RobotStudio™ 6.

03
Basics
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Robotics Products
SE-721 68
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2016-03-16 ABB
 Table of Contents

1. Courseware ..................................................................................................4
1.1. Courseware files ................................................................................................ 4
2. Learning the basics ....................................................................................6
2.1. RobotStudio Overview ....................................................................................... 6
2.1.1. Exploring RobotStudio ............................................................................ 6
2.1.2. Navigating the Graphics window using the mouse ................................ 10
2.1.3. Managing document folders .................................................................. 11
2.2. Creating a basic station .................................................................................... 13
2.2.1. Creating a new station .......................................................................... 13
2.2.2. Adding a Tool ........................................................................................ 14
2.2.3. Importing the Controller Cabinet ........................................................... 16
2.2.4. Moving the controller cabinet ................................................................ 16
2.2.5. Importing CAD files ............................................................................... 17
2.2.6. Positioning the Table............................................................................. 18
2.2.7. Placing the box...................................................................................... 19
2.3. Programming the Basic Station ........................................................................ 21
2.3.1. Jogging the Robot ................................................................................. 21
2.3.2. Creating a Workobject........................................................................... 23
2.3.3. Programming Motion ............................................................................. 25
2.3.4. Running the Simulation ......................................................................... 31
2.3.5. Adding a start and home position .......................................................... 32
2.3.6. Using the Rapid Editor for basic adjustments........................................ 36
2.3.7. Simulation settings ................................................................................ 39
2.3.8. Saving the robot program...................................................................... 40
2.3.9. Using the solution folder........................................................................ 40
2.4. Local Origin ...................................................................................................... 41
2.5. Creating a tool .................................................................................................. 47
2.6. Task Frame ...................................................................................................... 52

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Courseware

1. Courