncontrolled stop has occurred or when the robot has been jogged away from its path. A return movement begins when program start is ordered and stops before the program continues with the instruction that was interrupted due to a stop request. Predefined path return regions AUTO MAN

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3.10.2 Mode

3.10.2 Mode
Parent Mode belongs to the type Path Return Region, in the topic Controller. Cfg name Name Description Mode defines in which operating mode a return movement will start. Usage Both Auto and Man mode must be defined in the system and are configured on delivery. Allowed values AUTO MAN

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3.10.3 TCP Distance

3.10.3 TCP Distance

Parent TCP Distance belongs to the type Path Return Region, in the topic Controller. Cfg name TCP_Dist Description TCP Distance defines the maximum allowed TCP distance from the current robot position to the last executed path. Usage TCP Distance is used to limit the return movement if there is a risk that the robot will collide with an object. Prerequisites Specify which operating mode the return movement is valid for. This is defined in the parameter Mode. Allowed values A value between 0-2.000 meters, specifying the movement in meters. The default value is 0.05 meter for manual mode and 0.5 meter for automatic mode. Related information Mode on page 117. Application manual - Motion coordination and supervision.

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3.10.4 TCP Rotation

3.10.4 TCP Rotation

Parent TCP Rotation belongs to the type Path Return Region, in the topic Controller. Cfg name TCP_Rot Description TCP Rotation defines the maximum allowed TCP rotation from the current robot position to the last executed path. Usage TCP Rotation is used to limit the return movement if there is a risk that the robot will collide with an object. Prerequisites Specify which operating mode the return movement is valid for. This is defined in the parameter Mode. Allowed values A value between 0-6.280, specifying the movement in radians. The default value is 0.2 radians for manual mode and 1.57 radians for automatic mode. Additional information To convert degrees to radians, use this formula: radians = 2*pi*degrees/360 Related information Mode on page 117. Application manual - Motion coordination and supervision.

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3.10.5 External Distance

3.10.5 External Distance

Parent External Distance belongs to the type Path Return Region, in the topic Controller. Cfg name Ext_Dist Description External Distance defines the maximum allowed external axes distance from the current robot position to the last executed path. Usage External Distance is used to limit the return movement if there is a risk that the robot will collide with an object. Prerequisites Specify which operating mode the return movement is valid for. This is defined in the parameter Mode. Allowed values A value between 0-2.000, specifying the movement in meters. The default value is 0.05 meter for manual mode and 0.5 meter for automatic mode. Related information Mode on page 117. Application manual - Motion coordination and supervision.

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3.10.6 External Rotation

3.10.6 External Rotation

Parent External Rotation belongs to the type Path Return Region, in the topic Controller. Cfg name Ext_rot Description External Rotation defines the maximum allowed external axes rotation from the current robot position to the last executed path. Usage External Rotation is used to limit the regain movement if there is a risk that the robot will collide with an object. Prerequisites Specify which operating mode the return movement is valid for. This is defined in the parameter Mode. Allowed values A value between 0-6.280, specifying the movement in radians. The default value is 0.2 radians for manual mode and 1.57 radians for automatic mode. Additional information To convert degrees to radians, use this formula: radians = 2*pi*degrees/360 Related information Mode on page 117. Application manual - Motion coordination and supervision.

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3.11.1 The Run Mode Settings type

3.11 Type Run Mode Settings 3.11.1 The Run Mode Settings type
Overview block This section describes the type Run Mode Settings which belongs to the topic Controller. Each parameter of this type is described in a separate information topic in this section. Cfg name RUN_MODE_SETTINGS Type description The type Run Mode Settings defines if the run mode should change when changing operating mode.

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3.11.2 Name

3.11.2 Name
Parent Name belongs to the type Run Mode Settings, in the topic Controller. Cfg name name Description Name of the operating mode setting. Usage There can be only one instance with each allowed value, that is a maximum of two instances in the system. Allowed values
Value AutoToManual ManualToAuto Description Defines settings when switching from automatic to manual operating mode. Defines settings when switching from manual to automatic operating mode.

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3.11.3 Switch

3.11.3 Switch
Parent Switch belongs to the type Run Mode Settings, in the topic Controller. Cfg name SwitchTo Description Switch defines the run mode when switching operating mode. Usage Defines if the run mode should be changed when changing operating mode. Allowed values
Value Keep Single Continuous Description Keep current run mode. Set run mode to single cycle. Set run mode to continuous.

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3.12.1 The Safety Run Chain type

3.12 Type Safety Run Chain 3.12.1 The Safety Run Chain type
Overview This section describes the type Safety Run Chain which belongs to the topic Controller. Each parameter of the type is described in a separate information topic in this section. Cfg name RUNCHN_BOOL Type description It is possible to have a delayed stop that gives a smooth stop, this is called a Soft Stop. The type of Soft Stop used in the system is defined in the Safety Run Chain type. There can be more than one set of parameters defined for the type Safety Run Chain. Soft Stop In the Soft Stop, the robot stops in the same way as a normal program stop with no deviation from the programmed path. After approximately 1 second the power supply to the motors shuts off. The stopping distance can be longer than at a hard stop (e.g. emergency stop) where the power shuts off immediately.

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3.12.2 Function

3.12.2 Function
Parent Function belongs to the type Safety Run Chain, in the topic Controller. Cfg name Name Description Function defines if Soft Stop is activated or deactivated. Usage A Soft Stop is the same as a safety stop of category 1, which means that the robot will be stopped by the servos. The robot can easily be started again after a soft stop on path and continue with the activity where it was interrupted. Allowed values
Value: SoftES Description: Soft emergency stop is activated by pressing the emergency stop push button on the FlexPendant or the control module. SoftES is only used in Auto. In manual mode, SoftES will be a category 0 stop regardless of the value set in the parameter Active. Soft automatic mode stop is intended for automatic mode during normal program execution. This stop is activated by safety devices such as light curtains, light beams, or sensitive mats. Soft general stop is activated by safety devices such as light curtains, light beams, or sensitive mats. Soft superior stop has the same function as a general stop but is intended for externally connected safety devices.

SoftAS

SoftGS SoftSS

Related information Operating manual - IRC5 with FlexPendant chapter Safety.

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3.12.3 Active

3.12.3 Active
Parent Active belongs to the type Safety Run Chain, in the topic Controller. Cfg name Select Description Active defines whether the Soft Stop is activated or not. Usage If Active is set to True, the Soft Stop is activated. Allowed values TRUE or FALSE. The Soft Stops are defined with default values.
Soft Stop: SoftES SoftAS SoftGS SoftSS Default value: FALSE TRUE TRUE TRUE Description: Deactivated Activated Activated Activated

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3.13.1 The System Misc type

3.13 Type System Misc 3.13.1 The System Misc type

Overview This section describes the type System Misc, which belongs to the topic Controller. Each parameter of the type is described in a separate information topic in this section. Cfg name SYS_MISC Type description System Misc contains parameters that are general for the controller.

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3.13.2 Name

3.13.2 Name
Parent Name belongs to the type System Misc, in the topic Controller. Cfg name name Description Name defines either of the two arguments for retry or simulated menus. Limitations There can be only one instance with Name set to NoOfRetry, SimulateMenu, and ModalPayLoadMode. Allowed values NoOfRetry SimulateMenu ModalPayLoadMode Related information NoOfRetry on page 130. SimulateMenu on page 131. ModalPayLoadMode on page 132.

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3.13.3.1 NoOfRetry

3.13.3 Action values 3.13.3.1 NoOfRetry

Parent NoOfRetry is an action value for the parameter Name that belongs to the type System Misc, in the topic Controller. Cfg name NoOfRetry Description The action value NoOfRetry specifies that there is a limit to the number of times the routine with a recoverable error is called before the error is reported as fatal and execution is stopped. The number of times is set by the parameter Value. Usage Can be useful e.g. if the network is shaky and the first attempt at opening a file does not work. Limitations Works only if an ERROR handler that takes care of the error situation is programmed with the RETRY statement. Additional information Changes are activated after a normal restart. Related information Value on page 133. Example This example shows that it can take some time before an I/O unit is enabled. Several attempts are needed before it is possible to set the digital output signal.
PROC A() ... IOEnable "cell_1", 0; SetDO cell_1_sig3, 1; !This might not work on the first attempt ... ERROR IF ERRNO = ERR_IOENABLE THEN RETRY; ENDIF ENDPROC

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3.13.3.2 SimulateMenu

3.13.3.2 SimulateMenu
Parent SimulateMenu is an action value for the parameter Name that belongs to the type System Misc, in the topic Controller. Cfg name SimulateMenu Description The WaitTime, WaitUntil, WaitDO, and WaitDI instructions generate an alert box in manual mode to make it possible to simulate the instruction and continue to execute the next instruction. The parameter Value defines if SimulateMenu is on or off. Usage It is useful to switch this parameter off if no alert boxes are desired. Set Value to 0 to disable menus. Limitations The parameter is only active in manual mode. There are no alert boxes in automatic mode. Additional information Changes are activated after a normal restart. Related information Value on page 133.

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3.13.3.3 ModalPayLoadMode

3.13.3.3 ModalPayLoadMode
Parent ModalPayLoadMode is an action value for the parameter Name that belongs to the type System Misc, in the topic Controller. Cfg name ModalPayLoadMode Description ModalPayLoadMode defines whether or not ModalPayLoadMode shall be used. When ModalPayLoadMode is used, any payload is set by the GripLoad instruction. When ModalPayLoadMode is not used, the optional argument TLoad is used for setting payload. Usage Can be useful, for example, if the modal instruction GripLoad is not desirable. Allowed values
Name: Value: 1 ModalPayLoadMode 0 Description: ModalPayLoadMode shall be used. Any payload is set by the GripLoad instruction. This is a default value. ModalPayLoadMode shall not be used, instead the optional argument TLoad is used. The argument TLoad is available on all motion instructions.

Additional information Changes are activated after a normal restart. Related information For more information about GripLoad and TLoad, seeTechnical reference manual - RAPID Instructions, Functions and Data types.

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3.13.4 Value

3.13.4 Value
Parent Value belongs to the type Type, in the topic Motion. Cfg name value Description Defines the values for the action values defined in parameter Name. Allowed values
Name: NoOfRetry Value: 1-1000 Description: Defines number of times the number of times a routine with a recoverable error is called before the system is stopped. Defines if instructions should be possible to simulate in manual mode. Defines whether or not ModalPayLoadMode shall be used. When ModalPayLoadMode is used, any payload is set by the GripLoad instruction. When ModalPayLoadMode is not used, the optional argument TLoad is used for setting payload.

SimulateMenu

0 or 1

ModalPayLoadMode 0 or 1

Related information Name on page 129. NoOfRetry on page 130. SimulateMenu on page 131. ModalPayLoadMode on page 132.

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3.14.1 The Task type

3.14 Type Task 3.14.1 The Task type

Overview This section describes the type Task, which belongs to the topic Controller. Each parameter of the type is described in a separate information topic in this section. Cfg name CAB_TASKS Type description Each set of parameters of the Task type represents a program task on the controller. If you have the option Multitasking, there can be up to 20 tasks. Otherwise there can be only one. Related information Application manual - Engineering tools chapter Multitasking.

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3.14.2 Task

3.14.2 Task
Parent Task belongs to the type Tasks, in the topic Controller. Cfg name Name Description The name of the task. Usage This is the public identity of the task. Allowed values A string with maximum 30 characters. The first character may not be a digit. Limitations Editing the task entry in the configuration editor and changing the task name will remove the old task and add a new one. This means that any program or module in the task will dissapear after a restart with these kind of changes.

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3.14.3 Task in Foreground

3.14.3 Task in Foreground

Parent Task in Foreground belongs to the type Tasks, in the topic Controller. Cfg name Task_in_forground Description Used to set priorities between tasks. Task in Foreground contains the name of the task that should run in the foreground of this task. This means that the task for which the parameter is set will only execute if the foreground task is idle. Usage The default behavior is that all tasks run at the same priority level. If you want to customize the priorities, the Task in Foreground parameter can be set for the tasks that should run in the background. If Task in Foreground is set to empty string or to -1 for a task, it runs at the highest priority, i.e. no other task can suspend its execution. Limitations The parameter Task in Foreground can only be used if you have the option Multitasking. Allowed values A string with maximum 30 characters.

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3.14.4 Type

3.14.4 Type
Parent Type belongs to the type Tasks, in the topic Controller. Cfg name Type Description Controls the start/stop and system restart behavior of a task. Usage When creating a new task, use the Type parameter to configure how the task should be started. Limitations A task that controls a mechanical unit must be of the type NORMAL. The parameter Type can only be used if you have the option Multitasking. Allowed values
Value: NORMAL Description: The task reacts on START/STOP requests given from the FlexPendant or other sources. The task is stopped when an emergency stop occurs. At warm start, the task restarts at the current position. The task is not stopped by emergency stops. The task is normally not stopped by the stop button on the FlexPendant. This can be configured on the FlexPendant by the operator. The task restarts from the beginning at all warm starts. Modules will be reloaded if the file with automatic loaded modules is updated. The task is not stopped by emergency stops. The task is normally not stopped by the stop button on the FlexPendant. This can be configured on the FlexPendant by the operator.

STATIC

SEMISTATIC

Default value is SEMISTATIC.

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3.14.5 Check Unresolved References

3.14.5 Check Unresolved References

Parent Check Unresolved References belongs to the type Tasks, in the topic Controller. Cfg name BindRef Description Check Unresolved References determines if the system shall check for unresolved references or ignore them. Usage This parameter should be set to 0 if the system is to accept unsolved references in the program while linking a module, or otherwise set to 1. If set to 1, a runtime error will occur on execution of an unresolved reference. Limitations The parameter has no effect when using instructions Load, StartLoad, WaitLoad, or Erase. In this case the system will never check for unresolved references. Allowed values 1 or 0. Default value is 1.

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3.14.6 Main Entry

3.14.6 Main Entry

Parent Main Entry belongs to the type Tasks, in the topic Controller. Cfg name Entry Description The name of the start routine for the task. Usage The task starts its execution in the routine specified by Main Entry. It should be a RAPID routine without any parameters and reachable in this task. Allowed values A routine name, with maximum 32 characters. Default value is main.

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3.14.7 Trustlevel

3.14.7 Trustlevel
Parent Trustlevel belongs to the type Tasks, in the topic Controller. Cfg name Trustlevel Description Trustlevel handles the system behavior when a SEMISTATIC or STATIC task is stopped or not executable. Usage If a task that handles safety supervision stops, it might be dangerous to continue running the task that controls the robot motion. Use TrustLevel to set the behavior of NORMAL tasks when a SEMISTATIC or STATIC task stops. Limitations The parameter Trustlevel can only be used if you have the option Multitasking. Allowed values
Value: SysFail Description: All NORMAL tasks will be stopped. Besides that the system is set to system failure state (SYS_FAIL). All jogging and program start orders will be rejected. Only a new normal restart (warm start) resets the system. This should be used when the task has some safety supervisions. All NORMAL tasks will be stopped. The system is forced to Motors off state. Taking up the system to Motors on resets the system. All NORMAL tasks will be stopped but are restartable. Jogging is also possible. Only the task itself will stop.

SysHalt SysStop NoSafety

The default value is SysFail.

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3.14.8 Use Mechanical Unit Group

3.14.8 Use Mechanical Unit Group

Parent Use Mechanical Unit Group belongs to the type Tasks, in the topic Controller. Cfg name UseMechanicalUnitGroup Description Defines which mechanical unit group is used for the task. Usage A motion task (MotionTask set to Yes) controls the mechanical units in the mechanical unit group. A non-motion task (MotionTask set to No) will still be able to read values (e.g. the TCP position) for the mechanical units in the mechanical unit group. Limitations The parameter Use Mechanical Unit Group is only used if you have the option MultiMove. Allowed values Use Mechanical Unit Group is set to the same value as the parameter Name for the type Mechanical Unit Group. A string with maximum 32 characters. Related information MotionTask on page 142. Name on page 96. Application manual - MultiMove.

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3.14.9 MotionTask

3.14.9 MotionTask
Parent MotionTask belongs to the type Tasks, in the topic Controller. Cfg name MotionTask Description Indicates which task is the motion task, e.g. can be able to run RAPID move instructions. MotionTask must be used even though only one task is configured in the system. Usage Set MotionTask to YES for the task that will be used for robot move instructions. Limitations Only one task in the system can be a motion task unless you have the option MultiMove. The parameter MotionTask is only used if you have the option Multitasking. Allowed values YES or NO. The default behavior is NO. The value must be set to YES for one, and only one, task. Related information Application manual - MultiMove. Application manual - Engineering tools.

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3.14.10 Hidden

3.14.10 Hidden
Parent Hidden belongs to the type Task in the topic Controller. Cfg name Hidden Description RAPID tasks may be hidden, which may be used to prevent inexperienced end users from tampering (accidentally deleting or changing) with the contents. Note that the hidden contents is not protected! It can easily be shown again by setting the parameter value to NO. Note that any hidden contents will still be available when using the SetDataSearch instruction to search RAPID data. Limitation This parameter is available when using multitasking systems only, such as MultiMove. Changes to the parameter will become effective only after performing a P-start. Allowed values YES or NO. Default value is NO.

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3.14.11 RMQ Type

3.14.11 RMQ Type

Parent RMQ Type belongs to the type Task, in the topic Controller. Cfg name RmqType Description Used for the functionality RAPID Message Queue. RMQ Type defines if the queue of this RAPID task should accept messages from anyone, only other tasks on the same controller, or from no one. Usage RMQ Type can be used to turn off all RAPID Message Queue communication to a RAPID task. It can also be used to limit the communication so that only other RAPID tasks on the same controller may send messages to this task. Limitations The parameter RMQ Type is only used if you have the functionality RAPID Message Queue. Allowed values
Value: None Internal Remote Description: Disable the receiving of RAPID Message Queue messages in this RAPID task. Enable the receiving of RAPID Message Queue messages from other tasks on the controller. Enable the receiving of RAPID Message Queue messages both from other tasks on the controller, from the FlexPendant and from PC applications.

The default value is None. Related information For more information about RAPID Message Queue, see Application manual - Robot communication and I/O control, section RAPID Message Queue.

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3.14.12 RMQ Max Message Size

3.14.12 RMQ Max Message Size

Parent RMQ Max Message Size belongs to the type Task, in the topic Controller. Cfg name RmqMaxMsgSize Description The maximum data size, in bytes, for a RAPID Message Queue message. Usage The default value is 400, and there is normally no reason to change this value. The value cannot be changed in RobotStudio or on the FlexPendant. The only way to change the value is by editing the sys.cfg file. Limitations The parameter RMQ Max Message Size is only used if you have the functionality RAPID Message Queue. Allowed values An integer between 400 and 3000. Default value is 400. Related information For more information about RAPID Message Queue, see Application manual - Robot communication and I/O control, section RAPID Message Queue.

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3.14.13 RMQ Max No Of Messages

3.14.13 RMQ Max No Of Messages

Parent RMQ Max No Of Messages belongs to the type Task, in the topic Controller. Cfg name RmqMaxNoOfMsg Description Maximum number of RAPID Message Queue messages in the queue to this task. Usage The default value is 5, and there is normally no reason to change this value. The value cannot be changed in RobotStudio or on the FlexPendant. The only way to change the value is by editing the sys.cfg file. Limitations The parameter RMQ Max No Of Messages is only used if you have the functionality RAPID Message Queue. Allowed values An integer between 1 and 10. Default value is 5. Related information For more information about RAPID Message Queue, see Application manual - Robot communication and I/O control, section RAPID Message Queue.

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3.14.14 RMQ Mode

3.14.14 RMQ Mode

Parent RMQ Mode belongs to the type Task, in the topic Controller. Cfg name RmqMode Description Used for functionality RAPID Message Queue. RMQ Mode defines which mode the message queue for this task will use. Usage RMQ Mode defines the message queue handling should be based on interrupts (data types) or synchronous (all messages are handled). Limitations The parameter RMQ Mode is only used if you have the functionality RAPID Message Queue. Allowed values
Value: Interrupt Synchronous Description: A message can only be received by connecting a trap routine to a specified message type. See instruction IRMQMessage. A message can only be received by executing an RMQReadWait instruction.

The default value is Interrupt. Related information For more information about RAPID Message Queue, see Application manual - Robot communication and I/O control, section RAPID Message Queue. RAPID instructions are described in Technical reference manual - RAPID Instructions, Functions and Data types.

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4 Topic I/O
4.1 The I/O topic

4 Topic I/O
4.1 The I/O topic
Overview This chapter describes the types and parameters of the I/O topic. Each parameter is described in the section for its type. Description The I/O topic contains parameters for I/O boards and signals. The parameters are organized in the following types: 1 Access Level 2 Bus 3 Cross Connection 4 Fieldbus Command 5 Fieldbus Command Type 6 Signal 7 System Input 8 System Output 9 Unit 10 Unit Type Configuration results Changed I/O parameters requires a restart of the controller. Otherwise the changes will have no effect on the system.

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4.2.1 How to define I/O units

4.2 Workflows 4.2.1 How to define I/O units

Overview An I/O unit is a logical software representation of a fieldbus I/O unit that is connected to a fieldbus within the controller. I/O units allow you to control electronic devices and read sensor data. They are used for controlling I/O signals in the robot system. Available I/O units Several I/O units can be defined within the robot system. The types of I/O units available depend on what type of fieldbus is being used. The following I/O units are examples of available I/O units for DeviceNet: 1 Digital I/O 2 Analog I/O 3 AD Combi I/O 4 Relay I/O 5 Gateways 6 Simulated I/O 7 Encoder interface units Prerequisites Before defining an I/O unit, you must: 1 Configure the Bus. 2 Make sure the appropriate Unit Type is available, either by creating it or using a predefined unit type. How to define I/O units To define an I/O unit: 1 In the topic I/O, choose the type Unit. 2 Select the I/O unit to change, delete, or add a new one. 3 Enter, delete, or change the values for the parameters. 4 Save the changes. Related information The Unit type on page 288. How to define the unit type on page 152. The Unit Type type on page 299.

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4.2.2 How to list available unit types

4.2.2 How to list available unit types

Overview The I/O units are of a specific type, defined for each I/O unit. How to list available unit types To list all available unit types: 1 In the topic I/O, choose the type Unit Type. 2 To get detailed information about a specific unit type, select the unit type. Related information How to define I/O units on page 150. How to define the unit type on page 152.

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4 Topic I/O
4.2.3 How to define the unit type

4.2.3 How to define the unit type

Overview The I/O units are of a specific type, defined for each unit. For I/O units that do not have a unit type equivalent specified, a new unit type needs to be defined. How to define the unit type To define the unit type: 1 In the topic I/O, choose the type Unit Type. 2 Select the Unit Type to change, delete, or add a new one. 3 Enter, delete, or change the values for the parameters. 4 Save the changes. Related information How to define I/O units on page 150. How to list available unit types on page 151. The Unit Type type on page 299.

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4.2.4 How to define input and output I/O signals

4.2.4 How to define input and output I/O signals

Overview An I/O signal is the logical software representation of a: Inputs or outputs located on a fieldbus I/O unit that is connected to a fieldbus within the robot system (real I/O signal). An I/O signal without a representation on any fieldbus I/O unit (virtual I/O signal).

Available input and output I/O signals The I/O signals can be of different types. The type of I/O signals available depends on the actual unit type. Typical I/O signal types on a fieldbus I/O unit are: 1 Digital inputs and outputs 24 V DC 2 Digital inputs and outputs 120 V DC 3 Analog inputs and outputs +-10 V 4 Analog outputs 0 to +10 V The I/O signal types possible to configure in the robot system are: Limitations Maximum 8192 user I/O signals can be defined in the robot system. This includes digital, analog, and group I/O signals of both input and output type. Prerequisites Before defining an I/O signal, that is not Virtual, you must: 1 Configure the Bus. 2 Make sure the appropriate Unit Type is available, either by creating it or by using a predefined unit type. 3 Configure the Unit. 4 Make sure the appropriate Access Level is available, either by creating it or by using a predefined access level. How to define input and output I/O signals To define I/O signals: 1 In the topic I/O, choose the type Signal. 2 Add a new one or select an existing I/O signal to be changed or deleted. 3 Restart the controller. Continues on next page
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Digital input, DI Digital output, DO Analog input, AI Analog output, AO Group input, GI Group output, GO

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4.2.4 How to define input and output I/O signals Continued Related information How to define an I/O signal group on page 155. The Signal type on page 191.

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4.2.5 How to define an I/O signal group

4.2.5 How to define an I/O signal group

Signal group Digital inputs or outputs located on a fieldbus I/O unit can be grouped and handled as one I/O signal in the robot system. The value of such an I/O signal will thus be a positive integer that is binary coded using the individual digital inputs or outputs on the fieldbus I/O unit as a basis. Limitations When defining I/O signal groups, you have to consider the following limitation in the robot system: Maximum 32 inputs and outputs located on a fieldbus I/O unit can be defined in an I/O signal group.

How to define an I/O signal group To define an I/O signal group: 1 In the I/O topic, choose the type Signal. 2 Add a new one or select an existing I/O signal to be changed or deleted. 3 Enter, delete, or change the values for the parameters. Set the parameter Type of Signal to value Group Input or Group Output. The required parameters depend on the type of signal. See parameter descriptions and examples of typical configurations in the description of the type Signal. 4 Restart the controller. Related information How to define input and output I/O signals on page 153. The Signal type on page 191. Example If an I/O signal group spans over 4 digital input I/O signals on the fieldbus I/O unit, the maximum value is 15 (24-1) and the minimum value is 0.

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4.2.6 How to define system inputs

4.2.6 How to define system inputs

Overview Input I/O signals can be assigned specific system inputs. The input triggers a system action that is handled by the system, without using the FlexPendant or other hardware devices. Prerequisites A digital input I/O signal with a defined signal name has to be configured in the system. Limitations The following limitations have to be considered: Only one system action can be assigned to the input I/O signal. However, several input I/O signals can be assigned the same system action. When deleting a system action the I/O signal itself remains defined. The I/O signal has to be deleted separately. System input I/O signals are only valid for the currently executed program in the system, with exceptions on the action value level. These exceptions are described together with the corresponding action value. The system must be in automatic mode to react on the system signal.

How to define system inputs To define a system input: 1 In the topic I/O, choose the type System Input. 2 Select the system input to change, delete, or add a new one. 3 Enter, change, or delete the values for the parameters. To add or delete the system action values Interrupt, Load and Start, Motors On and Start, Start, and Start at Main you must also define the parameter Argument 1. To add or delete the system action values Interrupt and Load and Start you must also define the parameter Argument 2. 4 Save the changes. Rejected system inputs If the system is in manual mode or cannot perform the defined system action due to any other unfulfilled requirement, no error message is displayed. When a system action is rejected the error message is stored in the error log (ELOG). Related information The System Input type on page 219. The Signal type on page 191.

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4.3.1 The Access Level type

4.3 Type Access Level 4.3.1 The Access Level type

Overview This section describes the Access Level type which belongs to the topic I/O. Each parameter of this type is described in a separate information topic in this section. Cfg name EIO_ACCESS Type description An I/O Access Level type is a configuration that defines the write access to I/O signals for categories of I/O controlling clients connected to the robot controller. Usage To limit write access to I/O signals from clients it is necessary use an access level. The access level settings differentiates local clients (for example FlexPendant) from remote clients (for example RobotStudio). Limitations It is not possible to configure different write access levels for different remote clients, since the controller does not differentiate for example RobotStudio from other remote clients. Predefined access levels
Access Level: ReadOnly Default Description: No client has write access, typically used by read only I/O signals. This access level cannot be changed. Only allowed to write to signals from RAPID instructions and local clients (for example FlexPendant) in manual mode. This access level cannot be changed. All clients, local and remote, have write access. No clients have write access, typically used for system internal I/O signals, for example safety I/O signals. This access level cannot be changed.

All Internal

Example In this example, it is only possible to modify I/O signals with this access level with RAPID and local clients in manual mode. Remote clients cannot modify these I/O signals.
Parameter: Name Rapid Local client in manual mode Value: Default Write enabled Write enabled

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4.3.1 The Access Level type Continued
Parameter: Local client in auto mode Remote client in manual mode Remote client in auto mode Value: Read only Read only Read only

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4.3.2 Name

4.3.2 Name
Parent The parameter Name belongs to the type Access Level, in the topic I/O. Cfg name Name Description The parameter Name specifies the logical name of the access level. Usage The name of the access level is used as a reference to the specific access level when configuring the I/O signals. Default value The default value is an empty string. Allowed values A string following the RAPID rules described in the manual RAPID overview, chapter Basic elements. The name must be unique among all named I/O objects in the I/O system configuration. Note! Names differing only in upper and lower case are considered to be equal.

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4.3.3 Rapid

4.3.3 Rapid
Parent The parameter Rapid belongs to the type Access Level, in the topic I/O. Cfg name Rapid Description The parameter Rapid specifies the level of access granted to RAPID instructions. Usage Specify the level of access that should be granted to RAPID instructions when accessing objects associated with this access level. Default value The default value is Read only. Allowed values Write enabled Read only

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4.3.4 Local Client in Manual Mode

4.3.4 Local Client in Manual Mode

Parent The parameter Local Client in Manual Mode belongs to the type Access Level, in the topic I/O. Cfg name LocalManual Description The parameter Local Client in Manual Mode specifies the level of access granted to local RobAPI clients in manual mode. A local client is a client using RobAPI and is connected directly to the controller, for example the FlexPendant. Usage Specify the level of access that should be granted to local RobAPI clients in manual mode when accessing objects associated with this access level. Default value The default value is Read only. Allowed values Write enabled Read only

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4.3.5 Local Client in Auto Mode

4.3.5 Local Client in Auto Mode

Parent The parameter Local Client in Auto Mode belongs to the type Access Level, in the topic I/O. Cfg name LocalAuto Description The parameter Local Client in Auto Mode specifies the level of access granted to local RobAPI clients in automatic mode. A local client is a client using RobAPI and is connected directly to the controller, for example the FlexPendant. Usage Specify the level of access that should be granted to local RobAPI clients in automatic mode when accessing objects associated with this access level. Default value The default value is Read only. Allowed values Write enabled Read only

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4.3.6 Remote Client in Manual Mode

4.3.6 Remote Client in Manual Mode

Parent The parameter Remote Client in Manual Mode belongs to the type Access Level, in the topic I/O. Cfg name RemoteManual Description The parameter Remote Client in Manual Mode specifies the level of access granted to remote RobAPI clients in manual mode. A remote client is a client or application using RobAPI and not being connected directly to the controller, for example RobotStudio. Usage Specify the level of access that should be granted to remote RobAPI clients in manual mode when accessing objects associated with this access level. Default value The default value is Read only. Allowed values Write enabled Read only

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4.3.7 Remote Client in Auto Mode

4.3.7 Remote Client in Auto Mode

Parent The parameter Remote Client in Auto Mode belongs to the type Access Level, in the topic I/O. Cfg name RemoteAuto Description The parameter Remote Client in Auto Mode specifies the level of access granted to remote RobAPI clients in automatic mode. A remote client is a client or application using RobAPI and not being connected directly to the controller, for example RobotStudio. Usage Specify the level of access that should be granted to remote RobAPI clients in automatic mode when accessing objects associated with this access level. Default value The default value is Read only. Allowed values Write enabled Read only

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4.4.1 The Bus type

4.4 Type Bus 4.4.1 The Bus type

Overview This section describes the type Bus, which belongs to the topic I/O. Each parameter of this type is described in a separate information topic in this section. Cfg name EIO_BUS Type description An I/O bus is a logical software representation of a fieldbus within the controller. Usage By specifying an I/O bus, a logical representation of the real fieldbus is created. The I/O bus configuration defines the specific parameters that will determine the behavior for the fieldbus, like communication speed and bus recovery time. The I/O bus is used when defining the I/O units and other objects in the I/O system. Prerequisites Before defining a new I/O bus the fieldbus option must be installed. The fieldbus option typically consists of software to configure I/O buses of the specific type, and the hardware required to equip the controller with the physical interfaces needed for the specific fieldbus. Limitations The I/O bus has the following limitations: The maximum number of I/O buses in the system depends on the installed fieldbus options. It is only possible to configure I/O buses of types for which the respective option has been installed in the system.

Predefined I/O buses

I/O bus: Local Virtual1 Description: Local is used for communication with the safety I/O boards. No extra I/O units can be configured to this I/O bus. Virtual1 is a virtual I/O bus that can be used for configuration of virtual I/O units.

Depending on the installed options, there can be other predefined I/O buses not described in this manual. Related information More information about the I/O bus configuration can be found in the manual for the respective fieldbus option, for example Application manual - DeviceNet. Continues on next page
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4.4.1 The Bus type Continued Example DeviceNet This is a typical DeviceNet bus. Please refer to Application manual - DeviceNet for more information about DeviceNet.
Parameter: Name Type of bus Connector ID Label at Fieldbus Connector Recovery time DeviceNet master address DeviceNet communication speed Value: MyDeviceNet DeviceNet First board DeviceNet connector on board in PCI slot 4 5 2 250 kbps

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4.4.2 Name

4.4.2 Name
Parent Name belongs to the type Bus, in the topic I/O. Cfg name Name Description The parameter Name specifies the name of the I/O bus. Usage The name of the I/O bus is used as a reference to the specific I/O bus when configuring the I/O units on the I/O bus. Default value The default value is an empty string. Allowed values A string following the RAPID rules described in the manual Technical reference manual - RAPID overview, chapter Basic elements. The name must be unique among all named objects in the I/O system configuration. Note Names differing only in upper and lower case are considered as equal.

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4.4.3 Type of Bus

4.4.3 Type of Bus

Parent Type of Bus belongs to the type Bus, in the topic I/O. Cfg name BusType Description The parameter Type of Bus specifies the type of fieldbus this I/O bus is representing. Usage Defining the type of I/O bus is vital to identify which fieldbus this I/O bus is representing. The unique identification of the specific fieldbus is made with the combination of the parameters Type of Bus and Connector ID. Prerequisites The fieldbus option for the desired type of I/O bus must be installed. Limitations All configured I/O buses in the system must have a unique combination of the parameters Type of Bus and Connector ID. Default value The default value is Virtual. Allowed values Values are determined by the available and installed fieldbus options. Examples of allowed values: Virtual (always available) DeviceNet Profibus Interbus EtherNet/IP Profinet DeviceNet Lean

Additional information The value Virtual is useful if a configuration from another robot system should be temporarily tested without having all the I/O hardware available. If Type of Bus is set to Virtual for I/O buses not available, it is possible to run the system in simulated mode using the imported configuration. Related information Connector ID on page 169.

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4.4.4 Connector ID

4.4.4 Connector ID
Parent Connector ID belongs to the type Bus, in the topic I/O. Cfg name ConnectorID Description The parameter Connector ID specifies were the hardware is located for the specific type of fieldbus being represented by this I/O bus configuration. Usage Connector ID is used to connect an I/O bus to a specific hardware. If the I/O bus is representing a hardware bus, for example DeviceNet, Connector ID is an enumeration of the hardware (of the same type) located in the computer module. The enumeration is made on a left to right basis, that is for the PCI bus the first board is the board located in the slot furthest to the left. If the hardware supports multiple channels (for example the dual PCI card for DeviceNet) the enumeration is made from the top to bottom. Limitations The fieldbus option installed in the system must support several boards/channels of the same type in the controller, otherwise First board/channel is the only valid value. There can be maximum two boards in the system. Each board can have maximum two channels. Default value The default value is an empty string. Allowed values The allowed values are determined by the available and installed fieldbus options.
Value: First board/channel Second board/channel Third channel Fourth channel Description: Always available Fieldbus specific Fieldbus specific Fieldbus specific

Additional information If the type of I/O bus is Virtual or if the installed fieldbus option supports several boards of the same type, the value Second board and higher can be available.

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4.4.5 Label at Fieldbus Connector

4.4.5 Label at Fieldbus Connector

Parent Label at Fieldbus Connector belongs to the type Bus, in the topic I/O. Cfg name ConnectorLabel Description Label at Fieldbus Connector provides a way to label the actual I/O bus. Usage Using Label at Fieldbus Connector is optional. It provides a label to identify the physical I/O bus or connector that this I/O bus configuration is representing. Default value The default value is an empty string. Allowed values A string with maximum 80 characters.

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4.4.6 Automatic Bus Restart

4.4.6 Automatic Bus Restart

Parent Automatic Bus Restart belongs to the type Bus, in the topic I/O. Cfg name AutomaticBusRestartDisabled Description Automatic Bus Restart is used to enable and disable the automatically recovery for the I/O bus. Usage If Automatic Bus Restart is set to Enable and the I/O bus has stopped (for example ended in error state) it tries to automatically recover to running state. If Automatic Bus Restart is set to Disable and the I/O bus has stopped, the I/O bus must be started manually from the FlexPendant or from RAPID. Default value The default value is Enable. Allowed values Enable Disable Related information The I/O bus can be started manually from RAPID with the function IOBusStart , see Technical reference manual - RAPID overview.

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4.4.7 Unit Recovery Time

4.4.7 Unit Recovery Time

Parent Unit Recovery Time belongs to the type Bus, in the topic I/O. Cfg name RecoveryTime Description The parameter Unit Recovery Time defines how often the recovery of I/O units shall be performed on a specific I/O bus. The recovery is performed regularly by the controller, to regain contact with lost I/O units (an I/O unit in disconnected, error, or deactivated state). Default value The default value is 5. Allowed values An integer value defining the time, in seconds, between two recoveries for the specific I/O bus. The value must be a multiple of 5. Minimum value is 5. Related information Technical reference manual - RAPID overview.

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4.4.8 Path to Bus Configuration File

4.4.8 Path to Bus Configuration File

Parent Path to Bus Configuration File belongs to the type Bus, in the topic I/O. Cfg name CfgPath Description Path to Bus Configuration File specifies the path to a file containing detailed I/O bus configuration information necessary for some types of fieldbuses. Prerequisites The target file for this parameter must be created and transferred to the controller. Creation and transfer must be done according to the requirements for the type of I/O bus being represented by this configuration. Default value The default value is an empty string. Allowed values A string following the requirements: Maximum 80 characters. Must be a valid file path.

The path can be specified as HOME. This is interpreted as the path to the home directory of the current system. Example To target a file with the name my_pbus_cfg.bin located in the home directory of the current system:
HOME\my_pbus_cfg.bin

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4.5.1 The Cross Connection type

4.5 Type Cross Connection 4.5.1 The Cross Connection type

Overview This section describes the type Cross Connection which belongs to the topic I/O. Each parameter of this type is described in a separate information topic in this section. Cfg name EIO_CROSS Type description A cross connection is a logical connection between I/O signals of type digital (DO, DI) or group (GO, GI), that allow one or several I/O signals to automatically affect the state of other I/O signals. Usage Using cross connections is a simple way to interconnect I/O signals and let the robot system handle I/O activity without having to execute any RAPID code. Cross connecting I/O signals is a good alternative if there is an input I/O signal in the process that, when activated, automatically activates one or several output I/O signals. It is also possible to construct more complex conditions by combining up to five different actor I/O signals with operators. The actor I/O signals can also be inverted. Limitations The maximum number of cross connections handled by the robot system is 300. Cross connections must not form a chain that is deeper than 20 levels. A chain is formed when cross connections are interlinked so that an I/O signal that is part of a resultant expression in one cross connection is also part of the actor expression of another cross connection, and so on. The depth of such chain is the number of transitions from the first actor I/O signal to the last resultant I/O signal. Cross connections must not form closed chains since that would cause infinite evaluation and oscillation. A closed chain appears when cross connections are interlinked so that the chain of cross connections forms a circle. Ambiguous resultant I/O signals are not allowed since the outcome would depend on the order of evaluation (which cannot be controlled). Ambiguous resultant I/O signals occur when the same I/O signal is resultant in several cross connections. The expressions are evaluated from left to right, that is, the priorities of the logical operator OR and the logical operator AND are the same. For clarity, our advise is to avoid mixing the logical operator OR and the logical operator AND in the same expression. The resultant I/O signal in a cross connection must not have an overlapping unit map with any inverted actor I/O signals defined in the cross connection. Using I/O Continues on next page
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4.5.1 The Cross Connection type Continued signals with overlapping unit map in a cross connection can cause infinity signal setting loops. Related information For more information about Logical Cross Connections, see Application manual - Robot communication and I/O control. Unit Mapping on page 199 Invert Physical Value on page 207

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4.5.2 Resultant

4.5.2 Resultant
Parent Resultant belongs to the type Cross Connection, in the topic I/O. Cfg name Res Description The parameter Resultant specifies the digital or group I/O signal to which the result of the condition formed by the actor I/O signals will be stored. Whenever the outcome of the condition formed by the actor I/O signals is altered the Resultant I/O signal will take the same value as that outcome. Usage Specify the I/O signal that will be effected by the outcome of the condition formed by the actor I/O signals. Default value The default value is an empty string. Allowed values A string defining a digital I/O signal or group I/O signal that is defined in the robot system.

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4.5.3 Actor 1

4.5.3 Actor 1
Parent Actor 1 belongs to the type Cross Connection, in the topic I/O. Cfg name Act1 Description The parameter Actor 1 specifies the first digital or group I/O signal that forms the actor expression of the cross connection. Whenever the value of the I/O signal referred to by Actor 1 is altered, the logical condition formed by the cross connection will be evaluated and the value of the I/O signal referred to by Resultant will be updated (if needed). Usage Specify the first of the digital or group I/O signals that forms the condition that will control the value of the I/O signal referred to by Resultant. With the Logical Cross Connections, the Actor 1 parameter can be part of a more complex statement formed by combining it with other parameters such as Invert Actor 1, Operator 1, and Actor 2. Default value The default value is an empty string. Allowed values A string defining a digital I/O signal or group I/O signal defined in the robot system. Related information Resultant on page 176.

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4.5.4 Invert Actor 1, Invert Actor 2, Invert Actor 3, Invert Actor 4, Invert Actor 5

4.5.4 Invert Actor 1, Invert Actor 2, Invert Actor 3, Invert Actor 4, Invert Actor 5
Parent Invert Actor 1, Invert Actor 2, Invert Actor 3, Invert Actor 4, and Invert Actor 5 belong to the type Cross Connection, in the topic I/O. Cfg name Act1_invert, Act2_invert, Act3_invert, Act4_invert, Act5_invert Description The parameter Invert Actor 1 specifies whether the inverted value of the I/O signal referred to by parameter Actor 1 will be used in the evaluation instead of the actual I/O signal value. The parameter Invert Actor 2 specifies whether the inverted value of the I/O signal referred to by parameter Actor 2 will be used in the evaluation instead of the actual I/O signal value. The parameter Invert Actor 3 specifies whether the inverted value of the I/O signal referred to by parameter Actor 3 will be used in the evaluation instead of the actual I/O signal value. The parameter Invert Actor 4 specifies whether the inverted value of the I/O signal referred to by parameter Actor 4 will be used in the evaluation instead of the actual I/O signal value. The parameter Invert Actor 5 specifies whether the inverted value of the I/O signal referred to by parameter Actor 5 will be used in the evaluation instead of the actual I/O signal value. Usage The Invert Actor 1 parameter can be used when forming complex cross connection expressions by specifying if the inverted value of Actor 1 should be used. The Invert Actor 2 parameter can be used when forming complex cross connection expressions by specifying if the inverted value of Actor 2 should be used. The Invert Actor 3 parameter can be used when forming complex cross connection expressions by specifying if the inverted value of Actor 3 should be used. The Invert Actor 4 parameter can be used when forming complex cross connection expressions by specifying if the inverted value of Actor 4 should be used. The Invert Actor 5 parameter can be used when forming complex cross connection expressions by specifying if the inverted value of Actor 5 should be used. Default value The default value is No. Allowed values Yes No

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4.5.4 Invert Actor 1, Invert Actor 2, Invert Actor 3, Invert Actor 4, Invert Actor 5 Continued Related information Actor 1 on page 177.

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4.5.5 Operator 1, Operator 2, Operator 3, Operator 4

4.5.5 Operator 1, Operator 2, Operator 3, Operator 4

Parent Operator 1, Operator 2, Operator 3, and Operator 4 belong to the type Cross Connection, in the topic I/O. Cfg name Oper1, Oper2, Oper3, Oper4 Description The parameter Operator 1 specifies the logical operation to be performed between the I/O signals referred to by parameter Actor 1 and Actor 2. The parameter Operator 2 specifies the logical operation to be performed between the I/O signals referred to by parameter Actor 2 and Actor 3. The parameter Operator 3 specifies the logical operation to be performed between the I/O signals referred to by parameter Actor 3 and Actor 4. The parameter Operator 4 specifies the logical operation to be performed between the I/O signals referred to by parameter Actor 4 and Actor 5. Usage If only one actor I/O signal is used, Operator 1 is left out. If no more than two actor I/O signals are used, then Operator 2 is left out. If no more than three actor I/O signals are used, then Operator 3 is left out. If no more than four actor I/O signals are used, then Operator 4 is left out. Prerequisites By specifying Operator 1 it is explicitly demanded that the parameter Actor 2 must also be specified. By specifying Operator 2 it is explicitly demanded that the parameter Actor 3 must also be specified. By specifying Operator 3 it is explicitly demanded that the parameter Actor 4 must also be specified. By specifying Operator 4 it is explicitly demanded that the parameter Actor 5 must also be specified. Default value The default value is an empty string. Allowed values AND OR Related information Actor 1 on page 177. Actor 2, Actor 3, Actor 4, Actor 5 on page 181.
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4.5.6 Actor 2, Actor 3, Actor 4, Actor 5

4.5.6 Actor 2, Actor 3, Actor 4, Actor 5

Parent Actor 2, Actor 3, Actor 4, and Actor 5 belongs to the type Cross Connection, in the topic I/O. Cfg name Act2, Act3, Act4, Act5 Description The parameter Actor 2 specifies the second digital or group I/O signal that forms the actor expression of the cross connection. The parameter Actor 3 specifies the third digital or group I/O signal that forms the actor expression of the cross connection. The parameter Actor 4 specifies the fourth digital or group I/O signal that forms the actor expression of the cross connection. The parameter Actor 5 specifies the fifth digital or group I/O signal that forms the actor expression of the cross connection. Whenever the value of the I/O signal referred to by an Actor parameter is altered, the logical condition formed by the cross connection will be evaluated and the value of the I/O signal referred to by Resultant will be updated (if needed). Usage Specify the second of the digital or group I/O signal that forms the condition that will control the value of the I/O signal referred to by Resultant. If only one actor signal is used, then Actor 2, Actor 3, Actor 4, and Actor 5 is left out. Prerequisites Actor 2 will be ignored unless the parameter Operator 1 is specified. Actor 3 will be ignored unless the parameter Operator 2 is specified. Actor 4 will be ignored unless the parameter Operator 3 is specified. Actor 5 will be ignored unless the parameter Operator 4 is specified. Default value The default value is an empty string. Allowed values A string defining a digital I/O signal or group I/O signal defined in the robot system. Related information Resultant on page 176. Operator 1, Operator 2, Operator 3, Operator 4 on page 180.

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4.6.1 The Fieldbus Command type

4.6 Type Fieldbus Command 4.6.1 The Fieldbus Command type

Overview This section describes the type Fieldbus Command, which belongs to the topic I/O. Each parameter of this type is described in a separate information topic in this section. Cfg name EIO_COMMAND Type description A Fieldbus Command is a start command for a specific I/O unit on a fieldbus. Usage The Fieldbus Command type is used to send commands to specific I/O units on the fieldbus. This is done: At start. When connecting the I/O unit after a power fail. When activating the I/O unit from RobotStudio or the FlexPendant.

Several I/O units of the same type, for example all DeviceNet d350 units, can receive commands via the type Fieldbus Command Type. To address one specific I/O unit, use the type Fieldbus Command. Limitations The Fieldbus Command has the following limitations: Related information The Fieldbus Command Type type on page 186. Example
Parameter: Assigned to unit Type of Fieldbus Command Value Value: My_d350 LinkAddr 5

Maximum 300 fieldbus commands can be defined in the robot system

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4.6.2 Assigned to Unit

4.6.2 Assigned to Unit

Parent Assigned to Unit belongs to the type Fieldbus Command, in the topic I/O. Cfg name Unit Description The parameter Assigned to Unit specifies the name of the I/O unit to which this fieldbus command is associated. Default value The default value is an empty string. Allowed values A string defining the name of a defined Unit. Note Names differing only in upper and lower case are considered to be equal. Related information The Unit type on page 288.

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4.6.3 Type of Fieldbus Command

4.6.3 Type of Fieldbus Command

Parent Type of Fieldbus Command belongs to the type Fieldbus Command, in the topic I/O. Cfg name CommandType Description The parameter Type of Fieldbus Command is a reference to a fieldbus command type that describes this fieldbus command. Default value The default value is an empty string. Allowed values A string defining the name of a defined Fieldbus Command Type. Note Names that differ only in upper and lower case are considered to be equal. Related information The Fieldbus Command Type type on page 186.

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4.6.4 Value

4.6.4 Value
Parent Value belongs to the type Fieldbus Command, in the topic I/O. Cfg name Value Description The parameter Value specifies the value of the command for the I/O unit specified. Usage The controller sends commands to the fieldbus at start. Use the type Fieldbus Command to address specific I/O units on the fieldbus and the type Fieldbus Command Type to address all I/O units of a specific type. Default value The default value is an empty string. Allowed values A string with maximum 32 characters. Related information The Fieldbus Command Type type on page 186.

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4.7.1 The Fieldbus Command Type type

4.7 Type Fieldbus Command Type 4.7.1 The Fieldbus Command Type type
Overview This section describes the type Fieldbus Command Type, which belongs to the topic I/O. Each parameter of this type is described in a separate information topic in this section. Cfg name EIO_COMMAND_TYPE Type description A Fieldbus Command Type is a start command for a specific type of I/O unit on a fieldbus. Usage The type Fieldbus Command Type is used at start to send commands to a specific type of I/O unit on the fieldbus, for example all DeviceNet I/O units of the type d350. Limitations The Fieldbus Command Type has the following limitations: Maximum 200 fieldbus command types can be defined in the robot system. Maximum 100 fieldbus command types can be defined on one (1) I/O unit.

Additional information The type Fieldbus Command Type has lower priority than the type Fieldbus Command. Related information The Fieldbus Command type on page 182. Example
Parameter: Name Type of unit Default value Download order Path Service Value: LinkAddr d350 1 1 6,20 64 24 01 30 01,C6,1 Set Attribute Single

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4.7.2 Name

4.7.2 Name
Parent Name belongs to the type Fieldbus Command Type, in the topic I/O. Cfg name Name Description The parameter Name specifies the logical name of the fieldbus command type. Usage The name of the fieldbus command type is used as a reference to the specific fieldbus command type when configuring the fieldbus commands. Default value The default value is an empty string. Allowed values A string following the RAPID rules described in the manual Technical reference manual - RAPID overview, chapter Basic elements.

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4.7.3 Type of Unit

4.7.3 Type of Unit

Parent Type of Unit belongs to the type Fieldbus Command Type, in the topic I/O. Cfg name UnitType Description The parameter Type of Unit specifies which type of fieldbus Unit Type this Fieldbus Command Type is associated with. Default value The default value is an empty string. Allowed values A string defining the name of a defined Unit Type. Note! Names differing only in upper and lower case are considered to be equal. Related information The Unit Type type on page 299.

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4.7.4 Default Value

4.7.4 Default Value

Parent Default Value belongs to the type Fieldbus Command Type, in the topic I/O. Cfg name DefValue Description The parameter Default Value specifies the default value for commands based on this Fieldbus Command Type. Usage If the parameter Value is not defined for a Fieldbus Command of this Fieldbus Command Type, then this default value will be used. Default value The default value is an empty string. Allowed values A string with maximum 32 characters. Related information Value on page 185.

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4.7.5 Download Order

4.7.5 Download Order

Parent Download Order belongs to the type Fieldbus Command Type, in the topic I/O. Cfg name OrderNr Description The parameter Download Order specifies the sequence number in which fieldbus commands of this Fieldbus Command Type shall be downloaded to an I/O unit that has more than one fieldbus command assigned to it. Usage Use Download Order to control the order in which the fieldbus commands are downloaded (and executed) on an I/O unit. Lower download orders are downloaded before higher download orders. Default value The default value is 0. Allowed values 0 - 100.

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4.8.1 The Signal type

4.8 Type Signal 4.8.1 The Signal type

Overview This section describes the type Signal, which belongs to the topic I/O. Each parameter of this type is described in a separate information topic in this section. Cfg name EIO_SIGNAL Type description An I/O signal is the logical software representation of: Inputs or outputs located on a fieldbus I/O unit that is connected to a fieldbus within the robot system (real I/O signal). An I/O signal without a representation on any fieldbus I/O unit (virtual I/O signal).

Usage By specifying an I/O signal, a logical representation of the real or virtual I/O signal is created. The I/O signal configuration defines the specific system parameters for the I/O signal that will control the behavior of the I/O signal. Many of the parameters depend on the type of the I/O signal, therefore it is recommended that the parameter Type of Signal is assigned first. Prerequisites Before defining a new I/O signal it is necessary to make sure that the appropriate Unit and Access Level are available (either by creating them or using a predefined Unit respectively Access Level). Limitations The I/O signal has the following limitations: Predefined signals There are a number of predefined I/O signals in the robot controller. These are described in Operating manual - IRC5 with FlexPendant. Depending on options installed there can also be other predefined I/O signals. Example digital input The following is a typical example of a digital input I/O signal (DI).
Parameter Name Value ObjectAtPlace

Maximum 8192 user I/O signals can be defined in the robot system. Maximum 1024 digital input signals can be defined on one (1) I/O unit. Maximum 1024 digital output signals can be defined on one (1) I/O unit.

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4.8.1 The Signal type Continued
Parameter Type of Signal Assigned to Unit Signal Identification Label Unit Mapping Category Access Level Default Value Filter Time Passive Filter Time Active Invert Physical Value Default 0 0 0 No Value Digital Input board10 X4:4 11

Example analog output The following is a typical example of an analog output I/O signal (AO).
Parameter Name Type of Signal Assigned to Unit Signal Identification Label Unit Mapping Category Access Level Default Value Store Signal Value at Power Fail Analog Encoding Type Maximum Logical Value Maximum Physical Value Maximum Physical Value Limit Maximum Bit Value Minimum Logical Value Minimum Physical Value Minimum Physical Value Limit Minimum Bit Value Signal Value in System Failure State Default 0 No Twos complement 21474.8 10 10 32767 -21474.8 -10 -10 -32767 Keep current value (no change) Value Speed Analog Output board10 X6:4 16-31

Example group input The following is a typical example of a group input I/O signal (GI).
Parameter Name Value StatusGroup

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4.8.1 The Signal type Continued
Parameter Type of Signal Assigned to Unit Signal Identification Label Unit Mapping Category Access Level Default Value Invert Physical Value Default 0 No Value Group Input board10 X2:1-X2:8 0-7

Example virtual digital input The following is a typical example of a virtual digital input I/O signal (DI).
Parameter Name Type of Signal Assigned to Unit Signal Identification Label Category Access Level Default Value Filter Time Passive Filter Time Active Invert Physical Value Default 0 0 0 No Value StatusDigital Digital Input

Example virtual analog output The following is a typical example of an virtual analog output I/O signal (AO).
Parameter Name Type of Signal Assigned to Unit Signal Identification Label Category Access Level Default Value Signal Value at System Failure and Power Fail Store Signal Value at Power Fail Analog Encoding Type Maximum Logical Value Maximum Physical Value Default 0 Keep Current Value (no change) No Twos complement 10 10 Value StatusAnalog Analog Output

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4.8.1 The Signal type Continued
Parameter Maximum Physical Value Limit Maximum Bit Value Minimum Logical Value Minimum Physical Value Minimum Physical Value Limit Minimum Bit Value Value 10 0 -10 -10 -10 0

Example virtual group input The following is a typical example of a virtual group input I/O signal (GI).
Parameter Name Type of Signal Assigned to Unit Signal Identification Label Category Access Level Default Value Filter Time Passive Filter Time Active Default 0 0 0 Value StatusGroup Group Input

Related information The Unit type on page 288. The Access Level type on page 157. Operating manual - IRC5 with FlexPendant.

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4.8.2 Name

4.8.2 Name
Parent Name belongs to the type Signal, in the topic I/O. Cfg name Name Description The parameter Name specifies the name of the I/O signal. Usage The name of the I/O signal is used as a reference to the specific I/O signal when: Default value The default value is an empty string. Allowed values A string following the RAPID rules described in the manual Technical reference manual - RAPID overview, chapter Basic elements. The name must be unique among all named objects in the I/O system configuration. Note! Names differing only in upper and lower case are considered to be equal. Related information The Cross Connection type on page 174. The System Input type on page 219. The System Output type on page 259. Accessing the I/O signal (that is reading or writing its value) in RAPID. Configuring cross connections. Configuring system inputs and system outputs.

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4.8.3 Type of Signal

4.8.3 Type of Signal

Parent Type of Signal belongs to the type Signal, in the topic I/O. Cfg name SignalType Description Type of Signal specifies the signal's representation, behavior, and direction. Usage Each I/O signal must be classified as one of the predefined types. The type of I/O signal will determine the behavior of the I/O signal as well as how it will be represented and interpreted. As the behavior of the I/O signal depends upon its type, the settings of other parameters will vary, therefore it is recommended that the Type of Signal parameter is assigned before any other parameter for the I/O signal. Default value The default value is an empty string. Allowed values Digital Input Digital Output Analog Input Analog Output Group Input Group Output

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4.8.4 Assigned to Unit

4.8.4 Assigned to Unit

Parent Assigned to Unit belongs to the type Signal, in the topic I/O. Cfg name Unit Description The parameter Assigned to Unit specifies which I/O unit the I/O signal is connected to (if any). Limitations An I/O signal that is not mapped against an I/O unit (that is Assigned to Unit is not defined) will be considered as virtual. Default value The default value is an empty string. Allowed values A string, either: Empty (unspecified), that is a virtual I/O signal, or Defining the name of a defined Unit. Note Names differing only in upper and lower case are considered to be equal. Related information The Unit type on page 288.

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4.8.5 Signal Identification Label

4.8.5 Signal Identification Label

Parent Signal Identification Label belongs to the type Signal, in the topic I/O. Cfg name SignalLabel Description The parameter Signal Identification Label provides a free-text label to an I/O signal. Usage Signal Identification Label is optional for use in providing a label for the physical contact or cable that this I/O signal configuration represents. Assign an easy-to-understand name (free text) to the I/O signal to make it easy to physically identify. For example, map the I/O signal to a physical identification such as a cable marking or an outlet label. Default value The default value is an empty string. Allowed values A string of maximum 80 characters. Example Conn. X4, Pin 1

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4.8.6 Unit Mapping

4.8.6 Unit Mapping

Parent Unit Mapping belongs to the type Signal, in the topic I/O. Cfg name UnitMap Description The parameter Unit Mapping specifies which bit(s) in the I/O memory map of the assigned I/O unit the I/O signal is mapped to. Usage All I/O signals except virtual I/O signals must be mapped. Limitations An I/O signal must be completely mapped to bits on the same I/O unit. For example, it is not possible to map a group signal to bits on different I/O units. Default value The default value is an empty string. Allowed values A string with maximum 80 characters. The string should contain the mapping order of the individual bits of the I/O signal, using the following syntax: Refer to a bit in the I/O memory map by the index of the bit, the bits are indexed from 0 (zero) and upwards. If the I/O signal is mapped to several continuous bits, these can be given as a range: <first bit in range> - <last bit in range> If the I/O signal is mapped to several discontinuous bits and/or ranges, these should separated by commas: <bit/range>, <bit/range>, <bit/range>

Additional information I/O signals can be mapped to bits in the range 0 to 511 unless the physical characteristics of the I/O unit to which the I/O signal is assigned, adds further constraints on this range. Overlapping of unit maps is not allowed. That is, the Unit Mapping must not refer to the same bit more than once. Mapping more than one I/O signal against the same bit(s) in the I/O memory map can cause unpredictable start values for these I/O signals, since their order of evaluation cannot be controlled. For example, if an inverted group output signal is mapped to the same bits as some digital output signals, the status of these bits will depend on the order in which the I/O signals are dealt with. We recommend not to map several I/O signals to the same bit. Continues on next page
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4.8.6 Unit Mapping Continued The size of the I/O signal (that is, the number of bits in Unit Mapping) is restricted. The restriction depends on the type of I/O signal. Following are the restrictions:
1A 2A

Digital signals must be mapped to exactly one bit. Analog signals must be mapped between 2 and 32 bits.1 Group signals must be mapped between 1 and 32 bits.2

virtual analog I/O signal is mapped to 23 bits. virtual group I/O signal is mapped to 23 bits.

Example Examples of valid mapping of a digital signal (1 bit): 0 13 4, 6-7 16-31 8-15, 0-7 0-7, 15-7

Examples of valid mapping of an analog or group signal (2-32 bits):

Example of invalid mapping (bit 7 is overlapped):

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4.8.7 Category

4.8.7 Category
Parent Category belongs to the type Signal, in the topic I/O. Cfg name Category Description The parameter Category provides a free-text categorizing to an I/O signal. Usage Category is optional to use for categorizing the I/O signals so that tools (for example software tools) can filter and sort signals based on these categories. Limitations I/O signals defined as Safety or Internal are hidden for the user in RobotStudio and FlexPendant. Default value The default value is an empty string. Allowed values A string of maximum 16 characters. Additional information The category of all safety-related I/O signals (internally loaded by the system) are set to Safety.

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4.8.8 Access Level

4.8.8 Access Level

Parent Access Level belongs to the type Signal, in the topic I/O. Cfg name Access Description The parameter Access Level specifies which clients have write access to the I/O signal. Usage Access Level defines the write access of the I/O signal for different categories of I/O controlling applications, such as RobotStudio and RAPID programs. Default value The default value is Default. Allowed values A string corresponding to the name of a defined Access Level type. Note! Names differing only in upper and lower case are considered to be equal. Related information The Access Level type on page 157.

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4.8.9 Default Value

4.8.9 Default Value

Parent The parameter Default Value belongs to the type Signal, in the topic I/O. Cfg name Default Description The parameter Default Value specifies the I/O signal value to be used at start. Usage The default value: is used for initializing the I/O signal at start if the I/O signal is neither stored nor a resultant in a cross connection. is used for the evaluation of cross connections whenever the I/O unit to which this I/O signal is assigned is disconnected. is not used after a system failure if the value of Signal Value at System Failure and Power Fail is set to Keep current value.

Limitations This parameter has lower priority than the Store Signal Value at Power Fail parameter. Allowed values Depending on the type of I/O signal, the following values are allowed:
Type of I/O signal Allowed value Digital Analog Group
1Exact

0 or 1 Any value in the range Minimum Logical Value to Maximum Logical Value. Any value in the range 0 to 2size-1 (size = number of bits in the Unit Mapping parameter).1

values can be given only in the range 0 to 106. Above 106, the value is rounded to six digits Default value The default value is 0. Related information Store Signal Value at Power Fail on page 204. Signal Value at System Failure and Power Fail on page 218. Minimum Logical Value on page 214. Maximum Logical Value on page 209. Unit Mapping on page 199.

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4.8.10 Store Signal Value at Power Fail

4.8.10 Store Signal Value at Power Fail

Parent Store Signal Value at Power Fail belongs to the type Signal, in the topic I/O. Cfg name Store Description The parameter Store Signal Value at Power Fail specifies if the I/O signal should be set to the value stored in the permanent memory pool or not at start. Usage Setting this parameter will cause the system to initialize the I/O signal with the last known value at start, that is the value that was stored in the permanent memory pool at the previous power down. Prerequisites This parameter is applicable on output signals only, that is Type of Signal must be set to an output signal type or this parameter will be ignored. Default value The default value is No. Allowed values Yes No Additional information This parameter has higher priority than the Default Value parameter. Related information Default Value on page 203. Type of Signal on page 196.

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4.8.11 Filter Time Passive

4.8.11 Filter Time Passive

Parent Filter Time Passive belongs to the type Signal, in the topic I/O. Cfg name FiltPas Description The parameter Filter Time Passive specifies the filter time for detection of negative flanks (that is I/O signal physical value goes from active to passive). Usage The passive filter time filters I/O signals from noise that could otherwise be interpreted as a pulse of the I/O signal. The passive filter time specifies the period in ms (milliseconds) that the physical value of the I/O signal must remain passive before the I/O signal will be considered passive and the logical I/O signal is changed to passive, that is if the time period that the physical value is passive is shorter than Filter Time Passive, the logical signal is not changed. Prerequisites This parameter is applicable on digital input and group input I/O signals only, that is Type of Signal must be set to one of these types or this parameter will be ignored. Default value The default value is 0. Allowed values
Value: 0 10-32000 Description: No filter Filter time in ms

Additional information Note that many I/O units have built-in hardware for filtering I/O signals. This filter time is then added to the value of Filter Time Passive. Related information Type of Signal on page 196. Filter Time Active on page 206.

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4.8.12 Filter Time Active

4.8.12 Filter Time Active

Parent Filter Time Active belongs to the type Signal, in the topic I/O. Cfg name FiltAct Description The parameter Filter Time Active specifies the filter time for detection of positive flanks (that is I/O signal physical value goes from passive to active). Usage The active filter time filters I/O signals from noise that could otherwise be interpreted as a pulse of the I/O signal. The active filter time specifies the period in ms (milliseconds) that the physical value of the I/O signal must remain active before the I/O signal will be considered active and the logical I/O signal is changed to active, that is if the time period that the physical value is active is shorter than Filter Time Active, the logical I/O signal is not changed. Prerequisites This parameter is applicable on digital input and group input I/O signals only, that is Type of Signal must be set to one of these types or this parameter will be ignored. Default value The default value is 0. Allowed values
Value: 0 10 - 32000 Description: No filter Filter time in ms

Additional information Note that many I/O units have built-in hardware for filtering I/O signals. This filter time is then added to the value of Filter Time Active. Related information Type of Signal on page 196. Filter Time Passive on page 205.

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4.8.13 Invert Physical Value

4.8.13 Invert Physical Value

Parent Invert Physical Value belongs to the type Signal, in the topic I/O. Cfg name Invert Description The parameter Invert Physical Value specifies whether the physical representation should be the inverted of the logical representation. Usage Use this parameter to apply an inversion between the physical value of the I/O signal and its logical representation in the system. How to invert the I/O signal depends on the direction of the I/O signal (see Type of Signal): The logical value of an input I/O signal will be the inversion of its physical value The physical value of an output I/O signal will be the inversion of its logical value.

Inverting a group I/O signal will make each individual bit in the group inverted. Prerequisites This parameter is only applicable on digital or group I/O signals, that is Type of Signal must be set to one of these types or this parameter will be ignored. Default value The default value is No. Allowed values Yes No Related information Type of Signal on page 196.

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4.8.14 Analog Encoding Type

4.8.14 Analog Encoding Type

Parent Analog Encoding Type belongs to the type Signal, in the topic I/O. Cfg name EncType Description The parameter Analog Encoding Type specifies how the value of an analog I/O signal is interpreted. Usage Use this parameter to specify if the physical representation of an analog I/O signal should be interpreted as a signed (twos complement) or unsigned value. Prerequisites This parameter is only applicable on analog I/O signals, that is Type of Signal must be set to an analog signal type or this parameter will be ignored. Default value The default value is Twos complement. Allowed values
Value: Twos complement Unsigned Description: If the physical analog range for a specific I/O signal is symmetric around 0, for example -32768 to +32767, the I/O signal is most likely coded as Twos complement. Unsigned is used for I/O signals ranging from 0 and upwards.

Related information Type of Signal on page 196.

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4.8.15 Maximum Logical Value

4.8.15 Maximum Logical Value

Parent Maximum Logical Value belongs to the type Signal, in the topic I/O. Cfg name MaxLog Description The parameter Maximum Logical Value specifies the logical value that will correspond to the Maximum Physical Value. Usage The logical values offer a way to access the I/O signals (for example through RAPID programs) by using logical quantities rather than physical. By setting up the extremes (minimum and maximum values) of the logical and physical values the system will be able to calculate scale and offset factors for transforming I/O signal values between the different quantities. Prerequisites This parameter is only applicable to analog I/O signals, that is Type of Signal must be set to an analog signal type or this parameter will be ignored. Limitations The value must be greater than the value of the Minimum Logical Value. Default value The default value is 0. Allowed values -3.4 x 1038 to 3.4 x 1038 If both Minimum Logical Value and Maximum Logical Value are set to zero (0), the logical values will be directly mapped against the physical values: minimum logical value = minimum physical value maximum logical value = maximum physical value

Hence there is no scaling or offset factor between the logical and physical representation of the value of an I/O signal. Additional information The logical value is a representation of a signal that makes it possible to handle the signal in quantities known from the real world feature it corresponds to rather than the physical value used to control it. For example it would be more natural to set the speed of a moving axis in mm/s (the logical value) rather than the amount of voltage needed to attain that speed (the physical value).

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4.8.15 Maximum Logical Value Continued Related information Minimum Logical Value on page 214. Maximum Physical Value on page 211. Minimum Physical Value on page 215. Type of Signal on page 196.

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4.8.16 Maximum Physical Value

4.8.16 Maximum Physical Value

Parent Maximum Physical Value belongs to the type Signal, in the topic I/O. Cfg name MaxPhys Description The parameter Maximum Physical Value specifies the physical value that will correspond to the Maximum Bit Value. Usage The physical value directly corresponds to the value of the I/O signal that this system parameter corresponds to, for example the amount of voltage given by a sensor or the current feed into a manipulator. By setting up the extremes (minimum and maximum values) of the bit and physical values the system will be able to calculate scale and offset factors for transforming signal values between the bit and physical quantities. Prerequisites This parameter is only applicable to analog I/O signals, that is Type of Signal must be set to one of the analog signal types or this parameter will be ignored. Limitations The value must be greater than the value of the Minimum Physical Value. Default value The default value is 0. Allowed values -3.4 x 1038 to 3.4 x 1038 If both Minimum Physical Value and Maximum Physical Value are set to zero (0), the physical values will be directly mapped against the bit values: minimum physical value = minimum bit value maximum physical value = maximum bit value

Hence there is no scaling or offset factor between the physical and bit representation of the value of an I/O signal. Related information Minimum Physical Value on page 215. Maximum Logical Value on page 209. Maximum Bit Value on page 213. Minimum Bit Value on page 217. Type of Signal on page 196.

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4.8.17 Maximum Physical Value Limit

4.8.17 Maximum Physical Value Limit

Parent Maximum Physical Value Limit belongs to the type Signal, in the topic I/O. Cfg name MaxPhysLimit Description The parameter Maximum Physical Value Limit specifies the maximum allowed physical value, acting as a working range limiter. Usage The Maximum Physical Value Limit limits the allowed maximum physical value, for example if a bit or logical value is given that would exceed this limit, the physical value is automatically adjusted to Maximum Physical Value Limit. Prerequisites This parameter is only applicable to analog I/O signals, that is Type of Signal must be set to an analog signal type or this parameter will be ignored. Limitations The value must be greater than the value of the Minimum Physical Value Limit. Default value The default value is 0. Allowed values -3.4 x 1038 to 3.4 x 1038 If both Minimum Physical Value Limit and Maximum Physical Value Limit are set to zero (0), the physical value limits will be directly mapped against the physical values: Related information Minimum Physical Value on page 215. Maximum Physical Value on page 211. Type of Signal on page 196. minimum physical value limit = minimum physical value maximum physical value limit = maximum physical value

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4.8.18 Maximum Bit Value

4.8.18 Maximum Bit Value

Parent Maximum Bit Value belongs to the type Signal, in the topic I/O. Cfg name MaxBitVal Description The parameter Maximum Bit Value specifies the bit value that will correspond to the Maximum Logical Value. Usage The bit value is the I/O signals representation when transmitted on the fieldbus. The bit value is used when calculating the physical and logical values. Prerequisites This parameter is only applicable to analog I/O signals, that is Type of Signal must be set to an analog signal type or this parameter will be ignored. Limitations The value must be greater than the value of the Minimum Bit Value. Default value The default value is 0. Allowed values -2,147,483,648 to 2,147,483,647 If both Minimum Bit Value and Maximum Bit Value are set to zero (0) then the bit values will be calculated based on the selected Analog Encoding Type. If Analog Encoding Type is set to Twos complement: Related information Minimum Bit Value on page 217. Maximum Logical Value on page 209. Maximum Physical Value on page 211. Analog Encoding Type on page 208. Type of Signal on page 196. maximum bit value = 2(no of bits in Unit Mapping)-1-1 minimum bit value = 2(no of bits in Unit Mapping)-1 maximum bit value = 2(no of bits in Unit Mapping)-1 minimum bit value = 0

If Analog Encoding Type is set to Unsigned:

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4.8.19 Minimum Logical Value

4.8.19 Minimum Logical Value

Parent Minimum Logical Value belongs to the type Signal, in the topic I/O. Cfg name MinLog Description The parameter Minimum Logical Value specifies the logical value that will correspond to the Minimum Physical Value. Usage See Maximum Logical Value. Prerequisites This parameter is only applicable to analog I/O signals, that is Type of Signal must be set to an analog I/O signal type or this parameter will be ignored. Limitations The value must be less than the value of the Maximum Logical Value. Default value The default value is 0. Allowed values See Maximum Logical Value. Related information Maximum Logical Value on page 209. Minimum Physical Value on page 215. Type of Signal on page 196.

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4.8.20 Minimum Physical Value

4.8.20 Minimum Physical Value

Parent Minimum Physical Value belongs to the type Signal, in the topic I/O. Cfg name MinPhys Description The parameter Minimum Physical Value specifies the physical value that will correspond to the Minimum Logical Value. Usage See Maximum Physical Value. Prerequisites This parameter is only applicable to analog I/O signals, that is Type of Signal must be set to one of the analog I/O signal types or this parameter will be ignored. Limitations The value must be less than the value of the Maximum Physical Value. Default value The default value is 0. Allowed values See Maximum Physical Value. Related information Maximum Physical Value on page 211. Type of Signal on page 196.

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4.8.21 Minimum Physical Value Limit

4.8.21 Minimum Physical Value Limit

Parent Minimum Physical Value Limit belongs to the type Signal, in the topic I/O. Cfg name MinPhysLimit Description The parameter Minimum Physical Value Limit specifies the minimum allowed physical value, hence it acts as a working range limiter. Usage See Maximum Physical Value Limit. Prerequisites This parameter is only applicable to analog I/O signals, that is Type of Signal must be set to an analog I/O signal type or this parameter will be ignored. Limitations The value must be less than the value of the Maximum Physical Value Limit. Default value The default value is 0. Allowed values See Maximum Physical Value Limit. Related information Maximum Physical Value Limit on page 212. Type of Signal on page 196.

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4.8.22 Minimum Bit Value

4.8.22 Minimum Bit Value

Parent Minimum Bit Value belongs to the type Signal, in the topic I/O. Cfg name MinBitVal Description The parameter Minimum Bit Value specifies the bit value that will correspond to the Minimum Logical Value. Usage See Maximum Bit Value. Prerequisites This parameter is only applicable to analog I/O signals, that is Type of Signal must be set to an analog I/O signal type or this parameter will be ignored. Limitations The value must be less than the value of the Maximum Bit Value. Default value The default value is 0. Allowed values See Maximum Bit Value. Related information Maximum Bit Value on page 213. Type of Signal on page 196.

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4.8.23 Signal Value at System Failure and Power Fail

4.8.23 Signal Value at System Failure and Power Fail

Parent Signal Value at System Failure and Power Fail belongs to the type Signal, in the topic I/O. Cfg name SysfailReset Description The parameter Signal Value at System Failure and Power Fail specifies whether this output I/O signal should keep its current value or take the I/O signal's default value in case of system failure or at a power fail. Usage If an I/O signal is required to assume a specific value when the power to the robot controller is shut down then it can be useful to use this parameter. Prerequisites This parameter is only applicable to output I/O signals, that is Type of Signal must be set to an output signal type or this parameter will be ignored. Default value The default value is Keep current value (no change). Allowed values Keep current value (no change) Set the default value Related information Type of Signal on page 196.

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4.9.1 The System Input type

4.9 Type System Input 4.9.1 The System Input type

Overview This section describes the type System Input which belongs to the topic I/O. Each parameter of this type is described in a separate information topic in this section. Cfg name SYSSIG_IN Type description Input I/O signals can be assigned specific system inputs, for exampel Start or Motors on. The input triggers a system action that is handled by the system, without using the FlexPendant or other hardware devices. It is possible to use a PLC to trigger the system inputs. Rejected system inputs If the system is in manual mode or cannot perform the action due to any other unfulfilled requirement, no error messages are displayed. When a system action is rejected the error messages are stored in the error log. Limitations The following limitations have to be considered: Only one system action can be assigned to the input I/O signal. However, several input I/O signals can be assigned the same system action. When deleting a system action the input I/O signal itself remains defined. The I/O signal has to be deleted separately. System input I/O signals are only valid for the Main task, with exceptions on the action value level. These are described together with the corresponding action value.

Additional information Most system inputs are 0 to 1 level sensitive. The pulse length has to exceed 50 ms or according to the configured filter settings for I/O signals. The System Input signal SimMode is both 0 to 1 and 1 to 0 level sensitive. Related information How to define system inputs on page 156. Filter Time Passive on page 205. Filter Time Active on page 206.

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4.9.2 Signal Name

4.9.2 Signal Name

Parent Signal Name belongs to the type System Inputs in the topic I/O. Cfg name Signal Description Signal Name is the name of the configured digital input I/O signal to use. It connects the system input with a configured digital input I/O signal. Prerequisite A digital input I/O signal with a defined name has to be configured in the system. Allowed values Available configured digital input I/O signal names. Related information The type The Signal type on page 191. How to define system inputs on page 156.

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4.9.3 Action

4.9.3 Action
Parent Action belongs to the type System Inputs, in the topic I/O. Cfg name Action Description Input signals can be assigned to specific system status. Status defines the system action to be triggered by the signal. The system status is handled by the system without an input from the user. Allowed values The following values are allowed and described on the following pages: Related information How to define system inputs on page 156. Backup on page 222. Disable Backup on page 224. Interrupt on page 225. Limit Speed on page 227. Load on page 229. Load and Start on page 231. Motors Off on page 233. Motors On on page 234. Motors On and Start on page 236. Reset Emergency Stop on page 237. Reset Execution Error Signal on page 239. Start on page 240. Start at Main on page 242. Stop on page 244. Quick Stop on page 245. Soft Stop on page 246. Stop at End of Cycle on page 247. Stop at End of Instruction on page 248. System Restart on page 249. SimMode on page 250.

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4.9.4.1 Backup

4.9.4 Action Values 4.9.4.1 Backup

Parent Backup is an action value for the parameter Status that belongs to the type System Input, in the topic I/O. Cfg name Backup Description The action value Backup starts a backup and saves the backup according to the parameter arguments. Arguments When the parameter Action is set to Backup, the arguments Argument 1, Argument 3, Argument 4, and Argument 5 must also be used.
Parameter Argument 1 Argument 3 Argument 4 Allowed value Specify a name for the backup. If no name is specified, the name is set to be the system name. Specify a path for the backup. Always define the whole path, for example, BACKUP:sysinBackup or /hd0a/BACKUP/sysinBackup. UniqueName means that the backup gets a unique name. If the name already exists, a higher number is added at the end of the name. Overwrite means that a backup with the same name is overwritten. AddDate means that the backup gets the date in the name automatically. The date is in YYYYMMDD format and is put at the end of the name but before any sequence number.

Argument 5

Prerequisites The following prerequisites have to be considered: A digital signal input with a defined signal name has to be configured in the system. The parameter Argument 3 has to be defined with the backup path. The parameter Argument 4 has to indicate if the backup shall have a unique name or if an existing backup shall first be deleted. The parameter Argument 5 has to indicate if the backup shall have the date in the name.

Limitations The backup order is ignored with a warning if a backup is already in progress. Additional information The system output Backup Error tells if the backup was successful or not. The system output Backup in progress tells if the backup process is active or not. Continues on next page
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4.9.4.1 Backup Continued The ordered Backup will take the program control during the operation. Related information Action on page 221. Argument 1 on page 251. Argument 3 on page 254. Argument 4 on page 255. Argument 5 on page 256 Backup Error on page 263. Backup in progress on page 264.

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4.9.4.2 Disable Backup

4.9.4.2 Disable Backup

Parent Disable Backup is an action value for the parameter Action that belongs to the type System Input in the topic I/O. Cfg name DisableBackup Description The action value Disable Backup will prevent starting a backup as long as the signal is set. Prerequisites A digital input I/O signal with a defined signal name has to be configured in the system. Limitations If a backup is prevented, it will not be started when the signal gets low. If a backup is ongoing when the signal is set, the backup will continue until it has finished.

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4.9.4.3 Interrupt

4.9.4.3 Interrupt
Parent Interrupt is an action value for the parameter Action that belongs to the type System Input in the topic I/O. Cfg name Interrupt Description The action value Interrupt executes a routine and after running the routine the execution will resume to the same instruction as before. If neccessary, a regain movement is always performed before the interrupt routine executes. Interrupt can be used by a PLC to let the robot go to a service position. Arguments When the parameter Action is set to Interrupt, the parameters Argument1 and Argument2 must also be used.
Parameter: Argument1 Argument2 Allowed value: The name of the routine to be executed. The task in which the routine defined in Argument1 should be executed.

Prerequisites The following prerequisites have to be considered: A digital input I/O signal with a defined signal name has to be configured in the system. The program execution has to be stopped. The parameter Argument 1 has to be defined with the name of the routine to be executed, for example routine 1. If the option MultiMove is installed, the parameter Argument 2 has to be defined with a task in which the routine should execute.

Limitations The parameter has the following limitations: The system has to be in automatic mode. You cannot use this action value if the Stop, Stop at end of Cycle, or Stop at end of Instruction actions are set. The Interrupt action is not valid during program execution.

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4.9.4.3 Interrupt Continued Additional information When the execution is stopped, the robot still remembers the point to which it is supposed to go. To prevent the robot going to this position when the Interrupt routine starts and delay it until after the Interrupt, the following RAPID sequence can be used in the Interrupt routine:
PROC A() StopMove\Quick; !Prevent current move instruction to continue StorePath; !For later use currpos:=CRobT(); !Save current position --------- ! Place the code for the routine to run here. ----MoveJ currpos,v600,fine,toolx; !Move back to programmed position RestoPath; !Restore StorePath StartMove; !Restore StopMove ENDPROC

After the StartMove instruction, the stopped movement will continue to move to its fine point. When the routine A has been executed, the normal program can be restarted. Signal sequence The signal sequence for Interrupt is:

xx0400000949

A: Interrupt (IN) B: Cycle On (OUT) Related information Action on page 221. Argument 1 on page 251. Argument 2 on page 253.

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4.9.4.4 Limit Speed

4.9.4.4 Limit Speed

Parent Limit Speed is an action value for the parameter Action that belongs to the type System Input in the topic I/O. Cfg name LimitSpeed Description The action value LimitSpeed shall be set when the speed of one or all motion task is to be reduced. The reduction of the speed is considered to be completed when the System Output Signal LimitSpeed is set to 1. The speed limitation is set up with RAPID instructions SpeedLimAxis and SpeedLimCheckPoint (see RAPID reference manual for further details) or the manual mode default values will be used. Arguments When the parameter Action is set to LimitSpeed, the parameter Argument6 must be used to specify a motion task. Prerequisites A digital input I/O signal with a defined signal name has to be available, not used by any other resource. Signal sequence

en1200000680

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4.9.4.4 Limit Speed Continued Additional information A system output signal (also called LimitSpeed) can be configured to reflect the status of the the System Input Signal LimitSpeed.

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4.9.4.5 Load

4.9.4.5 Load
Parent Load is an action value for the parameter Action that belongs to the type System Input in the topic I/O. Cfg name Load Description The action value Load loads a RAPID program (files of type .mod, .prg, and .pgf) from a mass storage device. The program starts from the beginning. Note! The previously loaded files (of type .prg or .pgf) will be unloaded. Load can be used by a PLC to load a program, instead of using the FlexPendant. The program pointer is set to the main entry routine after the module has been loaded. Program pointers in other tasks are not affected. Arguments When the parameter Action is set to Load, the parameters Argument1 and Argument2 must also be used.
Parameter: Argument 1 Argument 2 Allowed value: The name of the program file to load, including the file format (.mod, .prg or .pgf). Always define the path to the file, e.g. HOME:ModuleA.mod The task in which the program defined in Argument 1 should be loaded.

Prerequisites The following prerequisites have to be considered: A digital input I/O signal with a defined signal name has to be configured in the system. The program control has to be available, that is not used by any other resource. The parameter Argument 1 has to be defined with the program file name. If the option MultiMove is installed, the parameter Argument 2 must be defined with a task for which the program or module should be loaded.

Limitations This action value has the following limitations: The controller has to be in automatic mode. Load is not valid during program execution. If the current program has been changed, the changes will not be saved before the load.

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4.9.4.5 Load Continued Additional information If the System Input should be used to load modules in many tasks, it is necessary to use a mechanism so that all modules are not loaded at once. The reset routine needs to be used, see section The Event Routine type on page 84. This routine is called once the module is loaded. This routine can then trigger the call for loading the next module by setting an I/O signal (for example SetDO \SDelay := 0.2, do_module_loaded, 1;). By doing this a chain of calls is made to load all wanted modules. Related information Action on page 221. Argument 1 on page 251. Argument 2 on page 253.

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4.9.4.6 Load and Start

4.9.4.6 Load and Start

Parent Load and Start is an action value for the parameter Action that belongs to the type System Input in the topic I/O. Cfg name LoadStart Description The action value Load and Start loads a RAPID program (files of type .mod, .prg, and .pgf) from a mass storage device. The program starts from the beginning. Note The previously loaded files (of type .prg or .pgf) will be unloaded. Load and Start can be used by a PLC to load and start a program, instead of using the FlexPendant. The Program Pointer is set to the main entry routine after the module has been loaded. Program pointers in other tasks are not affected. Arguments When the parameter Action is set to Load and Start, the parameters Argument1 and Argument2 must also be used.
Parameter: Argument1 Allowed value: The name of the program file to load, including the file format (.mod, .prg or .pgf). Always define the path to the file, for example HOME:ModuleA.mod The task in which the program defined in Argument 1 should be loaded.

Argument2

Prerequisites The following prerequisites have to be considered: A digital input I/O signal with a defined signal name has to be configured in the system. The controller has to be in Motors On state and the program control has to be available, that is not used by any other resource. The parameter Argument 1 has to be defined with an existing program file name. If the option MultiMove is installed, the parameter Argument 2 must be defined with a task for which the program or module should be loaded.

Limitations This action value has the following limitations: The controller has to be in automatic mode.

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4.9.4.6 Load and Start Continued You cannot use this action if the Stop, Stop at end of Cycle, or Stop at end of Instruction actions are set. Load and Start action is not valid during program execution. The run mode will always be set to Cyclic. If the controller is in Motors Off state, only the load is performed. If the current program has been changed, the changes will not be saved before the load.

Additional information The signal sequence for Load Start is:

xx0400000949

A: Load and Start (IN) B: Cycle On (OUT) Related information Action on page 221. Argument 1 on page 251. Argument 2 on page 253.

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4.9.4.7 Motors Off

4.9.4.7 Motors Off

Parent Motors Off is an action value for the parameter Action that belongs to the type System Input in the topic I/O. Cfg name MotorOff Description The action value Motors Off sets the controller in the Motors Off state. If a program is executing, it is stopped before changing state. Motors Off can be used by a PLC to set the controller in Motors Off state. Prerequisites The following prerequisites have to be considered: A digital input I/O signal with a defined signal name has to be configured in the system. We recommend stopping the program execution before using the action Motors Off to secure a controlled stop.

Additional information The signal sequence for Motors Off is:

xx0400000949

A: Motors Off (IN) B: Motors Off (OUT) Related information Operating manual - IRC5 with FlexPendant.

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4.9.4.8 Motors On

4.9.4.8 Motors On
Parent Motors On is an action value for the parameter Action that belongs to the type System Input in the topic I/O. Cfg name MotorOn Description The action value Motors On sets the controller in the Motors On state. This action can be used by a PLC to set the controller in Motors On state. Prerequisites The following prerequisites have to be considered: A digital input I/O signal with a defined signal name has to be configured in the system. The safety chain has to be closed. To check if the safety chain is closed, use the parameter Run Chain OK of the type System Output.

Limitations The action value has the following limitations: The controller has to be in automatic mode. The controller cannot be in the Motors On state if the system input I/O signal action Motors Off is high. The Motors On action is not valid during program execution.

Additional information The signal sequences for Motors On is:

xx0400000949

A: Motors On (IN) B: Motors On (OUT) Related information Motors Off on page 233. Run Chain OK on page 280. Continues on next page
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4.9.4.8 Motors On Continued Operating manual - IRC5 with FlexPendant, chapter Handling inputs and outputs, I/O.

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4.9.4.9 Motors On and Start

4.9.4.9 Motors On and Start

Parent Motors On and Start is an action value for the parameter Action that belongs to the type System Input in the topic I/O. Cfg name MotOnStart Description The action value Motors On and Start sets the controller in the Motors On state and starts the RAPID program from the current instruction, continuous or cycle execution. Motor On and Start can be used by a PLC to set Motors On in one single step and start a RAPID program, instead of using the FlexPendant and the control panel. The Program Pointer needs to be set in all tasks before starting the program. The action will be rejected if the program pointer is missing in any task. Arguments When the parameter Action is set to Motors On and Start, the parameter Argument1 must also be used, specifying continuous or cycle. The default value is continuous. Prerequisites The following prerequisites have to be considered: Limitations The action value has the following limitations: Related information Argument 1 on page 251. Action on page 221. Operating manual - IRC5 with FlexPendant. The controller has to be in automatic mode. You cannot use this action value if the Stop, Stop at end of Cycle, Stop at end of Instruction, or Motors Off actions are set. The Motors On and Start action is not valid during program execution. A digital input I/O signal with a defined signal name has to be configured in the system. The parameter Argument 1 has to be defined with the run mode.

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4.9.4.10 Reset Emergency Stop

4.9.4.10 Reset Emergency Stop

Parent Reset Emergency Stop is an action value for the parameter Action that belongs to the type System Input in the topic I/O. Cfg name ResetEStop Description The action value Reset Emergency Stop confirms the reset of an emergency stop. When an emergency stop has occurred, it must first be restored mechanically and the reset has to be confirmed. The controller can then be set to the Motors On state. It is possible to use a PLC to confirm the reset of the emergency stop instead of using the Motors On button. Prerequisites The following prerequisites have to be considered: A digital input I/O signal with a defined signal name has to be configured in the system. The safety chain must be closed by restoring the emergency stop mechanically.

Limitations The controller has to be in automatic mode. Additional information To reset an emergency stop, set the signal sequences according to the image.

xx0400000948

A: Reset Emergency Stop (IN), Order B: Emergency Stop (OUT), Response Continues on next page
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4.9.4.10 Reset Emergency Stop Continued C: Run Chain OK (OUT), Response

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4.9.4.11 Reset Execution Error Signal

4.9.4.11 Reset Execution Error Signal

Parent Reset Execution Error Signal is an action value for the parameter Action that belongs to the type System Input in the topic I/O. Cfg name ResetError Description The action value Reset Execution Error Signal resets the system output signal action Execution Error. This action can be used by a PLC to reset the error signal. Prerequisite A digital input I/O signal with a defined signal name has to be configured in the system. Related information Execution Error on page 267.

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4.9.4.12 Start

4.9.4.12 Start
Parent Start is an action value for the parameter Action that belongs to the type System Input in the topic I/O. Cfg name Start Description The action value Start starts a RAPID program from the current instruction, continuous or cycle run mode. Start can be used by a PLC to start the program execution. The Program Pointer needs to be set in all tasks before starting the program. The action will be rejected if the program pointer is missing in any task. Arguments When the parameter Action is set to Start, the parameter Argument1 must also be used, specifying continuous or cycle. The default value is continuous. Prerequisites The following prerequisites have to be considered: Limitations This action value has the following limitations: The controller has to be in automatic mode. You cannot use this action if the Stop, Stop at end of Cycle, or Stop at end of Instruction actions are set. The Start action is not valid during program execution. A digital input I/O signal with a defined signal name has to be configured in the system. The controller has to be in Motors On state and the program control has to be available, that is not used by any other resource. The parameter Argument 1 has to be defined with the run mode.

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4.9.4.12 Start Continued Additional information The signal sequence for Start is:

xx0400000949

A: Start (IN) B: Cycle On (OUT) Related information Argument 1 on page 251. Action on page 221.

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4.9.4.13 Start at Main

4.9.4.13 Start at Main

Parent Start at Main is an action value for the parameter Action that belongs to the type System Input in the topic I/O. Cfg name StartMain Description The action value Start at Main starts a RAPID program from the beginning, continuous or cycle run. Start at Main can be used by a PLC to start the program execution from the beginning. Arguments When the parameter Action is set to Start at Main, the parameter Argument1 must also be used, specifying continuous or cycle. The default value is continuous. Prerequisites The following prerequisites have to be considered: Limitations This action value has the following limitations: The controller has to be in automatic mode. You cannot use this action if the Stop, Stop at end of Cycle, or Stop at end of Instruction actions are set. Start at Main action is not valid during program execution. A digital input I/O signal with a defined signal name has to be configured in the system. The controller has to be in Motors On state and the program control has to be available, that is not used by any other resource. The parameter Argument 1 has to be defined with the run mode.

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4.9.4.13 Start at Main Continued Additional information The signal sequence for Start at Main is:

xx0400000949

A: Start at Main (IN) B: Cycle On (OUT) Related information Argument 1 on page 251. Action on page 221.

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4.9.4.14 Stop

4.9.4.14 Stop
Parent Stop is an action value for the parameter Action that belongs to the type System Input in the topic I/O. Cfg name Stop Description The action value Stop stops the RAPID program execution. All robot movements will be stopped on the path with no deviation. This stop is the slowest stop and will take a couple of hundred milliseconds extra since the demand is to stop exactly on the programmed path. The extra delay is due to a deceleration ramp that needs to be recalculated to be able to stop on the path. A program cannot be started when this signal is high. This stop is similar to a normal program stop using the stop button on the FlexPendant. Stop can be used by a PLC to stop the program execution. Prerequisites A digital input I/O signal with a defined signal name has to be configured in the system. Additional information The signal sequence for Stop is:

1 A 0 1 B
xx0400000950

A: Stop (IN) B: Cycle On (OUT)

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4.9.4.15 Quick Stop

4.9.4.15 Quick Stop

Parent Quick Stop is an action value for the parameter Action that belongs to the type System Input, in the topic I/O. Cfg name QuickStop Description The action value Quick Stop stops the RAPID program execution quickly, like a controlled category 1 emergency/safety stop. This stop is performed by ramping down motion as fast as possible using optimum motor performance. The different axes are still coordinated to trying to keep the robot on path even if the robot may slide off with some millimeter. Note; this kind of stop is more stressing for the mechanics than normal stop or SoftStop. Note! Emergency stops should not be used for normal program stops as this causes extra, unnecessary wear on the robot. Quick Stop can preferably be used for safety equipment, such as gates. Prerequisites A digital input I/O signal with a defined signal name has to be configured in the system.

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4.9.4.16 Soft Stop

4.9.4.16 Soft Stop

Parent Soft Stop is an action value for the parameter Action that belongs to the type System Input, in the topic I/O. Cfg name SoftStop Description The action value Soft Stop the RAPID program execution much like an ordinary program stop, but slightly faster. The stop is performed by ramping down motion in a controlled and coordinated way, to keep the robot on the programmed path with minor deviation. The recalculations of the deceleration ramp is done in a lower level in the software so the robot will stop faster than a regular Stop. It will still be a stop on the path but since the calculations are done at a lower level it will not be as exact as a regular Stop. There could be a difference of a mm from the path. This kind of stop is more "soft" to the mechanics than QuickStop. Prerequisites A digital input I/O signal with a defined signal name has to be configured in the system.

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4.9.4.17 Stop at End of Cycle

4.9.4.17 Stop at End of Cycle

Parent Stop at End of Cycle is an action value for the parameter Action that belongs to the type System Input in the topic I/O. Cfg name StopCycle Description The action value Stop at End of Cycle stops the RAPID program when the complete program is executed, i.e. when the last instruction in the main routine has been completed. A program cannot be started when this signal is high. Stop at End of Cycle can be used by a PLC to stop the program execution when the complete program has been executed. Prerequisites A digital input I/O signal with a defined signal name has to be configured in the system. Additional information The signal sequence for Stop at End of Cycle is:

xx0400000951

A: Stop at end of Cycle (IN) B: Cycle On (OUT)

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4.9.4.18 Stop at End of Instruction

4.9.4.18 Stop at End of Instruction

Parent Stop at End of Instruction is an action value for the parameter Action that belongs to the type System Input in the topic I/O. Cfg name StopInstr Description The action value Stop at End of Instruction stops program execution after the current instruction is completed. A program cannot start when this signal is high. Stop at end of Instruction can be used by a PLC to stop the program execution when the current instruction is completed. Prerequisites A digital input I/O signal with a defined signal name has to be configured in the system. Additional information If using Stop at End of Instruction in combination with an instruction that is waiting for an I/O signal or an instruction, for example WaitSyncTask, WaitDI, or SyncMoveOn, then the waiting instruction may not be finished. We recommend using system input Stop together with Stop at End of Instruction to prevent the program from hanging. Related information Stop on page 244. Example If a WaitTime instruction is executed, it can take a while before the execution is stopped.

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4.9.4.19 System Restart

4.9.4.19 System Restart

Parent System Restart is an action value for the parameter Action that belongs to the type System Input in the topic I/O. Cfg name SysReset Description The action value System Restart performs a controller restart, similar to power off/on. This action can be used by a PLC to restart the controller. Prerequisites The following prerequisites have to be considered: A digital input I/O signal with a defined signal name has to be configured in the system. We recommend stopping all RAPID programs before using the action.

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4.9.4.20 SimMode

4.9.4.20 SimMode
Parent SimMode is an action value for the parameter Action that belongs to the type System Input in the topic I/O. Cfg name SimMode Description The action value SimMode shall be set when the simulation mode shall be entered. Arguments When the parameter Action is set to SimMode, the Argument1 must also be used.
Parameter Argument1 Allowed value LOAD

When Argument1 is set to LOAD, the robot shall run without payload when the signal is set. Prerequisites A digital input I/O signal with a defined signal name has to be available, that is, not used by any other resource. Signal sequence

en1100000964

Additional information A system output signal (also called SimMode) can be configured that reflects the status of the system state SimMode.

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4.9.5 Argument 1

4.9.5 Argument 1
Parent Argument 1 belongs to the type System Inputs, in the topic I/O. Cfg name Arg1 Description Argument 1 is an argument required to perform the system actions Interrupt, Load and Start, Motors On and Start, Start, Start at Main, Load, or Backup. If the parameter Action has one of the action values listed above then Argument 1 must also be set. Allowed values The following values are allowed:
System action: Interrupt Load and Start Allowed value: The name of the routine to be executed. The name of the program file to load, including the file format (.mod, .prg or .pgf). Always define the path to the file, for example HOME:ModuleA.mod The name of the program file to load, including the file format (.mod, .prg or .pgf). Always define the path to the file, for example HOME:ModuleA.mod Cfg value:

Load

Motors On and Start Run mode continuous or cycle, default CONT (continuous) or CYCLE value is continuous. (cycle) Start Start at Main Backup Run mode continuous or cycle, default CONT (continuous) or CYCLE value is continuous. (cycle) Run mode continuous or cycle, default CONT (continuous) or CYCLE value is continuous. (cycle) The name of the backup. No name will indicate that the system name shall be used.

Related information Action on page 221. Interrupt on page 225. Load and Start on page 231. Motors On and Start on page 236. Start on page 240. Start at Main on page 242. Load on page 229. Backup on page 222. Continues on next page
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4.9.5 Argument 1 Continued Argument 2 on page 253. Argument 3 on page 254. Argument 4 on page 255.

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4.9.6 Argument 2

4.9.6 Argument 2
Parent Argument 2 belongs to the type System Input, in the topic I/O. Cfg name Arg2 Description Argument 2 is an argument required to perform the system actions Load and Start, Interrupt and Load, that is when the parameter Action is set to Load and Start, Interrupt or Load, Argument 2 must be set too. Usage Argument 2 is used to define a task. Prerequisites Action must be set to Load and Start, Interrupt, or Load. Limitations Argument 2 is only used with the option MultiMove. Allowed values
System action Load and Start Interrupt Load Allowed value The task in which the program defined in Argument 1 should be loaded. The task in which the module or program defined in Argument 1 should be loaded. The task in which the program defined in Argument 1 should be loaded.

If MultiMove is not installed, then Argument 2 must be set to T_ROB1. Related information Action on page 221. Load and Start on page 231. Interrupt on page 225. Load on page 229. Argument 1 on page 251.

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4.9.7 Argument 3

4.9.7 Argument 3
Parent Argument 3 belongs to the type System Input, in the topic I/O. Cfg name Arg3 Description Argument 3 is an argument required to perform the system action Backup, that is, when the parameter Action is configured to Backup. Usage Argument 3 is used to define the path for a backup. Prerequisites Action must be set to Backup. Allowed values
System action Backup Allowed value The path of the backup.

Related information Action on page 221. Backup on page 222.

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4.9.8 Argument 4

4.9.8 Argument 4
Parent Argument 4 belongs to the type System Input, in the topic I/O. Cfg name Arg4 Description Argument 4 is an argument required to perform the system action Backup, that is, when the parameter Action is configured to Backup. Usage Argument 4 is used to define if the backup shall have a uniqe name or if a backup with the same name shall be deleted first. Prerequisites Action must be set to Backup. Allowed values
System action Backup Allowed value Unique Name or Overwritten. Default value is Unique Name.

Related information Action on page 221. Backup on page 222.

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4.9.9 Argument 5

4.9.9 Argument 5
Parent Argument 5 belongs to the type System Input, in the topic I/O. Cfg name Arg5 Description Argument 5 is a required argument for the system action Backup, that is, when the parameter Action is configured to Backup. Usage Argument 5 is used to define if the backup shall have date added in the name of the backup. If UniqueName is set as Argument 4, the sequence number will come after the date. Prerequisites Action must be set to Backup. Allowed values
System action Backup Allowed value AddDate or NoDate. Default value is NoDate.

Related information Action on page 221. Backup on page 222.

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4.9.10 Argument 6

4.9.10 Argument 6
Parent Argument 6 belongs to the type System Input, in the topic I/O. Cfg name Arg6 Description Argument6 is an argument required to perform the system action LimitSpeed, that is, when the parameter Action is configured to LimitSpeed. Usage Argument6 is used to define if the speed reduction shall be for a specified motion task or all motion tasks. Prerequisites Action must be set to LimitSpeed. Allowed values
System action LimitSpeed Allowed value A robot from the type Robot in the topic Motion.

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4.9.11 System Input Actions

4.9.11 System Input Actions

Overview Overview showing all System Input Actions and how they are allowed to be used in different type of system modes and states.
Manual Full Speed Mode Motors On Program Execution Backup DisableBackup Interrupt Load LoadStart MotOnStart MotorOff MotorOn QuickStop ResetError ResetEstop SimMode SoftStop Start StartMain Stop StopCycle StopInstr SysReset X X X X X X X X X X X X X X X X X X X X X X X X X X X Note 4 X X Note 3 X X X X X X X X X X Note 3 X X X X Note 5 X Manual Auto Auto Auto ReMode Mode Mode duced Motors Motors Motors Speed Off On On ProMode gram Motors ExecuOn Protion gram Execution X X X X X X X X X X X X Note 2 X X X X X X X Note 2 X X X X X X X X X The Controller System is in System Failure state Note 6 X X An Ex- During ternal a Client Backup has operaWrite tion Access (Ex. RobotStudio) X X X Note 1

Note 1: Do not affect the ongoing Backup Note 2: Motor On only Note 3: Execution error triggered during program execution Note 4: Ongoing Backup will be deleted Note 5: Only load of the program module is performed Note 6: The cause of the System Failure can have impact on the function for the given System Input Actions

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4.10.1 The System Output type

4.10 Type System Output 4.10.1 The System Output type

Overview This section describes the type System Output which belongs to the topic I/O. Each parameter of this type is described in a separate information topic in this section. Cfg name SYSSIG_OUT Type description Output I/O signals can be assigned for a specific system action. These I/O signals are set automatically by the system without user input when the system action occurs. The system output I/O signals can be both digital and analog. Prerequisites An I/O signal must be configured in the system. The signal name must be a string of maximum 32 characters. Limitations The following limitations have to be considered: Several output I/O signals can be assigned the same system action, but several system actions may not be assigned to the same I/O signal. When deleting a system action the I/O signal itself remains defined. The I/O signal must be deleted separately. The predefined system output for the Motors On lamp cannot be edited.

Predefined system outputs Motors On is predefined in the robot system. This output is linked to the Motors On lamp on the controller. Additional information The actions are valid for both manual and automatic mode unless stated otherwise in the value descriptions. Related information The Signal type on page 191.

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4.10.2 Status

4.10.2 Status
Parent Status belongs to the type System Output, in the topic I/O. Cfg name Status Description Output signals can be assigned to specific system actions. Status defines the system status that triggered the signal. The system actions are handled by the system without an input from the user. Allowed values The following values are allowed and are described on the following pages: Auto On on page 262. Backup Error on page 263. Backup in progress on page 264. Cycle On on page 265. Emergency Stop on page 266. Execution Error on page 267. Limit Speed on page 268. Mechanical Unit Active on page 269. Mechanical Unit Not Moving on page 270. Motors Off on page 271. Motors On on page 272. Motors Off State on page 273. Motors On State on page 274. Motion Supervision On on page 275. Motion Supervision Triggered on page 276. Path Return Region Error on page 277. Power Fail Error on page 278. Production Execution Error on page 279. Run Chain OK on page 280. Simulated I/O on page 281. TaskExecuting on page 282. TCP Speed on page 283. TCP Speed Reference on page 284. SimMode on page 285.

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4.10.3 Signal

4.10.3 Signal
Parent Signal belongs to the type System Output, in the topic I/O. Cfg name Signal Description Signal is the name of the configured digital output I/O signal to use. It connects the system output with a configured digital output I/O signal. Prerequisites A digital output I/O signal with a defined name has to be configured in the system. Allowed values Available configured digital output I/O signal names. Related information The Signal type on page 191.

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4.10.4.1 Auto On

4.10.4 Status values 4.10.4.1 Auto On

Parent Auto On is a value for the parameter Status that belongs to the type System Output in the topic I/O. Cfg name AutoOn Description If Status has the value Auto On, the I/O signal is set when the controller is in automatic mode. Related information Operating manual - IRC5 with FlexPendant.

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4.10.4.2 Backup Error

4.10.4.2 Backup Error

Parent Backup Error is a value for the parameter Status and belongs to the type System Output, in the topic I/O. Cfg name BackupError Description If Status has the value Backup Error, the signal is set when the system detects the backup failure. The failure can be detected during the backup or after a power failure if the backup has been interrupted by this. The signal is cleared when a new backup is started. Additional information The output signal reflects the overall system backup error state independent of the application starting the backup, that is, RobotStudio, FlexPendant, and system input signal Backup. Related information Action on page 221. Backup on page 222.

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4.10.4.3 Backup in progress

4.10.4.3 Backup in progress

Parent Backup in progress is a value for the parameter Status and belongs to the type System Output, in the topic I/O. Cfg name BackupInProgress Description If Status has the value Backup in progress, the signal is set when a backup is started and cleared when the backup is complete with or without errors. Additional information This output signal reflects the overall system backup state independent of the application starting the backup, that is, RobotStudio, FlexPendant, and system input signal Backup. Related information Action on page 221. Backup on page 222.

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4.10.4.4 Cycle On

4.10.4.4 Cycle On
Parent Cycle On is a value for the parameter Status that belongs to the type System Output in the topic I/O. Cfg name CycleOn Description If Status has the value Cycle On, the I/O signal is set when the robot program is executing. During path recovery operations, the I/O signal is set. Additional information Cycle On is also active for Service and Event Routine execution. The signal sequence for Cycle On is:

xx0800000460

A: Cycle On B: Execution C: No interrupt handled, Trap ignored

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4.10.4.5 Emergency Stop

4.10.4.5 Emergency Stop

Parent Emergency Stop is a value for the parameter Status that belongs to the type System Output in the topic I/O. Cfg name EmStop Description If Status has the value Emergency Stop, the I/O signal is set when the controller is in the Emergency Stop state. Additional information The signal sequence for Emergency Stop is:

xx0400000948

A: Reset Emergency Stop (IN), Order B: Emergency Stop (OUT), Response C: Run Chain OK (OUT), Response

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4.10.4.6 Execution Error

4.10.4.6 Execution Error

Parent Execution Error is a value for the parameter Status that belongs to the type System Output in the topic I/O. Cfg name Error Description If Status has the value Execution Error, the I/O signal is set high because the robot program execution has been stopped due to a program error during execution. The execution error state occurs when there is no error recovery, that is if there is no error handler that takes care of the current error. If Argument 2 is specified with a task name, the I/O signal will only react on execution errors for that task. The I/O signal stays set high until any of the following events occur for the task: Program start. Program restart. Reset of program pointer. System signal Reset Execution Error set high (resets all tasks).

If Argument 2 is not specified with a task name, the I/O signal will react on execution errors in any task. In this case, the I/O signal stays high until any of the events listed above occur for any of the tasks. The signal state is not kept after power fail (warm start). Related information Reset Execution Error Signal on page 239. Argument 2 on page 287.

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4.10.4.7 Limit Speed

4.10.4.7 Limit Speed

Parent Limit Speed is a value for the parameter Status that belongs to the type System Output in the topic I/O. Cfg name LimitSpeed Description If Status has the value LimitSpeed, the I/O signal is set when the specified motion task is running with reduced speed trigged by the System Input Signal LimitSpeed. Arguments When the parameter Status is set to LimitSpeed, the parameter Argument must be used to specify a motion task. Prerequisites A digital output I/O signal with a defined singal name has to be available, not used by any other resource. Additional information If the specified motion task is running with reduced speed, the system output will be set.

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4.10.4.8 Mechanical Unit Active

4.10.4.8 Mechanical Unit Active

Parent Mechanical Unit Active is a value for the parameter Status that belongs to the type System Output in the topic I/O. Cfg name MechUnit Active Description If Status has the value Mechanical Unit Active, the I/O signal is set when the configured mechanical unit is active. Arguments When the parameter Status is set to Mechanical Unit Active, the parameter Argument must also be used, specifying which mechanical unit the I/O signal is reflecting. The default value is ROB_1. Note The drop-down list in the FlexPendant or RobotStudio configuration tool shows only TCP robots. Use ABC... to add any other mechanical unit. Additional information If the configured mechanical unit is active, the system output will be set. If the mechanical unit is configured to be active, the system output will already be set at start. It is possible to deactivate a mechanical unit on the FlexPendant or via RAPID. Related information Argument on page 286.

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4.10.4.9 Mechanical Unit Not Moving

4.10.4.9 Mechanical Unit Not Moving

Parent Mechanical Unit Not Moving is a value for the parameter Status that belongs to the type System Output, in the topic I/O. Cfg name MechUnitNotMoving Description If Status has the value MechUnitNotMoving, the I/O signal is set high when the configured mechanical unit is not moving. The I/O signal is only triggered by state changes, that is auto and manual mode. Using the parameter Mech.Unit Not Moving Detection Level will also set the output when all axes of the Mechanical Units with a defined Level running in the same motion group are moving slower than its Level. Arguments When the parameter Status is set to Mechanical Unit Not Moving, the parameter Argument defines which mechanical unit the I/O signal is reflecting. The argument defines the name of a mechanical unit. If Argument is not defined (no value) then the I/O signal will reflect the state of the system. The I/O signal will be set low when the first mechanical unit starts to move and will be set high when the last mechanical units stops to move. The default value is empty. NOTE! The drop-down list in the FlexPendant or RobotStudio configuration tool shows only TCP robots. Use ABC... to add any other mechanical unit. Additional information In situations where units (for example, a TCP robot and an additional axis) are synchronized in the same movement instruction or by move instructions with same ID in different tasks, the I/O signals will for all units have the same value, that is the I/O signals will not be set until all synchronized units are stopped. The state of the I/O signal is changed during regain movement. This can make the I/O signal toggle for example when stepping over logical instructions. This system output should not be used for safety functions since it is not a safety I/O signal according to ISO 10218-1 and ISO 13849-1:1999. For safety functions the options Electronic Position Switches or SafeMove can be used. Related information Argument on page 286. The Mechanical Unit type on page 508, in topic Motion. Mech.Unit Not Moving Detection Level on page 621, in the topic Motion, type Robot. Mech.Unit Not Moving Detection Level on page 654, in the topic Motion, type Single.

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4.10.4.10 Motors Off

4.10.4.10 Motors Off

Parent Motors Off is a value for the parameter Status that belongs to the type System Output in the topic I/O. Cfg name MotorOff Description If Status has the value Motors Off, the I/O signal is set when the controller is in the Motors Off state. Additional information When the controller is in Motors Off state and a safety chain is not closed, the output I/O signal pulses. If only Motors Off state is requested, the action value Motors Off State is preferred. Related information Motors Off State on page 273. Run Chain OK on page 280.

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4.10.4.11 Motors On

4.10.4.11 Motors On
Parent Motors On is a value for the parameter Status that belongs to the type System Output in the topic I/O. Cfg name MotorOn Description If Status has the value Motors On, the I/O signal is set when the controller is in the Motors On state. Additional information If the controller is in guard stop, the output starts pulsing with a frequency of 1 sec. If the controller is not calibrated or the revolution counter is not updated, the output will pulsate even faster in manual mode. Motors On can be used to detect if the controller is in Motors On and whether the controller is synchronized or not. Related information Motors On State on page 274.

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4.10.4.12 Motors Off State

4.10.4.12 Motors Off State

Parent Motors Off State is a value for the parameter Status that belongs to the type System Output in the topic I/O. Cfg name MotOffState Description If Status has the value Motors Off State, the I/O signal is set when the controller is in the Motors Off state.

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4.10.4.13 Motors On State

4.10.4.13 Motors On State

Parent Motors On State is a value for the parameter Status that belongs to the type System Output in the topic I/O. Cfg name MotOnState Description If Status has the value Motors On State, the I/O signal is set when the controller is in the Motors On state.

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4.10.4.14 Motion Supervision On

4.10.4.14 Motion Supervision On

Parent Motion Supervision On is a value for the parameter Status that belongs to the type System Output in the topic I/O. Cfg name MotSupOn Description If Status has the value Motion Supervision On, the I/O signal is set when the collision detection function is active. Prerequisites When the parameter Status is set to Motion Supervision On, the parameter Argument must also be used, specifying which robot the supervision is used for. The default value is ROB_1. The option Collision Detection must be installed. Additional information Motion Supervision On is only valid when the robot is moving. Related information Application manual - Motion coordination and supervision.

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4.10.4.15 Motion Supervision Triggered

4.10.4.15 Motion Supervision Triggered

Parent Motion Supervision Triggered is a value for the parameter Status that belongs to the type System Output in the topic I/O. Cfg name MotSupTrigg Description If Status has the value Motion Supervision Triggered, the I/O signal is set when the collision detection function has been triggered. Prerequisites If the parameter Argument specifies a robot, the I/O signal will only show if collision detection has been triggered for that robot. If the parameter Argument is not used, the I/O signal will show if collision detection has been triggered for any robot. The option Collision Detection must be installed. Additional information The I/O signal is reset by one of the following actions: Related information Application manual - Motion coordination and supervision. The program is restarted. The program pointer is manually moved to Main. The error message is acknowledged.

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4.10.4.16 Path Return Region Error

4.10.4.16 Path Return Region Error

Parent Path Return Region Error is a value for the parameter Status that belongs to the type System Output in the topic I/O. Cfg name RegainDistError Description If Status has the value Path Return Region Error, the I/O signal is set when an attempt to start the robot program has been made but failed since the robot was too far from the programmed path. Prerequisites If the parameter Argument specifies a robot, the I/O signal will only show if that robot is too far from the programmed path. If the parameter Argument is not used, the I/O signal will show if any robot is too far from the programmed path. Additional information The value Path Return Region Error is set if the current movement is interrupted and then: The robot is jogged too far from the programed path and then restarted. An emergency stop has occurred and the robot has slid too far away from its programmed path and then restarted. The program is restarted after the robot has been jogged into the regain zone. The program pointer is manually moved to Main. The program pointer is manually moved and the program is restarted.

The I/O signal is reset by one of the following actions:

The distances of the zones can be configured in the type Return Region in the topic Controller. Related information The Path Return Region type on page 116, in the topic Controller.

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4.10.4.17 Power Fail Error

4.10.4.17 Power Fail Error

Parent Power Fail Error is a value for the parameter Status that belongs to the type System Output in the topic I/O. Cfg name PFError Description If Status has the value Power Fail Error, the I/O signal is set when a program cannot continue from its current position after a power failure. Additional information The program will not restart after the value Power Fail Error is set. Usually, the program can be started, but it will always start from the beginning.

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4.10.4.18 Production Execution Error

4.10.4.18 Production Execution Error

Parent Production Execution Error is a value for the parameter Status that belongs to the type System Output, in the topic I/O. Cfg name ProdExecError Description If Status has the value Production Execution Error, the I/O signal is set high if the system is in automatic mode and when at least one normal task is running and one of the following occurs: A program execution error in any normal task. A collision* A system error: SysFail, SysHalt, or SysStop. Program start. Program restart.

The I/O signal is reset by:

The I/O signal value is not kept after a warm start. *) Note! This is not a replacement for Motion Supervision Triggered. Additional information Using Production Execution Error does not effect the functionality in the option Collision Detection, nor can it replace the option Collision Detection. Related information Execution Error on page 267. Motion Supervision Triggered on page 276. System errors are described in parameter Trustlevel on page 140. The instruction SystemStopAction, see Technical reference manual - RAPID Instructions, Functions and Data types.

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4.10.4.19 Run Chain OK

4.10.4.19 Run Chain OK

Parent Run Chain OK is a value for the parameter Status that belongs to the type System Output in the topic I/O. Cfg name RunchOk Description If Status has the value Run Chain OK, the I/O signal is set when the safety chain is closed. The safety chain must be closed to be able to go to Motors On. Additional information Signal sequence:

xx0400000948

A: Reset Emergency Stop (IN), Order B: Emergency Stop (OUT), Response C: Run Chain OK (OUT), Response Example In Manual mode the safety chain is opened and Run Chain OK is not set.

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4.10.4.20 Simulated I/O

4.10.4.20 Simulated I/O

Parent Simulated I/O is a value for the parameter Status that belongs to the type System Output in the topic I/O. Cfg name Blocked I/O Description If Status has the value Simulated I/O, the I/O signal is set when at least one I/O signal at any I/O unit is in simulated mode. Additional information I/O signals can be set to simulated mode during testing, using the FlexPendant. Related information Operating manual - IRC5 with FlexPendant.

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4.10.4.21 TaskExecuting

4.10.4.21 TaskExecuting
Parent TaskExecuting is a value for the parameter Status that belongs to the type System Output in the topic I/O. Cfg name TaskExecuting Description If Status has the value TaskExecuting, the I/O signal is set when the configured task is executing. During path recovery operations, the I/O signal is not set. Prerequisites The parameter Argument 2 has to be defined with a task name. Limitations The parameter Argument 2 can be configured only with the name of a NORMAL task.

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4.10.4.22 TCP Speed

4.10.4.22 TCP Speed

Parent TCP Speed is a value for the parameter Status that belongs to the type System Output in the topic I/O. Cfg name TCPSpeed Description If Status has the value TCP Speed, the I/O signal is an analog signal that reflects the speed of the robot's TCP. Prerequisites When the parameter Status is set to TCP Speed, the parameter Argument must also be used, specifying which robot the speed refers to. The default value is ROB_1. Additional information The logical value of the I/O signal is specified in m/s, for example a speed of 2000 mm/s corresponds to the logical value 2 m/s. The scaling factor for the physical value is specified in the parameters of the corresponding I/O signal. The analog output is set approximately 40 ms before the actual TCP speed occurs. This prediction time is constant during acceleration and deceleration. NOTE! The EvenPreset Time parameter affects the time interval between the setting up of the analog output and the occurance of the TCP speed. For example, if Event Preset Time is set to 0.2 (200 ms), the analog output is set 240 ms before the occurance of the TCP speed. Related information Maximum Logical Value on page 209. Maximum Physical Value on page 211.

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4.10.4.23 TCP Speed Reference

4.10.4.23 TCP Speed Reference

Parent TCP Speed Reference is a value for the parameter Status that belongs to the type System Output in the topic I/O. Cfg name TCPSpeedRef Description If Status has the value TCP Speed Reference, the I/O signal is an analog signal describing the programmed speed of the robot's TCP. Prerequisites When the parameter Status is set to TCP Speed Reference, the parameter Argument must also be used, specifying which robot the programmed speed refers to. The default value is ROB_1. Additional information TCP Speed Reference works in the same way as TCP Speed but uses the programmed speed. Note:TCP Speed can differ from TCP Speed Reference, for example at acceleration or if the override speed has been changed. Related information TCP Speed on page 283.

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4.10.4.24 SimMode

4.10.4.24 SimMode
Parent SimMode is a value for the parameter Status that belongs to the type System Output in the topic I/O. Cfg name SimMode Description If status has the value SimMode, the I/O signal is set when the state SimMode is set. The signal is cleared when the state SimMode is cleared. Arguments/Prerequisites When the parameter Status is set to SimMode, the parameter Argument 3 must also be used, specifying the type of SimMode. Currently only Load is available as SimMode. Additional information After a warm start, the system output signal SimMode will also reflect the state SimMode. Related information SimMode on page 250.

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4.10.5 Argument

4.10.5 Argument
Parent Argument belongs to the type System Outputs, in the topic I/O. Cfg name Arg1 Description Argument is an argument required to perform the system actions TCP Speed, TCP Speed Reference, or Motion Supervision On, that is when the parameter Action has one of the action values listed above, Argument must be set too. Allowed values If the parameter Status has the value TCP Speed, TCP Speed Reference, or Motion Supervision On, the allowed value for Argument is a robot from the type Robot in the topic Motion. Default value is ROB_1. If the parameter Status has the value Path Return Region Error or Motion Supervision Triggered, the allowed value for Argument is a robot from the type Robot in the topic Motion. If no robot is specified, the I/O signal reacts on any robot. If the parameter Status has the value Mechanical Unit Active, the allowed value for Argument is a mechanical unit of the type Mechanical Unit in the topic Motion. Default value is ROB_1. If the parameter Status has the value Mechanical Unit Not Moving, the allowed value for Argument is a mechanical unit of the type Mechanical Unit in the topic Motion or empty. Default value is empty. Related information Action value TCP Speed on page 283. Action value TCP Speed Reference on page 284. Action value Motion Supervision On on page 275. Action value Mechanical Unit Active on page 269. Action value Mechanical Unit Not Moving on page 270. The Robot type on page 597 in the topic Motion. The Mechanical Unit type on page 508 in the topic Motion.

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4.10.6 Argument 2

4.10.6 Argument 2
Parent Argument 2 belongs to the type System Outputs, in the topic I/O. Cfg name Arg2 Description Argument 2 is an argument required to perform system action TaskExecuting or Execution Error, that is when the parameter Status has the value TaskExecuting or Execution Error, Argument 2 must be used to specify the task name. Allowed values If the parameter Status has the value TaskExecuting or Execution Error, the allowed value is a task name from the type Task in the topic Controller. Related information TaskExecuting on page 282. Execution Error on page 267.

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4.11.1 The Unit type

4.11 Type Unit 4.11.1 The Unit type

Overview This section describes the type Unit, which belongs to the topic I/O. Each parameter of this type is described in a separate information topic in this section. Cfg name EIO_UNIT Type description An I/O unit is a logical software representation of a fieldbus I/O unit that is connected to a fieldbus within the controller. I/O units allow you to control electronic devices and read sensor data. They are used for controlling I/O signals in the robot system. Usage By specifying an I/O unit, a logical representation of the real I/O unit is created. The I/O unit configuration defines the specific parameters that will control the behavior of the I/O unit. The Unit is used when defining the I/O signals and other objects in the I/O system. Prerequisites Before defining a new I/O unit: 1 Configure the Bus and 2 Make sure that the appropriate Unit Type is available (either by creating it or using a predefined unit type). Limitations The I/O unit has the following limitations: Maximum number of I/O units in the system is 40 (not including I/O units on the I/O bus Local). Maximum number of I/O units on one I/O bus is 20. The type of I/O unit and the I/O bus referred to by parameters Type of Unit and Connected to Bus must not be in conflict with each other, that is the bus types of the referenced unit type and the referenced I/O bus must be identical unless the bus type of the I/O bus is Virtual.

Predefined units The following I/O units are predefined and located on the Local I/O bus: Continues on next page
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PANEL DRV_1 DRV_2 DRV_3 DRV_4

4 Topic I/O
4.11.1 The Unit type Continued Depending on installed options, there can be other predefined I/O units not described in this manual. Related information Type of Unit on page 291. Connected to Bus on page 292. The Bus type on page 165. The Unit Type type on page 299. For more information on safety signals, see Operating manual - IRC5 with FlexPendant. Example
Parameter: Name Type of Unit Connected to Bus Unit Identification Label Unit Trust Level Unit Startup State Store Unit State at Power Fail DeviceNet Address Value: board10 d327 MyDeviceNet U137, placed in process cabinet C5 1 - Error when lost Enabled No 10

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4.11.2 Name

4.11.2 Name
Parent Name belongs to the type Unit, in the topic I/O. Cfg name Name Description The parameter Name specifies the name of the I/O unit. Usage The name of the I/O unit is used as a reference to the specific I/O unit when configuring the I/O signals and fieldbus commands on the I/O unit. Default value The default value is an empty string. Allowed values A string following the RAPID rules, as described in Technical reference manual - RAPID overview, chapter Basic elements. The name must be unique among all named objects in the I/O system configuration. Note! Names differing only in upper and lower case are considered to be equal.

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4.11.3 Type of Unit

4.11.3 Type of Unit

Parent Type of Unit belongs to the type Unit, in the topic I/O. Cfg name UnitType Description The parameter Type of Unit specifies the type of the I/O unit. Usage Instead of specifying all properties of an I/O unit within the I/O unit itself, a reference to a specific fieldbus unit type is made. The referred Unit Type contains all characteristics that are common for all I/O units of that type. Limitations The Bus type of the Unit Type referred to by this parameter must not be in conflict with the I/O bus referred to by the parameter Connected to Bus. Default value The default value is an empty string. Allowed values A string defining the name of a defined Unit Type. Note Names differing only in upper and lower case are considered to be equal. Related information Connected to Bus on page 292. The Unit Type type on page 299.

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4.11.4 Connected to Bus

4.11.4 Connected to Bus

Parent Connected to Bus belongs to the type Unit, in the topic I/O. Cfg name Bus Description The parameter Connected to Bus specifies which I/O bus this I/O unit is physically connected to. Limitations The bus type of the I/O bus referred to by this parameter must not be in conflict with the I/O bus referred to by the parameter Type of Unit. Default value The default value is an empty string. Allowed values A string defining the name of a defined Bus. Note Names differing only in upper and lower case are considered to be equal. Related information Type of Unit on page 291. The Bus type on page 165.

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4.11.5 Unit Identification Label

4.11.5 Unit Identification Label

Parent Unit Identification Label belongs to the type Unit, in the topic I/O. Cfg name UnitLabel Description The parameter Unit Identification Label provides a way to label the actual I/O unit. Usage The parameter Unit Identification Label is an optional way to provide a label that will help the operator to identify the I/O unit physically. Default value The default value is an empty string. Allowed values A string with maximum 80 characters.

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4.11.6 Unit Trustlevel

4.11.6 Unit Trustlevel

Parent Unit Trustlevel belongs to the type Unit, in the topic I/O. Cfg name TrustLevel Description The parameterUnit Trustlevel specifies the system behavior (event reporting and controller state) and program state if communication with the I/O unit is lost or reestablished. The Unit Trustlevel only effects physical I/O units controlled by a fieldbus master in the controller. An internal slave I/O unit is not controlled by a fieldbus master in the controller and is therefore not affected by the Unit Trustlevel setting. Usage A state change message is reported every time an activated I/O unit is connected, that is communication with the I/O unit is reestablished, unless Unit Trustlevel is set to Loss accepted. A state change message is reported every time an activated I/O unit is lost, that is communication with the I/O unit is lost, unless Unit Trustlevel is set to Loss accepted. If an I/O unit with Unit Trustlevel set to Required is missing at start, then the controller will go to system failure controller state. An I/O unit with Unit Trustlevel set to Required cannot be deactivated from clients, for example RobotStudio or FlexPendant. Default value The default value is Error when lost. Allowed values The value specifies system behavior when the I/O units physical state changes:
Value: Required Error when lost Cfg value: 0 1 Description: Loss of I/O unit causes report of error event and stop. Reconnection and warm start required. Loss of I/O unit causes report of error event. Program execution stops when the lost I/O unit is accessed. Reconnection of I/O unit and program restart is required. No report of error event when the I/O unit is lost. Error and stop when an I/O signal on the I/O unit is accessed (from RAPID). Same as Required but stop on path when the I/O unit is lost (Quickstop).

Loss accepted

Stop when lost

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4 Topic I/O
4.11.6 Unit Trustlevel Continued Additional information The table below shows the robot system behavior depending on the Unit Trustlevel value and the I/O units logical state, when the I/O units physical state changes.
Unit Trustlevel I/O unit logical value: state: Required Activated Event report at I/O Controller state: Program state: unit state change: Yes Yes No Yes N/A No System failure No Change No Change System stop N/A No Change Stopped No change1 No change1 Stopped N/A No change

Error when lost Activated Loss accepted Activated

Stop when lost Activated Required2 All levels but Required

1 2

Deactivated Deactivated

Execution stops when the I/O unit or any I/O signal on the I/O unit is accessed. It is not possible to deactivate any I/O unit with Unit Trustlevel set to Required.

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4.11.7 Unit Startup State

4.11.7 Unit Startup State

Parent Unit Startup State belongs to the type Unit, in the topic I/O. Cfg name Disabled Description The parameter Unit Startup State specifies if the I/O system should try to contact this I/O unit at start. Limitations Unit Startup State has lower priority than Store Unit State at Power Fail. Usage If Unit Startup State for this I/O unit is set to Activated, the system tries to establish contact at system start. A fault report is generated if no connection is established unless the Unit Trustlevel for the I/O unit is set to Loss accepted. If the robot is used in a tool changing application, we recommended setting Unit Startup State to Deactivated and using RAPID instructions IOEnable and IODisable to check connections and activate connected units at system start. Note When Unit Startup State is Deactivated on an I/O unit with Unit Trustlevel set to Required the controller will be forced to enter the SysFail state. An event report is sent. When Unit Startup State is Deactivated on an I/O unit with Unit Trustlevel set to Stop When Lost the program state will be in Stopped state. However, it is always possible to start a program, for example, from a PLC via system signals. Default value The default value is Enabled. Allowed values Enabled Disabled Related information Store Unit State at Power Fail on page 297. Unit Trustlevel on page 294. Technical reference manual - RAPID Instructions, Functions and Data types.

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4.11.8 Store Unit State at Power Fail

4.11.8 Store Unit State at Power Fail

Parent Store Unit State at Power Fail belongs to the type Unit, in the topic I/O. Cfg name StoreLogicalState Description The parameter Store Unit State at Power Fail specifies if this I/O unit should assume the deactivated or activated state it had before power down. Usage If Store Unit State at Power Fail is enabled (Yes), the I/O unit assumes the state it had before power down. If the robot is used in a tool changing application, we recommend setting Store Unit State at Power Fail to No and using RAPID instructions IOenable and IOdisable to check the state at system start. Additional information If Store Unit State at Power Fail is enabled, it has a higher priority than Unit Startup State. Default value The default value is No. Allowed values Yes No Related information Unit Startup State on page 296. Technical reference manual - RAPID Instructions, Functions and Data types.

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4.11.9 Regain Communication Reset

4.11.9 Regain Communication Reset

Parent Regain Communication Reset belongs to the type Unit, in the topic I/O. Cfg name RegainCommunicationReset Description Regain Communication Reset defines if the I/O unit should reset the I/O signal values to the default values when it regains communication. That is, when an I/O unit goes from the disconnected or error state to the running state. Usage If both Regain Communication Reset and Store Signal Value at Power Fail are used and the system powers down, then Store Signal Value at Power Fail has higher priority when the system starts. Default value The default value is Disabled. Allowed values Enabled Disabled Related information Default Value on page 203, in the type Signal. Store Signal Value at Power Fail on page 204, in the type Signal.

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4.12.1 The Unit Type type

4.12 Type Unit Type 4.12.1 The Unit Type type

Overview This section describes the type Unit Type, which belongs to the topic I/O. Each parameter of this type is described in a separate information topic in this section. Cfg name EIO_UNIT_TYPE Type description A Unit Type is a software description in the I/O system of a specific physical I/O unit that can be connected to a fieldbus in the controller. Limitations The following limitations must be considered: Maximum number of Unit Type instances in the system is 100. The maximum input data size and output data size for a Unit Type handled by the controller is 128 bytes each.

Usage The Unit Type is used when detecting I/O units and Fieldbus Command Types in the I/O system. Predefined unit types The following Unit Type instances are predefined in the controller:
Unit Type: Virtual LOCAL_GENERIC Description: Simulated I/O unit located on the Virtual I/O bus with input data size of 128 bytes and output data size of 128 bytes. I/O unit located on the Local I/O bus with input data size of 4 bytes and output data size of 4 bytes.

Related information How to define the unit type on page 152. Example This is an example of a Unit Type with a DeviceNet bus from ABB Robotics.
Parameter: Name Type of Bus Vendor Name Product Name Vendor ID Value: d327 DeviceNet ABB Robotics Combi Unit 75

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4 Topic I/O
4.12.1 The Unit Type type Continued
Parameter: Product Code Device Type Major Revision Minor Revision Production Inhibit Time Explicit Messaging Quick Connect Connection 1 Type Connection 1 Interval Connection 1 Output Size Connection 1 Input Size Value: 2 100 5 0 10 Enabled Enabled Polled connection 50 6 2

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4.12.2 Name

4.12.2 Name
Parent Name belongs to the type Unit Type, in the topic I/O. Cfg name Name Description The parameter Name specifies the name of the unit type. Usage The name of the unit type is used as a reference to the specific unit type when: Default value The default value is an empty string. Allowed values A string following the RAPID rules described in Technical reference manual - RAPID overview, chapter Basic elements. The name must be unique among all named objects in the I/O system configuration. Note Names differing only in upper and lower case are considered to be equal. Configuring I/O units. Configuring cross connections.

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4.12.3 Type of Bus

4.12.3 Type of Bus

Parent Type of Bus belongs to the type Unit Type, in the topic I/O. Cfg name BusType Description The parameter Type of Bus specifies the type of fieldbus this unit type is representing. Usage Defining the type of bus is vital for identifying which fieldbus this unit type is representing. Prerequisites The fieldbus option for the desired type of bus must be installed in the controller. Default value The default value is Virtual. Allowed values Values are determined by the available and installed fieldbus options. Examples of allowed values: Virtual (always available) DeviceNet Profibus Interbus EtherNet/IP Profinet DeviceNet Lean

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4.12.4 Vendor Name

4.12.4 Vendor Name

Parent Vendor Name belongs to the type Unit Type, in the topic I/O. Cfg name VendorName Description The parameter Vendor Name specifies the name of the I/O unit vendor. Usage This parameter is optional and only used as information. Default value The default value is Unknown. Allowed values A string with maximum 80 characters.

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4.12.5 Product Name

4.12.5 Product Name

Parent Product Name belongs to the type Unit Type, in the topic I/O. Cfg name ProductName Description The parameter Product Name specifies the name of the product for this unit type. Usage This parameter is optional and only used as information. Default value The default value is Unknown. Allowed values A string with maximum 80 characters.

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4.12.6 Internal Slave

4.12.6 Internal Slave

Parent Internal Slave belongs to the type Unit Type, in the topic I/O. Cfg name InternalSlave Description Internal Slave specifies whether or not an I/O unit with this unit type is an internal slave. This parameter specifies the type of the slave device. The built-in slave module on a master/slave card is defined as an internal slave. All other slave devices are defined with this parameter set to No. Usage A slave device is either internal or not. The controller module has built-in slave modules that are defined as internal slaves. Internal Slave is a general parameter available for all fieldbus unit types. Internal Slave is a general system parameter for fieldbuses. If the unit type should be used as an internal slave, set the parameter to Yes. If the parameter is set to Yes, only the necessary parameters for the internal slave are shown. Prerequisites At least one fieldbus option must be installed. Default value The default value is No. Allowed values Yes No Additional information For more information about this parameter, see the application manual for the fieldbus option.

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5 Topic Man-machine Communication

5.1 The Man-machine Communication topic

5 Topic Man-machine Communication

5.1 The Man-machine Communication topic
Overview This chapter describes the types and parameters of the Man-machine Communication topic. Description The Man-machine Communication topic contains parameters for, among other things, creating customized lists for instructions and I/O signals, simplifying everyday work. The parameters are organized in the following types: 1 Automatically Switch Jog Unit 2 Backup Settings 3 Most Common Instruction - List 1 4 Most Common Instruction - List 2 5 Most Common Instruction - List 3 6 Most Common I/O Signal 7 Production permission 8 Warning at Start The types for Most Common Instructions are identical and therefore only described in one section, but valid for all three types.

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5.2.1 The Automatically Switch Jog Unit type

5.2 Type Automatically Switch Jog Unit 5.2.1 The Automatically Switch Jog Unit type
Overview This section describes the type Automatically Switch Jog Unit which belongs to the topic Man-machine Communication. Each parameter of this type is described in a separate information topic in this section. Cfg name AUTO_SWITCH_OF_JOG_UNIT Type description The type Automatically Switch Jog Unit is used to automatically activate a mechanical unit when switching to a program editor on the FlexPendant, that uses the mechanical unit. The default setting is that a mechanical unit is not activated automatically when switching to a program editor using an deactivated mechanical unit. Limitations There can be only one set of parameters of the type Automatically Switch Jog Unit in the system.

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5.2.2 Enable switch jog unit

5.2.2 Enable switch jog unit

Parent Enabled belongs to the type Automatically Switch Jog Unit, in the topic Man-machine Communication. Cfg name enabled Description Enabled defines if a mechanical unit should be activated automatically when switching program editor. Usage Set Enabled to TRUE to automatically activate the mechanical unit when switching to a program editor that uses the mechanical unit. Allowed values TRUE or FALSE. Default value is FALSE.

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5.3.1 The Backup Settings type

5.3 Type Backup Settings 5.3.1 The Backup Settings type

Overview This section describes the type Backup Settings which belongs to the topic Man-machine Communication. Each parameter of this type is described in a separate information topic in this section. Cfg name BACKUP Type description The Backup Settings shall be configured when the FlexPendant backup application shall suggest a specific name or path for the backup, or when the user shall be prevented from changing these settings in the FlexPendant backup application. Limitations Only one set of parameters of the type Backup Settings can be configured in the system.

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5.3.2 Name

5.3.2 Name
Parent Name belongs to the type Backup Settings, in the topic Man-machine Communication. Cfg name Backup_name Description Name defines the suggested name for the backups created from the FlexPendant. Usage The name of the backup. Allowed values A string defining the name. Additional information The suggested name is not defined only by this parameter. If Unique Name is set to Yes and if a backup already exists with the same name, an increasing number is added to the end of the name. If the Name parameter is undefined, the default backup name SystemName_Backup_Date (for example, SystemX_Backup_20100101) is suggested. Related information Unique name on page 313.

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5.3.3 Path

5.3.3 Path
Parent Path belongs to the type Backup Settings, in the topic Man-machine Communication. Cfg name Backup_path Description Path defines the suggested path for the backups created from the FlexPendant. Usage The path for the backup. Allowed values A string defining the path. Additional information If the Path parameter is undefined, the default backup path /hd0a/BACKUP is suggested. Example 1 The environment variable BACKUP: can be used. BACKUP:SysInBackup

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5.3.4 Unique name

5.3.4 Unique name

Parent Unique name belongs to the type Backup Settings, in the topic Man-machine Communication. Cfg name Unique_name Description Unique name defines if the backup shall be overwritten or get a unique name if it already exists a backup with name Name. Usage A unique name is suggested if the value of Unique name is set to Yes. An increasing number is added at the end of the name if a backup with the same name already exists. The user will get the option to overwrite the old backup if the value of Unique name is set to No and if a backup with the same name already exists. Allowed values Yes or No.

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5.3.5 Disable name change

5.3.5 Disable name change

Parent Disable name change belongs to the type Backup Settings, in the topic Man-machine Communication. Cfg name Disable_name_change Description Disable name change prevents the users from changing the name and the path from the FlexPendant backup application. Usage Setting the value of the Disable name change parameter to Yes prevents the users from changing the suggested name and path in the FlexPendant backup application. Allowed values Yes or No. The default value is No.

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5.4.1 The Most Common Instruction types

5.4 Type Most Common Instruction 5.4.1 The Most Common Instruction types
Overview This section describes the types Most Common Instruction - List 1,Most Common Instruction - List 2, and Most Common Instruction - List 3 which belongs to topic Man-machine Communication. Each parameter of this type is described in a separate information topic in this section. Cfg names MMC_MC1 MMC_MC2 MMC_MC3 Type description The system contains lists of instructions to use when programming the robot. There are also three lists available to adapt to personal requirements. These are called Most Common Instruction - List 1, Most Common Instruction - List 2, and Most Common Instruction - List 3. The three lists are set up of a number of parameters equal between the lists. Therefore the parameters are described together in this manual. Required parameters Only the system parameter Name requires a value. Related information Instructions and their optional arguments and syntax are described in Technical reference manual - RAPID Instructions, Functions and Data types. Example: Instruction without argument To create a MoveJ instruction without arguments, only the parameter Name is required if Name is set to MoveJ, exactly as spelled in RAPID.
Parameter: Name Parameter Number Alternative Number Instruction Name Only for Motion Task Value: MoveJ

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5.4.1 The Most Common Instruction types Continued Example: Instruction with argument To create a MoveL instruction with the option Time set to the alternative T for motion tasks, use the following values.
Parameter: Name Parameter Number Alternative Number Instruction Name Only for Motion Task Value: MoveL /T 5 2 MoveL Yes

By setting Name to MoveL/T, the button label in the picklist will clearly state to the user that this is a MoveL instruction, using the Time option. The parameter number we use is 5, see table below, and we use alternative 2 for [\T]. Since Name is not set to only MoveL, we must use Instruction Name to specify to the system that it is a MoveL instruction. Only for Motion Task states that it will only be available for motion tasks. The syntax for the MoveL instruction is:
Parameter Number: <instr> 1 2 3 4 5 6 7 8 9 10 11 Value: MoveL [\Conc] ToPoint [\ID] Speed [\V] or [ \T] Zone [\Z] [\Inpos] Tool [\WObj] [\Corr]

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5.4.2 Name

5.4.2 Name
Parent Name belongs to the types Most Common Instruction - List 1, Most Common Instruction - List 2, and Most Common Instruction - List 3 in the topic Man-machine Communication. Cfg name name Description Name defines the name to be visible on the button in the picklist. Usage If Name is set to an instruction or procedure spelled exactly as in RAPID, no other parameters require a value. But, if Name contains more information, as recommended when using instructions with arguments, then the parameter Instruction Name specifies the actual instruction syntax. Allowed values The instruction name, a string with maximum 32 characters, e.g. "MoveJ". Note Do not use a backslash (\) in the name! Names using a backslash will cause errors, unlike when programming in RAPID. If an additional switch or argument is used, it is recommended to include this in the name for clarity and append the name with a slash (/) and the argument, e.g. "ArcL/On". Furthermore if an optional argument is included in the name then the parameter Instruction Name must be set to the instruction. Related information Technical reference manual - RAPID Instructions, Functions and Data types. Instruction Name on page 320. Examples
Value: MoveJ ArcL/On Description: The instruction MoveJ. The instruction ArcL with the argument On.

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5.4.3 Parameter Number

5.4.3 Parameter Number

Parent Parameter Number belongs to the types Most Common Instruction - List 1, Most Common Instruction - List 2, and Most Common Instruction - List 3 in the topic Man-machine Communication. Cfg name param_nr Description Parameter Number specifies which argument should be used for instructions with optional arguments. Usage If an instruction with optional arguments is used, then Parameter Number specifies which of the arguments should be used. The instructions with parameter numbers are described in Technical reference manual - RAPID Instructions, Functions and Data types. If left blank, no optional argument is used. Allowed values A positive integer value, starting from 0. Additional information If Parameter Number is used, then Alternative Number must also be used. Related information Instruction Name on page 320. Alternative Number on page 319. Technical reference manual - RAPID Instructions, Functions and Data types.

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5.4.4 Alternative Number

5.4.4 Alternative Number

Parent Alternative Number belongs to the types Most Common Instruction - List 1, Most Common Instruction - List 2, and Most Common Instruction - List 3 in the topic Man-machine Communication. Cfg name alt_nr Description Alternative Number defines which of the optional argument's alternatives to be used for the instruction. Usage If the instruction has optional arguments, then Alternative Number specifies which of the alternatives to use. The Parameter Number specifies which argument to be used. Prerequisites The parameter Parameter Number must be used. Allowed values The following values are allowed (depending on the number of alternatives available for the instruction):
Value: 0 1 n... Description: no alternative is used the first alternative is used the nth alternative is used

Related information Instruction Name on page 320. Parameter Number on page 318. Technical reference manual - RAPID Instructions, Functions and Data types.

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5.4.5 Instruction Name

5.4.5 Instruction Name

Parent Instruction Name belongs to the types Most Common Instruction - List 1, Most Common Instruction - List 2, and Most Common Instruction - List 3 in the topic Man-machine Communication. Cfg name instr_name Description Instruction Name defines which instruction to use if the parameter Name contains more information than only the instruction. Usage If the instruction contains optional arguments, it is recommended to mark this in the parameter Name. Then Instruction Name is used to specify the instruction, as spelled in RAPID. Allowed values The instruction name, a string with maximum 32 characters, as spelled in RAPID. Related information Name on page 317. Parameter Number on page 318. Alternative Number on page 319. Technical reference manual - RAPID Instructions, Functions and Data types.

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5.4.6 Only for Motion Task

5.4.6 Only for Motion Task

Parent Only for Motion Task belongs to the types Most Common Instruction - List 1, Most Common Instruction - List 2, and Most Common Instruction - List 3 in the topic Man-machine Communication. Cfg name only_mec_task Description Only for Motion Task defines if the instruction only should be visible in Motion Tasks, i.e. should control the robot movement, e.g. MoveJ. Usage Set Only for Motion Task to True if the instruction only should be visible to Motion Tasks. Allowed values True or False. Related information Technical reference manual - RAPID Instructions, Functions and Data types.

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5.5.1 The Most Common I/O Signal type

5.5 Type Most Common I/O Signal 5.5.1 The Most Common I/O Signal type
Overview This section describes the type Most Common I/O Signal which belongs to the topic Man-machine Communication. Each parameter of this type is described in a separate information topic in this section. Cfg name IO_MOST_COMMON Type description It is possible to have hundreds of I/O signals in the system. To simplify working with them it is possible to group them to a list of the mostly used signals. This list is defined by the type Most Common I/O Signal. Prerequisites A signal must be configured in the system for the signal name. Example This is a typical example of an often used I/O to be included in the list.
Parameter: Signal Name Signal Type Value: MySignalDI1 DI

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5 Topic Man-machine Communication

5.5.2 Signal Name

5.5.2 Signal Name

Parent Signal Name belongs to the type Most Common I/O Signal, in the topic Man-machine Communication. Cfg name name Description The Signal Name is the I/O signal to be part of the Most Common List. Prerequisites A signal must be configured in the system. Allowed values A signal configured in the system, a name with a maximum of 16 characters. Related information The Signal type on page 191.

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5.5.3 Signal Type

5.5.3 Signal Type

Parent Signal Type belongs to the type Most Common I/O Signal, in the topic Man-machine Communication. Cfg name type Description Signal Type defines the type of signal to be used in the common list. Allowed values The following values are allowed.
Value: DI DO AI AO GI GO Description: Digital Input Digital Output Analog Input Analog Output Group Input Group Output

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5 Topic Man-machine Communication

5.6.1 The Production Permission type

5.6 Type Production Permission 5.6.1 The Production Permission type

Overview This section describes the type Production Permission which belongs to the topic Man-Machine Communication. Each parameter of this type is described in a separate information topic in this section. Cfg name PROD_PERMISSION Type description Different types of operating restrictions and other features may be connected to specific operating modes. Such connections are specified in the Production Permission type.

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5 Topic Man-machine Communication

5.6.2 Name

5.6.2 Name
Parent Name belongs to the type Production Permission in the topic Man-Machine Communication. Cfg name name Description The parameter Name specifies the name of the permission. Usage The name of the permission is used as a reference to a specific permission when configuring the system. Allowed values RUN Mode.

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5 Topic Man-machine Communication

5.6.3 Permission

5.6.3 Permission
Parent Permission belongs to the type Production Permission in the topic Man-Machine Communication. Cfg name permission Description The parameter Permission specifies whether switching to Cycle_mode while running in the Auto mode should be allowed or not. While running in the Auto Mode, it is normally possible to choose between Cycle_mode and Continuous_mode. In certain circumstances, this is not desired: always when running in the Auto Mode, the Continuous_mode must be active. The parameter type restricts or permits switching to Cycle_mode while in the Auto mode. If the name is set to RUN Mode, the permission may be set to Restricted in Auto, and it will not be possible to switch from Continuous_mode to Cycle_mode while in the Auto Mode. Allowed values
Value Changeable in Auto Restricted in Auto Description This setting enables the system to be switched to Cycle_mode or Continuous_mode while running in the Auto Mode. This setting prohibits the system to be switched to Cycle_mode while running in the Auto Mode. Only Continuous_mode is possible.

Default value is Changeable in Auto.

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5 Topic Man-machine Communication

5.7.1 The Warning at Start type

5.7 Type Warning at Start 5.7.1 The Warning at Start type

Overview This section describes the type Warning at Start which belongs to the topic Man-machine Communication. Each parameter of this type is described in a separate information topic in this section. Cfg name WARN_AT_START Type description If Warning at Start is used, then if the program pointer (PP) and the cursor are not on the same instruction when starting a program then a dialog box is displayed. The program pointer must be moved to the cursor, or the cursor moved to the program pointer, before the program can be started. The default setting is that a warning is not displayed. Then the cursor is automatically set to the program pointer and the program is started. The system must be restarted for changes to take effect. Limitations There can be only one instance of the type Warning at Start in the system. The name of the instance must not be changed. The type Warning at Start can only be changed via configuration files.

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5 Topic Man-machine Communication

5.7.2 Cursor PP Diff Warning

5.7.2 Cursor PP Diff Warning

Parent Cursor PP Diff Warning belongs to the type Warning at Start, in the topic Man-machine Communication. Cfg name Warn Description Cursor PP Diff Warning defines if a warning should be displayed if the user tries to start a program when program pointer and cursor are not on the same row. Usage Set Cursor PP Diff Warning to 1 if the warning should be displayed. If the operator taps Cursor PP Diff Warningthen the cursor is moved to the row where the program pointer is and the program can be started. Allowed values 0 or 1. Default value is 0.

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5.7.3 Show PP to Cursor Button

5.7.3 Show PP to Cursor Button

Parent Show PP to Cursor Button belongs to the type Warning at Start, in the topic Man-machine Communication. Cfg name Visible Description Show PP to Cursor Button defines if the button labelled Cursor should be visible in the warning displayed if the user tries to start a program when program pointer and cursor are not on the same row. Usage Set Show PP to Cursor Button to 1 if the button should be visible. If the operator taps Cursor then the program pointer is moved to the row where the cursor is and the program can be started. Prerequisites The cursor button will only available if the operator has UAS grant UAS_RAPID_DEBUG.. Allowed values 0 or 1. Default value is 0.

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6 Topic Motion
6.1 The Motion topic

6 Topic Motion
6.1 The Motion topic
Overview This chapter describes the types and parameters of the Motion topic. Each parameter is described in the section for its type. The topic Motion is extensive, with some 40 types. This manual revision covers the most commonly used parameters and types. Description Motion contains parameters associated with motion control in the robot and external equipment. The topic includes configuring the calibration offset and the working space limits. The described parameters are organized in the following types: 1 Acceleration Data 2 Arm 3 Arm Check Point 4 Arm Load 5 Brake 6 Control Parameters 7 Drive Module 8 Drive System 9 Drive Unit 10 Force Master 11 Force Master Control 12 Friction Compensation 13 Jog Parameters 14 Joint 15 Lag Control Master 0 16 Linked M Process 17 Mains 18 Measurement Channel 19 Mechanical Unit 20 Motion Planner 21 Motion Supervision 22 Motion System 23 Motor 24 Motor Calibration 25 Motor Type 26 Path Sensor Synchronization 27 Process Continues on next page
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6 Topic Motion
6.1 The Motion topic Continued 28 Relay 29 Robot 30 Robot Serial Number 31 SG Process 32 Single 33 Single Type 34 Stress Duty Cycle 35 Supervision 36 Supervision Type 37 Transmission 38 Uncalibrated Control Master 0 Configuration results Changed motion parameters requires a restart of the controller. Otherwise the changes will not have any effect on the system. An exception to the rule is the motion supervision parameters which do not require a restart. See the type Motion Supervision section for more information.

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6 Topic Motion
6.2.1 How to define base frame

6.2 Workflows 6.2.1 How to define base frame

The robot and the base frame Normally, the base frame of the robot coincides with the world frame. However, the base frame can be moved relative to the world frame. CAUTION The programmed positions are always related to the world frame. Therefore, all positions are also moved, as seen from the robot. How to define the base frame To define the base frame: 1 In the Motion topic, choose the type Robot. 2 Select the robot to define the base frame for. 3 Edit the parameters defining the base frame: Base Frame x Base Frame y Base Frame z Base Frame q1 Base Frame q2 Base Frame q3 Base Frame q4 Base Frame Moved by

For detailed information about each parameter, see the descriptions in the Robot type section. 4 Save the changes.

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6 Topic Motion
6.2.1 How to define base frame Continued Additional information The illustration shows some examples of frame definitions.

en0300000423

Related information The Robot type on page 597.

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6 Topic Motion
6.2.2 How to restrict the work area for articulated robots

6.2.2 How to restrict the work area for articulated robots

Robot work area The work area for an articulated robot is restricted by limiting the working range for the axes. The work area can also be restricted using hardware stops. To restrict the robot work area for articulated robots: 1 In the Motion topic, choose the type Arm. 2 Select the arm to edit. 3 Edit the parameters Upper Joint Bound and Lower Joint Bound to set the respective limit of the work area for this joint in radians. 4 Save the changes. Related information Upper Joint Bound on page 358. Lower Joint Bound on page 359. How to restrict the work area for parallel arm robots on page 336.

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6.2.3 How to restrict the work area for parallel arm robots

6.2.3 How to restrict the work area for parallel arm robots
Robot work area The work area for a parallel arm robot is restricted by defining a cube in which the TCP0 is allowed to move.

en0500001489

P1 P2

Lower work area x, y, z Upper work area x, y, z

The coordinates are defined in the base coordinate system and the work area is checked with respect to the predefined tool, tool0. It is not possible to check the position with respect to another tool. To restrict the robot work area for parallel arm robots: 1 In the Motion topic, choose the type Robot. 2 Edit the parameters Upper Work Area and Lower Work Area for the coordinates x, y, and z. 3 Save the changes. Note The system parameters that define the work area for parallel robot are valid only for IRB 340 and IRB 360 robots. Related information Upper Work Area x, y, z on page 610. Lower Work Area x, y, z on page 611. How to restrict the work area for articulated robots on page 335.

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6 Topic Motion
6.2.4 How to define arm check point

6.2.4 How to define arm check point

Arm check point If an extra load, such as a transformer or a welding-bar roller, is attached to arm 3, a point on this equipment can be defined as a check point. The robot will then monitor the speed of this point so that it does not exceed 250 mm/s in manual reduced speed mode.

en0300000425

P1 z3 x3

Arm check point z-axis for arm 3 x-axis for arm 3

Limitations The value for the Use Check Point parameter must be identical to the name used for the arm check point. Bound check point The check point can also be restricted to stay outside a defined cube, when the robot is moving. The cube is defined by six coordinates, three upper and three lower, see illustration, all being related to the robot base coordinate system. Thus the defined cube will work as a stationary world zone, where the inside of the cube is the forbidden area for the arm check point.

en0500001489

P1 P2

Lower check point bound x, y, z Upper check point bound x, y, z

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6 Topic Motion
6.2.4 How to define arm check point Continued How to define arm check point To define the arm check point: 1 In the Motion topic, choose the type Arm Check Point. 2 Edit the parameters for the check point. For detailed information, see the descriptions in the Arm Check Point type section. 3 Make a note of the Name parameter value to use later. 4 Save the changes. 5 In the topic Motion, choose the type Arm. 6 First select arm 3 to connect the check point to the arm. Then edit the parameter Use Check Point. The value has to be identical to the name used for the arm check point (step 2-3 above). For detailed information about the parameters, see sections Arm type and Arm Check Point type. 7 Save the changes. 8 To restrict the check point, choose the type Robot in the topic Motion. 9 Edit the parameters Upper Check Point Bound and Lower Check Point Bound for the six coordinates. For detailed information about the parameters, see section Robot type. 10 Save the changes. Related information The Arm type on page 355. The Arm Check Point type on page 375. Upper Check Point Bound x, y, z on page 612. Lower Check Point Bound x, y, z on page 613. The Product manual for the robot.

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6 Topic Motion
6.2.5 How to define arm loads

6.2.5 How to define arm loads

Arm load Arm load is used for defining loads from equipment mounted on robot arms. If arm load is not defined when equipment is mounted on robot arms, the performance of the robot is negatively affected. For more information about arm loads, see the type Arm Load. Prerequisites The mass, the mass center, and the moment of inertia of the load have to be measured or calculated before defining the arm load. Arms for relating arm load to Arm loads can be related to all the robot arms. For the arms 1, 2, and 3, see the following illustration. Generally all loads are defined according to its joint intersection. The load for arm 4 is an exception and is defined according to the joint intersection for axis 3 in the sync position. The load for track motion is defined according to the robot base frame.

en0300000424

If more than one load is mounted on the same arm, the total weight and the center of gravity for the loads have to be calculated. How to define an arm load To define an arm load: 1 In the topic Motion, choose the type Arm Load. 2 Select the arm load to define. 3 Enter or change the parameters of the arm load and save your changes. For detailed information about each parameter, see the descriptions in the type Arm Load. 4 In the topic Motion, choose the type Arm and select the arm that the load is mounted on. 5 For the selected arm, choose the Use Arm Load parameter and select the name of the arm load in the list of defined loads. 6 Save the changes. Continues on next page
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6 Topic Motion
6.2.5 How to define arm loads Continued Related information The Arm Load type on page 378. The Arm type on page 355.

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6 Topic Motion
6.2.6 How to optimize drive system parameters

6.2.6 How to optimize drive system parameters

The drive system parameters The drive system can be configured so that it corresponds to the robot's installation. The parameters related to the drive system are organized in two types.
To optimize the... tolerance for the mains power supply cable type and length ... use the parameters of the type Mains Cable

Default and optimal values All drive system parameters have nominal values after installation. For improving the robot's performance, these parameters can be adjusted according to the robot's actual installation. CAUTION Parameter settings outside the range of the robot's installation may negatively affect the robot's performance. How to optimize the mains tolerance To optimize the tolerance for the mains power supply: 1 In the topic Motion, choose the type Mains. 2 Edit the Mains Tolerance Min parameter according to the robot's installation. For detailed information about each parameter, see the descriptions in the type Mains. 3 Save the changes. Example to show how the mains tolerance can affect the robot performance The systems with 220-230V single phase mains can be optimized using the mains tolerance. For example, for the IRB140T 6kg robot with the default settings 220V mains and mains tolerance min -0.15, the max speed for the corresponding joints become as shown in the following table.
Joint 1 2 3 4 5 6 Max speed Default settings 229 deg/s 228 deg/s 245 deg/s 348 deg/s 360 deg/s 450 deg/s Max speed mains tolerance min = 0.0 250 deg/s 250 deg/s 260 deg/s 360 deg/s 360 deg/s 450 deg/s

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6 Topic Motion
6.2.6 How to optimize drive system parameters Continued Setting the mains tolerance min to 0.0 means to have a mains of 220V single phase. At 230V this is equivalent to 230V -4.3%. For more detailed performance data, see the respective robot product specification. CAUTION Changing the mains tolerance min can create a situation where the system stops due to a too low DC-bus voltage, rectifier saturation, or some other error code. In this case the tolerance must be increased. Related information The Mains type on page 498.

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6 Topic Motion
6.2.7 How to tune motion supervision

6.2.7 How to tune motion supervision

Motion supervision Motion supervision is functionality for collision detection with the option Collision detection. How to tune the motion supervision To tune the motion supervision: 1 In the Motion topic, choose the type Motion Supervision. 2 Decide which robot to tune the supervision for. 3 Edit the parameters for motion supervision. For detailed information about each parameter, see the descriptions in the type Motion Supervision. 4 Save the changes. Related information The Motion Supervision type on page 547. Application manual - Motion coordination and supervision.

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6.2.8 How to define transmission gear ratio for independent joints

6.2.8 How to define transmission gear ratio for independent joints

Transmission gear ratio An independent joint can rotate in one direction for a long time, resetting the measurement system regularly. A small round-off in the transmission gear ratio can build up to large errors over time. The transmission gear ratio must therefore be given as an exact fraction (e.g. 10/3 instead of 3.3333). Define the transmission gear ratio by setting Transmission Gear High to the numerator and Transmission Gear Low to the denominator. Limitations The parameters Transmission Gear High and Transmission Gear Low are only useful if you have the RobotWare option Independent Axes. When a joint is not in independent mode, it uses the parameter Transmission Gear Ratio instead of Transmission Gear High and Transmission Gear Low. How to calculate transmission gear ratio If the proportions for the transmission gear ratio are complex, count the cogs to get the exact ratio.

xx0300000285

In the illustration, the total transmission gear ratio is:

xx0300000272

N1, N2, n1 and n2 represent the number of cogs on each gearwheel.

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6 Topic Motion
6.2.8 How to define transmission gear ratio for independent joints Continued To get an exact representation of the transmission gear ratio: 1 In the Motion topic, choose the type Transmission. 2 Decide which for joint to define the transmission gear ratio. 3 Set the parameter Transmission Gear High to the value N1 x N2. 4 Set the parameter Transmission Gear Low to the value n1 x n2. Related information The Transmission type on page 690. Application manual - Motion functions and events.

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6.2.9 How to define external torque

6.2.9 How to define external torque

External torque When external equipment, for example a cable or a coiled hose, affects any joint significantly, the external torque should be defined using the following formula: T = A + |k (0 - 0)| T = external torque [Nm] A = constant torque [Nm] k = scale factor for position dependent torque [Nm] 0= joint position when position dependent torque is zero [rad]

xx0800000265

z y

zero angle joint position

If the estimated value of a significant external torque is too low, there can be unnecessary path deviations and the manipulator might be damaged. If the estimated value is too high, the performance of the manipulator is reduced due to restrictive acceleration limits. How to define external torque To define external torque: 1 In the Motion topic, choose the type Arm. 2 Select the arm to edit. 3 Set the desired values for the parameters External Const Torque, External Proportional Torque, and External Torque Zero Angle. 4 Save the changes. Related information The Arm type on page 355. External Const Torque on page 368. External Proportional Torque on page 370. External Torque Zero Angle on page 371.

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6 Topic Motion
6.2.9 How to define external torque Continued Example A coiled hose is mounted and affects joint 6 as follows: 0 Nm at 0 degrees. 5 Nm at 200 degrees. This external torque can be defined using the following formula: A = 0, 0 = 0, k = 5 / (200 (pi / 180))

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6 Topic Motion
6.2.10 How to define supervision level

6.2.10 How to define supervision level

Supervision level It is possible to change the default supervision levels if a system needs to be more or less tolerant to external disturbances. A higher tune factor than 1.0 gives a more tolerant robot system, and vice versa. E.g. increasing the tune factor from 1.0 to 2.0, doubles the allowed supervision levels, which makes the robot system more tolerant to external disturbances. Note Increasing the tune factors can reduce the lifetime of the robot. How to define the supervision level To define the supervision level: 1 In the Motion topic, choose the type Arm. 2 Select the arm to change. 3 For the selected arm, set the desired values of the parameters Jam Supervision Trim Factor, Load Supervision Trim Factor, Speed Supervision Trim Factor, and Position Supervision Trim Factor. 4 Save the changes. Related information The Arm type on page 355. Jam Supervision Trim Factor on page 364. Load Supervision Trim Factor on page 365. Speed Supervision Trim Factor on page 366. Position Supervision Trim Factor on page 367.

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6 Topic Motion
6.3.1 The Acceleration Data type

6.3 Type Acceleration Data 6.3.1 The Acceleration Data type

Overview This section describes the type Acceleration Data, which belongs to the topic Motion. Each parameter of the type is described in a separate information topic in this section. Cfg name ACC_DATA Type description The type Acceleration Data is used to specify some acceleration characteristics for axes without any dynamic model. This is the case for certain additional axes. For axes that have a dynamic model, Acceleration Data must still be specified even if a more complex model is normally used for the acceleration characteristics.

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6 Topic Motion
6.3.2 Name

6.3.2 Name
Parent Name belongs to the type Acceleration Data, in the topic Motion. Cfg name name Description The name of the set of Acceleration Data. Usage Name is used to reference a set of Acceleration Data from the parameter Use Acceleration Data in the type Arm. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.3.3 Nominal Acceleration

6.3.3 Nominal Acceleration

Parent Nominal Acceleration belongs to the type Acceleration Data, in the topic Motion. Cfg name wc_acc Description Worst case motor acceleration. Usage Set Nominal Acceleration to a value of the acceleration the axis can always perform (even when gravity and friction are unfavorable). Nominal Acceleration is always used by axes without any dynamic model. For axes with dynamic model, it is only used in independent mode. Allowed values A numeric value between 0 and 1000, in rad/s2 (or m/s2) on the arm side.

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6 Topic Motion
6.3.4 Nominal Deceleration

6.3.4 Nominal Deceleration

Parent Nominal Deceleration belongs to the type Acceleration Data, in the topic Motion. Cfg name wc_dec Description Worst case motor deceleration. Usage Set Nominal Deceleration to a value of the deceleration the axis can always perform (even when gravity and friction are unfavorable). Nominal Deceleration is always used by axes without any dynamic model. For axes with dynamic model, it is only used in independent mode. Allowed values A numeric value between 0 and 1000, in rad/s2 (or m/s2) on the arm side.

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6 Topic Motion
6.3.5 Acceleration Derivate Ratio

6.3.5 Acceleration Derivate Ratio

Parent Acceleration Derivate Ratio belongs to the type Acceleration Data, in the topic Motion. Cfg name wc_dacc_ratio Description Acceleration Derivate Ratio defines how fast the acceleration can build up, i.e. an indication of the derivative of the acceleration. Usage If the derivative of the acceleration is not limiting the acceleration, set Acceleration Derivate Ratio to 1. If the acceleration must be increased at a slower rate, set Acceleration Derivate Ratio to a ratio of the maximum acceleration derivative (e.g. 0.5 to increase the acceleration half as fast as possible). Limitations Acceleration Derivate Ratio is not used during independent joint motion. Allowed values A numeric value between 0.1 and 1. The value has no unit, but is a ratio of the maximum acceleration derivative. The default value is 1.

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6 Topic Motion
6.3.6 Deceleration Derivate Ratio

6.3.6 Deceleration Derivate Ratio

Parent Deceleration Derivate Ratio belongs to the type Acceleration Data, in the topic Motion. Cfg name wc_ddec_ratio Description Deceleration Derivate Ratio defines how fast the deceleration can build up, i.e. an indication of the derivative of the deceleration. Usage If the derivative of the deceleration is not limiting the deceleration, set Deceleration Derivate Ratio to 1. If the deceleration must be increased at a slower rate, set Deceleration Derivate Ratio to a ratio of the maximum deceleration derivative (e.g. 0.5 to increase the deceleration half as fast as possible). Limitations Deceleration Derivate Ratio is not used during independent joint motion. Allowed values A numeric value between 0.1 and 1. The value has no unit, but is a ratio of the maximum deceleration derivative. The default value is 1.

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6 Topic Motion
6.4.1 The Arm type

6.4 Type Arm 6.4.1 The Arm type

Overview This section describes the type Arm, which belongs to the topic Motion. Each parameter of this type is described in a separate information topic in this section. Cfg name ARM Type description The Arm type contains a number of parameters that defines the characteristics for an arm. There is one set of parameters of the type Arm for each joint. Related information How to define supervision level on page 348. How to define external torque on page 346.

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6.4.2 Name

6.4.2 Name
Parent Name belongs to the type Arm, in the topic Motion. Cfg name Name Description Name defines the name of the set of parameters for type Arm. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.4.3 Independent Joint

6.4.3 Independent Joint

Parent Independent Joint belongs to the type Arm, in the topic Motion. Cfg name independent_joint_on Description Independent Joint is a flag for each axis that indicates whether the axis can be changed to independent mode. Usage Normally, all external axes and robot axis 6 allow independent mode. To prevent one of these axes moving independently, set Independent Joint to Off for that axis. Limitations Independent Joint is only useful if you have the RobotWare option Independent Axes. Allowed values On or Off. Related information Application manual - Motion functions and events.

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6.4.4 Upper Joint Bound

6.4.4 Upper Joint Bound

Parent Upper Joint Bound belongs to the type Arm, in the topic Motion. Cfg name upper_joint_bound Description Upper Joint Bound defines the upper limit of the working area for this joint. Usage Upper Joint Bound can be used to limit the working area (in radians) of the joint. Note that it is not possible to use a value that is larger than the maximal allowed limit for the specific joint. Trying this will cause the system to use the maximal allowed value instead. Limitations This parameter is valid only for articulated robots. Allowed values A value between -1,256,637 and 1,256,637 radians. Related information Lower Joint Bound on page 359. How to restrict the work area for articulated robots on page 335.

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6 Topic Motion
6.4.5 Lower Joint Bound

6.4.5 Lower Joint Bound

Parent Lower Joint Bound belongs to the type Arm, in the topic Motion. Cfg name lower_joint_bound Description Lower Joint Bound defines the lower limit of the working area for this joint. Usage Lower Joint Bound can be used to limit the working area (in radians) of the joint. Note that it is not possible to use a value that is smaller than the minimal allowed limit for the specific joint. Trying this will cause the system to use the minimal allowed value instead. Limitations This parameter is valid only for articulated robots. Allowed values A value between -1,256,637 and 1,256,637 radians. Related information Upper Joint Bound on page 358. How to restrict the work area for articulated robots on page 335.

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6 Topic Motion
6.4.6 Independent Upper Joint Bound

6.4.6 Independent Upper Joint Bound

Parent Independent Upper Joint Bound belongs to the type Arm, in the topic Motion. Cfg name ind_upper_joint_bound Description Defines the upper limit of the working area for the joint when operating in independent mode. Usage Independent Upper Joint Bound is used together with Independent Lower Joint Bound to limit the work area for a joint that is in independent mode. Limitations Independent Upper Joint Bound is only useful if you have the option Independent Axes. Allowed values Any number (in radians). Related information Application manual - Motion functions and events.

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6 Topic Motion
6.4.7 Independent Lower Joint Bound

6.4.7 Independent Lower Joint Bound

Parent Independent Lower Joint Bound belongs to the type Arm, in the topic Motion. Cfg name ind_lower_joint_bound Description Defines the lower limit of the working area for the joint when operating in independent mode. Usage Independent Lower Joint Bound is used together with Independent Upper Joint Bound to limit the work area for a joint that is in independent mode. Limitations Independent Lower Joint Bound is only useful if you have the option Independent Axes. Allowed values Any number (in radians). Related information Application manual - Motion functions and events.

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6.4.8 Calibration Position

6.4.8 Calibration Position

Parent Calibration Position belongs to the type Arm, in the topic Motion. Cfg name cal_position Description Calibration Position defines the position of the axis when it was fine calibrated. Usage If this value is to be updated, i.e. a fine calibration is to be performed, use Calibration pendulum to achieve the correct kinematic position of the axis and then fine calibrate the axis. It is then necessary to subsequently fine calibrate axes of higher order. Allowed values A value between -1000 and 1000, specifying the position in radians. Related information Product Manual for the manipulator. Operating manual - Calibration Pendulum.

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6 Topic Motion
6.4.9 Performance Quota

6.4.9 Performance Quota

Parent Performance Quota belongs to the type Arm, in the topic Motion. Cfg name performance_quota Description Performance Quota can be used to reduce the acceleration for the joint. Usage Setting Performance Quota value to 1.0 gives normal performance, but if less acceleration is desired, a lower value can be entered. Allowed values A number between 0.45 and 1.0.

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6 Topic Motion
6.4.10 Jam Supervision Trim Factor

6.4.10 Jam Supervision Trim Factor

Parent Jam Supervision Trim Factor belongs to the type Arm, in the topic Motion. Cfg name supervision_jam_time_factor Description Jam Supervision Trim Factor defines the tune factor for jam supervision. Usage The tune factor influences the maximum time allowed at zero speed with maximum torque. Allowed values A number between 0.1 and 10.0. Related information How to define supervision level on page 348

364 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.4.11 Load Supervision Trim Factor

6.4.11 Load Supervision Trim Factor

Parent Load Supervision Trim Factor belongs to the type Arm, in the topic Motion. Cfg name supervision_load_factor Description Load Supervision Trim Factor defines the tune factor for load supervision. Usage The factor influences the maximum time allowed at non-zero speed with maximum torque. Allowed values A number between 0.1 and 10.0. Related information How to define supervision level on page 348.

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6 Topic Motion
6.4.12 Speed Supervision Trim Factor

6.4.12 Speed Supervision Trim Factor

Parent Speed Supervision Trim Factor belongs to the type Arm, in the topic Motion. Cfg name supervision_speed_factor Description Speed Supervision Trim Factor defines the tune factor for speed supervision. Usage The factor influences the maximum allowed speed error. Allowed values A number between 0.05 and 10.0. Related information How to define supervision level on page 348.

366 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.4.13 Position Supervision Trim Factor

6.4.13 Position Supervision Trim Factor

Parent Position Supervision Trim Factor belongs to the type Arm, in the topic Motion. Cfg name supervision_pos_factor Description Position Supervision Trim Factor defines the tune factor for position supervision. Usage The factor influences the maximum allowed position error. Allowed values A number between 0.1 and 10.0. Related information How to define supervision level on page 348.

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6 Topic Motion
6.4.14 External Const Torque

6.4.14 External Const Torque

Parent External Const Torque belongs to the type Arm, in the topic Motion. Cfg name ext_const_torque Description External Const Torque defines the external constant torque. Usage The value of External Const Torque is used in the formula for calculation of external torque. Allowed values A value between 0 and 100,000, specifying the constant torque in Nm. Related information How to define external torque on page 346.

368 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.4.15 Use Arm Load

6.4.15 Use Arm Load

Parent Use Arm Load belongs to the type Arm, in the topic Motion. Cfg name use_customer_arm_load Description Use Arm Load defines the name of the arm load that is used for this arm. Usage The arm load is set in the type Arm Load. Allowed values A string with maximum 32 characters, defining an Arm Load type. Related information The Arm Load type on page 378.

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6 Topic Motion
6.4.16 External Proportional Torque

6.4.16 External Proportional Torque

Parent External Proportional Torque belongs to the type Arm, in the topic Motion. Cfg name ext_prop_torque Description External Proportional Torque defines the scale factor for position-dependent torque. Usage The value of External Proportional Torque is used in the formula for calculation of external torque. Allowed values A value between -100,000 and 100,000, specifying the scale factor in Nm/rad. Related information How to define external torque on page 346.

370 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.4.17 External Torque Zero Angle

6.4.17 External Torque Zero Angle

Parent External Torque Zero Angle belongs to the type Arm, in the topic Motion. Cfg name ext_prop_zero_angle Description External Torque Zero Angle defines the joint position when position-dependent torque is zero. Usage The value of External Torque Zero Angle is used in the formula for calculation of external torque. Allowed values A value between -100,000 and 100,000, specifying the position in radians. Related information How to define external torque on page 346.

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6 Topic Motion
6.4.18 Load Id Acceleration Ratio

6.4.18 Load Id Acceleration Ratio

Parent Load Id Acceleration Ratio belongs to the type Arm, in the topic Motion. Cfg name load_id_acc_ratio Description Load Id Acceleration Ratio can be used to reduce the acceleration of the joint during load identification. Usage Reducing the acceleration of the joint during load identification can be useful if the torque supervision is triggered when identifying payloads with large inertia. If this happens, try to reduce the value of Load Id Acceleration Ratio until the problem disappears. Allowed values A number between 0.2 and 1.0.

372 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.4.19 Angle Acceleration Ratio

6.4.19 Angle Acceleration Ratio

Parent Angle Acceleration Ratio belongs to the type Arm, in the topic Motion. Cfg name angle_acc_ratio Description Angle Acceleration Ratio defines the maximum angle acceleration ratio for the motor sensor. Usage This parameter should only be changed by ABB. Allowed values A value between 0.02 and 1.0. Default value is 1.0.

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6 Topic Motion
6.4.20 Deactivate Cyclic Brake Check for axis

6.4.20 Deactivate Cyclic Brake Check for axis

Parent Deactivate Cyclic Brake Check for axis belongs to the type Arm, in the topic Motion. Cfg name deactivate_cyclic_brake_check_arm Description Deactivate Cyclic Brake Check for axis defines if the arm should be excluded from the SafeMove function Cyclic Brake Check. Usage If an axis should be excluded from Cyclic Brake Check, set the parameter Deactivate Cyclic Brake Check for axis to On. The axis must also be deactivated in the configuration of Cyclic Brake Check. See Application manual - SafeMove. Allowed values On or Off. On means that the Cyclic Brake Check is deactivated for the axis. Default value is Off. Related information Application manual - SafeMove.

374 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.5.1 The Arm Check Point type

6.5 Type Arm Check Point 6.5.1 The Arm Check Point type
Overview This section describes the type Arm Check Point, which belongs to the topic Motion. Each parameter of this type is described in a separate information topic. Cfg name ARM_CHECK_POINT Type description If an extra load, such as a transformer or a welding-bar roller, is attached to arm 3, a point on this equipment can be defined as a check point. The robot will then monitor the speed of this point so that it does not exceed 250 mm/s in manual reduced speed mode. Related information How to define arm check point on page 337.

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6 Topic Motion
6.5.2 Name

6.5.2 Name
Parent Name belongs to the type Arm Check Point, in the topic Motion. Cfg name name Description Name defines the name of the arm check point. A check point can be used to let the robot monitor the speed of that specified point Allowed values A string with maximum 24 characters. Related information How to define arm check point on page 337.

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6 Topic Motion
6.5.3 Position x, y, z

6.5.3 Position x, y, z
Parent Position x, Position y, and Position z belongs to the type Arm Check Point, in the topic Motion. Cfg names position_x position_y position_z Description Position x defines the x-coordinate of the position of the check point, specified on the basis of the current frame of the arm (in meters). Position y defines the y-coordinate of the position of the check point, specified on the basis of the current frame of the arm (in meters). Position z defines the z-coordinate of the position of the check point, specified on the basis of the current frame of the arm (in meters). Allowed values A value between -3 to 3, specifying the position in meters. Related information How to define arm check point on page 337.

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377

6 Topic Motion
6.6.1 The Arm Load type

6.6 Type Arm Load 6.6.1 The Arm Load type

Overview This section describes the type Arm Load, which belongs to the topic Motion. Each parameter of the type is described in a separate information topic in this section. Cfg name ARM_LOAD Type description Arm Load is used for defining loads from equipment mounted on robot arms. If the arm load is not defined when equipment is mounted on the robot arm, the performance of the robot is negatively affected. The Arm configuration defines which Arm Load to use for the arm. Predefined arm loads There are four predefined arm loads in the robot controller. They are r1_load_1, r1_load_2, r1_load_3, and r1_load_4. For track motion, the predefined arm load in the robot controller is t1_load_1. The predefined arm loads must be adjusted to match the load and selected for the arm that it belongs to before use. Related information How to define arm loads on page 339.

378 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.6.2 Name

6.6.2 Name
Parent Name belongs to the type Arm Load, in the topic Motion. Cfg name name Description Name specifies the name of the arm load setting it belongs to. Allowed values A string with maximum 32 characters, specifying the name. Related information How to define arm loads on page 339.

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6 Topic Motion
6.6.3 Mass

6.6.3 Mass
Parent Mass belongs to the type Arm Load, in the topic Motion. Cfg name mass Description Mass specifies the mass of the equipment mounted on a robot arm. Allowed values A value between 0 and 500, specifying the weight in kg. Related information How to define arm loads on page 339.

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6 Topic Motion
6.6.4 Mass Center x, y, z

6.6.4 Mass Center x, y, z

Parent Mass Center x, Mass Center y, and Mass Center z belongs to the type Arm Load, in the topic Motion. Cfg names mass_centre_x mass_centre_y mass_centre_z Description Mass Center x specifies the x-coordinate of the mass center for an arm load in the arm frame. Mass Center y specifies the y-coordinate of the mass center for an arm load in the arm frame. Mass Center z specifies the z-coordinate of the mass center for an arm load in the arm frame. Allowed values A value between -3 and + 3, specifying the coordinate in meters. Related information How to define arm loads on page 339.

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6 Topic Motion
6.6.5 Inertia x, y, z

6.6.5 Inertia x, y, z
Parent Inertia x, Inertia y, and Inertia z belongs to the type Arm Load, in the topic Motion. Cfg names inertia_x inertia_y inertia_z Description Inertia x defines the x-component of the arm load's moment of inertia relative to the load's mass center around the arm's coordinate axes. Inertia y defines the y-component of the arm load's moment of inertia relative to the load's mass center around the arm's coordinate axes. Inertia z defines the z-component of the arm load's moment of inertia relative to the load's mass center around the arm's coordinate axes. Allowed values A value between 0 and 100, specifying the moment of inertia in kgm2. Related information How to define arm loads on page 339.

382 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.7.1 The Brake type

6.7 Type Brake 6.7.1 The Brake type

Overview This section describes the type Brake which belongs to the topic Motion. Cfg name BRAKE Type description The type Brake is used to specify brake parameters for a specific joint. Related information The Joint type on page 454.

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6 Topic Motion
6.7.2 Name

6.7.2 Name
Parent Name belongs to the type Brake, in the topic Motion. Cfg name name Description Name defines the name of the brake. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.7.3 Control Off Speed Limit

6.7.3 Control Off Speed Limit

Parent Control Off Speed Limit belongs to the type Brake, in the topic Motion. Cfg name control_off_speed_limit Description Control Off Speed Limit defines the speed for selection of delay time. Usage The value for Control Off Speed Limit should not be modified. Allowed values A value between 0 and 1. Default value is 0.02.

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6 Topic Motion
6.7.4 Control Off Delay

6.7.4 Control Off Delay

Parent Control Off Delay belongs to the type Brake, in the topic Motion. Cfg name control_off_delay_time Description Control Off Delay specifies the time of normal control before the motor torque is set to zero. Usage Control Off Delay is used when the joint is at zero speed when the brake algorithm is activated. The controller must be active to avoid the joint to fall by gravity before the mechanical brake is engaged. Time must be longer than the time for mechanical brake to engage. Allowed values A value between 0 and 30 seconds. Default value is 0.010 seconds.

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6 Topic Motion
6.7.5 Brake Control On Delay

6.7.5 Brake Control On Delay

Parent Brake Control On Delay belongs to the type Brake, in the topic Motion. Cfg name brake_control_on_delay_time Description Brake Control On Delay specifies the time of normal control before the motor torque is set to zero. Usage Brake Control On Delay is used if the joint is moving when the brake algorithm is activated. The controller must be active to avoid oscillations when the mechanical brake is engaged. The time must be longer than the time for mechanical brake to engage. Normally set to same value as parameter Control Off Delay. Allowed values A value between 0 and 30 seconds. Default value is 0. Related information Control Off Delay on page 386.

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6 Topic Motion
6.7.6 Brake Control Min Delay

6.7.6 Brake Control Min Delay

Parent Brake Control Min Delay belongs to the type Brake, in the topic Motion. Cfg name brake_control_on_min_delay_time Description Brake Control Min Delay defines the minimum delay time. Usage Brake Control Min Delay should not be changed. Allowed values A value between 0 and 5 seconds. Default value is 0.010.

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6 Topic Motion
6.7.7 Absolute Brake Torque

6.7.7 Absolute Brake Torque

Parent Absolute Brake Torque belongs to the type Brake, in the topic Motion. Cfg name absolute_brake_torque Description Absolute Brake Torque defines the brake torque to be used for a simulated electrical brake. Usage Absolute Brake Torque should not be changed. Allowed values A value between 0 and 100,000 Nm. Default value is 0.

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6 Topic Motion
6.7.8 Brake Ramp Speed Limit

6.7.8 Brake Ramp Speed Limit

Parent Brake Ramp Speed Limit belongs to the type Brake, in the topic Motion. Cfg name brake_ramp_speed_limit Description Brake Ramp Speed Limit is the point of torque reduction for simulated electrical brake. Usage Brake Ramp Speed Limit should not be changed. Allowed values A value between 0 and 1. Default value is 1 (equal to 100%).

390 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.7.9 Max Brake Time

6.7.9 Max Brake Time

Parent Max Brake Time belongs to the type Brake, in the topic Motion. Cfg name max_brake_time Description An time-out occurs if a large additional axis use the motor to brake during emergency stop and the stop time exceeds the default value of 5 seconds. The time-out results in stopping all the drive units and the brake torque from the motors are set to zero torque. A warning messageis generated. By increasing the Max Brake Time, the servo motors help the axes to retardate down to zero speed during the whole brake sequence. Usage Measure or calculate the maximum brake time for the axis (including safety margin). If the default value of 5 seconds is exceeded, change the parameter to appropriate value. Allowed values Min 1 s Max 60 s Default value The default value is 5 s.

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6 Topic Motion
6.8.1 The Control Parameters type

6.8 Type Control Parameters 6.8.1 The Control Parameters type

Overview This section describes the type Control Parameters, which belongs to the topic Motion. Each parameter of this type is described in a separate information topic in this section. Cfg name CONTROL_PARAMETERS Type description Each set of parameters of the type Control Parameters belongs to a joint (robot joint or additional axis). The parameters in Control Parameters define what compensations should be made for the friction in the joint. Limitation Changing the parameter values in Control Parameters is only useful if you have the RobotWare option Advanced Shape Tuning. The type Control Parameters is only used by robot models IRB 1400 and IRB 1410. All other robot models use the type Friction Compensation instead. The parameters are the same however. Related information Application manual - Motion performance, chapter Advanced Shape Tuning.

392 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.8.2 Name

6.8.2 Name
Parent Name belongs to the type Control Parameters, in the topic Motion. Cfg name name Description Name defines the name to use for the control parameters. Limitations Name is only useful if you have the RobotWare option Advanced Shape Tuning. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.8.3 Friction FFW On

6.8.3 Friction FFW On

Parent Friction FFW On belongs to the type Control Parameters, in the topic Motion. Cfg name friction_ffw_on Description Friction FFW On determines if the RobotWare option Advanced Shape Tuning is active or not. Usage Set Friction FFW On to Yes if you want to use Advanced Shape Tuning. Limitations Friction FFW On is useful only if you have the RobotWare option Advanced Shape Tuning. Allowed values Yes or No. Related information Application manual - Motion performance.

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6 Topic Motion
6.8.4 Friction FFW Level

6.8.4 Friction FFW Level

Parent Friction FFW Level belongs to the type Control Parameters, in the topic Motion. Cfg name friction_ffw_level Description Friction FFW Level is set to the level of friction in the robot axis. By setting a value that closely corresponds to the real friction, and using the RobotWare option Advanced Shape Tuning, the friction effects can be compensated. Usage Friction effects can cause path deviations when performing advanced shapes. By compensating for the friction with the correct friction level value, these effects can be minimized. Permanent adjustments of the friction level can be made with Friction FFW Level. The friction level can also be temporarily tuned with RAPID commands. Limitations Friction FFW Level is only useful if you have the RobotWare option Advanced Shape Tuning. Allowed values A decimal number between 0 and 15 (in Nm). Related information Application manual - Motion performance.

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6 Topic Motion
6.8.5 Friction FFW Ramp

6.8.5 Friction FFW Ramp

Parent Friction FFW Ramp belongs to the type Control Parameters, in the topic Motion. Cfg name friction_ffw_ramp Description Friction FFW Ramp is set to the speed of the robot axis when the friction has reached the constant friction level defined in Friction FFW Level. See illustration below. Usage Friction effects can cause path deviations when performing advanced shapes. Friction FFW Ramp is used when compensating for these friction effects. Permanent adjustments of the friction ramp can be made with Friction FFW Ramp. The friction ramp can also be temporarily tuned with RAPID commands. Limitations Friction FFW Ramp is only useful if you have the RobotWare option Advanced Shape Tuning. Allowed values A number between 0.001 and 10 (in radians/second). Related information Application manual - Motion performance. Illustration

en0300000278

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6 Topic Motion
6.9.1 The Drive Module type

6.9 Type Drive Module 6.9.1 The Drive Module type

Overview This section describes the type Drive Module, which belongs to the topic Motion. Each parameter of the type is described in a separate information topic in this section. Cfg name DRIVE_MODULE Type description The type Drive Module is used to identify and specify each drive module used in the robot system. There is one set of parameters of the type Drive Module for each drive module in the robot system. Limitations If the robot system does not use MultiMove, there is only one drive module, and therefore only set of parameters of the type Drive Module.

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6 Topic Motion
6.9.2 Name

6.9.2 Name
Parent Name belongs to the type Drive Module, in the topic Motion. Cfg name name Description Defines the unique name of the drive module. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.9.3 Number

6.9.3 Number
Parent Number belongs to the type Drive Module, in the topic Motion. Cfg name number Description Defines the identifying number of the drive module. Usage The drive module number is used to identify the drive module by other system parameters. Allowed values An integer between 1 and 4.

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6 Topic Motion
6.10.1 The Drive System type

6.10 Type Drive System 6.10.1 The Drive System type

Overview This section describes the type Drive System, which belongs to the topic Motion. Each parameter of the type is described in a separate information topic in this section. Cfg name DRIVE_SYSTEM Type description The type Drive System is used to identify and specify each drive system used in the robot system.

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6 Topic Motion
6.10.2 Name

6.10.2 Name
Parent Name belongs to the type Drive System, in the topic Motion. Cfg name name Description Defines the name for the drive system. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.10.3 Use DC-Link

6.10.3 Use DC-Link

Parent Use DC-Link belongs to the type Drive System, in the topic Motion. Cfg name use_dc_link Description Use DC-Link determines which dc-link (rectifier) unit should be used. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.10.4 Use Drive Unit

6.10.4 Use Drive Unit

Parent Use Drive Unit belongs to the type Drive System, in the topic Motion. Cfg name use_drive_unit Description Use Drive Unit determines which drive unit should be used. Allowed values A string with maximum 32 characters. Related information The Drive Unit type on page 405. Application manual - Additional axes and stand alone controller.

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6 Topic Motion
6.10.5 Current Vector On

6.10.5 Current Vector On

Parent Current Vector On belongs to the type Drive System, in the topic Motion. Cfg name current_vector_on Description Current Vector On defines if the vector control is active. Usage Current Vector On controls an activation switch. It is used to prevent that an axis with uncommutated motor runs away at start. The parameter is reset by the service routine COMMUTATION, or manually via RobotStudio or FlexPendant. Allowed values Yes No Default value is No. Related information Application manual - Additional axes and stand alone controller, section Tuning.

404 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.11.1 The Drive Unit type

6.11 Type Drive Unit 6.11.1 The Drive Unit type

Overview This section describes the type Drive Unit, which belongs to the topic Motion. Each parameter of the type is described in a separate information topic in this section. Cfg name DRIVE_UNIT Type description The type Drive Unit is used to identify and specify each drive unit used in the robot system. Additional information The Drive System type on page 400.

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6 Topic Motion
6.11.2 Name

6.11.2 Name
Parent Name belongs to the type Drive Unit, in the topic Motion. Cfg name name Description Defines the name for the drive unit. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.11.3 Drive Unit Position

6.11.3 Drive Unit Position

Parent Drive Unit Position belongs to the type Drive Unit, in the topic Motion. Cfg name unit_position Description Drive Unit Position defines the logical position on the Drive Unit network, starting with 1, then 2, 3, and so on. Allowed values A value between 1 and 5.

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6 Topic Motion
6.12.1 The Force Master type

6.12 Type Force Master 6.12.1 The Force Master type

Overview This section describes the type Force Master, which belongs to the topic Motion. Each parameter of the type is described in a separate information topic in this section. Cfg name FORCE_MASTER Type description Force Master is used to define how a servo gun behaves during the two faces of the gun closing: when approaching the point where position regulation is replaced by force control during force control.

Values for position, torque, force, etc. are specified for calibration and gun closing. Limitations Force Master can only be used for servo tools. Non-editable parameters The following parameters are visible but not editable in the software configuration tools: Force Detection Speed Max Pos Err Closing

As a consequence, the above parameters are not described in the manual. Related information Application manual - Servo motor control.

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6 Topic Motion
6.12.2 Name

6.12.2 Name
Parent Name belongs to the type Force Master, in the topic Motion. Cfg name name Description The name of the Force Master. Usage Name is used to reference a Force Master from the parameter Use Force Master in the type SG Process. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.12.3 Use Force Master Control

6.12.3 Use Force Master Control

Parent Use Force Master Control belongs to the type Force Master, in the topic Motion. Cfg name use_force_master_control Description Use Force Master Control determines which Force Master Control should be used. Usage Use Force Master Control is a reference to the parameter Name in the type Force Master Control. Prerequisites A Force Master Control must be configured before Use Force Master Control can refer to it. Limitations Use Force Master Control can only be used for servo tools. Allowed values A string with maximum 32 characters. Related information The Force Master Control type on page 422.

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6 Topic Motion
6.12.4 References Bandwidth

6.12.4 References Bandwidth

Parent References Bandwidth belongs to the type Force Master, in the topic Motion. Cfg name bandwidth_ramping Description The frequency limit for the low pass filter for reference values. During position regulation, when approaching the plate thickness, position and speed values will be filtered in this low pass filter to avoid sharp step functions. Usage A high value on References Bandwidth will make little use of the low pass filter. If the servo tool is vibrating due to irregular movements, References Bandwidth can be set to a lower value. A low value will make the servo tool movements slower. Limitations References Bandwidth can only be used for servo tools. Allowed values A numeric value between 1 and 124 (Hz). The default value is 25 Hz.

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6 Topic Motion
6.12.5 Use Ramp Time

6.12.5 Use Ramp Time

Parent Use Ramp Time belongs to the type Force Master, in the topic Motion. Cfg name ramp_time_switch Description Determines if the ramping of the tip force should use a constant time or a constant gradient. Usage If the tip force should be ramped up to its ordered value during the time specified in Ramp Time, set Use Ramp Time to Yes. The ramp rate will then vary to make the ramp time constant. If the tip force should be increased at a constant rate, specified in Ramp when Increasing Force, set Use Ramp Time to No. The ramp time will then vary to make the ramp rate constant. Limitations Use Ramp Time can only be used for servo tools. Allowed values Yes or No.

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6 Topic Motion
6.12.6 Ramp when Increasing Force

6.12.6 Ramp when Increasing Force

Parent Ramp when Increasing Force belongs to the type Force Master, in the topic Motion. Cfg name ramp_torque_ref_closing Description Ramp when Increasing Force decides how fast the torque is ramped up to the ordered torque after contact position is reached at a close gun command. Usage A higher value of Ramp when Increasing Force will make the tip force build up faster. Prerequisites Ramp when Increasing Force is only used if Use Ramp Time is set to No. Limitations Ramp when Increasing Force can only be used for servo tools. Allowed values A value between 1 and 10000, specifying the torque increase in Nm/s. The default value is 100 Nm/s.

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6 Topic Motion
6.12.7 Ramp Time

6.12.7 Ramp Time

Parent Ramp Time belongs to the type Force Control, in the topic Motion. Cfg name ramp_time Description Ramp Time decides how fast the torque is ramped up to the ordered torque after contact position is reached at a close gun command. Usage A lower value of Ramp Time will make the tip force build up faster. Prerequisites Ramp Time is only used if Use Ramp Time is set to Yes. Limitations Ramp Time can only be used for servo tools. Allowed values A numeric value between 0.001 and 1 (seconds). The default value is 0.07 s.

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6 Topic Motion
6.12.8 Collision LP Bandwidth

6.12.8 Collision LP Bandwidth

Parent Collision LP Bandwidth belongs to the type Force Master, in the topic Motion. Cfg name bandwidth_lp Description Frequency limit for the low pass filter used for tip wear calibration. Position and speed reference values will be filtered in this low pass filter to avoid sharp step functions. Usage The only reason for changing Collision LP Bandwidth is if repetitive tip wear calibrations give varying results. A lower value for the low pass filter can stabilize the servo tool during the calibration. Limitations Collision LP Bandwidth can only be used for servo tools. Allowed values A numeric value between 0 and 124 (Hz). The default value is 25 Hz.

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6 Topic Motion
6.12.9 Collision Alarm Torque

6.12.9 Collision Alarm Torque

Parent Collision Alarm Torquebelongs to the typeForce Master, in the topic Motion. Cfg name alarm_torque Description Collision Alarm Torque determines how hard the tool tips will be pressed together during the first gun closing of new tips calibrations and tool change calibrations. Usage Collision Alarm Torque is used for the first gun closing of new tips calibrations and tool change calibrations. This affects the position calibration. The best way to determine the collision position (where the tool tips meet) is to keep closing the gun until the motor torque reaches the value specified in Collision Alarm Torque. The distance the gun then has moved beyond the collision position is defined by the parameter Collision Delta Position. Limitations Collision Alarm Torque can only be used for servo tools. Allowed values A value between 0 and 50 (Nm). The default value is 1.5 Nm.

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6 Topic Motion
6.12.10 Collision Speed

6.12.10 Collision Speed

Parent Collision Speed belongs to the type Force Master, in the topic Motion. Cfg name col_speed Description Collision Speed determines the servo gun speed during the first gun closing of new tips calibrations and tool change calibrations. These calibrations affect the position calibration. Usage The only reason for changing Collision Speed is if repetitive tip wear calibrations give varying results. A lower speed can improve the repeatability. Limitations Collision Speed can only be used for servo tools. Allowed values A value between 0 and 5 (m/s). The default value is 0.02 m/s.

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6 Topic Motion
6.12.11 Collision Delta Position

6.12.11 Collision Delta Position

Parent Collision Delta Position belongs to the type Force Master, in the topic Motion. Cfg name distance_to_contact_position Description Collision Delta Position defines the distance the servo tool has gone beyond the contact position when the motor torque has reached the value specified in Collision Alarm Torque. Usage Collision Delta Position is used for the first gun closing of new tips calibrations and tool change calibrations. This affects the position calibration. The best way to determine the collision position (where the tool tips meet) is to keep closing the gun until the motor torque reach the value specified in Collision Alarm Torque. The distance the gun then has moved beyond the collision position is defined in Collision Delta Position. Changing the value of Collision Delta Position can remove a constant calibration error, but does not affect if repetitive tip wear calibrations give varying results. Limitations Collision Delta Position can only be used for servo tools. Allowed values A value between 0 and 1 (m). The default value is 0.0019 m.

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6 Topic Motion
6.12.12 Force Detection Bandwidth

6.12.12 Force Detection Bandwidth

Parent Force Detection Bandwidth belongs to the type Force Master, in the topic Motion. Cfg name force_ready_detection_bandwidth Description Defines the bandwidth for the force detection filter. Usage The force detection filter is used to filter the speed of the servo tool. The filtered speed is used to detect if the ordered force has been reached. Limitations Force Detection Bandwidth can only be used for servo tools. Allowed values A value between 1 and 124 Hz.

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6 Topic Motion
6.12.13 Delay Ramp

6.12.13 Delay Ramp

Parent Delay Ramp belongs to the type Force Master, in the topic Motion. Cfg name delay_ramp Description Delays the starting of torque ramp when force control is started. Usage Delay Ramp can be used to give the servo gun some time to stabilize before the force control starts. A higher value of Delay Ramp can result in better accuracy of the squeeze force but will increase the cycle time. Limitations Delay Ramp can only be used for servo tools. Allowed values A numeric value between 0 and 1 (seconds).

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6 Topic Motion
6.12.14 Ramp to Real Contact

6.12.14 Ramp to Real Contact

Parent Ramp to Real Contact belongs to the type Force Master, in the topic Motion. Cfg name ramp_to_real_contact Description Determines if the feedback position should be used instead of reference position when deciding the contact position. Usage Setting Ramp to Real Contact to Yes will make the detection of the contact position (where the force control starts) more exact and improve the accuracy of the squeeze force, but increase the cycle time. Limitations Ramp to Real Contact can only be used for servo tools. Allowed values Yes or No.

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6 Topic Motion
6.13.1 The Force Master Control type

6.13 Type Force Master Control 6.13.1 The Force Master Control type
Overview This section describes the type Force Master Control, which belongs to the topic Motion. Each parameter of the type is described in a separate information topic in this section. Cfg name FORCE_MASTER_CONTROL Type description Force Master Control is used to prevent a servo tool from closing with too high a speed. If a servo tool is not completely closed when the force control starts, it can gain too much speed, which can cause damages when contact is reached. This can happen if the programmed thickness is too high, or if the servo tool tips are not properly calibrated. If the tool is ordered to close with a higher force, it might tolerate a higher speed at impact. The speed limit can be defined as a function of the closing torque, which is a function of the ordered tip force. The loop gain used for regulating the speed when it exceeds the limit is also specified. Up to 6 points can be defined for speed limit and speed loop gain.
Ordered closing torque: torque 1 torque 2 torque 3 torque 4 torque 5 torque 6 Speed limit: Speed Limit 1 Speed Limit 2 Speed Limit 3 Speed Limit 4 Speed Limit 5 Speed Limit 6 Speed loop gain: Kv 1 Kv 2 Kv 3 Kv 4 Kv 5 Kv 6

Speed limit 1 and Kv 1 are valid for all torque values lower than torque 1. The highest defined speed limit and loop gain are valid for all torque values higher than the highest defined torque. For torque values between defined points, linear interpolation is used. If only one point is defined, that speed limit and speed loop gain is valid for all torque values. Limitations Force Master Control can only be used if you have servo tools. Related information Application manual - Servo motor control. Continues on next page
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6 Topic Motion
6.13.1 The Force Master Control type Continued Example In this example, four points are used to define the speed limit and speed loop gain. Any values given for point 5 and 6 are ignored. The parameters in the type Force Master Control are set to the following values:
Parameter: No. of speed limits torque 1 torque 2 torque 3 torque 4 Speed Limit 1 Speed Limit 2 Speed Limit 3 Speed Limit 4 Kv 1 Kv 2 Kv 3 Kv 4 Value: 4 2 4 7 9 200 400 500 600 0.3 0.4 0.7 0.8

The results of this configuration are the following graphs for speed limit and speed loop gain:

xx0400000882

A B C

Torque (Nm) Speed limit (rad/s on motor) Speed loop gain (Nms/rad)

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6 Topic Motion
6.13.2 Name

6.13.2 Name
Parent Name belongs to the type Force Master Control, in the topic Motion. Cfg name name Description The name of the Force Master Control. Usage Name is used to reference a Force Master Control from the parameter Use Force Master in the type Force Master. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.13.3 No. of Speed Limits

6.13.3 No. of Speed Limits

Parent No. of Speed Limits belongs to the type Force Master Control, in the topic Motion. Cfg name no_of_posts Description No. of Speed Limits defines the number of torque values you want to define for speed limit and speed loop gain, i.e. the number of points in the speed limit graph (see Example on page 423). Usage Define the speed limit and speed loop gain you want for a number of torque values. Set No. of Speed Limits to the number of torque values you want to specify. Limitations No. of Speed Limits can only be used if you have servo tools. Allowed values An integer between 1 and 6. The default value is 1. Related information Application manual - Servo motor control.

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6 Topic Motion
6.13.4 Torque 1

6.13.4 Torque 1
Parent Torque 1 belongs to the type Force Master Control, in the topic Motion. Cfg name torque_1 Description Torque 1 defines the ordered closing torque for the first point in the speed limit graph (see Example on page 423). Usage Define the speed limit and speed loop gain you want for some torque values. Set Torque 1 to the torque value of the first point you want to specify. Limitations Torque 1 is used for servo tools and can only be used if you have the option Servo Tool Control. Allowed values A number between -1000 and 1000 in Nm. The default value is 1 Nm. Related information Application manual - Servo motor control.

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6 Topic Motion
6.13.5 Torque 2

6.13.5 Torque 2
Parent Torque 2 belongs to the type Force Master Control, in the topic Motion. Cfg name torque_2 Description Torque 2 defines the ordered closing torque for the second point (if more than one) in the speed limit graph (see Example on page 423). Usage Define the speed limit and speed loop gain you want for some torque values. Set Torque 2 to the torque value of the second point you want to specify. Prerequisites No. of Speed Limits must be set to 2 or higher, otherwise the value of Torque 2 is not used. Limitations Torque 2 can only be used if you have servo tools. Allowed values A number between -1000 and 1000 in Nm. The default value is 2 Nm. Related information No. of Speed Limits on page 425. Application manual - Servo motor control.

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427

6 Topic Motion
6.13.6 Torque 3

6.13.6 Torque 3
Parent Torque 3 belongs to the type Force Master Control, in the topic Motion. Cfg name torque_3 Description Torque 3 defines the ordered closing torque for the third point (if more than two) in the speed limit graph (see Example on page 423). Usage Define the speed limit and speed loop gain you want for some torque values. Set Torque 3 to the torque value of the third point you want to specify. Prerequisites No. of Speed Limits must be set to 3 or higher, otherwise the value of Torque 3 is not used. Limitations Torque 3 can only be used if you have servo tools. Allowed values A number between -1000 and 1000 in Nm. The default value is 3 Nm. Related information No. of Speed Limits on page 425. Application manual - Servo motor control.

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6 Topic Motion
6.13.7 Torque 4

6.13.7 Torque 4
Parent Torque 4 belongs to the type Force Master Control, in the topic Motion. Cfg name torque_4 Description Torque 4 defines the ordered closing torque for the fourth point (if more than three) in the speed limit graph (see Example on page 423). Usage Define the speed limit and speed loop gain you want for some torque values. Set Torque 4 to the torque value of the fourth point you want to specify. Prerequisites No. of Speed Limits must be set to 4 or higher, otherwise the value of Torque 4 is not used. Limitations Torque 4 can only be used if you have servo tools. Allowed values A number between -1000 and 1000 in Nm. The default value is 4 Nm. Related information No. of Speed Limits on page 425. Application manual - Servo motor control.

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6 Topic Motion
6.13.8 Torque 5

6.13.8 Torque 5
Parent Torque 5 belongs to the type Force Master Control, in the topic Motion. Cfg name torque_5 Description Torque 5 defines the ordered closing torque for the fifth point (if more than four) in the speed limit graph (see Example on page 423). Usage Define the speed limit and speed loop gain you want for some torque values. Set Torque 5 to the torque value of the fifth point you want to specify. Prerequisites No. of Speed Limits must be set to 5 or higher, otherwise the value of Torque 5 is not used. Limitations Torque 5 can only be used if you have servo tools. Allowed values A number between -1000 and 1000 in Nm. The default value is 5 Nm. Related information No. of Speed Limits on page 425. Application manual - Servo motor control.

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6 Topic Motion
6.13.9 Torque 6

6.13.9 Torque 6
Parent Torque 6 belongs to the type Force Master Control, in the topic Motion. Cfg name torque_6 Description Torque 6 defines the ordered closing torque for the sixth point (if all six points are used) in the speed limit graph (see Example on page 423). Usage Define the speed limit and speed loop gain you want for some torque values. Set Torque 6 to the torque value of the sixth point you want to specify. Prerequisites No. of Speed Limits must be set to 6, otherwise the value of Torque 6 is not used. Limitations Torque 6 can only be used if you have servo tools. Allowed values A number between -1000 and 1000 in Nm. The default value is 6 Nm. Related information No. of Speed Limits on page 425. Application manual - Servo motor control.

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6 Topic Motion
6.13.10 Speed Limit 1

6.13.10 Speed Limit 1

Parent Speed Limit 1 belongs to the type Force Master Control, in the topic Motion. Cfg name speed_lim_1 Description Speed Limit 1 defines the maximum allowed speed for the torque specified in torque 1. Usage Set Speed Limit 1 to the speed limit for the first point you want to specify in the speed limit graph (see Example on page 423). Limitations Speed Limit 1 can only be used if you have servo tools. Allowed values A number between 0.001 and 100000 in rad/s on the motor side. The default value is 300. Related information Torque 1 on page 426. Application manual - Servo motor control.

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6 Topic Motion
6.13.11 Speed Limit 2

6.13.11 Speed Limit 2

Parent Speed Limit 2 belongs to the type Force Master Control, in the topic Motion. Cfg name speed_lim_2 Description Speed Limit 2 defines the maximum allowed speed for the torque specified in torque 2. Usage Set Speed Limit 2 to the speed limit for the second point (if more than one) you want to specify in the speed limit graph (see Example on page 423). Prerequisites No. of Speed Limits must be set to 2 or higher, otherwise the value of Speed Limit 2 is not used. Limitations Speed Limit 2 can only be used if you have servo tools. Allowed values A number between 0.001 and 100000 in rad/s on the motor side. The default value is 300. Related information Torque 2 on page 427. No. of Speed Limits on page 425. Application manual - Servo motor control.

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6 Topic Motion
6.13.12 Speed Limit 3

6.13.12 Speed Limit 3

Parent Speed Limit 3 belongs to the type Force Master Control, in the topic Motion. Cfg name speed_lim_3 Description Speed Limit 3 defines the maximum allowed speed for the torque specified in torque 3. Usage Set Speed Limit 3 to the speed limit for the third point (if more than two) you want to specify in the speed limit graph (see Example on page 423). Prerequisites No. of Speed Limits must be set to 3 or higher, otherwise the value of Speed Limit 3 is not used. Limitations Speed Limit 3 can only be used if you have servo tools. Allowed values A number between 0.001 and 100000 in rad/s on the motor side. The default value is 300. Related information Torque 3 on page 428. No. of Speed Limits on page 425. Application manual - Servo motor control.

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6 Topic Motion
6.13.13 Speed Limit 4

6.13.13 Speed Limit 4

Parent Speed Limit 4 belongs to the type Force Master Control, in the topic Motion. Cfg name speed_lim_4 Description Speed Limit 4 defines the maximum allowed speed for the torque specified in torque 4. Usage Set Speed Limit 4 to the speed limit for the fourth point (if more than three) you want to specify in the speed limit graph (see Example on page 423). Prerequisites No. of Speed Limits must be set to 4 or higher, otherwise the value of Speed Limit 4 is not used. Limitations Speed Limit 4 can only be used if you have servo tools. Allowed values A number between 0.001 and 100000 in rad/s on the motor side. The default value is 300. Related information Torque 4 on page 429. No. of Speed Limits on page 425. Application manual - Servo motor control.

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6 Topic Motion
6.13.14 Speed Limit 5

6.13.14 Speed Limit 5

Parent Speed Limit 5 belongs to the type Force Master Control, in the topic Motion. Cfg name speed_lim_5 Description Speed Limit 5 defines the maximum allowed speed for the torque specified in torque 5. Usage Set Speed Limit 5 to the speed limit for the fifth point (if more than four) you want to specify in the speed limit graph (see Example on page 423). Limitations Speed Limit 5 can only be used if you have servo tools. Allowed values A number between 0.001 and 100000 in rad/s on the motor side. The default value is 300. Related information Torque 5 on page 430. No. of Speed Limits on page 425.

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6 Topic Motion
6.13.15 Speed Limit 6

6.13.15 Speed Limit 6

Parent Speed Limit 6 belongs to the type Force Master Control, in the topic Motion. Cfg name speed_lim_6 Description Speed Limit 6 defines the maximum allowed speed for the torque specified in torque 6. Prerequisites No. of Speed Limits must be set to 6, otherwise the value of Speed Limit 6 is not used. Usage Set Speed Limit 6 to the speed limit for the sixth point (if all six points are used) you want to specify in the speed limit graph (see Example on page 423). Limitations Speed Limit 6 can only be used if you have servo tools. Allowed values A number between 0.001 and 100000 in rad/s on the motor side. The default value is 300. Related information Torque 6 on page 431. No. of Speed Limits on page 425. Application manual - Servo motor control.

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6 Topic Motion
6.13.16 Kv 1

6.13.16 Kv 1
Parent Kv 1 belongs to the type Force Master Control, in the topic Motion. Cfg name Kv_1 Description Kv 1 defines the proportional gain in the speed loop for the torque specified in torque 1. This gain determines how fast the speed is regulated when the speed limit is exceeded. Usage Set Kv 1 to the proportional gain you want for the first point in the speed limit graph (see Example on page 423). Limitations Kv 1 can only be used if you have servo tools. Allowed values A number between 0.001 and 100. The default value is 0.5. Related information Torque 1 on page 426. Application manual - Servo motor control.

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6 Topic Motion
6.13.17 Kv 2

6.13.17 Kv 2
Parent Kv 2 belongs to the type Force Master Control, in the topic Motion. Cfg name Kv_2 Description Kv 2 defines the proportional gain in the speed loop for the torque specified in torque 2. This gain determines how fast the speed is regulated when the speed limit is exceeded. Usage Set Kv 2 to the proportional gain you want for the second point (if more than one) in the speed limit graph (see Example on page 423). Prerequisites No. of Speed Limits must be set to 2 or higher, otherwise the value of Kv 2 is not used. Limitations Kv 2 can only be used if you have servo tools. Allowed values A number between 0.001 and 100. The default value is 0.5. Related information Torque 2 on page 427. No. of Speed Limits on page 425. Application manual - Servo motor control.

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6 Topic Motion
6.13.18 Kv 3

6.13.18 Kv 3
Parent Kv 3 belongs to the type Force Master Control, in the topic Motion. Cfg name Kv_3 Description Kv 3 defines the proportional gain in the speed loop for the torque specified in torque 3. This gain determines how fast the speed is regulated when the speed limit is exceeded. Usage Set Kv 3 to the proportional gain you want for the third point (if more than two) in the speed limit graph (see Example on page 423). Prerequisites No. of Speed Limits must be set to 3 or higher, otherwise the value of Kv 3 is not used. Limitations Kv 3 can only be used if you have servo tools. Allowed values A number between 0.001 and 100. The default value is 0.5. Related information Torque 3 on page 428. No. of Speed Limits on page 425. Application manual - Servo motor control.

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6 Topic Motion
6.13.19 Kv 4

6.13.19 Kv 4
Parent Kv 4 belongs to the type Force Master Control, in the topic Motion. Cfg name Kv_4 Description Kv 4 defines the proportional gain in the speed loop for the torque specified in torque 4. This gain determines how fast the speed is regulated when the speed limit is exceeded. Usage Set Kv 4 to the proportional gain you want for the fourth point (if more than three) in the speed limit graph (see Example on page 423). Prerequisites No. of Speed Limits must be set to 4 or higher, otherwise the value of Kv 4 is not used. Limitations Kv 4 can only be used if you have servo tools. Allowed values A number between 0.001 and 100. The default value is 0.5. Related information Torque 4 on page 429. No. of Speed Limits on page 425. Application manual - Servo motor control.

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6 Topic Motion
6.13.20 Kv 5

6.13.20 Kv 5
Parent Kv 5 belongs to the type Force Master Control, in the topic Motion. Cfg name Kv_5 Description Kv 5 defines the proportional gain in the speed loop for the torque specified in torque 5. This gain determines how fast the speed is regulated when the speed limit is exceeded. Usage Set Kv 5 to the proportional gain you want for the fifth point (if more than four) in the speed limit graph (see Example on page 423). Prerequisites No. of Speed Limits must be set to 5 or higher, otherwise the value of Kv 5 is not used. Limitations Kv 5 can only be used if you have servo tools. Allowed values A number between 0.001 and 100. The default value is 0.5. Related information Torque 5 on page 430. No. of Speed Limits on page 425. Application manual - Servo motor control.

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6 Topic Motion
6.13.21 Kv 6

6.13.21 Kv 6
Parent Kv 6 belongs to the type Force Master Control, in the topic Motion. Cfg name Kv_6 Description Kv 6 defines the proportional gain in the speed loop for the torque specified in torque 6. This gain determines how fast the speed is regulated when the speed limit is exceeded. Usage Set Kv 6 to the proportional gain you want for the sixth point (if all six points are used) in the speed limit graph (see Example on page 423). Prerequisites No. of Speed Limits must be set to 6, otherwise the value of Kv 6 is not used. Limitations Kv 6 can only be used if you have servo tools. Allowed values A number between 0.001 and 100. The default value is 0.5. Related information Torque 6 on page 431. No. of Speed Limits on page 425. Application manual - Servo motor control.

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6 Topic Motion
6.14.1 The Friction Compensation type

6.14 Type Friction Compensation 6.14.1 The Friction Compensation type

Overview This section describes the type Friction Compensation, which belongs to the topic Motion. Each parameter of this type is described in a separate information topic in this section. Cfg name CFRIC_BLOCK Type description Each set of parameters of the type Friction Compensation belongs to a joint (robot joint or additional axis). The parameters in Friction Compensation define what compensations should be made for the friction in the joint. Limitation Changing the parameter values in Friction Compensation is only useful if you have the RobotWare option Advanced Shape Tuning. The type Friction Compensation equivalent to the type Control Parameters. The type Control Parameters is used by robot models IRB 1400 and IRB 1410, all other robot models use the type Friction Compensation. The parameters are the same however. Related information Application manual - Motion performance, chapter Advanced Shape Tuning.

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6 Topic Motion
6.14.2 Name

6.14.2 Name
Parent Name belongs to the type Friction Compensation, in the topic Motion. Cfg name name Description Name defines the name of the friction compensation. Limitations Name is only useful if you have the RobotWare option Advanced Shape Tuning. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.14.3 Friction FFW On

6.14.3 Friction FFW On

Parent Friction FFW On belongs to the type Friction Compensation, in the topic Motion. Cfg name friction_ff_on Description Friction FFW On determines if the RobotWare option Advanced Shape Tuning is active or not. Usage Set Friction FFW On to Yes if you want to use Advanced Shape Tuning. Limitations Friction FFW On is useful only if you have the RobotWare option Advanced Shape Tuning. Allowed values Yes or No. Related information Application manual - Motion performance.

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6 Topic Motion
6.14.4 Friction FFW Level

6.14.4 Friction FFW Level

Parent Friction FFW Level belongs to the type Friction Compensation , in the topic Motion. Cfg name friction_ffw_level Description Friction FFW Level is set to the level of friction in the robot axis. By setting a value that closely corresponds to the real friction, and using the RobotWare option Advanced Shape Tuning, the friction effects can be compensated. Usage Friction effects can cause path deviations when performing advanced shapes. By compensating for the friction with the correct friction level value, these effects can be minimized. Permanent adjustments to the friction level can be made with Friction FFW Level. The friction level can also be temporarily tuned with RAPID commands. For more information, see Application manual - Motion performance. Limitations Friction FFW Level is only useful if you have the RobotWare option Advanced Shape Tuning. Allowed values A decimal number between 0 and 15 (in Nm). Related information Application manual - Motion performance.

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6 Topic Motion
6.14.5 Friction FFW Ramp

6.14.5 Friction FFW Ramp

Parent Friction FFW Ramp belongs to the type Friction Compensation, in the topic Motion. Cfg name friction_ffw_ramp Description Friction FFW Ramp is set to the speed of the robot axis when the friction has reached the constant friction level defined in Friction ffw level. See illustration below. Usage Friction effects can cause path deviations when performing advanced shapes. Friction FFW Ramp is used when compensating for these friction effects. Permanent adjustments to the friction ramp can be made with Friction FFW Ramp. The friction ramp can also be temporarily tuned with RAPID commands. For more information, see Application manual - Motion performance. Limitations Friction FFW Ramp is only useful if you have the RobotWare option Advanced Shape Tuning. Allowed values A number between 0.001 and 10 (in radians/second). Related information Application manual - Motion performance. Illustration

en0300000278

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6 Topic Motion
6.15.1 The Jog Parameters type

6.15 Type Jog Parameters 6.15.1 The Jog Parameters type

Overview This section describes the type Jog Parameters, which belongs to the topic Motion. Each parameter of this type is described in a separate information topic. Cfg name JOG_PARAMETERS Type description The Jog Parameters type contains parameters that define the step size in the different jogging modes when using incremental jogging with user-defined step. Incremental movement Incremental movement is used to adjust the position of the robot exactly. Each time the joystick is moved, the robot moves one step (one increment).

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6 Topic Motion
6.15.2 Name

6.15.2 Name
Parent Name belongs to the type Jog Parameters, in the topic Motion. Cfg name Name Description Name defines the name of the Jog parameters data. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.15.3 Configurable Linear Step Size

6.15.3 Configurable Linear Step Size

Parent Configurable Linear Step Size belongs to the type Jog Parameters, in the topic Motion. Cfg name linear_step_size Description Configurable Linear Step Size defines the step size for user-defined incremental linear jogging. Usage Linear jogging step size is set in meters. Allowed values 0 - 0.005 meters.

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6 Topic Motion
6.15.4 Configurable Reorient Step Size

6.15.4 Configurable Reorient Step Size

Parent Configurable Reorient Step Size belongs to the type Jog Parameters, in the topic Motion. Cfg name reorient_step_size Description Configurable Reorient Step Size defines the step size for user-defined incremental reorient jogging. Usage Reorient jogging step size is set in radians. Convert degrees to radians: radians = (degrees/360)*(2*pi) Allowed values 0 - 0.009 radians.

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6 Topic Motion
6.15.5 Configurable Joint Step Size

6.15.5 Configurable Joint Step Size

Parent Configurable Joint Step Size belongs to the type Jog Parameters, in the topic Motion. Cfg name joint_step_size Description Configurable Joint Step Size defines the step size for user-defined incremental axes jogging. Usage Axes jogging step size is set in radians. Convert degrees to radians: radians = (degrees/360)*(2*pi) Allowed values 0 - 0.0025 radians.

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6 Topic Motion
6.16.1 The Joint type

6.16 Type Joint 6.16.1 The Joint type

Overview This section describes the type Joint which belongs to the topic Motion. Each parameter is described in a separate information topic in this section. Cfg name JOINT Type description The Joint type contains parameters that define a joint. Related information The Arm type on page 355. The Measurement Channel type on page 502.

454 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.16.2 Name

6.16.2 Name
Parent Name belongs to the type Joint, in the topic Motion. Cfg name name Description Name defines the unique name to use for this joint. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.16.3 Logical Axis

6.16.3 Logical Axis

Parent Logical Axis belongs to the type Joint, in the topic Motion. Cfg name logical_axis Description Logical Axis defines the axis number as seen by a RAPID program. Usage The value of Logical Axis is used by RAPID programs to identify individual axes in mechanical units. Two mechanical units can have the same value set for Logical Axis, but then they cannot be activated at the same time by a RAPID program. Robots from ABB normally use the values 1-6, while additional axes use 7-12. Allowed values A value between 1 and 12. Related information Application manual - Additional axes and stand alone controller.

456 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.16.4 Use Drive System

6.16.4 Use Drive System

Parent Use Drive System belongs to the type Joint, in the topic Motion. Cfg name use_drive_system Description Use Drive System determines which drive system should be used. Allowed values A string with maximum 32 characters. Related information The Drive System type on page 400.

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6 Topic Motion
6.16.5 Use Process

6.16.5 Use Process

Parent Use Process belongs to the type Joint, in the topic Motion. Cfg name use_process Description Use Process defines which process to use for this joint. Usage Use Process points to a process ID defined by the parameter Name in the type Process. The process can be used to define the joints behavior for either Electronically Linked Motors or Spot Servo. Prerequisites The additional axes must be configured before setting Use Process. Limitations Use Process is only used for additional axes. Use Process is only useful if you have either of the RobotWare base functionality Electronically Linked Motors or option Spot Servo. Allowed values A string. Related information Name on page 590. Application manual - Servo motor control.

458 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.16.6 Lock Joint in Ipol

6.16.6 Lock Joint in Ipol

Parent Lock Joint in Ipol belongs to the type Joint, in the topic Motion. Cfg name lock_joint_in_ipol Description A flag that locks the axis so it is not used in the path interpolation. Usage When setting Lock Joint in Ipol to Yes, this axis will not be used for path interpolation. When using Electronically Linked Motors, this parameter must be set to Yes for the follower axis. Prerequisites The additional axes must be configured before setting Lock Joint in Ipol. Limitations Lock Joint in Ipol is only used for additional axes. Allowed values Yes or No. Related information Application manual - Servo motor control.

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6 Topic Motion
6.16.7 Follower to Joint

6.16.7 Follower to Joint

Parent Follower to Joint belongs to the type Joint, in the topic Motion. Cfg name follower_to_joint Description When using Electronically Linked Motors, Follower to Joint defines which master axis this axis should follow. Usage When using Electronically Linked Motors, the follower axis has the Follower to Joint set to the name of the master axis. Prerequisites The additional axes must be configured before setting Follower to Joint. Limitations Follower to Joint is only used for external axes. Allowed values A string. Related information Application manual - Servo motor control.

460 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.17.1 The Lag Control Master 0 type

6.17 Type Lag Control Master 0 6.17.1 The Lag Control Master 0 type
Overview This section describes the type Lag Control Master 0, which belongs to the topic Motion. Each parameter of the type is described in a separate information topic in this section. Cfg name LCM0 Type description The type Lag Control Master 0 is normally used for control of axes without any dynamic model. This is the case for some additional axes. For axes that have a dynamic model, Lag Control Master 0 is only used in exceptional cases.

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6 Topic Motion
6.17.2 Name

6.17.2 Name
Parent Name belongs to the type Lag Control Master 0, in the topic Motion. Cfg name name Description The name of the Lag Control Master 0. Usage Name is used to reference a Lag Control Master 0 from the parameter Normal Control Master in the type Joint. Allowed values A string with maximum 32 characters.

462 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.17.3 Kp, Gain Position Loop

6.17.3 Kp, Gain Position Loop

Parent Kp, Gain Position Loop belongs to the type Lag Control Master 0, in the topic Motion. Cfg name Kp Description Proportional gain in the position control loop. Usage The higher the value of Kp, Gain Position Loop, the better tracking and disturbance rejection. If the position control overshoots, decrease Kp, Gain Position Loop. Allowed values A numeric value between 0 and 1000 (1/s).

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463

6 Topic Motion
6.17.4 Kv, Gain Speed Loop

6.17.4 Kv, Gain Speed Loop

Parent Kv, Gain Speed Loop belongs to the type Lag Control Master, in the topic Motion. Cfg name Kv Description Proportional gain in the speed regulation loop. Usage The higher the value of Kv, Gain Speed Loop, the better tracking and disturbance rejection. If the level of oscillation or noise is too high, decrease Kv, Gain Speed Loop. Allowed values A numeric value between 0 and 100 (Nms/rad).

464 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.17.5 Ti Integration Time Speed Loop

6.17.5 Ti Integration Time Speed Loop

Parent Ti Integration Time Speed Loop belongs to the type Lag Control Master 0, in the topic Motion. Cfg name Ti Description Integration time in the speed regulation loop. Usage The lower the value of Ti Integration Time Speed Loop, the better tracking and disturbance rejection. If the level of oscillation or noise is too high, increase Ti Integration Time Speed Loop. Allowed values A numeric value between 0 and 10 (seconds). The default value is 10 seconds.

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6 Topic Motion
6.17.6 Forced Control Active

6.17.6 Forced Control Active

Parent Forced Control Active belongs to the type Lag Control Master 0, in the topic Motion. Cfg name use_inpos_forced_control Description Determines whether forced control is active for this joint. Usage The Forced Control Active parameter can be used if the last part of the movement before a fine point is too slow. The function changes the parameters Forced Factor for Kp and Forced Factor for Ki in the last part of the movement. Note! Wrongly used Forced Control Active (too high force factors) might impair the movement with oscillations. If Forced Control Active is set to Yes, Affects forced ctrl in type Supervision should normally also be set to Yes for this joint. Allowed values Yes or No. Related information Forced Factor for Kp on page 467. Forced Factor for Ki on page 468. Affects Forced Control on page 673, in the type Supervision. Application manual - Additional axes and stand alone controller.

466 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.17.7 Forced Factor for Kp

6.17.7 Forced Factor for Kp

Parent Forced Factor for Kp belongs to the type Lag Control Master 0, in the topic Motion. Cfg name Kp_forced_factor Description The forced factor for Kp, if forced gain control is active. Usage Forced Factor for Kp defines the gain increase factor. A typical value is 2. Allowed values A numeric value between 1 and 4.

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6 Topic Motion
6.17.8 Forced Factor for Ki

6.17.8 Forced Factor for Ki

Parent Forced Factor for Ki belongs to the type Lag Control Master 0, in the topic Motion. Cfg name Ki_forced_factor Description The forced factor for Ki, if forced gain control is active. Usage Forced Factor for Ki defines the gain increase factor. Ki equals Kv/Ti, integral gain. A typical value is 2. Allowed values A numeric value between 1 and 4.

468 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.17.9 Raise Time for Kp

6.17.9 Raise Time for Kp

Parent Raise Time for Kp belongs to the type Lag Control Master, in the topic Motion. Cfg name Kp_raise_time Description Defines the raise time for forced Kp. Usage To avoid transient effects, Kp must be increased slowly over a period of time. This period is defined by Raise Time for Kp. A typical value is 0.2. Allowed values A numeric value between 0.002 and 0.5 seconds.

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6 Topic Motion
6.17.10 Notch Filter Active

6.17.10 Notch Filter Active

Parent Notch Filter Active belongs to the type Lag Control Master 0, in the topic Motion. Cfg name notch_filter_active Description Defines if the notch filter is activated or not. Usage Notch filters are used only in certain arc welding applications. Notch Filter Active can be used to avoid interference between the additional axis and the weaving frequency that can cause vibrations in the additional axis. Allowed values Yes or No. Related information Application manual - Additional axes and stand alone controller.

470 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.17.11 Notch Filter Frequency

6.17.11 Notch Filter Frequency

Parent Notch Filter Frequency belongs to the type Lag Control Master 0, in the topic Motion. Cfg name notch_filter_frequency Description Defines the frequency of speed variation for the notch filter. Usage Notch Filter Frequency is used when Notch Auto Mode is set to No. NOTE! It is always recommended to use Notch Auto Mode (set to Yes) if the notch function is needed. A typical value is 2 * Weld speed/Weave length. Limitations This parameter is only used when Notch Auto Mode is set to No. Allowed values A numeric value between 1 and 100 (Hz). Related information Notch Auto Mode on page 473.

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6 Topic Motion
6.17.12 Notch Filter Width

6.17.12 Notch Filter Width

Parent Notch Filter Width belongs to the type Lag Control Master 0, in the topic Motion. Cfg name notch_filter_width Description Defines the width of the notch filter. Usage A higher value increases the width but can also have a negative effect on the performance (response) of the additional axis. Recommended value is 0.2. Allowed values A numeric value between 0.01 and 0.4.

472 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.17.13 Notch Auto Mode

6.17.13 Notch Auto Mode

Parent Notch Auto Mode belongs to the type Lag Control Master 0, in the topic Motion. Cfg name notch_auto_mode Description Defines if the notch filter frequency will adjust automatically to the weave frequency. Usage If Notch Auto Mode is set to Yes, the notch filter frequency will automatically adjust to the weave frequency according to the formula: Notch Filter Frequency = 2 * Weld speed/Weave length. It is recommended to always set Notch Auto Mode to Yes if a notch filter function is needed. Allowed values Yes or No.

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473

6 Topic Motion
6.17.14 Auto No Weave Frequency

6.17.14 Auto No Weave Frequency

Parent Auto No Weave Frequency belongs to the type Lag Control Master 0, in the topic Motion. Cfg name notch_auto_no_weave_freq Description Defines the default frequency for the auto mode notch filter. Usage The default value should only be changed by advanced programmers. Allowed values A numeric value between 1 and 100 Hz. Related information Notch Auto Mode on page 473.

474 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.17.15 Auto Min Frequency

6.17.15 Auto Min Frequency

Parent Auto Min Frequency belongs to the type Lag Control Master 0, in the topic Motion. Cfg name notch_auto_min_frequency Description Minimum frequency for the on line notch filter. Usage Auto Min Frequency defines the minimum notch filter frequency when Notch Auto Mode is set to Yes. The default value should only be changed by advanced programmers. Limitations This parameter is only used when Notch Auto Mode is set to Yes. Allowed values A numeric value between 1 and 100 Hz. Related information Notch Auto Mode on page 473.

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6 Topic Motion
6.17.16 Auto Max Relative Change

6.17.16 Auto Max Relative Change

Parent Auto Max Relative Change belongs to the type Lag Control Master 0, in the topic Motion. Cfg name notch_auto_max_rel_change Description A factor that sets the maximum instant change in the notch filter when Notch Auto Mode is set to Yes. Usage If the instant change of the notch filter should be limited to 10%, set Auto Max Relative Change to 0.1. The default value should only be changed by advanced programmers. Limitations This parameter is used only when Notch Auto Mode is set to Yes. Allowed values A numeric value between 0 and 10. Related information Notch Auto Mode on page 473.

476 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.17.17 FFW Mode

6.17.17 FFW Mode

Parent FFW Mode belongs to the type Lag Control Master 0, in the topic Motion. Cfg name ffw_mode Description FFW Mode defines the control type to use, i.e. if feed forward should be used. Usage To regulate the position, you can: use only the desired position as reference. in addition to the position, use feed forward of the current speed value. in addition to the position, use feed forward of the current speed and torque values.

Allowed values FFW Mode can have the following values:

Value: 0 1 Name: No Spd Description: The controller is driven by the position error (lag). Because a relatively large lag is needed to move the axis, the position error can be large. The controller receives information about the desired speed of the axis. As a result, the position lag is greatly reduced compared to the No configuration. For this reason, Spd is the recommended configuration. The controller uses the desired speed and acceleration of the axis to calculate the desired motor torque. This requires knowledge of the mass moment of inertia of the axis, which must be supplied by the user. For this reason this configuration is more difficult to tune. It is only recommended for experienced users.

Trq

The default value is 0. Recommended value is 1. Related information Application manual - Additional axes and stand alone controller.

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6 Topic Motion
6.17.18 Bandwidth

6.17.18 Bandwidth
Parent Bandwidth belongs to the type Lag Control Master 0, in the topic Motion. Cfg name bandwidth Description Defines the controller bandwidth when FFW Mode is set to 1 or 2. Usage A high bandwidth value gives faster control but increases risk of vibrations and overshoot. The default value is recommended, but can be reduced if undesired vibrations occur. Allowed values A value between 3 and 40. Default value is 25. Related information FFW Mode on page 477.

478 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.17.19 Df

6.17.19 Df
Parent Df belongs to the type Lag Control Master 0, in the topic Motion. Cfg name resonance_frequency Description Reduces oscillations. Usage Df can be used to damp oscillations of the axis due to mechanical resonance. Initially Df should be left at its default value. It can be adjusted once the other controller parameters have been fixed (Kv Gain Speed Loop, Kp Gain Position Speed Loop, Ti Integration Time Speed Loop, and Inertia). Df is only used when FFW Mode is set to 2. Allowed values A value between 2 and 100. Default value is 100. Related information FFW Mode on page 477. Kp, Gain Position Loop on page 463. Kv, Gain Speed Loop on page 464. Ti Integration Time Speed Loop on page 465. Inertia on page 482.

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6 Topic Motion
6.17.20 Dw

6.17.20 Dw
Parent Dw belongs to the type Lag Control Master 0, in the topic Motion. Cfg name resonance_damping Description Can reduce oscillations further when Df is set. Usage The default value of Dw is recommended. Allowed values A value between 0.002 to 1. Default value is 0.01. Related information Df on page 479.

480 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.17.21 Delay

6.17.21 Delay
Parent Delay belongs to the type Lag Control Master 0, in the topic Motion. Cfg name delay_time Description Reduces overshoot. Usage Delay can be used when Df is set, to reduce overshoot but it impairs the axis coordination when increased. The default value of Delay should normally not be changed. Allowed values A value between 0.0 and 0.02. Default value is 0.004. Related information Df on page 479. Dw on page 480.

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6 Topic Motion
6.17.22 Inertia

6.17.22 Inertia
Parent Inertia belongs to the type Lag Control Master 0, in the topic Motion. Cfg name inertia Description Defines the additional axis inertia (if rotation) or mass (if translation). Usage Inertia is used for calculating the torque when FFW Mode is set to 2. Allowed values A value between 0.0 and 10,000. Related information FFW Mode on page 477.

482 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.17.23 K Soft Max Factor

6.17.23 K Soft Max Factor

Parent K Soft Max Factor belongs to the type Lag Control Master 0, in the topic Motion. Cfg name soft_servo_K_max_factor Description Determines the value of the product Kp Gain Position Loop * Kv Gain Speed Loop when the soft servo is used with softness 0%. Usage K Soft Max Factor should be in the range 0.1 - 2.0 (default 1.0). When the soft servo is activated with 0% softness, the control parameters Kp Gain Position Loop (Kp) and Kv Gain Speed Loop (Kv) will be tuned such that Kp*Kv = (Kp*Kv)normal*K Soft Max Factor, where (Kp*Kv)normal is the product of Kp and Kv during normal operation. Allowed values A value between 0.1 and 2.0. Default value is 1.0. Related information Kp, Gain Position Loop on page 463. Kv, Gain Speed Loop on page 464.

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6 Topic Motion
6.17.24 K Soft Min Factor

6.17.24 K Soft Min Factor

Parent K Soft Min Factor belongs to the type Lag Control Master 0, in the topic Motion. Cfg name soft_servo_K_min_factor Description Determines the value of the product Kp Gain Position Loop * Kv Gain Speed Loop if the soft servo is used with softness 100%. Usage K Soft Min Factor should be in the range 0.001 - 0.1 (default 0.01). When the soft servo is activated with 100% softness, the control parameters Kp Gain Position Loop (Kp) and Kv Gain Speed Loop (Kv) are tuned such that Kp*Kv = (Kp*Kv)normal*K Soft Min Factor. Allowed values A value between 0.001 and 0.1. Default value is 0.01. Related information Kp, Gain Position Loop on page 463. Kv, Gain Speed Loop on page 464.

484 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.17.25 Kp/Kv Ratio Factor

6.17.25 Kp/Kv Ratio Factor

Parent Kp/Kv Ratio Factor belongs to the type Lag Control Master 0, in the topic Motion. Cfg name soft_servo_Kp_Kv_ratio_factor Description Defines the factor used to tune the Kp Gain Position Loop/Kv Gain Speed Loop ratio. Usage Kp/Kv Ratio Factor is used to alter the Kp Gain Position Loop/Kv Gain Speed Loop ratio during soft servo. Kp/Kv Ratio Factor should be in the range 0.1 - 1.0 (default 1.0). In soft servo mode, Kp and Kv are tuned such that Kp/Kv = (Kp/Kv)normal * Kp/Kv Ratio Factor. Allowed values A value between 0.1 and 1.0. Related information Kp, Gain Position Loop on page 463. Kv, Gain Speed Loop on page 464.

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6 Topic Motion
6.17.26 Ramp Time

6.17.26 Ramp Time

Parent Ramp Time belongs to the type Lag Control Master 0, in the topic Motion. Cfg name soft_servo_t_ramp Description Defines the default Soft Servo ramp time. Usage Ramp Time is used to define the default time for activation of the soft servo. Allowed values A value between 0.01 and 0.5. Default value is 0.05.

486 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.18.1 The Linked M Process type

6.18 Type Linked M Process 6.18.1 The Linked M Process type

Overview This section describes the type Linked M Process, which belongs to the topic Motion. Each parameter of the type is described in a separate information topic in this section. Cfg name LINKED_M_PROCESS Type description A Linked M Process contains information about alignments between the master axis and the follower axis for Electronically Linked Motors. Related information Application manual - Servo motor control, chapter Electronically Linked Motors.

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6 Topic Motion
6.18.2 Name

6.18.2 Name
Parent Name belongs to the type Linked M Process, in the topic Motion. Cfg name name Description Name defines the identity of the linked motor process. Usage The Name is used when referencing the linked motor process. The linked motor process defines the behavior of a joint for Electronically Linked Motors. Allowed values A string.

488 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.18.3 Offset Adjust. Delay Time

6.18.3 Offset Adjust. Delay Time

Parent Offset Adjust. Delay Time belongs to the type Linked M Process, in the topic Motion. Cfg name offset_adj_delay_time Description Offset Adjust. Delay Time defines the time delay from control on until the follower axis starts to follow its master axis. Usage When using Electronically Linked Motors, you might want to give the master axis some time to stabilize before the follower axis starts following. Allowed values A value between 0 and 2, specifying the delay in seconds. Default value: 0.2

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489

6 Topic Motion
6.18.4 Max Follower Offset

6.18.4 Max Follower Offset

Parent Max Follower Offset belongs to the type Linked M Process, in the topic Motion. Cfg name max_offset Description Max Follower Offset defines the maximum allowed difference in position between the master and the follower axis. Usage If the follower offset exceeds the Max Follower Offset, emergency stop is activated and automatic offset adjustment is prohibited. Allowed values A value between 0 and 5, specifying the maximum offset in radians (for rotational axes) or meters (for linear axes) on the arm side. Default value: 0.05.

490 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.18.5 Max Offset Speed

6.18.5 Max Offset Speed

Parent Max Offset Speed belongs to the type Linked M Process, in the topic Motion. Cfg name max_offset_speed Description Max Offset Speed defines the maximum allowed difference in speed between the master and the follower axis. Usage If the speed difference exceeds the Max Offset Speed, emergency stop is activated and automatic offset adjustment is prohibited. Allowed values A value between 0 and 1000, specifying the maximum difference in rad/s (for rotational axes) or m/s (for linear axes) on the arm side. Default value: 0.05.

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491

6 Topic Motion
6.18.6 Offset Speed Ratio

6.18.6 Offset Speed Ratio

Parent Offset Speed Ratio belongs to the type Linked M Process, in the topic Motion. Cfg name offset_speed_ratio Description Offset Speed Ratio defines how large a part of the Max Offset Speed can be used to compensate for position error. Usage Offset Speed Ratio multiplied by Max Offset Speed is the highest speed by which the position offset is reduced. Allowed values A value between 0 and 1. The value has no unit since it is a multiplication factor. Default value: 0.33. Related information Max Offset Speed on page 491.

492 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.18.7 Ramp Time

6.18.7 Ramp Time

Parent Ramp Time belongs to the type Linked M Process, in the topic Motion. Cfg name ramp_time Description Ramp Time defines the acceleration up to Max Offset Speed. Usage The proportion constant for position regulation is ramped from zero up to its final value (Master Follower kp) during Ramp Time. Allowed values A value between 0.01 and 10, specifying the time in seconds. Default value: 0.05 Related information Master Follower Kp on page 494. Max Offset Speed on page 491.

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6 Topic Motion
6.18.8 Master Follower Kp

6.18.8 Master Follower Kp

Parent Master Follower Kp belongs to the type Linked M Process, in the topic Motion. Cfg name kp_offset Description Master Follower Kp is the proportion constant for position regulation. Usage Master Follower Kp determines how fast the position error is compensated. If the value is too low, the compensation will be slow. If the value is to large, the compensation will be unstable. Allowed values A value between 0 and 5 (unit is 1/s). Default value: 0.05.

494 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.18.9 Torque follower

6.18.9 Torque follower

Parent Torque follower belongs to the type Linked M Process, in the topic Motion. Cfg name torque_follower Description Torque follower specifies whether the follower should share torque with master axis rather than regulating to the exact corresponding position. Usage Torque follower turns on or off the torque follower functionality. If the value is Yes the follower axis will share torque with master axis. Allowed values Yes or No. Default value is No.

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6 Topic Motion
6.18.10 Torque distribution

6.18.10 Torque distribution

Parent Torque distribution belongs to the type Linked M Process, in the topic Motion. Cfg name torque_distribution Description Torque distribution is a quota defining how much of the total torque should be applied by the follower axis. Usage Torque distribution can be used to distribute torque between master and follower axis. Normally when running equal motors and drives the value should be 0.5 corresponding to share torque equal between master and follower. This parameter will have no effect if Torque follower is set to No. Allowed values A value between 0 and 1. Default value is 0.5. Example If Torque distribution is set to 0.3, the torque is distributed with 30% on the follower and 70% on the master.

496 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.18.11 Follower axis pos. acc. reduction

6.18.11 Follower axis pos. acc. reduction

Parent Follower axis pos. acc. reduction belongs to the type Linked M Process, in the topic Motion. Cfg name follower_axis_pos_accuracy_reduction Description Follower axis pos. acc. reduction can be used to reduce torque on master and follower axis if the torque is from position error between the axes. Usage Follower axis pos. acc. reduction can be used if mechanical structure is extremely stiff or if to large position error between the axes causes to high torques. By setting this parameter to a higher value, the position accuracy of the follower axis will be reduced and that will lower the part of the total torque which comes from position error. A too high value of this can cause instability. Normal value is 10-30. This parameter will have no effect if Torque follower is set to No. Allowed values A value between 0 and 100. Default value: 0.

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6 Topic Motion
6.19.1 The Mains type

6.19 Type Mains 6.19.1 The Mains type

Overview This section describes the type Mains, which belongs to the topic Motion. Each parameter of the type is described in a separate information topic in this section. Cfg name MAINS Type description The type Mains defines the drive system's mains power tolerance. The parameters of the Mains type have nominal values. The parameters of the type Mains can be used to improve the robot's performance by adjusting them according to the robot's actual installation. CAUTION Parameter settings outside the range of the robot's installation may negatively affect the robot's performance. Related information How to optimize drive system parameters on page 341. Mains Tolerance Min on page 500 Mains Tolerance Max on page 501.

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6 Topic Motion
6.19.2 Name

6.19.2 Name
Parent Name belongs to the type Mains, in the topic Motion. Cfg name name Description Name specifies the name of the mains tolerance setting it belongs to. Allowed values A string with maximum 32 characters, specifying the name. Related information How to optimize drive system parameters on page 341.

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6 Topic Motion
6.19.3 Mains Tolerance Min

6.19.3 Mains Tolerance Min

Parent Mains Tolerance Min belongs to the type Mains, in the topic Motion. Cfg name u_tolerance_min Description Mains Tolerance Min specifies the minimum value of the mains tolerance as a percentage. The value is set to -15% on delivery. If the minimum tolerance is less than 15%, the cycle time can be improved by changing the parameter. For more information, see How to optimize drive system parameters on page 341. Allowed values A value between -1 and +1 (equals -100% and 100%). The default value is -0.15 (equals -15%). For single phase 220V systems the default value is specified as 220V -15%. If 230V mains is used and the tolerance is 230V -15% then set the parameter manually to -0.11 (220V -11% is approximately 230V -15%). Related information How to optimize drive system parameters on page 341.

500 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.19.4 Mains Tolerance Max

6.19.4 Mains Tolerance Max

Parent Mains Tolerance Max belongs to the type Mains, in the topic Motion. Cfg name u_tolerance_max Description Mains Tolerance Max specifies the maximum value of the mains tolerance. Its default value is 0.1 (10%). This value normally should not be increased since the equipment is rated for this maximum mains tolerance and might be damaged if the voltage is increased. For 220V single phase systems the default value is 0.10 (10%). If 230 V mains is used and the tolerance should be 230 V + 10% then set the parameter manually to 0.15 (220 V + 15% is the same as 230 V + 10%). Allowed values The default value is 0.1. Related information How to optimize drive system parameters on page 341.

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6 Topic Motion
6.20.1 The Measurement Channel type

6.20 Type Measurement Channel 6.20.1 The Measurement Channel type

Overview This section describes the type Measurement Channel which belongs to the topic Motion. Each parameter of this type is described in a separate information topic in this section. Cfg name MEASUREMENT_CHANNEL Type description The type Measurement Channel describes which channel is used to send measurement data from the axis computer to the controller. Non-editable parameters The following parameters are visible but not editable in the software configuration tools: Max Normalized Input Level Min Normalized Input Level

As a consequence, the above parameters are not described in the manual.

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6 Topic Motion
6.20.2 Name

6.20.2 Name
Parent Name belongs to the type Measurement Channel, in the topic Motion. Cfg name name Description Name defines the axis computer's channel name. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.20.3 Use Measurement Board Type

6.20.3 Use Measurement Board Type

Parent Use Measurement Board Type belongs to the type Measurement Channel, in the topic Motion. Cfg name use_measurement_board_type Description Use Measurement Board Type defines which type of measurement board is used. Usage The type Measurement Board Type defines the measurement board data. Allowed values A string with maximum 32 characters.

504 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.20.4 Disconnect at Deactivate

6.20.4 Disconnect at Deactivate

Parent Disconnect at Deactivate belongs to the type Measurement Channel, in the topic Motion. Cfg name disconnect_at_deactivate Description Disconnect at Deactivate defines if the channel should be deactivated when the mechanical unit is deactivated. Usage Set Disconnect at Deactivate to Yes to avoid error reports when the resolver is disconnected, for instance when switching between tools. Allowed values Yes or No. Default value is No

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6 Topic Motion
6.20.5 Measurement Link

6.20.5 Measurement Link

Parent Measurement Link belongs to the type Measurement Channel, in the topic Motion. Cfg name measurement_link Description An axis resolver is connected to a Serial Measurement Board (SMB). The SMB communicates with the axis computer via a serial measurement link. Measurement Link defines the number of the measurement link. Usage There are two contacts on the axis computer marked Measurement link 1 and Measurement link 2. An ABB robot is normally connected to link 1. Allowed values 1 or 2. Default value is 1.

506 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.20.6 Board Position

6.20.6 Board Position

Parent Board Position belongs to the type Measurement Channel, in the topic Motion. Cfg name board_position Description Board Position defines the position number of the board used for the measurement system. Usage The value of Board Position defines the physical position of the board on the measurement link. Board position one is closest to the axis computer. Allowed values An integer value between 1 and 2. Default value is 1.

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6 Topic Motion
6.21.1 The Mechanical Unit type

6.21 Type Mechanical Unit 6.21.1 The Mechanical Unit type

Overview This section describes the type Mechanical Unit which belongs to the topic Motion. Each parameter of this type is described in a separate information topic in this section. Cfg name MECHANICAL_UNIT Type description The Mechanical Unit type describes the common parameters for a mechanical unit. There is one set of parameters for each mechanical unit. This type is only possible to edit for additional axes, not for robots delivered from ABB. Non-editable parameters The following parameter is visible but not editable in the software configuration tools: Use Run Enable As a consequence, the above parameter is not described in the manual. Related information Application manual - Additional axes and stand alone controller.

508 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.21.2 Name

6.21.2 Name
Parent Name belongs to the type Mechanical Unit, in the topic Motion. Cfg name name Description Name defines the name for the mechanical unit. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.21.3 Use Activation Relay

6.21.3 Use Activation Relay

Parent Use Activation Relay belongs to the type Mechanical Unit, in the topic Motion. Cfg name use_activation_relay Description Use Activation Relay defines the Id name for the activation relay. Usage Use Activation Relay points out a relay that will be activated or deactivated when the mechanical unit is activated or deactivated. More information can be found in Technical reference manual - RAPID Instructions, Functions and Data types under the instructions ActUnit/DeactUnit. Allowed values A string with maximum 32 characters. Related information Technical reference manual - RAPID Instructions, Functions and Data types.

510 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.21.4 Use Brake Relay

6.21.4 Use Brake Relay

Parent Use Brake Relay belongs to the type Mechanical Unit, in the topic Motion. Cfg name use_brake_relay Description Use Brake Relay defines the Id name for the brake relay. Usage Use Brake Relay points out what brake relay will be activated or deactivated when the mechanical unit goes to state control on or control off. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.21.5 Use Connection Relay

6.21.5 Use Connection Relay

Parent Use Connection Relay belongs to the type Mechanical Unit, in the topic Motion. Cfg name use_connection_relay Description Use Connection Relay defines the Id name for the connection relay. Usage Use Connection Relay points out a relay that must be activated when the mechanical unit is activated. Allowed values A string with maximum 32 characters.

512 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.21.6 Use Robot

6.21.6 Use Robot

Parent Use Robot belongs to the type Mechanical Unit, in the topic Motion. Cfg name use_robot Description Use Robot defines which robot is part of the mechanical unit. Usage The robot is defined in the type Robot. Allowed values A string with maximum 32 characters. Related information Name on page 598, of the type Robot.

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6 Topic Motion
6.21.7 Use Single 1, 2, 3, 4, 5, 6

6.21.7 Use Single 1, 2, 3, 4, 5, 6

Parent Use Single 1, Use Single 2, Use Single 3, Use Single 4, Use Single 5, and Use Single 6 belongs to the type Mechanical Unit, in the topic Motion. Cfg names use_single_0 use_single_1 use_single_2 use_single_3 use_single_4 use_single_5 Description Use Single defines which singles are part of the mechanical unit. Usage The mechanical unit can have six singles, Use Single 1, Use Single 2, Use Single 3, Use Single 4, Use Single 5, and Use Single 6. The singles are defined in the type Single. Allowed values Each single value is a string with maximum 32 characters. Related information Name on page 648, in the type Single.

514 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.21.8 Allow Move of User Frame

6.21.8 Allow Move of User Frame

Parent Allow Move of User Frame belongs to the type Mechanical Unit, in the topic Motion. Cfg name allow_move_of_user_frame Description Allow Move of User Frame defines if a robot or single is allowed to move a user frame. Usage A user frame can be moved by a robot or a single that is part of the mechanical unit. Set Allow Move of User Frame to Yes to allow a robot or single to move a user frame. Note that the definition of the work object must allow it to be moved, see wobjdata (ufprog and ufmec) in Technical reference manual - RAPID Instructions, Functions and Data types. Allowed values Yes or No. Related information Technical reference manual - RAPID Instructions, Functions and Data types

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6 Topic Motion
6.21.9 Activate at Start Up

6.21.9 Activate at Start Up

Parent Activate at Start Up belongs to the type Mechanical Unit, in the topic Motion. Cfg name activate_at_start_up Description Activate at Start Up defines if the mechanical unit should be activated at start. Usage Set the value to No to activate the mechanical unit at start. Allowed values Yes No

516 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.21.10 Deactivation Forbidden

6.21.10 Deactivation Forbidden

Parent Deactivation Forbidden belongs to the type Mechanical Unit, in the topic Motion. Cfg name deactivation_forbidden Description Deactivation Forbidden defines if the mechanical unit is allowed to be deactivated. Usage Set Deactivation Forbidden to No if the mechanical unit should be allowed to be deactivated. Robots from ABB always has the value set to Yes. They should not be deactivated. The value No is used only for additional axes that should be possible to deactivate. Allowed values Yes or No.

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6 Topic Motion
6.21.11 Deactivate PTC superv. at disconnect

6.21.11 Deactivate PTC superv. at disconnect

Parent Deactivate PTC superv. at disconnect belongs to the type Mechanical Unit, in the topic Motion. Cfg name deactivate_ptc_at_disconnect Description When set to Yes, the PTC supervision is disabled when the mechanical unit is disconnected and enabled again when it is activated. Usage The PTC supervision is used to detect high motor temperatures for mechanical units. If a unit is physically disconnected while the PTC supervision is active, an error will occur. When using Servo Tool Change, it must be possible to disconnect the servo tool. By setting Deactivate PTC superv. at disconnect to Yes, the servo tool can be deactivated and removed without an error. When the new tool is connected and activated, PTC supervision is activated again. Prerequisites Setting Deactivate PTC superv. at disconnect to Yes is only useful if an additional axis is disconnected without turning off the robot system. This can only be done if you have the options Servo Tool Control and Servo Tool Change. Limitations If Deactivate PTC superv. at disconnect is set to Yes and the mechanical unit is deactivated, the PTC supervision is disabled for all additional axes in the system (but not for the robot). Allowed values Yes or No.

518 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.21.12 Activate from any motion task

6.21.12 Activate from any motion task

Parent Activate from any motion task belongs to the type Mechanical Unit, in the topic Motion. Cfg name allow_activation_from_any_motion_task Description If Activate from any motion task is set to Yes, the mechanical unit can be deactivated by one task and then activated by another motion task. The mechanical unit is then controlled by the task that has activated it. Usage If Activate from any motion task is set to Yes, a mechanical unit, for example a servo gun, can be used by two robots in a MultiMove system. Example A servo gun is held by robot 1 and controlled by the task T_ROB1. It is deactivated and disconnected from robot 1. The servo gun is then connected to robot 2 and activated by the task T_ROB2. Limitations The parameter Deactivation Forbidden must be set to No for this mechanical unit. Activate from any motion task can only be used for a mechanical unit that can be deactivated, that is not for a robot. Activate from any motion task is only useful for a MultiMove system. The mechanical unit must still belong to a mechanical unit group, see Type Mechanical Unit Group on page 95. This configuration determines which task that will control the mechanical unit at start. Default value The default value is No. Allowed values Yes No Additional information If the program pointer is moved to main, the mechanical unit regains its configuration from the system parameters, that is it is activated by its original task. Make sure the program is not restarted from main with the mechanical unit mounted on another robot than configured in the system parameters.

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6 Topic Motion
6.22.1 The Motion Planner type

6.22 Type Motion Planner 6.22.1 The Motion Planner type

Overview This section describes the type Motion Planner, which belongs to the topic Motion. Each parameter of the type is described in a separate information topic in this section. Note When several task programs are run in synchronized mode, the movements of all their mechanical unit groups are calculated by the same motion planner. It is then the first set of parameters of the type Motion Planner that is used. Cfg name MOTION_PLANNER Type description A motion planner is a process on the controller that calculates how mechanical units shall move. A controller that handles more than one robot also has more than one motion planner. Each mechanical unit group has its own motion planner. Limitations Unless the option MultiMove is installed, there can only be one motion planner configuration. Related information Application manual - MultiMove.

520 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.22.2 Name

6.22.2 Name
Parent Name belongs to the type Motion Planner, in the topic Motion. Cfg name name Description The name of the motion planner. Usage This is the public identity of the motion planner. It is used by the parameter Use Motion Planner in the type Mechanical Unit Group. Allowed values A string with maximum 32 characters. The name must not be changed! Related information The Mechanical Unit Group type on page 95 in the topic Controller.

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6 Topic Motion
6.22.3 Brake on Time

6.22.3 Brake on Time

Parent Brake on Time belongs to the type Motion Planner, in the topic Motion. Cfg name brake_on_timeout Description Brake on Time is used to delay the use of brakes when the robot is waiting to move. It defines the time from when the robot stops to when the mechanical brakes are activated. Note The brake on time value should be kept high to maintain the reliability of the servo at high level. Allowed values A value between 0.3 to 3,600,000, specifying the time in seconds.

522 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.22.4 Dynamic Resolution

6.22.4 Dynamic Resolution

Parent Dynamic Resolution belongs to the type Motion Planner, in the topic Motion. Cfg name dynamic_resolution Limitation Dynamic Resolution is optimized for the system at delivery. It should normally not be changed. Allowed values A predefined value, specified in seconds.

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6 Topic Motion
6.22.5 Path Resolution

6.22.5 Path Resolution

Parent Path Resolution belongs to the type Motion Planner, in the topic Motion. Cfg name path_resolution Description The parameter corresponds in some sense to the distance between two points in the path. Increasing path resolution means increasing the distance, which leads to a decrease in the resolution of the path! Increasing path resolution is a way to deal with robot installations that have external axes with long deceleration times due to high CPU load. In such applications the warning "50082 Deceleration limit" can be reported, simultaneously generating a quick-stop. Increasing the path resolution solves the problem. Prerequisites It is important to set the path resolution value as low as possible in order to achieve a high path resolution at high speed. Keeping the path resolution low can also give shorter cycle times if the cycle contains many stop points and the move instructions following these stop points have low speeds. Usage Path Resolution might require tuning when: Allowed values A value between 0.1667 to 6.00, specifying the resolution in seconds. Additional information There is also a RAPID instruction named PathResol which affects the resolution of the path. Continues on next page
524 Copyright 2004-2012 ABB. All rights reserved. 3HAC17076-1 Revision: Q

The acceleration value of an additional axis (and the robot) is decreased using the first parameter of the RAPID instruction AccSet. The acceleration derivative is decreased using the second parameter of the RAPID instruction AccSet. The speed is increased. The distances between closely programmed positions are decreased. The number of simultaneously controlled axes are increased. Using coordinated interpolation. Using Weldguide. Using the option Conveyor Tracking. Using RAPID controlled path correction. Using multitasking with computationally demanding RAPID programs. Reorienting with a small or no TCP movement.

6 Topic Motion
6.22.5 Path Resolution Continued Related information Technical reference manual - RAPID overview. Application manual - Motion coordination and supervision.

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6 Topic Motion
6.22.6 Queue Time

6.22.6 Queue Time

Parent Queue Time belongs to the type Motion Planner, in the topic Motion. Cfg name std_servo_queue_time Description Increasing Queue Time makes the system more tolerant to uneven CPU loads. Note The real queue time is a multiple of a sample time related to dynamic resolution. If the parameter value is not an even multiple of the dynamic resolution, the controller will automatically use a queue time as close as possible to the given value. Allowed values A value between 0.004032 to 0.290304, specifying the time in seconds. Additional information A drawback with increasing the queue time is that the robot reacts more slowly when jogging and when stopping a program execution. However, the emergency brake is not affected. The accuracy of a sensor process, e.g. WeldGuide and Conveyor tracking, may also be affected.

526 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.22.7 Teach Mode Max Speed

6.22.7 Teach Mode Max Speed

Parent Teach Mode Max Speed belongs to the type Motion Planner, in the topic Motion. Cfg name teach_mode_max_speed Description Teach Mode Max Speed can be used to set the maximum TCP-speed in manual mode to less than the default value 0.25 m/s. When the value of this parameter is reduced, the maximum joint speed in teach mode will also be reduced. If the value is set to 0.2 m/s, all maximum joint speeds in teach mode will be reduced by 0.2/0.25=0.8, i.e. 80% of the previous values. Allowed values A value between 0.010 to 0.250, specifying the speed in meter per seconds. The default value is 0.25 m/s.

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6 Topic Motion
6.22.8 Process Update Time

6.22.8 Process Update Time

Parent Process Update Time belongs to the type Motion Planner, in the topic Motion. Cfg name process_linearization_time Description Process Update Time determines how often the process path information is calculated. This information is used for path following in Conveyor tracking, WeldGuide and Rapid Weave, for example. Usage Decreasing the process update time improves accuracy but also increases CPU load. Increasing the parameter decreases the CPU load. Limitations When running programs in which the manipulator is moving at high speed, the parameter value should be kept small in order to get the best performance. When the manipulator is moving slowly, the process update time is not critical. Allowed values A value between 0.012096 to 1.93536, specifying the time in seconds.

528 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.22.9 Prefetch Time

6.22.9 Prefetch Time

Parent Prefetch Time belongs to the type Motion Planner, in the topic Motion. Cfg name ipol_prefetch_time Description Prefetch Time affects the point in time at which the controller starts to plan for the motion through a corner zone. If the planning time is too short, the corner zone becomes a fine point. This generates a warning called 50024 Corner path failure. Usage If the planning time is too short because of high CPU load, increasing the parameter value may solve the problem. However, it will not solve the problem when it is caused by too many corner zones placed very close together or by incorrect use of instructions, e.g. a corner zone followed by a WaitDI instruction. Normally, Prefetch Time should only be increased when the corner zone is really needed in the application. When it is not really needed, change the corner zone to a fine point. Limitations There is a drawback when increasing the parameter. The difference between the position of the executed RAPID instruction and the current position of the manipulator will increase. This means that after pressing stop during program execution, the program counter on the teach pendant unit may show an instruction that has not yet affected the manipulator. When starting again, the manipulator continues along the original path. Allowed values A value between 0 to 10, specifying the time in seconds.

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6 Topic Motion
6.22.10 Event Preset Time

6.22.10 Event Preset Time

Parent Event Preset Time belongs to the type Motion Planner, in the topic Motion. Cfg name event_preset_time Description Event Preset Time is used to delay the robot to make it possible to activate/control external equipment in advance. This is to compensate for the internal delay of the equipment. Usage Adjustment for the internal delay of the equipment can be made with the instruction TriggEquip. This takes advantage of the delay between the RAPID commands and the robot movement. In this way an output signal can be set up to about 100 ms in advance. If the delay of the equipment is longer than 100 ms, then Event Preset Time must be used to increase the delay of the robot movement. Configure Event Preset Time to the longest equipment delay time needed (if more than 100ms). Allowed values A value between 0 and 0.5, specifying the time in seconds. Additional information Remember that when using Event Preset Time, the start of the robot is delayed and the performance of WeldGuide, conveyors, spot welding, and so on will be decreased. Example If you use Fixed Position Event with the following RAPID instructions, you should configure Event Preset Time to 0.2 seconds (the maximum delay required by TriggEquip)
TriggEquip gunon, 10, 0.2 \DOp:=gun, 1; TriggL p1, v500, gunon, z50, gun1;

Related information Application manual - Motion functions and events.

530 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.22.11 CPU Load Equalization

6.22.11 CPU Load Equalization

Parent CPU Load Equalization belongs to the type Motion Planner, in the topic Motion. Cfg name cpu_load_equalization Description CPU Load Equalization affects the CPU load in terms of peak load versus average load. Usage When there is a CPU load problem, indicated for example by error message 50082 Deceleration limit, one solution could be to use CPU Load Equalization to distribute the CPU load over time in some other way. Sometimes a higher peak load can be acceptable, as long as it occurs at a favorable moment in time. Try changing CPU equalization both upwards and downwards to find the optimal value. Allowed values An integer value between 1 and 10.

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6 Topic Motion
6.22.12 Restrict placing of circlepoints

6.22.12 Restrict placing of circlepoints

Parent Restrict placing of circlepoints belongs to the type Motion Planner, in the topic Motion. Cfg name restricted_circlepoint Description Restrict placing of circlepoints adds a supervision that the circle path not turns around more than 240 degrees and that the circle point is placed in the middle part of the circle path. Usage If the program is started on a MoveC instruction and the robot is standing between the circle point and the end point then there is a risk that the robot will perform the circle backwards. That is, move to the circle point and complete the circle to the end point in the opposite direction than programmed. This could be dangerous. The circle path will be better defined if the circle point is near the midth of the path, for example, use the instructions CirPathMode\CirPointOri or SingArea\Wrist. To minimize the risk set Restrict placing of circlepoints to Yes. Then the robot will stop with an error message if the TCP is not within the safe limits. Allowed values Yes or No. Default value is Yes. NOTE! The default value is set to No when loading a system created in RW 5.10 or older releases. Additional information The following reasons will stop the robot if Restrict placing of circlepoints is set to Yes. Circle point is too close to start point. Circle point is too close to end point. Circle is too large, that is more than 240 degrees.

If a circle point is modified (modpos) then the planned path is recalculated so that when restarting the program the robot will follow the new path if the conditions for restricted placing of circlepoints are fulfilled, regardless of if the function is activated or not. Related information Technical reference manual - RAPID Instructions, Functions and Data types.

Continues on next page

532 Copyright 2004-2012 ABB. All rights reserved. 3HAC17076-1 Revision: Q

6 Topic Motion
6.22.12 Restrict placing of circlepoints Continued Example The example shows a planned path from P10 to P20 in anti clockwise direction (A). If the robot is standing between P10 and P20 when execution is started then the robot might want to use the other direction (B). If Restrict placing of circlepath is set to Yes then an error message is displayed that the TCP is not within safe limits.

xx0800000185

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533

6 Topic Motion
6.22.13 Use Motion Supervision

6.22.13 Use Motion Supervision

Parent Use Motion Supervision belongs to the type Motion Planner, in the topic Motion. Cfg name use_motion_sup Description Use Motion Supervision defines which set of motion supervision parameters to be used for this motion planner. Usage Motion supervision is used to activate, deactivate or adjust the collision detection functionality. For detailed information about collision detection, see the Application manual - Motion coordination and supervision, chapter Collision Detection. Allowed values A string with maximum 32 characters. Related information The Motion Supervision type on page 547. Application manual - Motion coordination and supervision.

534 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.22.14 Motion Supervision Permanent Off

6.22.14 Motion Supervision Permanent Off

Parent Motion Supervision Permanent Off belongs to the type Motion Planner, in the topic Motion. Cfg name motion_sup_permanent_off Description Motion Supervision Permanent Off is used to turn off all motion supervision to save CPU power. Allowed values Yes No

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6 Topic Motion
6.22.15 Motion Supervision Max Level

6.22.15 Motion Supervision Max Level

Parent Motion Supervision Max Level belongs to the type Motion Planner, in the topic Motion. Cfg name motion_sup_max_level Description The maximum allowed supervision level, both for program execution and jogging. Usage Motion Supervision Max Level stops the operator from tuning the supervision level to values that are too high. The supervision level for program execution is a combination of the parameter Path Collision Detection Level and a tuning value set with the RAPID instruction MotionSup. Motion Supervision Max Level is a maximum limit for this combined value. Limitations Changing this parameter only affects the system if the option Collision Detection is installed. Allowed values An integer in the interval 10 to 500 (percent). The default value is 300. Related information Path Collision Detection Level on page 551. Application manual - Motion coordination and supervision. Example Motion Supervision Max Level is set to 300. Path Collision Detection Level is set to 250. A RAPID program uses the instruction MotionSup to tune the supervision level with 200%. Normally this would lead to a supervision level of 500% (2.5 * 2 = 5), but since Motion Supervision Max Level is 300, the supervision level will not exceed 300%.

536 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.22.16 Remove Corner Path Warning

6.22.16 Remove Corner Path Warning

Parent Remove Corner Path Warning belongs to the type Motion Planner, in the topic Motion. Cfg name remove_corner_path_warning Description Remove Corner Path Warning is used to disable the corner path failure warnings. Corner warnings will still be executed as fine points but the warning will not be shown in the event log. Usage The warning "50024 Corner Path Failure" occurs when RAPID program execution does not provide a new Move instruction while the robot is entering a corner zone. This may be due to a programming oversight or an explicit desire of the programmer. Allowed values Yes No

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6 Topic Motion
6.22.17 Time Event Supervision

6.22.17 Time Event Supervision

Parent Time Event Supervision belongs to the type Motion Planner, in the topic Motion. Cfg name require_event_accuracy Description Time Event Supervision is used to detect if a programmed event can be accurately positioned or not. If not, the system will stop and display a warning. Usage If the event cannot be accurately positioned, suggested program modifications are to either lower the programmed speed or to increase the distance between the start of the segment and the desired event position. Allowed values Yes or No

538 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.22.18 High Interpolation Priority

6.22.18 High Interpolation Priority

Parent High Interpolation Priority belongs to the type Motion Planner, in the topic Motion. Cfg name high_interpolation_priority Description High Interpolation Priority is used to allow the system to temporarily increase the priority of the path planning in critical situations. Usage When the warning "50082 Deceleration limit" occurs at installations, this parameter can be useful. The parameters Path Resolution and CPU Load Equalization might also be useful in this situation. Note Using High Interpolation Priority might affect the performance of the application, e.g. spot welding or sealing. Thus it is very important to verify the process performance after the parameter has been set. Allowed values On or Off. Related information Path Resolution on page 524. CPU Load Equalization on page 531.

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6 Topic Motion
6.22.19 Speed Control Warning

6.22.19 Speed Control Warning

Parent Speed Control Warning belongs to the type Motion Planner, in the topic Motion. Cfg name speed_control_warning Description By setting Speed Control Warning to Yes, a warning will be given when the robot moves slower than the programmed speed. Usage When several robots (and other mechanical units) are in synchronized movement mode, in a MultiMove application, all simultaneous move instruction finish at the same time. This means that if one robot has a longer path or a slower programmed speed than another robot, the speed of the second robot is decreased. If a robot is working with an application where the speed is important (e.g. arc welding or gluing), Speed Control Warning can be used to give a warning when the actual speed is slower than the programmed speed. Limitations This parameter is only useful when using the RobotWare option MultiMove. The speed is only supervised for robot TCP speed. No warning is given for the speed of additional axes. Allowed values Yes or No. Additional information When several tasks are in synchronized movement mode, all these tasks are planned by the same Motion Planner (the first Motion Planner of those involved in the synchronization). If this Motion Planner has Speed Control Warning set to Yes, all the synchronized robot speeds are supervised. If it has Speed Control Warning set to No, no robot speeds are supervised.

540 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.22.20 Speed Control Percent

6.22.20 Speed Control Percent

Parent Speed Control Percent belongs to the type Motion Planner, in the topic Motion. Cfg name speed_control_percent Description If Speed Control Warning is set to Yes, a warning will be issued when the actual speed is slower than this percentage of the programmed speed. Usage If a robot is working with an application where the speed is important (e.g. arc welding or gluing), Speed Control Percent defines the slowest speed (in percent of programmed speed) that is acceptable. Limitations This parameter is only useful when using the RobotWare option MultiMove. The speed is only supervised for robot TCP speed. No warning is given for the speed of additional axes. Allowed values A number between 0 and 100 (in percent of programmed speed).

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6 Topic Motion
6.22.21 Use spline parameters

6.22.21 Use spline parameters

Parent Use spline parameters belongs to the type Motion Planner, in the topic Motion. Cfg name use_spline_parameters Description Use spline parameters defines the value of the spline parameters. Usage Use spline parameters defines how long the robot waits when starting from a finepoint, that is, how many positions will be calculated in advance by the motion planner. Default value is default mp1 for the first robot. Using 3steps mp1 will give a shorter time when starting from a finepoint. But the robot may stop with the 50024 warning (Corner zone executed as finepoint) on the first move. Allowed values Following are the allowed values: default mp1 3steps mp1 4steps mp1 5steps mp1 default mp2 3steps mp2 4steps mp2 5steps mp2

NOTE! mp1 stands for motion planner 1, that is, robot 1. mp2 stands for motion planner 2, that is, robot 2. Limitations The parameter is valid only for IRB 360.

542 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.22.22 Use additional interp. object batch

6.22.22 Use additional interp. object batch

Parent Use additional interp. object batch belongs to the type Motion Planner, in the topic Motion. Cfg name extended_dec_dist Description Use additional interp. object batch is used to increase the number of interpolation objects available in the system. The value 0 means the default number of interpolation objects is available. Increasing the parameter value by one implies allocating one additional batch of interpolation objects. Usage The parameter is useful if AccSet is used with very low values or a very slow external axis is used in the system. Typically the value is increased after the error 50426 (Out of interpolation objects) is triggered. Note The additional interpolation objects use system memory and it is therefore not recommended to add extra safety margin on the number of batches allocated. Allowed values A value between 0 and 2 specifying the number of additional batches of interpolation objects that are available in the system.

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

543

6 Topic Motion
6.22.23 Bandwidth of path pose filter

6.22.23 Bandwidth of path pose filter

Parent Bandwidth of path pose filter belongs to the type Motion Planner, in the topic Motion. Cfg name weave_path_pose_filter_bandwidth Description Bandwidth of path pose filter is used to set the cut off frequency for a low pass filter that filters the path pose used for weaving. The path pose is constantly calculated from the actual path and the tool Z direction. When this pose changes too rapidly, the robot might jerk slightly or trigger the error message 50375, Dynamic load too high. The Bandwidth of path pose filter is used to smoothen these changes in the pose. Usage Setting this value to a lower value creates a smoother change of the path pose. If a rapid change of pose is needed, a higher value can be set as long as it does not create jerky movements. Allowed values A value between 0.01 and 20, specifying the cut off frequency in Hz. The default value is 1 Hz. Related information Technical reference manual - RAPID Instructions, Functions and Data types, instruction CorrCon.

544 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.22.24 Circle Speed Priority

6.22.24 Circle Speed Priority

Parent Circle Speed Priority belongs to the type Motion Planner, in the topic Motion. Cfg name circle_speed_priority Description The circle speed is prioritized and can be increased. Usage A higher speed is typically achieved for small circles up to a radius of approximately 10 mm. Allowed values Yes or No. Default value is No. Additional information Setting the parameter to Yes can increase the achievable speed in small circles but the increased speed may have a negative effect on the path accuracy.

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6 Topic Motion
6.22.25 Number of Internal Event Objects

6.22.25 Number of Internal Event Objects

Parent Number of Internal Event Objects belongs to the type Motion Planner, in the topic Motion. Cfg name number_of_event_objects Description Number of Internal Event Objects defines the number of internal event objects for the motion planner. Usage The Number of Internal Event Objects is used to allocate internal event objects. The objects are used in different situations, e.g. when running the Trigg instructions in RAPID. When using intensive TriggLIOs the controller can get lack of internal event objects, in such event this parameter can be used to solve the problem and increase the number of internal objects. Allowed values A value between 0 and 500. Default value is 100. Related information RAPID Instructions, Functions and Data types - TriggLIOs

546 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.23.1 The Motion Supervision type

6.23 Type Motion Supervision 6.23.1 The Motion Supervision type

Overview This section describes the type Motion Supervision, which belongs to the topic Motion. Each parameter of this type is described in a separate information topic in this section. Cfg name MOTION_SUP Type description Motion supervision is used to activate, deactivate or adjust the collision detection functionality. For detailed information about collision detection, see the Application manual - Motion coordination and supervision, chapter Collision Detection. No controller restart required Most of the motion supervision parameters do not require a restart of the controller when modified. Limitations The type Motion supervision is mainly used to configure the installed option Collision detection. For a system without this option, changing the values for most of the parameters does not affect the system. Related information How to tune motion supervision on page 343. Application manual - Motion coordination and supervision.

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6 Topic Motion
6.23.2 Name

6.23.2 Name
Parent Name belongs to the type Motion Supervision, in the topic Motion. Cfg name name Description Name defines the name of the motion supervision setup. Limitation This parameter cannot be changed. Related information How to tune motion supervision on page 343.

548 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.23.3 Path Collision Detection

6.23.3 Path Collision Detection

Parent Path Collision Detection belongs to the type Motion Supervision, in the topic Motion. Cfg name path_col_detect_on Description Path Collision Detection turns the collision detection on or off for program execution. Usage Setting Path Collision Detection to On turns on the collision detection, Off turns off the collision detection. Allowed values On or Off. Related information How to tune motion supervision on page 343.

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549

6 Topic Motion
6.23.4 Jog Collision Detection

6.23.4 Jog Collision Detection

Parent Jog Collision Detection belongs to the type Motion Supervision, in the topic Motion. Cfg name jog_col_detect_on Description Jog collision Detection turns the collision detection on or off for jogging. Limitation Changing this parameter only affects the system if the option Collision detection is installed. Allowed values On or Off Related information How to tune motion supervision on page 343.

550 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.23.5 Path Collision Detection Level

6.23.5 Path Collision Detection Level

Parent Path Collision Detection Level belongs to the type Motion Supervision, in the topic Motion. Cfg name path_col_detect_level Description Path Collision Detection Level modifies the supervision level for the collision detection for program execution by a specified percentage value. Usage The supervision level for collision detection in program execution is specified as a percentage. A large value makes the function less sensitive. The default value is 100%. For detailed information, see the Application manual - Motion coordination and supervision. Limitation Changing this parameter only affects the system if the option Collision detection is installed. Allowed values A value in the interval 1 to 500, specifying the supervision level in %. The default value is 100%. Related information How to tune motion supervision on page 343. Application manual - Motion coordination and supervision.

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

551

6 Topic Motion
6.23.6 Jog Collision Detection Level

6.23.6 Jog Collision Detection Level

Parent Jog Collision Detection Level belongs to the type Motion Supervision, in the topic Motion. Cfg name jog_col_detect_level Description Jog Collision Detection Level modifies the supervision level for the collision detection for jogging by a specified percentage value. Usage The supervision level for collision detection in jogging is specified as a percentage, where a large value makes the function less sensitive. The default value is 100%. For detailed information, see the Application manual - Motion coordination and supervision. Limitations Changing this parameter only affects the system if the option Collision detection is installed. Allowed values A value in the interval 1 to 500, specifying the supervision level in %. The default level is 100%. Related information How to tune motion supervision on page 343. Application manual - Motion coordination and supervision.

552 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.23.7 Collision Detection Memory

6.23.7 Collision Detection Memory

Parent Collision Detection Memory belongs to the type Motion Supervision, in the topic Motion. Cfg name collision_detection_memory Description Collision Detection Memory defines how much the robot moves back on the path after a collision. The parameter requires a restart of the controller when modified. Usage The robot movement back on the path after a collision is specified in seconds. If the robot was moving quickly before the collision, it will move further back than if the speed was lower. For detailed information, see the Application manual - Motion coordination and supervision. Allowed values A value in the interval 0.025 to 0.5, specifying the movement in seconds. Related information How to tune motion supervision on page 343. Application manual - Motion coordination and supervision.

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553

6 Topic Motion
6.23.8 Manipulator supervision

6.23.8 Manipulator supervision

Parent Manipulator supervision belongs to the type Motion Supervision, in the topic Motion. Cfg name manipulator_supervision_on Description Manipulator supervision turns the supervision for the loose arm detection on or off for IRB340 and IRB 360. Usage Set Manipulator supervision to On to turn supervision on. The supervision level is set with parameter Manipulator supervision level. A loose arm will stop the robot and cause an error message. Limitations Changing this parameter affects the system only if the option Collision detection is installed. For the changes to take effect, a warmstart is required. The Manipulator supervision parameter is used only by IRB 340 and IRB 360. Allowed values On or Off. The default value is Off. Related information Application manual - Motion coordination and supervision.

554 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.23.9 Manipulator supervision level

6.23.9 Manipulator supervision level

Parent Manipulator supervision level belongs to the type Motion Supervision, in the topic Motion. Cfg name manipulator_supervision_level Description Manipulator supervision level modifies the supervision level for the loose arm detection for the manipulators IRB 340 and IRB 360. Usage The supervision level for loose arms is specified as a percentage, where a large value makes the function less sensitive. The default value is 100%. The supervision function is turned On or Off with parameter Manipulator supervision. Limitations Changing this parameter only affects the system if the option Collision detection is installed. For the changes to take effect, a warmstart is required. The parameter Manipulator supervision level is used only by IRB 340 and IRB 360. Allowed values A value in the interval 1 to 500, specifying the supervision level in %. The default value is 100%. Related information Application manual - Motion coordination and supervision.

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

555

6 Topic Motion
6.24.1 The Motion System type

6.24 Type Motion System 6.24.1 The Motion System type

Overview This section describes the type Motion System, which belongs to the topic Motion. Each parameter of this type is described in a separate information topic in this section. Cfg name MOTION_SYSTEM Type description Motion System includes parameters that are common for the entire system. Non-editable parameters The following parameter is visible but not editable in the software configuration tools: Sensor Memory Mode As a consequence, the above parameter is not described in the manual.

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6 Topic Motion
6.24.2 Name

6.24.2 Name
Parent Name belongs to the type Motion System, in the topic Motion. Cfg name name Description Name specifies the name of the Motion System type. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.24.3 Min Temperature Cabinet

6.24.3 Min Temperature Cabinet

Parent Min Temperature Cabinet belongs to the type Motion System, in the topic Motion. Cfg name min_temp_ambient_cabinet Description Min Temperature Cabinet defines the minimum ambient temperature where the cabinet is situated. Allowed values A value between -100 to 100 C, specifying the temperature in degrees Celsius.

558 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.24.4 Max Temperature Cabinet

6.24.4 Max Temperature Cabinet

Parent Max Temperature Cabinet belongs to the type Motion System, in the topic Motion. Cfg name max_temp_ambient_cabinet Description Max Temperature Cabinet defines the maximum ambient temperature where the cabinet is situated. Allowed values A value between -100 to 100 C, specifying the temperature in degrees Celsius. Additional information This parameter does not have to be changed if the controller is equipped with an extra fan for the cabinet.

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6 Topic Motion
6.24.5 Min Temperature Robot

6.24.5 Min Temperature Robot

Parent Min Temperature Robot belongs to the type Motion System, in the topic Motion. Cfg name min_temp_ambient_robot Description Min Temperature Robot defines the minimum ambient temperature where the robot is situated. Allowed values A value between -100 to 100 C, specifying the temperature in degrees Celsius.

560 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.24.6 Max Temperature Robot

6.24.6 Max Temperature Robot

Parent Max Temperature Robot belongs to the type Motion System, in the topic Motion. Cfg name max_temp_ambient_robot Description Max Temperature Robot defines the maximum ambient temperature where the robot is situated. Allowed values A value between -100 to 100 C, specifying the temperature in degrees Celsius.

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

561

6 Topic Motion
6.25.1 The Motor type

6.25 Type Motor 6.25.1 The Motor type

Overview This section describes the Motor type which belongs to the topic Motion. Each parameter is described in a separate information topic in this section. Cfg name MOTOR Type description The type Motor describes the motor used for each axis. There is one configuration of the type Motor for each axis. Note that only external axes are visible, the robot's axes motors are configured on delivery and should not be changed.

562 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.25.2 Name

6.25.2 Name
Parent Name belongs to the type Motor, in the topic Motion. Cfg name name Description Name defines the name of the motor. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.25.3 Use Motor Type

6.25.3 Use Motor Type

Parent Use Motor Type belongs to the type Motor, in the topic Motion. Cfg name use_motor_type Description Use Motor Type defines which type of motor is used for this type. Usage The type Motor Type defines the motor data. Allowed values A string with maximum 32 characters. Related information The type Motor Type on page 573.

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6 Topic Motion
6.25.4 Use Motor Calibration

6.25.4 Use Motor Calibration

Parent Use Motor Calibration belongs to the type Motor, in the topic Motion. Cfg name use_motor_calib Description Use Motor Calibration defines which type of motor calibration to be used. Usage The type Motor Calibration defines the motor's calibration data. Allowed values A string with maximum 32 characters. Related information The Motor Calibration type on page 566.

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6 Topic Motion
6.26.1 The Motor Calibration type

6.26 Type Motor Calibration 6.26.1 The Motor Calibration type

Overview This section describes the type Motor Calibration, which belongs to the topic Motion. Each parameter of the type is described in a separate information topic in this section. Cfg name MOTOR_CALIB Type description With the parameters in the Motor Calibration type, you can calibrate the robot's motors by entering the calibration values. Motor calibration configuration is normally done during robot calibration. However, if the values are known, they can be specified directly. Limitations If calibration or commutator offset parameters are set, the corresponding offset valid parameters have to be set to YES, otherwise the offset parameter will not be used.

566 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.26.2 Name

6.26.2 Name
Parent Name belongs to the type Motor Calibration, in the topic Motion. Cfg name name Description Name specifies the name of the motor calibration setting it belongs to. Usage Name is used to reference the Motor Calibration from the parameter Use Motor Calibration in the type Motor. Allowed values A string with maximum 32 characters.

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.26.3 Commutator Offset

6.26.3 Commutator Offset

Parent Commutator Offset belongs to the type Motor Calibration, in the topic Motion. Cfg name com_offset Description Commutator Offset defines the position of the motor (resolver) when the rotor is in the predefined commutation position relative to the stator. Usage ABB motors normally uses Commutation Offset value 1.57080. Allowed values A value between -6.283186 and 6.283186, specifying the offset in radians.

568 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.26.4 Commutator Offset Valid

6.26.4 Commutator Offset Valid

Parent Commutator Offset Valid belongs to the type Motor Calibration, in the topic Motion. Cfg name valid_com_offset Description Commutator Offset Valid specifies whether the commutator offset is defined or not. Allowed values Yes or No. Related information Commutator Offset on page 568.

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.26.5 Calibration Offset

6.26.5 Calibration Offset

Parent Calibration Offset belongs to the type Motor Calibration, in the topic Motion. Cfg name cal_offset Description Calibration Offset defines the position of the motor (resolver) when the arm is in the calibration (zero) position. Allowed values A value between -6.283186 and 6.283186, specifying the offset in radians.

570 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.26.6 Calibration Offset Valid

6.26.6 Calibration Offset Valid

Parent Calibration Offset Valid belongs to the type Motor Calibration, in the topic Motion. Cfg name valid_cal_offset Description Calibration Offset Valid specifies whether the calibration offset is defined or not. Allowed values Yes or No. Related information Calibration Offset on page 570.

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

571

6 Topic Motion
6.26.7 Calibration Sensor Position

6.26.7 Calibration Sensor Position

Parent Calibration Sensor Position belongs to the type Motor Calibration, in the topic Motion. Cfg name cal_sensor_position Description Calibration Sensor Position defines the calibration sensor position on the arm side. Usage The value is set in degrees. Allowed values A value between -180 and 180 degrees. Default value is 0 degrees.

572 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.27.1 The type Motor Type

6.27 Type Motor Type 6.27.1 The type Motor Type

Overview This section describes the type Motor Type, which belongs to the topic Motion. Each parameter of the type is described in a separate information topic in this section. Cfg name MOTOR_TYPE Type description The type Motor Type is used to describe characteristics for the motor. Limitations The parameter values for Motor Type can only be changed for additional axis motors. The values can be observed for robot motors, but cannot be changed.

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6 Topic Motion
6.27.2 Name

6.27.2 Name
Parent Name belongs to the type Motor Type, in the topic Motion. Cfg name name Description The name of the Motor Type. Usage Name is used to reference a motor type from the parameter Use Motor Type in the type Motor. Allowed values A string with maximum 32 characters.

574 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.27.3 Pole Pairs

6.27.3 Pole Pairs

Parent Pole Pairs belongs to the type Motor Type, in the topic Motion. Cfg name pole_pairs Description Defines the number of pole pairs for the motor type. Usage Set Pole Pairs to the number of pole pairs (i.e. number of poles divided with 2) that the motor has. Limitations Pole Pairs can only be changed for additional axis motors. The values can be observed for robot motors, but cannot be changed. Allowed values An integer between 0 and 20.

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6 Topic Motion
6.27.4 Stall Torque

6.27.4 Stall Torque

Parent Stall Torque belongs to the type Motor Type, in the topic Motion. Cfg name torque_0 Description The continuous stall torque, i.e. the torque the motor can produce at no speed and during an infinite time. Usage Set Stall Torque to the stall torque (T0) specified by the motor manufacturer. Limitations Stall Torque can only be changed for additional axis motors. The values can be observed for robot motors, but cannot be changed. Allowed values A numeric value between 0 and 100000 (Nm).

576 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.27.5 ke Phase to Phase

6.27.5 ke Phase to Phase

Parent ke Phase to Phase belongs to the type Motor Type, in the topic Motion. Cfg name ke Description Nominal voltage constant. Usage ke Phase to Phase is the induced voltage (phase to phase) that corresponds to the speed 1 rad/s. Limitations ke Phase to Phase can only be changed for additional axis motors. The values can be observed for robot motors, but cannot be changed. Allowed values A numeric value between 0 and 10 (Vs/rad). Additional information Some motor manufacturers specify the value kt instead of ke. ke can then be calculated according to the formula: ke = kt / 3

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.27.6 Max Current

6.27.6 Max Current

Parent Max Current belongs to the type Motor Type, in the topic Motion. Cfg name i_max Description Max current without irreversible magnetization. Usage Set Max Current to the root-mean-square of the maximum current the motor can withstand without irreversible demagnetization. Limitations Max Current can only be changed for additional axis motors. The values can be observed for robot motors, but cannot be changed. Allowed values A numeric value between 0 and 100 (A rms).

578 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.27.7 Phase Resistance

6.27.7 Phase Resistance

Parent Phase Resistance belongs to the type Motor Type, in the topic Motion. Cfg name r_stator_20 Description Nominal winding resistance per phase at 20 degrees Celsius. Usage Set Phase Resistance to the stator phase resistance (R20) specified by the motor manufacturer. Limitations Phase Resistance can only be changed for additional axis motors. The values can be observed for robot motors, but cannot be changed. Allowed values A numeric value between 0 and 100 (ohm).

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6 Topic Motion
6.27.8 Phase Inductance

6.27.8 Phase Inductance

Parent Phase Inductance belongs to the type Motor Type, in the topic Motion. Cfg name l_stator Description Nominal winding inductance per phase at zero current. Usage Set Phase Inductance to the stator phase inductance (L0) specified by the motor manufacturer. Limitations Phase Inductance can only be changed for additional axis motors. The values can be observed for robot motors, but cannot be changed. Allowed values A numeric value between 0 and 100 (H).

580 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.28.1 The Path Sensor Synchronization type

6.28 Type Path Sensor Synchronization 6.28.1 The Path Sensor Synchronization type
Parent This section describes the type Path Sensor Synchronization which belongs to the topic Motion. Each parameter of this type is described in a separate information topic in this section. Cfg name PATH_SENSOR_SYNC Type description The type Path Sensor Synchronization define settings for sensor synchronization. The parameters of this type are used to set limits for the movements of a robot that is synchronized with an external device. Limits can be set for allowed deviation between calculated and actual position, and minimum/maximum TCP speed. Limitations Path Sensor Synchronization can only be used if you have the option Sensor synchronization installed. Related information Application manual - Motion coordination and supervision, chapter Sensor synchronization.

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6 Topic Motion
6.28.2 Name

6.28.2 Name
Parent Name belongs to the type Path Sensor Synchronization, in the topic Motion. Cfg name name Description Name defines the name for the path sensor synchronization. Allowed values A string with maximum 32 characters.

582 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.28.3 Max Advance Distance

6.28.3 Max Advance Distance

Parent Max Advance Distance belongs to the type Path Sensor Synchronization, in the topic Motion. Cfg name max_adv_dist_for_decel Description Max Advance Distance defines the maximum allowed advance distance between the sensors interpolated position and its actual position. The interpolated position of the sensor axis corresponds to the robots position along its path when the robot is synchronized with the sensor.

en0400001243

Usage If the interpolated position of the sensor axis is ahead of the actual position, a collision may occur. For example, if the robot enter a press based on the information that the press is open, but the press is actually still closed, the robot may move into the closed press. This can be avoided by using Max Advance Distance. If Max Advance Distance is exceeded, motion and execution is stopped. Limitations Max Advance Distance can only be used if you have the option Sensor synchronization installed. Allowed values A value between 0.01 and 5.0 (meters of movement on the external device that is connected to the sensor). Default value is 0.1.

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.28.4 Max Delay Distance

6.28.4 Max Delay Distance

Parent Max Delay Distance belongs to the type Path Sensor Synchronization, in the topic Motion. Cfg name max_delay_dist_for_decel Description Max Delay Distance defines the maximum allowed delay distance between sensors interpolated position and its actual position. The interpolated position of the sensor axis corresponds to the robots position along its path when the robot is synchronized with the sensor.

en0400001244

Usage If the interpolated position of the sensor axis is behind the actual position, a collision may occur. A robot that is moving in an area where the external device will be later in the cycle can collide with the external device because of the incorrect timing. This can be avoided by using Max Delay Distance. If Max Delay Distance is exceeded, motion and execution is stopped. Max Delay Distance can be disabled by setting its value to 0. Limitations Max Delay Distance can only be used if you have the option Sensor synchronization installed. Continues on next page
584 Copyright 2004-2012 ABB. All rights reserved. 3HAC17076-1 Revision: Q

6 Topic Motion
6.28.4 Max Delay Distance Continued Allowed values A numeric value between 0.0 and 5.0 (meters of movement on the external device that is connected to the sensor). Default value is 0, which means that the supervision of the delay distance is not used.

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6 Topic Motion
6.28.5 Max Synchronization Speed

6.28.5 Max Synchronization Speed

Parent Max Synchronization Speed belongs to the type Path Sensor Synchronization, in the topic Motion. Cfg name max_sync_speed Description Max Synchronization Speed defines the maximum allowed robot TCP speed during synchronization with an external device. Usage If the external device (that the robot is synchronized with) moves so fast that the robot should exceed Max Synchronization Speed, the robot speed will be limited to Max Synchronization Speed. The robot will slip behind, and the interpolated sensor position will be delayed compared to the actual sensor position, until the Max Delay Distance is reached. Limitations Max Synchronization Speed can only be used if you have the option Sensor synchronization installed. Allowed values A numeric value between 1.0 and 10.0 (m/s). Default value is 4.0.

586 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.28.6 Min Synchronization Speed

6.28.6 Min Synchronization Speed

Parent Min Synchronization Speed belongs to the type Path Sensor Synchronization, in the topic Motion. Cfg name min_sync_speed Description Min Synchronization Speed defines the minimum allowed robot TCP speed during synchronization with an external device. Usage If the external device (that the robot is synchronized with) stops, the robot speed will maintain the Max Synchronization Speed. The robot will move ahead, and the interpolated sensor position will be in advance compared to the actual sensor position, until the Max Advance Distance is reached. Limitations Min Synchronization Speed can only be used if you have the option Sensor synchronization installed. Allowed values A value between 0.0 and 2.0 (m/s). Default value is 0.1.

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6 Topic Motion
6.28.7 Synchronization Type

6.28.7 Synchronization Type

Parent Synchronization Type belongs to the type Path Sensor Synchronization, in the topic Motion. Cfg name sync_type Description Synchronization Type defines what type of synchronization to be used. Limitations Synchronization Type can only be used if you have the option Sensor synchronization installed. Allowed values
Value: MINIMAL_DIST NOM_SPEED_SENS NOM_SPEED_CALC MIN_DIST_CALC LOW_SPEED_SYNC ROBOT_TO_ROBOT ROBOT_TO_PRESS ROBOT_TO_HPRESS SYNC_TO_IMM Description: Synchronization based on distance, actual sensor position in corvec. Synchronization based on nominal sensor speed, actual sensor position in corvec. Synchronization based on nominal sensor speed, calculated sensor position in corvec. Synchronization based on distance, calculated sensor position in corvec. When robot and sensor speed is lower than 0.2 m/sec. To synchronize two robots through DeviceNet bus. To synchronize robot with press moved by electric motor. To synchronize robot with hydraulic press. To synchronize with injection moulding machine.

588 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.29.1 The Process type

6.29 Type Process 6.29.1 The Process type

Overview This section describes the type Process, which belongs to the topic Motion. Each parameter of the type is described in a separate information topic in this section. Cfg name PROCESS Type description A process can be called from the parameter Use Process in the type Joint. The parameters in the type Process point out a process in the type Linked M Process or SG Process that will be used for that joint. Related information Use Process on page 458. The Linked M Process type on page 487.

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6 Topic Motion
6.29.2 Name

6.29.2 Name
Parent Name belongs to the type Process, in the topic Motion. Cfg name name Description Name defines the identity of the process. Usage The Name of the process is used by a joint to call the process. The process calls a linked motor process (type Linked M Process) or a servo gun process (type SG Process). Limitations This parameter is useful only if you have either of the RobotWare base functionality Electronically Linked Motors or option Spot Servo. Allowed values A string.

590 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.29.3 Use SG Process

6.29.3 Use SG Process

Parent Use SG Process belongs to the type Process, in the topic Motion. Cfg name use_sg_process Description Use SG Process defines which SG Process to use. Usage Use SG Process refers to a process ID defined by the parameter Name in the type SG Process. SG Process is used to define a servo tools behavior. Limitations SG Process can only be used for servo tools. Allowed values A string.

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.29.4 Use Linked Motor Process

6.29.4 Use Linked Motor Process

Parent Use Linked Motor Process belongs to the type Process, in the topic Motion. Cfg name use_linked_m_proc Description Use Linked Motor Process defines which linked motor process to use. Usage Use Linked Motor Process points to a process ID defined by the parameter Name in the type Linked M Process. The linked motor process is used to define a joint's behavior for Electronically Linked Motors. Allowed values A string.

592 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.30.1 The Relay type

6.30 Type Relay 6.30.1 The Relay type

Overview This section describes the type Relay which belongs to the topic Motion. Each parameter of this type is described in a separate information topic in this section. Cfg name RELAY Type description The type Relay defines the characteristics of the relays that are used for the mechanical units, e.g. brake relays and run relays. All relays for a robot supplied from ABB are defined on delivery. This means that adding or editing parameters of the Relay type is only necessary when additional axes are installed. Related information Application manual - Additional axes and stand alone controller.

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6 Topic Motion
6.30.2 Name

6.30.2 Name
Parent Name belongs to the type Relay, in the topic Motion. Cfg name name Description The name of the Relay. Usage Name is used to refer a Relay from the parameters Use Activation Relay, Use Brake Relay, and Use Connection Relay in the type Mechanical Unit. Allowed values A string with maximum 32 characters.

594 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.30.3 Output Signal

6.30.3 Output Signal

Parent Output Signal belongs to the type Relay in the topic Motion. Cfg name Out_signal Description Output Signal defines the logical name of the output signal to the relay. Usage Characteristics of relays for manipulators need to be defined when additional axes are installed. The value of Output Signal must be identical to the name of the signal, including upper and lower case letters. Prerequisites The logical signal name must be defined in the type Signal in the topic I/O. Allowed values A string with maximum 32 characters. Related information The Signal type on page 191.

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6 Topic Motion
6.30.4 Input Signal

6.30.4 Input Signal

Parent Input Signal belongs to the type Relay in the topic Motion. Cfg name in_signal Description Input Signal defines the logical name of the input signal to the relay. Usage Characteristics of relays for manipulators need to be defined when additional axes are installed. The value of Input Signal must be identical to the name of the signal, including upper and lower case letters. Prerequisites The logical signal name must be defined in the type Signal in the topic I/O. The signal must be defined as "safety" and "INTERNAL". Allowed values A string with maximum 32 characters. Related information The Signal type on page 191.

596 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.31.1 The Robot type

6.31 Type Robot 6.31.1 The Robot type

Overview This section describes the type Robot which belongs to the topic Motion. Each parameter of this type is described in a separate information topic in this section. Cfg name ROBOT Type description The type Robot contains a number of parameters that are common for a robot in the robot system. The robot is a mechanical unit with more than one joint. Parameters of this type are used to define which joints the robot consists of and the base frame of the robot.

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6 Topic Motion
6.31.2 Name

6.31.2 Name
Parent Name belongs to the type Robot, in the topic Motion. Cfg name name Description Name defines the name of the robot. Limitations This parameter cannot be changed.

598 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.31.3 Use Robot Type

6.31.3 Use Robot Type

Parent Use Robot Type belongs to the type Robot, in the topic Motion. Cfg name use_robot_type Description Use Robot Type defines what robot type is used. The parameter contains information about robot reach (m) and handling capacity (kg). Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.31.4 Use Old SMB

6.31.4 Use Old SMB

Parent Use Old SMB belongs to the type Robot, in the topic Motion. Cfg name use_old_smb Description To adapt earlier robot systems, running earlier SMB board versions without flash memory, to later software versions, the parameter Use Old SMB is to be set to Yes. Usage Earlier systems, in this context, is any robot system delivered with an SMB board of any of these revisions: Allowed values Yes or No. DSQC 313, all revisions DSQC 520, revision 5 and earlier DSQC 562, revision 2 and earlier

600 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.31.5 Use Robot Calibration

6.31.5 Use Robot Calibration

Parent Use Robot Calibration belongs to the type Robot, in the topic Motion. Cfg names use_robot_calib Description Use Robot Calibration defines if Absolute Accuracy is active for the robot. Usage Set Use Robot Calibration to "r1_calib" to activate Absolute Accuracy for the robot. In a MultiMove system, set the value for robot 2 to "r2_calib", robot 3 to "r3_calib" and robot 4 to "r4_calib". Allowed values
Value (robot 1) r1_calib Value (robot 2) r2_calib Value (robot 3) r3_calib Value (robot 4) r4_calib Description Absolute Accuracy is activated for the robot.

r1_uncalib r2_uncalib r3_uncalib r4_uncalib Absolute Accuracy is deactivated for the robot. not_used_un- not_used_un- not_used_un- not_used_un- Absolute Accuracy is deactivated for the calib calib calib calib robot. Should only be used if no other value is selectable.

Related information Absolute Accuracy is described in Application manual - Motion performance.

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6 Topic Motion
6.31.6 Use Joint 1, 2, 3, 4, 5, 6

6.31.6 Use Joint 1, 2, 3, 4, 5, 6

Parent Use Joint 1, Use Joint 2, Use Joint 3, Use Joint 4 , Use Joint 5, and Use Joint 6 belong to the type Robot, in the topic Motion. Cfg names use_joint_0 use_joint_1 use_joint_2 use_joint_3 use_joint_4 use_joint_5 Description Use joint 1 defines which joint data to use as the robot's first joint. Use joint 2 defines which joint data to use as the robot's second joint. Use joint 3 defines which joint data to use as the robot's third joint. Use joint 4 defines which joint data to use as the robot's fourth joint. Use joint 5 defines which joint data to use as the robot's fifth joint. Use joint 6 defines which joint data to use as the robot's sixth joint. Usage The joints are defined in the type Joint. Allowed values A string with maximum 32 characters, specifying an already defined joint. Related information The Joint type on page 454.

602 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.31.7 Base Frame x, y, z

6.31.7 Base Frame x, y, z

Parent Base Frame x, Base Frame y, and Base Frame z belongs to the type Robot, in the topic Motion. Cfg names base_frame_pos_x base_frame_pos_y base_frame_pos_z Description Base Frame x defines the x-direction of the base frame position in relation to the world frame (in meters). Base Frame y defines the y-direction of the base frame position in relation to the world frame (in meters). Base Frame z defines the z-direction of the base frame position in relation to the world frame (in meters). Allowed values A value between -1000 to 1000, specifying the relation in meters. Related information How to define base frame on page 333.

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6 Topic Motion
6.31.8 Base Frame q1, q2, q3, q4

6.31.8 Base Frame q1, q2, q3, q4

Parent Base Frame q1, Base Frame q2, Base Frame q3, and Base Frame q4 belongs to the type Robot, in the topic Motion. Cfg name base_frame_orient_u0 base_frame_orient_u1 base_frame_orient_u2 base_frame_orient_u3 Description Base Frame q1 defines the first quaternion (q1) of the base frame orientation in relation to the world frame. Base Frame q2 defines the second quaternion (q2) of the base frame orientation in relation to the world frame. Base Frame q3 defines the third quaternion (q3) of the base frame orientation in relation to the world frame. Base Frame q4 defines the fourth quaternion (q4) of the base frame orientation in relation to the world frame. Allowed values A value between -1 to 1 specifying the orientation. Related information How to define base frame on page 333.

604 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.31.9 Base Frame Moved by

6.31.9 Base Frame Moved by

Parent Base Frame Moved by belongs to the type Robot, in the topic Motion. Cfg name base_frame_coordinated Description Base Frame Moved by defines the name of robot or single that moves the base frame of the robot. Allowed values A string with maximum 32 characters. Related information How to define base frame on page 333.

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6 Topic Motion
6.31.10 Gravity Alpha

6.31.10 Gravity Alpha

Parent Gravity Alpha belongs to the type Robot, in the topic Motion. Cfg name gravity_alpha Description Gravity Alpha defines the orientation of gravity with respect to the base frame. Usage The Gravity Alpha is a positive rotation direction around the X-axis in the base frame. The value is set in radians. Prerequisites The Gravity Alpha parameter is used for robots on track when the 7 axes high performance motion parameter is set. This parameter is not used for all robot types. If the robot does not support Gravity Alpha, use Gravity Beta along with the recalibration of axis 1 to define the rotation of the robot around the X-axis. To define the rotation of the robot around the X-axis with help of Gravity Beta: 1 Install the robot. 2 Move axis 1 to one of the two positions where the rotational axis for joint 2 is parallel to the floor. 3 Note the axis 1 angle for this position (normally +/- 90 degrees). This is needed in Step 6. 4 Fine calibrate axis 1 to set this position as the new zero position. 5 Update Gravity Beta to the correct tilting angle of the installation. If the robot is tilted forward around axis 2 in the new calibration position, the beta value should be positive. If the robot is tilted backward around axis 2 in the new calibration position, the beta value should be negative. 6 Update the working range of the robot since the zero position for axis 1 is changed. Otherwise, axis 1 may run into its mechanical stops. If the calibration position is positive, reduce the Upper Joint Bound angle by the angle as measured during the calibration. If the calibration position is positive, reduce the Lower Joint Bound angle by the angle as measured during the calibration. 7 Restart the controller. Allowed values A value between -6.283186 and 6.283186 radians. Default value is 0. Related information 7 axes high performance motion on page 617. Upper Joint Bound on page 358. Continues on next page
606 Copyright 2004-2012 ABB. All rights reserved. 3HAC17076-1 Revision: Q

6 Topic Motion
6.31.10 Gravity Alpha Continued Lower Joint Bound on page 359. Gravity Beta on page 608.

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6 Topic Motion
6.31.11 Gravity Beta

6.31.11 Gravity Beta

Parent Gravity Beta belongs to the type Robot, in the topic Motion. Cfg name gravity_beta Description Gravity Beta defines the orientation of gravity with respect to the base frame. Usage The gravity beta is a positive rotation direction around the Y-axis in the base frame. The value is set in radians. Allowed values A value between -6.283186 and 6.283186 radians. Default value is 0.

608 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.31.12 Gamma Rotation

6.31.12 Gamma Rotation

Parent Gamma Rotation belongs to the type Robot, in the topic Motion. Cfg name gamma_rotation Description Gamma Rotation defines the orientation of the robots foot on the travel carriage. Usage The gamma rotation is a positive rotation direction around the Z-axis of the base frame of the travel carriage (track motion). The value is set in radians. Prerequisites The Gamma Rotation parameter is useful only for robots on track when the 7 axes high performance motion parameter is set. This parameter is not used for all robot types. Allowed values A value between -6.283186 and 6.283186 radians. Default values is 0. Related information 7 axes high performance motion on page 617.

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6 Topic Motion
6.31.13 Upper Work Area x, y, z

6.31.13 Upper Work Area x, y, z

Parent Upper Work Area x, Upper Work Area y, and Upper Work Area z belong to the type Robot, in the topic Motion Cfg names upper_work_area_x upper_work_area_y upper_work_area_z Description Upper work area x defines the x-coordinate of the upper bound of the work area for the robot. Upper work area y defines the y-coordinate of the upper bound of the work area for the robot. Upper work area z defines the z-coordinate of the upper bound of the work area for the robot. Limitations This parameter is valid only for parallel arm robots. Allowed values A numeric value higher than the respective Lower Work Area value in meters. Related information How to restrict the work area for parallel arm robots on page 336. Lower Work Area x, y, z on page 611. How to define base frame on page 333.

610 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.31.14 Lower Work Area x, y, z

6.31.14 Lower Work Area x, y, z

Parent Lower Work Area x, Lower Work Area y, and Lower Work Area z belong to the type Robot, in the topic Motion. Cfg names lower_work_area_x lower_work_area_y lower_work_area_z Description Lower work area x defines the x-coordinate of the lower bound of the work area for the robot. Lower work area y defines the y-coordinate of the lower bound of the work area for the robot. Lower work area z defines the z-coordinate of the lower bound of the work area for the robot. Limitations This parameter is valid only for parallel arm robots. Allowed values A numeric value lower than the respective Upper Work Area value in meters. Related information How to restrict the work area for parallel arm robots on page 336. Upper Work Area x, y, z on page 610. How to define base frame on page 333.

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6 Topic Motion
6.31.15 Upper Check Point Bound x, y, z

6.31.15 Upper Check Point Bound x, y, z

Parent Upper Check Point Bound x, Upper Check Point Bound y, and Upper Check Point Bound z belongs to the type Robot, in the topic Motion. Cfg names upper_arm_cp_bound_x upper_arm_cp_bound_y upper_arm_cp_bound_z Description Upper Check Point Bound x defines the cartesian x-coordinate upper check point bound on arm check point. Upper Check Point Bound y defines the cartesian y-coordinate upper check point bound on arm check point. Upper Check Point Bound z defines the cartesian z-coordinate upper check point bound on arm check point. Usage The arm check point can be bound to restrict the movement area. Allowed values A numeric value higher than the respective coordinate Lower Check Point Bound in meters. Related information How to define arm check point on page 337. Lower Check Point Bound x, y, z on page 613.

612 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.31.16 Lower Check Point Bound x, y, z

6.31.16 Lower Check Point Bound x, y, z

Parent Lower Check Point Bound x, Lower Check Point Bound y, and Lower Check Point Bound z belongs to the type Robot, in the topic Motion. Cfg names lower_arm_cp_bound_x lower_arm_cp_bound_y lower_arm_cp_bound_z Description Lower Check Point Bound x defines the cartesian x-coordinate lower check point bound on arm check point. Lower Check Point Bound y defines the cartesian y-coordinate lower check point bound on arm check point. Lower Check Point Bound z defines the cartesian z-coordinate lower check point bound on arm check point. Usage The arm check point can be bound to restrict the movement area. Allowed values A numeric value lower than the respective coordinate Upper Check Point Bound in meters. Related information How to define arm check point on page 337. Upper Check Point Bound x, y, z on page 612.

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6 Topic Motion
6.31.17 Use Six Axes Corvec

6.31.17 Use Six Axes Corvec

Parent Use Six Axes Corvec belongs to the type Robot, in the topic Motion. Cfg name use_six_axis_corvec Description Defines if the position adjustment is made on six axes. Usage Set Use Six Axes Corvec to Yes if the position adjustment should be made on on six axes. In this case, the orientation of the tool is exact. Otherwise the correction is only made on axis 1, 2, and 3 and the orientation accuracy is lower. Using Six Axes Corvec takes a little more CPU time and should not be used if not needed. Limitations Use Six Axes Corvec can only be used if Conveyor tracking option is installed. Use Six Axes Corvec has no effect on coordinated tracks. Use Six Axes Corvec is only possible to use on six axes robots. Allowed values Yes or No. Related information Application manual - Conveyor tracking.

614 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.31.18 Track Conveyor with Robot

6.31.18 Track Conveyor with Robot

Parent Track Conveyor with Robot belongs to the type Robot, in the topic Motion. Cfg name track_convey_with_robot Description Defines if the robot should track the conveyor. Usage Set Track Conveyor with Robot to Yes if the robot should track the conveyor without using the track axis, even if robot is coordinated with track. Default value is No. Limitations Track Conveyor with Robot can only be used with option Conveyor tracking installed. Allowed values Yes or No. Related information Application manual - Conveyor tracking.

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6 Topic Motion
6.31.19 Max External Pos Adjustment

6.31.19 Max External Pos Adjustment

Parent Max External Pos Adjustment belongs to the type Robot, in the topic Motion. Cfg name max_external_pos_adjustment Description Max External Pos Adjustment defines the maximum position adjustment allowed in conveyor direction while tracking a conveyor. The unit is meter. Usage If error 50163 occurs, the value of this parameter can be increased for the robots with heavy load and high conveyor speed. Before increasing the parameter value, verify that the parameters Adjustment speed and Adjustment accel (type Conveyor systems in the topic Process) are correctly defined. If the value of this parameter is increased, the value of the parameters Start ramp and Stop ramp parameters should also be increased to 20 or 30 (type Conveyor systems in the topic Process). Allowed values The minimum value is 0.1 and the maximum value 0.8. The default value is 0.2.

616 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.31.20 7 axes high performance motion

6.31.20 7 axes high performance motion

Parent 7 axes high performance motion belongs to the type Robot, in the topic Motion. Cfg name seven_axes_hp_motion Description 7 axes high performance motion defines the name of the single that moves the robot. Usage This parameter should only be set if a "high performance track motion"-additional package is present in your mediapool. Allowed values A string with maximum 32 characters, specifying the unit name.

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6 Topic Motion
6.31.21 Time to Inposition

6.31.21 Time to Inposition

Parent Time to Inposition belongs to the type Robot, in the topic Motion. Cfg name time_to_inpos Description Time to Inposition defines the delay time between the last position reference and the inposition event when reaching a fine point. Limitations Time to Inposition is only used by the option Conveyor tracking. Allowed values A value between 0 and 2.0 seconds. Default value is 0.08 seconds. This should not be changed! Related information Application manual - Conveyor tracking.

618 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.31.22 Orientation Supervision Off

6.31.22 Orientation Supervision Off

Parent Orientation Supervision Off belongs to the type Robot, in the topic Motion. Cfg name ori_superv_off Description The Orientation Supervision Off system parameter defines whether the orientation supervision is Off or On. The parameter is valid only for IRB 340 and IRB 360. Usage The orientation supervision is normally On and hence the value of the Orientation Supervision Off system parameter is noramlly No. If the orientation supervision is triggered in a system and if the system was working in a previous release of RobotWare, the supervision can be switched off by setting the value of Orientation Supervision Off system parameter to Yes. Note! Switching off the orientation supervision can cause an incorrect behavior in the tool orientation of the robot. The supervision is triggered due to an error in the RAPID program and the first action to be taken is to correct the error rather than switching off the orientation supervision. Allowed values Yes or No

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6 Topic Motion
6.31.23 Conveyor Tool Change Mode

6.31.23 Conveyor Tool Change Mode

Parent Conveyor Tool Change Mode belongs to the type Robot, in the topic Motion. Cfg name conveyor_tool_change_mode Description Conveyor Tool Change Mode defines the tool change mode during conveyor tracking when changing the tool in zone with same conveyor. Usage When changing the tool in big zone, high conveyor speed torque disturbance may appear with mode 0 (default value), especially with Corvec correction level 2 or 3. Mode 1: This mode will ramp out servo corrections then ramp in servo corrections again during the tool change zone. The torque disturbances are reduced but the accuracy of tracking is bad until the ramp of servo correction is finished. This can create problems for IRB 360 with very short distances when doing double picks. Mode 2: In this mode the path is recalculated keeping the same tool until fine point or change of conveyor or stop tracking. This mode should be used only for pick and place applications where the tool direction is constant. Mode 3: In this mode the last conveyor position before the tool change zone is used to calculate the corner position. Allowed values A value between 0 and 3. The default value is 0.

620 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.31.24 Mech.Unit Not Moving Detection Level

6.31.24 Mech.Unit Not Moving Detection Level

Parent Mech.Unit Not Moving Detection Level belongs to the type Robot, in the topic Motion. Cfg name not_moving_speed_level Description Mech.Unit Not Moving Detection Level defines the detection level for the axes of a Robot for the system output Mechanical Unit Not Moving. Usage Normally the output of Mechanical Unit Not Moving will be set only when the Robot is stopped. The output will also be set if the Detection Level speed of all axes of the Robot are lower than the defined level. If the Detection Level is set both for a Robot and a Single running in the same motion group, all the axes of the Robot and the Single must move slower than its level to set the output. Note that, the Mechanical Units without a defined Detection Level can run fast when the output is set. Hence all Units with a defined Detection Level move slower than its Level. Allowed values A value between 0 and 1. 0.01 = 1% of motor max speed, disabled if 0. The default value is 0. Related information Mechanical Unit Not Moving on page 270, in the topic I/O, type System Output. Mech.Unit Not Moving Detection Level on page 654, in the topic Motion, type Single.

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6 Topic Motion
6.32.1 The Robot Serial Number type

6.32 Type Robot Serial Number 6.32.1 The Robot Serial Number type
Overview This section describes the type Robot Serial Number, which belongs to the topic Motion. Each parameter of this type is described in a separate information topic in this section. Cfg name ROBOT_SERIAL_NUMBER Type description The type Robot Serial Number contains parameters that define the robots serial number. Related information The Robot type on page 597.

622 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.32.2 Name

6.32.2 Name
Parent Name belongs to the type Robot Serial Number, in the topic Motion. Cfg name name Description Name specifies the name of the robot that the serial number belongs to. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.32.3 Robot Serial Number High Part

6.32.3 Robot Serial Number High Part

Parent Robot Serial Number High Part belongs to the type Robot Serial Number, in the topic Motion. Cfg name robot_serial_number_high_part Description Robot Serial Number High Part defines the high part of the robots serial number. Usage The high part is the first four characters of the serial number. The serial number can be found on the robots identification plate. Allowed values A string with maximum four characters. Default value is 0000.

624 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.32.4 Robot Serial Number Low Part

6.32.4 Robot Serial Number Low Part

Parent Robot Serial Number Low Part belongs to the type Robot Serial Number, in the topic Motion. Cfg name robot_serial_number_low_part Description Robot Serial Number Low Part defines the low part of the robots serial number. Usage The low integer part of the serial number. The serial number can be found on the robots identification plate. Allowed values An integer value with maximum nine digits. Default value is 0.

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6 Topic Motion
6.33.1 The SG Process type

6.33 Type SG Process 6.33.1 The SG Process type

Overview This section describes the type SG Process, which belongs to the topic Motion. Each parameter of the type is described in a separate information topic in this section. Cfg name SG_PROCESS Type description The type SG Process contains parameters to configure the behavior of a servo gun (or other servo tool). There are parameters for adjusting the timing, force and thickness when closing and opening a servo gun. It is also possible to specify how the tip wear calibration will be performed. The relation between tip force and motor torque is configured as shown below. Limitations SG Process can only be used if you have servo tools. Force-torque relation Tip Force 1-10 and Motor Torque 1-10 are used to define the motor torque the motor should apply when a gun closing is ordered with a certain tip force. Due to friction, the relation between force and torque is not always linear. Between 2 and 10 points can be used to define the motor torque as a function of the tip force. The number of points used is defined in Number of Stored Forces.
Ordered closing tip force: Tip Force 1 Tip Force 2 Tip Force 3 Tip Force 4 Tip Force 5 Tip Force 6 Tip Force 7 Tip Force 8 Tip Force 9 Tip Force 10 Resulting motor torque: Motor Torque 1 Motor Torque 2 Motor Torque 3 Motor Torque 4 Motor Torque 5 Motor Torque 6 Motor Torque 7 Motor Torque 8 Motor Torque 9 Motor Torque 10

When calculating the force-torque function, the origin (force=0, torque=0) is considered to be an extra point in the diagram. For tip force values between points,

Continues on next page

626 Copyright 2004-2012 ABB. All rights reserved. 3HAC17076-1 Revision: Q

6 Topic Motion
6.33.1 The SG Process type Continued linear interpolation is used. For tip force values higher than the highest defined tip force, extrapolation from the last two points is used. Example In this example, four points are used to define the relation between tip force and motor torque. Any values given for point 5 to 10 are ignored. These parameters and values are configured:
Parameter: Number of Stored Forces Tip Force 1 Tip Force 2 Tip Force 3 Tip Force 4 Motor Torque 1 Motor Torque 2 Motor Torque 3 Motor Torque 4 Value: 4 50 200 500 1800 3 7 10 15

The results of this configuration is the following graph for motor torque as function of tip force:

xx0400000938

A B

Tip force (N) Motor torque (Nm)

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.33.2 Name

6.33.2 Name
Parent Name belongs to the type SG Process, in the topic Motion. Cfg name name Description The name of the SG Process. Usage Name is used to reference a SG Process from the parameter Use SG Process in the type Process. Allowed values A string with maximum 32 characters.

628 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.33.3 Use Force Master

6.33.3 Use Force Master

Parent Use Force Master belongs to the type SG Process, in the topic Motion. Cfg name use_force_master Description Use Force Master determines which Force Master should be used. Usage Use Force Master is a reference to the parameter Name in the type Force Master. Prerequisites A Force Master must be configured before Use Force Master can refer to it. Limitations Use Force Master can only be used for servo tools. Allowed values A string with maximum 32 characters. Related information The Force Master type on page 408.

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.33.4 Sync Check Off

6.33.4 Sync Check Off

Parent Sync Check Off belongs to the type SG Process, in the topic Motion. Cfg name sync_check_off Description Defines if the servo tool synchronization check is turned off. Usage Set Sync Check Off to Yes to disable the servo tool synchronization check. This can be useful to do to manage the servo tool before having done the service calibration. Limitations Sync Check Off can only be used for servo tools. Allowed values Yes or No. Related information Application manual - Servo motor control. Example To turn off the synchronization check, use this RAPID code:
STTune SERVOGUN, 1, SyncCheckOff;

To turn on the synchronization check again:

STTuneReset SERVOGUN;

630 Copyright 2004-2012 ABB. All rights reserved.

3HAC17076-1 Revision: Q

6 Topic Motion
6.33.5 Close Time Adjust.

6.33.5 Close Time Adjust.

Parent Close Time Adjust. belongs to the type SG Process, in the topic Motion. Cfg name min_close_time_adjust Description Adjustment of the ordered minimum close time of the gun. Usage If the servo gun is ordered to start closing before the robot is in position, the tips might touch the work piece too early. By setting Close Time Adjust. to a positive value, this can be avoided. If there is a waiting period when the robot is in position but before the servo gun is closing, the cycle time can be reduced by setting Close Time Adjust. to a negative value. Close Time Adjust. may be used to delay the closing slightly when the synchronized pre closing is used for welding. Limitations Close Time Adjust. can only be used if you have servo tools. Allowed values Numerical value between -100 and 100 (seconds).

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6 Topic Motion
6.33.6 Close Position Adjust.

6.33.6 Close Position Adjust.

Parent Close Position Adjust. belongs to the type SG Process, in the topic Motion. Cfg name close_position_adjust Description Adjustment of the ordered position when closing the gun to a position and force. When the tool tips reach the position (plate thickness) ordered by the close instruction, the force control starts. This tool tip position can be adjusted with Close Position Adjust. to make the force control start earlier. Usage To make sure the tool tips do not touch the work piece before the force control starts, Close Position Adjust. can be used to leave some space between the tool tips and the work object. Limitations Close Position Adjust. can only be used if you have servo tools. Allowed values Numeric value between 0 and 0.005 (meters).

632 Copyright 2004-2012 ABB. All rights reserved.

3HAC17076-1 Revision: Q

6 Topic Motion
6.33.7 Force Ready Delay

6.33.7 Force Ready Delay

Parent Force Ready Delay belongs to the type SG Process, in the topic Motion. Cfg name pre_sync_delay_time Description Force Ready Delay is used to delay the close ready event. This will make the servo gun wait some extra time when the closing is finished and the ordered force is achieved. Usage Force Ready Delay can be used if the servo gun needs some extra time for the force to be stabilized. Limitations Force Ready Delay can only be used if you have servo tools. Allowed values A numeric value between 0 and 30 (seconds).

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.33.8 Max Force Control Motor Torque

6.33.8 Max Force Control Motor Torque

Parent Max Force Control Motor Torque belongs to the type SG Process, in the topic Motion. Cfg name max_motor_torque Description Max allowed motor torque for force control. Commanded force will be reduced, if the required motor torque is higher than this value. Usage Max Force Control Motor Torque is used to protect the gun from mechanical overload. Limitations Max Force Control Motor Torque can only be used if you have servo tools. Allowed values A numeric value between 0 and 100 (Nm). The default value is 7 Nm.

634 Copyright 2004-2012 ABB. All rights reserved.

3HAC17076-1 Revision: Q

6 Topic Motion
6.33.9 Post-synchronization Time

6.33.9 Post-synchronization Time

Parent Post-synchronization Time belongs to the type SG Process, in the topic Motion. Cfg name post_sync_time Description Post-synchronization Time is used to anticipate the open ready event. The open instruction will be considered ready before the servo gun is completely open. Usage Post-synchronization Time can be used to save cycle time. The waiting time between the opening of the servo gun and the execution of the next instruction can be reduced. The synchronization may fail if Post-synchronization Time is set too high. Limitations Post-synchronization Time can only be used if you have servo tools. Allowed values A numeric value between 0 and 0.5 (seconds).

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

635

6 Topic Motion
6.33.10 Calibration Mode

6.33.10 Calibration Mode

Parent Calibration Mode belongs to the type SG Process, in the topic Motion. Cfg name calib_mode Description Number of tip wear calibration points, i.e. the number of times the servo gun closes during a tip wear calibration. Usage If the flexibility of a servo gun is not linearly dependent of the force, more than two measurement points may be necessary. This will improve the plate thickness detection. Limitations Calibration Mode can only be used if you have servo tools. Allowed values An integer between 2 and 10. The default value is 2.

636 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.33.11 Calibration Force High

6.33.11 Calibration Force High

Parent Calibration Force High belongs to the type SG Process, in the topic Motion. Cfg name calib_force_high Description The force used for the last closing when calibrating the tip wear of a servo gun. Calibration Force High affects the gun stiffness calibration. Usage Set Calibration Force High to a value close to the highest force you intend to use the servo gun for. This way it will be well calibrated for forces of that size. Limitations Calibration Force High can only be used if you have servo tools. Allowed values A numeric value between 0 and 12000 (N). The default value is 3500 N. Additional information The force of the first gun closing in a tip wear calibration is specified in Calibration Force Low. If more than two measurement points are used, the force of these measurement points are evenly distributed between Calibration Force Low and Calibration Force High.

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

637

6 Topic Motion
6.33.12 Calibration Force Low

6.33.12 Calibration Force Low

Parent Calibration Force Low belongs to the type SG Process, in the topic Motion. Cfg name calib_force_low Description The force used for: the second gun closing of a new tips calibration the second gun closing of a tool change calibration the first gun closing of a tip wear calibration.

Calibration Force Low affects the gun position calibration. Usage It is recommended to set Calibration Force Low to a value close to the lowest force you intend to use the servo gun for, but not a higher value than half the value of Calibration Force High. Limitations Calibration Force Low can only be used if you have servo tools. Allowed values A numeric value between 0 and 12000 (N). The default value is 1500 N.

638 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.33.13 Calibration Time

6.33.13 Calibration Time

Parent Calibration Time belongs to the type SG Process, in the topic Motion. Cfg name calib_time Description The time that the servo gun waits in closed position during calibration. Usage If the servo gun needs more time to stabilize, Calibration Time can be increased. This can improve the gun position calibration. In order to make the calibrations faster, Calibration Time can be decreased. Limitations Calibration Time can only be used if you have servo tools. Allowed values A numeric value between 0 and 30 (seconds). The default value is 0.5 seconds.

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

639

6 Topic Motion
6.33.14 Number of Stored Forces

6.33.14 Number of Stored Forces

Parent Number of Stored Forces belongs to the type SG Process, in the topic Motion. Cfg name no_of_active_db_posts Description Used to define the relation between tip force and motor torque for a servo gun. Number of Stored Forces defines for how many tip force values you want to define the motor torque, i.e. the number of points in the force-torque graph (see Force-torque relation on page 626). Usage Measure the tip force and motor torque for a number of points. Set Number of Stored Forces to the number of points you want to specify. Limitations Number of Stored Forces can only be used if you have servo tools. Allowed values An integer between 2 and 10. The default value is 3.

640 Copyright 2004-2012 ABB. All rights reserved.

3HAC17076-1 Revision: Q

6 Topic Motion
6.33.15 Tip Force 1, 2, 3, 4, 5, 6, 7, 8, 9, 10

6.33.15 Tip Force 1, 2, 3, 4, 5, 6, 7, 8, 9, 10

Parent Tip Force 1, Tip Force 2, Tip Force 3, Tip Force 4, Tip Force 5, Tip Force 6, Tip Force 7, Tip Force 8, Tip Force 9, and Tip Force 10 belongs to the type SG Process, in the topic Motion. Cfg name squeeze_force_1 squeeze_force_2 squeeze_force_3 squeeze_force_4 squeeze_force_5 squeeze_force_6 squeeze_force_7 squeeze_force_8 squeeze_force_9 squeeze_force_10 Description Used to define the relation between tip force and motor torque for a servo gun (see Force-torque relation on page 626). Tip Force 1 defines the ordered closing force for the first point in the force-torque graph. Tip Force 2 defines the ordered closing force for the second point in the force-torque graph. Tip Force 3 defines the ordered closing force for the third point in the force-torque graph. Tip Force 4 defines the ordered closing force for the fourth point in the force-torque graph. Tip Force 5 defines the ordered closing force for the fifth point in the force-torque graph. Tip Force 6 defines the ordered closing force for the sixth point in the force-torque graph. Tip Force 7 defines the ordered closing force for the seventh point in the force-torque graph. Tip Force 8 defines the ordered closing force for the eighth point in the force-torque graph. Tip Force 9 defines the ordered closing force for the ninth point in the force-torque graph. Tip Force 10 defines the ordered closing force for the tenth point in the force-torque graph.

Continues on next page

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6 Topic Motion
6.33.15 Tip Force 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 Continued Usage Measure the tip force and the motor torque for some different values. Set Tip Force 1 to the tip force value of the first point you want to specify, and Motor Torque 1 to the corresponding motor torque. Set Tip Force 2 to the tip force value of the second point you want to specify, and Motor Torque 2 to the corresponding motor torque. Set Tip Force 3 to the tip force value of the third point you want to specify, and Motor Torque 3 to the corresponding motor torque. Set Tip Force 4 to the tip force value of the fourth point you want to specify, and Motor Torque 4 to the corresponding motor torque. Set Tip Force 5 to the tip force value of the fifth point you want to specify, and Motor Torque 5 to the corresponding motor torque. Set Tip Force 61 to the tip force value of the sixth point you want to specify, and Motor Torque 6 to the corresponding motor torque. Set Tip Force 7 to the tip force value of the seventh point you want to specify, and Motor Torque 7 to the corresponding motor torque. Set Tip Force 8 to the tip force value of the eighth point you want to specify, and Motor Torque 8 to the corresponding motor torque. Set Tip Force 9 to the tip force value of the ninth point you want to specify, and Motor Torque 9 to the corresponding motor torque. Set Tip Force 10 to the tip force value of the tenth point you want to specify, and Motor Torque 10 to the corresponding motor torque. Limitations Tip Force can only be used for servo tools. Allowed values A numeric value between 0 and 20000 (N).

642 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.33.16 Motor Torque 1, 2, 3, 4, 5, 6, 7, 8, 9, 10

6.33.16 Motor Torque 1, 2, 3, 4, 5, 6, 7, 8, 9, 10

Parent Motor Torque 1, Motor Torque 2, Motor Torque 3, Motor Torque 4, Motor Torque 5, Motor Torque 6, Motor Torque 7, Motor Torque 8, Motor Torque 9, and Motor Torque 10 belongs to the type SG Process, in the topic Motion. Cfg name squeeze_torque_1 squeeze_torque_2 squeeze_torque_3 squeeze_torque_4 squeeze_torque_5 squeeze_torque_6 squeeze_torque_7 squeeze_torque_8 squeeze_torque_9 squeeze_torque_10 Description Used to define the relation between tip force and motor torque for a servo gun (see Force-torque relation on page 626). Motor Torque 1 defines the motor torque for the first point in the force-torque graph. Motor Torque 2 defines the motor torque for the second point in the force-torque graph. Motor Torque 3 defines the motor torque for the third point in the force-torque graph. Motor Torque 4 defines the motor torque for the fourth point in the force-torque graph. Motor Torque 5 defines the motor torque for the fifth point in the force-torque graph. Motor Torque 6 defines the motor torque for the sixth point in the force-torque graph. Motor Torque 7 defines the motor torque for the seventh point in the force-torque graph. Motor Torque 8 defines the motor torque for the eighth point in the force-torque graph. Motor Torque 9 defines the motor torque for the ninth point in the force-torque graph. Motor Torque 10 defines the motor torque for the tenth point in the force-torque graph. Usage Measure the tip force and the motor torque for some different values Continues on next page
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6 Topic Motion
6.33.16 Motor Torque 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 Continued Set Motor Torque 1 to the motor torque value of the first point you want to specify, and Tip Force 1 to the corresponding tip force. Set Motor Torque 2 to the motor torque value of the second point you want to specify, and Tip Force 2 to the corresponding tip force. Set Motor Torque 3 to the motor torque value of the third point you want to specify, and Tip Force 3 to the corresponding tip force. Set Motor Torque 4 to the motor torque value of the fourth point you want to specify, and Tip Force 4 to the corresponding tip force. Set Motor Torque 5 to the motor torque value of the fifth point you want to specify, and Tip Force 5 to the corresponding tip force. Set Motor Torque 6 to the motor torque value of the sixth point you want to specify, and Tip Force 6 to the corresponding tip force. Set Motor Torque 7 to the motor torque value of the seventh point you want to specify, and Tip Force 7 to the corresponding tip force. Set Motor Torque 8 to the motor torque value of the eighth point you want to specify, and Tip Force 8 to the corresponding tip force. Set Motor Torque 9 to the motor torque value of the ninth point you want to specify, and Tip Force 91 to the corresponding tip force. Set Motor Torque 10 to the motor torque value of the tenth point you want to specify, and Tip Force 10 to the corresponding tip force. Limitations Motor Torque can only be used for servo tools. Allowed values A numeric value between -100 and 100 (Nm).

644 Copyright 2004-2012 ABB. All rights reserved.

3HAC17076-1 Revision: Q

6 Topic Motion
6.33.17 Squeeze Position 1, 2, 3, 4, 5, 6, 7, 8, 9, 10

6.33.17 Squeeze Position 1, 2, 3, 4, 5, 6, 7, 8, 9, 10

Parent Squeeze Position 1 to Squeeze Position 10 belongs to the type SG Process, in the topic Motion. Cfg name squeeze_pos_1 squeeze_pos_2 squeeze_pos_3 squeeze_pos_4 squeeze_pos_5 squeeze_pos_6 squeeze_pos_7 squeeze_pos_8 squeeze_pos_9 squeeze_pos_10 Description Used to define the joint position for a servo gun in relation to a given tip force and motor torque (see Force-torque relation on page 626). Squeeze Position defines the joint position for the servo gun in the force-torque graph. Usage Squeeze Position is used to control the servo gun when a change of force is ordered during welding. Limitations Squeeze Position can only be used for servo tools. Allowed values A numeric value typically between -0.02 and 0.02 (meters). The default value is 0.

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.33.18 Soft Stop Timeout

6.33.18 Soft Stop Timeout

Parent Soft Stop Timeout belongs to the type SG Process, in the topic Motion. Cfg name soft_stop_timeout Description If a soft stop occurs during constant force, Soft Stop Timeout defines how long the force will be maintained. The force will be reduced after this time-out, or when opening is commanded. Usage If you want the gun to remain closed a short period after a soft stop, set Soft Stop Timeout to the desired time-out value. Setting Soft Stop Timeout to 0 will make the gun release its force immediately when a soft stop occurs. Limitations Soft Stop Timeout can only be used if you have servo tools. Allowed values A numeric value between 0 and 1.2 (seconds). The default value is 0.3 seconds.

646 Copyright 2004-2012 ABB. All rights reserved.

3HAC17076-1 Revision: Q

6 Topic Motion
6.34.1 The Single type

6.34 Type Single 6.34.1 The Single type

Overview This section describes the type Single, which belongs to the topic Motion. Each parameter of this type is described in a separate information topic in this section. Cfg name SINGLE Type description The type Single contains a number of parameters that are common for a single in the robot system. The single is a mechanical unit with one joint. Parameters of this type are used to define which joint the single consist of and the base frame of the single.

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6 Topic Motion
6.34.2 Name

6.34.2 Name
Parent Name belongs to the type Single, in the topic Motion. Cfg name name Description Name defines the name of the single. Allowed values A string with maximum 32 characters.

648 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.34.3 Use Single Type

6.34.3 Use Single Type

Parent Use Single Type belongs to the type Single, in the topic Motion. Cfg name use_single_type Description Use Single Type defines what single type is used. Usage The single type is defined in the type Single Type. Allowed values A string with maximum 32 characters. Related information The type Single Type on page 655.

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.34.4 Use Joint

6.34.4 Use Joint

Parent Use Joint belongs to the type Single, in the topic Motion. Cfg name use_joint Description Use Joint defines which joint data to use for the single. Usage The joints are defined in the type Joint. Allowed values A string with maximum 32 characters. Related information The Joint type on page 454.

650 Copyright 2004-2012 ABB. All rights reserved.

3HAC17076-1 Revision: Q

6 Topic Motion
6.34.5 Base Frame x, y, z

6.34.5 Base Frame x, y, z

Parent Base Frame x, Base Frame y, and Base Frame z belongs to the type Single in the topic Motion. Cfg names base_frame_pos_x base_frame_pos_y base_frame_pos_z Description Base Frame x defines the x-direction of the base frame position in relation to the world frame (in meters). Base Frame y defines the y-direction of the base frame position in relation to the world frame (in meters). Base Frame z defines the z-direction of the base frame position in relation to the world frame (in meters). Allowed values A value between -1,000 and 1,000 meters. Related information How to define base frame on page 333.

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6 Topic Motion
6.34.6 Base Frame q1, q2, q3, q4

6.34.6 Base Frame q1, q2, q3, q4

Parent Base Frame q1, Base Frame q2, Base Frame q3, and Base Frame q4 belongs to the type Single in the topic Motion. Cfg names base_frame_orient_u0 base_frame_orient_u1 base_frame_orient_u2 base_frame_orient_u3 Description Base Frame q1 defines the first quaternion (q1) of the base frame orientation in relation to the world frame. Base Frame q2 defines the second quaternion (q2) of the base frame orientation in relation to the world frame. Base Frame q3 defines the third quaternion (q3) of the base frame orientation in relation to the world frame. Base Frame q4 defines the fourth quaternion (q4) of the base frame orientation in relation to the world frame. Allowed values A value between -1 and 1 specifying the orientation. Related information How to define base frame on page 333.

652 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.34.7 Base Frame Coordinated

6.34.7 Base Frame Coordinated

Parent Base Frame Coordinated belongs to the type Single in the topic Motion. Cfg name base_frame_coordinated Description Base Frame Coordinated defines the name of robot or single that moves the base frame of this single. Allowed values A string with maximum 32 characters. Related information How to define base frame on page 333.

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

653

6 Topic Motion
6.34.8 Mech.Unit Not Moving Detection Level

6.34.8 Mech.Unit Not Moving Detection Level

Parent Mech.Unit Not Moving Detection Level belongs to the type Single, in the topic Motion. Cfg name not_moving_speed_level Description Mech.Unit Not Moving Detection Level defines the detection level for a Single for the system output Mechanical Unit Not Moving. Usage Normally the output of Mechanical Unit Not Moving will be set only when the Single is stopped. If the Detection Level is set for the speed of the Single, the output will also be set when the speed of the Single are lower than the defined level. If the Detection Level is set both for a Robot and a Single running in the same motion group, all the axes of the Robot and the Single must move slower than its level to set the output. If the Detection Level is set only for the Single but not for the Robot, the output will be set when the speed of the Single is lower than the Level regardless of the speed of the Robot. Allowed values A value between 0 and 1. 0.01 = 1% of motor max speed, disabled if 0. The default value is 0. Related information Mechanical Unit Not Moving on page 270, in the topic I/O, type System Output. Mech.Unit Not Moving Detection Level on page 621, in the topic Motion, type Robot.

654 Copyright 2004-2012 ABB. All rights reserved.

3HAC17076-1 Revision: Q

6 Topic Motion
6.35.1 The type Single Type

6.35 Type Single Type 6.35.1 The type Single Type

Overview This section describes the type Single Type which belongs to the topic Motion. Each parameter of this type is described in a separate information topic in this section. Cfg name SINGLE_TYPE Type description The type Single Type contains a number of parameters that are common for a single type in the robot system. The single is a mechanical unit with one joint. Related information The Single type on page 647.

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.35.2 Name

6.35.2 Name
Parent Name belongs to the type Single Type in the topic Motion. Cfg name name Description Name defines the name of the single type. Allowed values A string with maximum 32 characters.

656 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.35.3 Mechanics

6.35.3 Mechanics
Parent Mechanics belongs to the type Single Type in the topic Motion. Cfg name mechanics Description Mechanics defines what type of mechanics the single type uses. Allowed values The following mechanics are available/allowed:
Value: TRACK FREE_ROT SG_LIN EXT_LIN EXT_ROT SS_LIN SS_ROT Description: Linear track motion Rotating axis Servo Gun Conveyor, linear Conveyor, rotating Sensor synchronization, linear movement Sensor synchronization, rotating movement

Related information Application manual - Additional axes and stand alone controller.

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

657

6 Topic Motion
6.36.1 The Stress Duty Cycle type

6.36 Type Stress Duty Cycle 6.36.1 The Stress Duty Cycle type
Overview This section describes the type Stress Duty Cycle, which belongs to the topic Motion. Each parameter of the type is described in a separate information topic in this section. Cfg name STRESS_DUTY_CYCLE Type description The type Stress Duty Cycle is used to protect axes, gearboxes, etc. Damages due to too high mechanical forces are avoided by setting limits for speed and torque. Limitations Parameters of the type Stress Duty Cycle can only be defined for additional axes.

658 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.36.2 Name

6.36.2 Name
Parent Name belongs to the type Stress Duty Cycle, in the topic Motion. Cfg name name Description The name of the Stress Duty Cycle. Usage Name is used to reference a Stress Duty Cycle from the parameter Use Stress Duty Cycle in the type Drive System. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.36.3 Speed Absolute Max

6.36.3 Speed Absolute Max

Parent Speed Absolute Max belongs to the type Stress Duty Cycle, in the topic Motion. Cfg name speed_absolute_max Description The absolute highest motor speed to be used. Usage Limit the motor speed with Speed Absolute Max to avoid too much stress on the axis. If, for example, the gearbox is the limiter for the speed, set Speed Absolute Max to a value that will protect the gearbox. Allowed values A numeric value between 0 and 1500 (rad/s on motor side).

660 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.36.4 Torque Absolute Max

6.36.4 Torque Absolute Max

Parent Torque Absolute Max belongs to the type Stress Duty Cycle, in the topic Motion. Cfg name torque_absolute_max Description The absolute highest motor torque to be used. Usage Limit the motor torque with Torque Absolute Max to avoid too much stress on the axis. If, for example, the gearbox is the limiter for the torque, set Torque Absolute Max to a value that will protect the gearbox. Limitation Torque Absolute Max can only be defined for additional axes. Allowed values A numeric value between 0 and 100000 (Nm on motor side).

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.37.1 The Supervision type

6.37 Type Supervision 6.37.1 The Supervision type

Overview This section describes the type Supervision, which belongs to the topic Motion. Each parameter of the type is described in a separate information topic in this section. Cfg name SUPERVISION Type description The type Supervision is used for supervision of joints. Each joint has one set of parameters of the type Supervision. Limitation Parameters of the type Supervision can only be defined for additional axes. Related information The Joint type on page 454.

662 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.37.2 Name

6.37.2 Name
Parent Name belongs to the type Supervision, in the topic Motion. Cfg name name Description The name of the supervision. Allowed values A string with maximum 32 characters.

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.37.3 Brake Release Supervision On

6.37.3 Brake Release Supervision On

Parent Brake Release Supervision On belongs to the type Supervision, in the topic Motion. Cfg name brake_release_supervision_on Description Brake Release Supervision On defines if the brake release supervision is on or off. Usage Set Brake Release Supervision On to On to turn on brake release supervision. This activates a position supervision algorithm during brake release. Allowed values On or Off

664 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.37.4 Speed Supervision

6.37.4 Speed Supervision

Parent Speed Supervision belongs to the type Supervision, in the topic Motion. Cfg name speed_supervision_on Description Defines if the speed supervision should be activated or not. Usage Speed supervision should normally be On. NOTE! Deactivating the speed supervision can be dangerous. Allowed values On or Off.

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6 Topic Motion
6.37.5 Position Supervision

6.37.5 Position Supervision

Parent Position Supervision belongs to the type Supervision, in the topic Motion. Cfg name position_supervision_on Description Defines if the position supervision should be activated or not. Usage The position supervision should normally be On. NOTE! Deactivating the position supervision can be dangerous. Allowed values On or Off

666 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.37.6 Counter Supervision

6.37.6 Counter Supervision

Parent Counter Supervision belongs to the type Supervision, in the topic Motion. Cfg name counter_supervision_on Description Defines if the measurement system supervision should be activated or not. Usage The counter supervision should normally be On. NOTE! Deactivating the counter supervision can be dangerous. Allowed values On or Off

3HAC17076-1 Revision: Q Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.37.7 Jam Supervision

6.37.7 Jam Supervision

Parent Jam Supervision belongs to the type Supervision, in the topic Motion. Cfg name jam_supervision_on Description Defines if the jam supervision should be activated or not. Usage The jam supervision should normally be activated (On). NOTE! Deactivating the jam supervision can be dangerous. Allowed values On or Off.

668 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.37.8 Load Supervision

6.37.8 Load Supervision

Parent Load Supervision belongs to the type Supervision, in the topic Motion. Cfg name load_supervision_on Description Defines if the load supervision should be activated or not. Usage The load supervision should normally be On. Allowed values On or Off

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6 Topic Motion
6.37.9 Power Up Position Supervision

6.37.9 Power Up Position Supervision

Parent Power Up Position Supervision belongs to the type Supervision, in the topic Motion. Cfg name power_up_position_on Description Defines if the power up position supervision should be activated or not. Usage The power up position supervision should normally be On. NOTE! Deactivating the power up position supervision can be dangerous. Allowed values On or Off

670 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.37.10 In Position Range

6.37.10 In Position Range

Parent In Position Range belongs to the type Supervision, in the topic Motion. Cfg name in_position_range Description Defines the allowed position deviation from fine point when the axis is considered to have reached the fine point. Usage Normally set to 1. Allowed values A value between 0 and 10 radians on motor side.

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6 Topic Motion
6.37.11 Zero Speed

6.37.11 Zero Speed

Parent Zero Speed belongs to the type Supervision, in the topic Motion. Cfg name normalized_zero_speed Description Defines the maximum speed when the axis is considered to be standing still. Usage Normally set to 0.02. Allowed values A value between 0 and 1, where 1 equals max speed.

672 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.37.12 Affects Forced Control

6.37.12 Affects Forced Control

Parent Affects Forced Control belongs to the type Supervision, in the topic Motion. Cfg name joint_affect_forced_Kp Description Defines if the joint affects the in position forced control used in fine point. Usage Set to No if the joint should affect the in position forced control. The forced control is used to reduce time for axis to go into the fine point. Allowed values Yes or No Related information Forced Control Active on page 466, in the type Lag Control Master 0.

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6 Topic Motion
6.37.13 Forced on Position Limit

6.37.13 Forced on Position Limit

Parent Forced on Position Limit belongs to the type Supervision, in the topic Motion. Cfg name Kp_forced_on_limit Description The upper position limit for activation of forced control, measured from the fine point. Usage The upper position limit is measured in radians on the motor shaft. Allowed values A value between 0 and 5. Related information Affects Forced Control on page 673.

674 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.37.14 Forced off Position Limit

6.37.14 Forced off Position Limit

Parent Forced off Position Limit belongs to the type Supervision, in the topic Motion. Cfg name Kp_forced_off_limit Description The lower position limit for deactivation of forced control used close to the fine point. Usage The lower position limit is measured in radians on the motor shaft. Limitations Must have a lower value than Forced on Position Limit. Allowed values A value between 0 and 5. Related information Forced on Position Limit on page 674. Affects Forced Control on page 673.

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6 Topic Motion
6.37.15 Thermal Supervision Sensitivity Ratio

6.37.15 Thermal Supervision Sensitivity Ratio

Parent Thermal Supervision Sensitivity Ratio belongs to the type Supervision, in the topic Motion. Cfg name thermal_supervision_sensitivity_ratio Usage Parameter used for tuning the thermal motor model. High value increases the temperature in the model. Limitations The thermal supervision is only available for motor units (MU 200, MU 300, and MU 400) and gear units (MTD 250, MTD 500, MTD 750, 200 MID 500, and MID 1000). Allowed values A value between 0.5 and 2.

676 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.38.1 The type Supervision Type

6.38 Type Supervision Type 6.38.1 The type Supervision Type

Overview This section describes the type Supervision Type, which belongs to the topic Motion. Each parameter of the type is described in a separate information topic in this section. Cfg name SUPERVISION_TYPE Type description The type Supervision Type is used for continuos supervision of position, speed and torque. These values should follow the planned path, within a tolerance interval, or the movement is stopped. Limitations Parameters of the type Supervision Type can only be defined for additional axes.

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6 Topic Motion
6.38.2 Name

6.38.2 Name
Parent Name belongs to the type Supervision Type, in the topic Motion. Cfg name name Description The name of the Supervision Type. Usage Name is used to reference a Supervision Type from the parameter Use Supervision Type in the type Supervision. Allowed values A string with maximum 32 characters.

678 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.38.3 Max Force Control Position Error

6.38.3 Max Force Control Position Error

Parent Max Force Control Position Error belongs to the type Supervision Type, in the topic Motion. Cfg name fc_position_limit Description Max allowed position error during force control. If the position error is larger than Max Force Control Position Error, all movement is stopped. Usage When a servo gun is in force control mode it is not allowed to move more than the distance specified in Max Force Control Position Error. The most common reasons for a servo gun to move during force control are: the servo gun is flexible and can give in when high forces are applied the force control may start before the gun has closed around the plate, e.g. because the ordered plate thickness is larger than the real plate thickness, or because the parameter Close position adjust is set to a value larger than 0.

Limitations Max Force Control Position Error can only be used if you have servo tools. Allowed values A numeric value between 0 and 0.10 (meter). The default value is 0.03 m.

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6 Topic Motion
6.38.4 Max Force Control Speed Limit

6.38.4 Max Force Control Speed Limit

Parent Max Force Control Speed Limit belongs to the type Supervision Type, in the topic Motion. Cfg name fc_speed_limit_factor Description Speed error factor during force control. The speed limits for force control is defined in the type Force Master Control. If this speed limit multiplied with Max Force Control Speed Limit is exceeded, all movement is stopped. Usage The speed may for a short period of time exceed the speed limit (defined in type Force Master Control) before it is regulated to a value within the limits. To allow the speed to exceed the limit during this regulation without stopping all movement, Max Force Control Speed Limit must be set to a value larger than 1. How much the speed is allowed to over-shoot the limit is determined by Max Force Control Speed Limit. Limitations Max Force Control Speed Limit can only be used if you have servo tools. Allowed values A numeric value between 1 and 10. The value has no unit, but is a ratio of the speed limit defined in the type Force Master Control. The default value is 1.1. Related information The Force Master Control type on page 422.

680 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.38.5 Dynamic Power Up Position Limit

6.38.5 Dynamic Power Up Position Limit

Parent Dynamic Power Up Position Limit belongs to the type Supervision Type, in the topic Motion. Cfg name dynamic_power_up_position_limit Description Defines the maximum accepted power up position error at maximum speed. Usage Dynamic Power Up Position Limit sets a dynamic limit for measurement system supervision of moment during power fail. A typical value is 120% of the maximum brake distance. Allowed values A value between 0 and 1000 in radians.

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6 Topic Motion
6.38.6 Teach Max Speed Main

6.38.6 Teach Max Speed Main

Parent Teach Max Speed Main belongs to the type Supervision Type, in the topic Motion. Cfg name teach_mode_speed_max_main Description Defines maximum ordered speed in manual mode. Usage Teach Max Speed Main is used to limit the maximum speed in manual mode. The value of Teach Max Speed Main should be set so that the arm speed does not exceeds 250 mm/s. Allowed values A ratio value between 0 and 1, where 1 equals max speed.

682 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.38.7 Teach Max Speed DSP

6.38.7 Teach Max Speed DSP

Parent Teach Max Speed DSP belongs to the type Supervision Type, in the topic Motion. Cfg name teach_mode_speed_max_dsp Description Defines the motor speed supervision level in manual mode. Usage Teach Max Speed DSP is used for speed supervision in Axis Computer during manual mode. The value of Teach Max Speed DSP should be set to the same value as Teach Max Speed Main added with a margin for noise and vibrations. Typical value is the largest value of (Teach Max Speed Main * 1.20) or (Teach Max Speed Main + 8/Speed Absolute Max). Allowed values A ratio value between 0 and 1, where 1 equals max speed.

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6 Topic Motion
6.38.8 Max Jam Time

6.38.8 Max Jam Time

Parent Max Jam Time belongs to the type Supervision Type, in the topic Motion. Cfg name max_jam_time Description Defines the maximum allowed time with maximum torque at zero speed. Usage Set Max Jam Time to protect the robot and equipment from faults and damage that may occur if the torque is high while the speed is zero. Allowed values A value between 0 and 2.0 seconds. A typical value is 0.5.

684 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.38.9 Max Overload Time

6.38.9 Max Overload Time

Parent Max Overload Time belongs to the type Supervision Type, in the topic Motion. Cfg name max_overload_time Description Defines the maximum allowed time with maximum torque while moving. Usage Set Max Overload Time to protect the robot and equipment from faults and damage. If Max Overload Time is exceeded, the controller will indicate an error in hardware, robot, load, or programming. Allowed values A value between 0 and 20 seconds. A typical value is 0.2.

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6 Topic Motion
6.38.10 Auto Max Speed Supervision Limit

6.38.10 Auto Max Speed Supervision Limit

Parent Auto Max Speed Supervision Limit belongs to the type Supervision Type, in the topic Motion. Cfg name auto_mode_max_speed_sup_limit Description Defines the maximum speed supervision limit in automatic mode. Usage Auto Max Speed Supervision Limit is typically set to 1.2 to allow margin against speed overshoot, interference from external forces, etc. Allowed values A value between 0 and 5, where 1 equals max speed. A typical value is 1.2.

686 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.38.11 Influence Group

6.38.11 Influence Group

Parent Influence Group belongs to the type Supervision Type, in the topic Motion. Cfg name influence_group Description Defines the type of influence group for the Supervision Type. An influence group is a group of axes, mechanically affecting each other. Usage Influence Group is used to calculate supervision levels. Normally, for axes not affecting each other, deactivate the function by setting Influence Group to 0. Allowed values An integer between 0 and 10.

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6 Topic Motion
6.38.12 Alarm Position Limit for Brake Release

6.38.12 Alarm Position Limit for Brake Release

Parent Alarm Position Limit for Brake Release belongs to the type Supervision Type, in the topic Motion. Cfg name brake_release_position_alarm_limit Description Alarm Position Limit for Brake Release defines the emergency stop limit for position supervision during brake release. Usage An emergency stop is generated if the axis motor moves more than the defined value of Alarm Position Limit for Brake Release directly after brake release. Allowed values A value between 0 and 1000, defined in radians on motor side. Default value is 1.0.

688 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.38.13 Position OK Ratio for Brake Release

6.38.13 Position OK Ratio for Brake Release

Parent Position OK Ratio for Brake Release belongs to the type Supervision Type, in the topic Motion. Cfg name brake_release_position_ok_ratio Description Position OK Ratio for Brake Release defines the maximum position error for the axis when the axis should leave the brake supervision state and change to normal operation. Usage The value of Position OK Ratio for Brake Release is a ratio of the value of parameter Alarm Position Limit for Brake Release. Allowed values A value between 0 and 1. Default value is 0.2, a normal value is 0.2 - 0.5. Related information Alarm Position Limit for Brake Release on page 688.

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6 Topic Motion
6.39.1 The Transmission type

6.39 Type Transmission 6.39.1 The Transmission type

Overview This section describes the type Transmission, which belongs to the topic Motion. Each parameter of this type is described in a separate information topic in this section. Cfg name TRANSMISSION Type description Each set of parameters of the type Transmission belongs to a joint (robot joint or additional axis). The parameters in Transmission determine the transmission gear ratio between the motor and the axis. Limitations The transmission gear ratio can only be defined for additional axes. The transmission gear ratio for the robot joints are defined by ABB and cannot be changed.

690 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.39.2 Name

6.39.2 Name
Parent Name belongs to the type Transmission, in the topic Motion. Cfg name name Description The name of the Transmission. Usage Name is used to reference a Transmission from the parameter Use Transmission in the type Joint. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.39.3 Rotating Move

6.39.3 Rotating Move

Parent Rotating Move belongs to the type Transmission, in the topic Motion. Cfg name rotating_move Description Rotating Move defines if the axis is rotating or linear. Usage For rotating axes, set Rotating Move to Yes. For linear axes, set Rotating Move to No. Rotating Move affects if the transmission gear ratio is defined as motor radians per joint radians, or motor radian per joint meter. Allowed values Yes or No. The default value is No (i.e. that the axis is linear).

692 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.39.4 Transmission Gear Ratio

6.39.4 Transmission Gear Ratio

Parent Transmission Gear Ratio belongs to the type Transmission, in the topic Motion. Cfg name transm_joint Description Transmission Gear Ratio defines the transmission gear ratio between motor and joint. Usage For rotating axes, set Transmission Gear Ratio to the number of revolutions the motor performs for every revolution of the joint. For linear axes, set Transmission Gear Ratio to motor radians per meter. Limitations Transmission Gear Ratio can only be defined for external axes. Transmission Gear Ratio for the robot joints are defined by ABB and cannot be changed. Allowed values A numeric value between -100000 and +100000.

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6 Topic Motion
6.39.5 Transmission Gear High

6.39.5 Transmission Gear High

Parent Transmission Gear High belongs to the type Transmission, in the topic Motion. Cfg name high_gear Description When a joint is in independent mode, Transmission Gear High is the numerator in the fraction representing the transmission gear ratio between motor and joint. The denominator is the parameter Transmission Gear Low. Usage When a joint is set to independent mode, the transmission gear ratio is represented as Transmission Gear High divided by Transmission Gear Low. See How to define transmission gear ratio for independent joints for more information on how to use these parameters. Limitations The parameter Transmission Gear High is only useful if you have the RobotWare option Independent Axes. When a joint is not in independent mode, it uses the parameter Transmission Gear Ratio instead of Transmission Gear High and Transmission Gear Low. Allowed values An integer value. Related information How to define transmission gear ratio for independent joints on page 344. Transmission Gear Low on page 695. Application manual - Motion functions and events.

694 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.39.6 Transmission Gear Low

6.39.6 Transmission Gear Low

Parent Transmission Gear Low belongs to the type Transmission, in the topic Motion. Cfg name low_gear Description When a joint is in independent mode, Transmission Gear Low is the denominator in the fraction representing the transmission gear ratio between motor and joint. The numerator is the parameter Transmission Gear High. Usage When a joint is set to independent mode, the transmission gear ratio is represented as Transmission Gear High divided by Transmission Gear Low. See How to define transmission gear ratio for independent joints for more information on how to use these parameters. Limitations The parameter Transmission Gear Low is only useful if you have the RobotWare option Independent Axes. When a joint is not in independent mode, it uses the parameter Transmission Gear Ratio instead of Transmission Gear High and Transmission Gear Low. Allowed values An integer value. Related information How to define transmission gear ratio for independent joints on page 344. Transmission Gear High on page 694. Application manual - Motion functions and events.

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6 Topic Motion
6.40.1 The Uncalibrated Control Master 0 type

6.40 Type Uncalibrated Control Master 0 6.40.1 The Uncalibrated Control Master 0 type
Overview This section describes the type Uncalibrated Control Master 0, which belongs to the topic Motion. Each parameter of the type is described in a separate information topic in this section. Cfg name UCCM0 Type description The type Uncalibrated Control Master 0 is used to regulate uncalibrated axes. If one axis in a mechanical unit is uncalibrated, Uncalibrated Control Master 0 is used to regulate all axes in that mechanical unit.

696 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.40.2 Name

6.40.2 Name
Parent Name belongs to the type Uncalibrated Control Master 0, in the topic Motion. Cfg name UCCM0 name Description The name of the Uncalibrated Control Master 0. Usage Name is used to reference an Uncalibrated Control Master 0 from the parameter Uncalibrated Control Master in the type Joint. Allowed values A string with maximum 32 characters.

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6 Topic Motion
6.40.3 Kp, Gain Position Loop

6.40.3 Kp, Gain Position Loop

Parent Kp, Gain Position Loop belongs to the type Uncalibrated Control Master 0, in the topic Motion. Cfg name Kp Description Proportional gain in the position regulation loop. Usage The higher the value of Kp, Gain Position Loop, the better tracking and disturbance rejection. If the position regulation overshoots, decrease Kp, Gain Position Loop. Limitations Kp, Gain Position Loop only affects the axis when it is uncalibrated (or when another axis in the same mechanical unit is uncalibrated). Allowed values A numeric value between 0 and 1000 (1/s).

698 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.40.4 Kv, Gain Speed Loop

6.40.4 Kv, Gain Speed Loop

Parent Kv, Gain Speed Loop belongs to the type Uncalibrated Control Master 0, in the topic Motion. Cfg name Kv Description Proportional gain in the speed regulation loop. Usage The higher the value of Kv, Gain Speed Loop, the better tracking and disturbance rejection. If the level of oscillation or noise is too high, decrease Kv, Gain Speed Loop. Limitations Kv, Gain Speed Loop only affects the axis when it is uncalibrated (or when another axis in the same mechanical unit is uncalibrated). Allowed values A numeric value between 0 and 100 (Nms/rad).

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6 Topic Motion
6.40.5 Ti Integration Time Speed Loop

6.40.5 Ti Integration Time Speed Loop

Parent Ti Integration Time Speed Loop belongs to the type Uncalibrated Control Master 0, in the topic Motion. Cfg name Ti Description Integration time in the speed regulation loop. Usage The lower the value of Ti Integration Time Speed Loop, the better tracking and disturbance rejection. If the level of oscillation or noise is too high, increase Ti Integration Time Speed Loop. Limitations Ti Integration Time Speed Loop only affects the axis when it is uncalibrated (or when another axis in the same mechanical unit is uncalibrated). Allowed values A numeric value between 0 and 10 (seconds). The default value is 10 seconds.

700 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.40.6 Speed Max Uncalibrated

6.40.6 Speed Max Uncalibrated

Parent Speed Max Uncalibrated belongs to the type Uncalibrated Control Master 0, in the topic Motion. Cfg name speed_max_n Description Speed Max Uncalibrated defines the maximum allowed speed for an uncalibrated axis. Usage Use Speed Max Uncalibrated as a limit for the speed of the axis when it is regulated as an uncalibrated axis. Limitations Speed Max Uncalibrated only affects the axis when it is uncalibrated (or when another axis in the same mechanical unit is uncalibrated). Allowed values A numeric value between 0 and 670 (rad/s on motor side).

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6 Topic Motion
6.40.7 Acceleration Max Uncalibrated

6.40.7 Acceleration Max Uncalibrated

Parent Acceleration Max Uncalibrated belongs to the type Uncalibrated Control Master 0, in the topic Motion. Cfg name acc_max_n Description Acceleration Max Uncalibrated defines the maximum allowed acceleration for an uncalibrated axis. Usage Use Acceleration Max Uncalibrated as a limit for the acceleration of the axis when it is regulated as an uncalibrated axis. Limitations Acceleration Max Uncalibrated only affects the axis when it is uncalibrated (or when another axis in the same mechanical unit is uncalibrated). Allowed values A numeric value between 0 and 10000 (rad/s2 on motor side).

702 Copyright 2004-2012 ABB. All rights reserved.

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6 Topic Motion
6.40.8 Deceleration Max Uncalibrated

6.40.8 Deceleration Max Uncalibrated

Parent Deceleration Max Uncalibrated belongs to the type Uncalibrated Control Master 0, in the topic Motion. Cfg name dec_max_n Description Deceleration Max Uncalibrated defines the maximum allowed deceleration for an uncalibrated axis. Usage Use Deceleration Max Uncalibrated as a limit for the deceleration of the axis when it is regulated as an uncalibrated axis. Limitations Deceleration Max Uncalibrated only affects the axis when it is uncalibrated (or when another axis in the same mechanical unit is uncalibrated). Allowed values A numeric value between 0 and 10000 (rad/s2 on motor side).

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Index

Index
A
acceleration data, type, 349 access level, type, 157 application protocol, type, 37 arm, type, 355 arm check point, type, 375 arm load, type, 378 Auto Condition Reset, type, 72 automatically switch jog unit, type, 308 motion planner, type, 520 motion supervision, type, 547 motion system, type, 556 motor, type, 562 motor calibration, type, 566 motor type, type, 573

N
NORMAL task type, 137 NoSafety trustlevel, 140

B
backup settings, type, 22, 310 brake, type, 383 bus, type, 165

O
operator safety, type, 110

P
path return region, type, 116 path sensor synchronization, type, 581 physical channel, type, 53 PROC.cfg, 29 process, type, 589

C
communication, topic, 33 configuration files, 29 controller, topic, 69 control parameters, type, 392 cross connection, type, 174

R
relay, type, 593 robot, type, 597 robot serial number, type, 622 Run Mode Settings, type, 122

D
drive module, type, 397 drive system, type, 400 drive unit, type, 22, 403, 405

E
EIO.cfg, 29 event routine, type, 84

S
safety run chain, type, 125 SEMISTATIC task type, 137 SG process, type, 626 signal, type, 191 single, type, 647 single type, type, 655 SIO.cfg, 29 STATIC task type, 137 stress duty cycle, type, 658 supervision type, type, 677 SYS.cfg, 29 SysFail trustlevel, 140 SysHalt trustlevel, 140 SysStop trustlevel, 140 system input, type, 219 system misc, type, 128 system output, type, 259 system parameter definition, 27

F
fieldbus command, type, 182 fieldbus command type, type, 186 force master, type, 408 force master control, type, 422 friction compensation, type, 444

I
I/O, topic, 149 Internal Slave, 305

J
jog parameters, type, 449 joint, type, 454

L
lag control master 0, type, 461 linked m process, type, 487

T
task, type, 134 topic definition, 27 transmission, type, 690 transmission protocol, type, 62 type definition, 27

M
mains, type, 498 man-machine communication, 307 measurement channel, type, 502 mechanical unit, type, 508 mechanical unit group, type, 95 MMC.cfg, 29 MOC.cfg, 29 modpos settings, type, 100 most common I/O signal, type, 322 most common instruction, type, 315 motion, topic, 331

U
uncalibrated control master, type, 696 unit, type, 288 unit type, type, 299

W
warning at start, type, 328

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Contact us

ABB AS, Robotics Discrete Automation and Motion Box 265 N-4349 BRYNE, Norway Telephone: +47 51489000 ABB Engineering (Shanghai) Ltd. 5 Lane 369, ChuangYe Road KangQiao Town, PuDong District SHANGHAI 201319, China Telephone: +86 21 6105 6666 www.abb.com/robotics

3HAC17076-1, Rev Q, en

ABB AB Discrete Automation and Motion Robotics S-721 68 VSTERS, Sweden Telephone +46 (0) 21 344 400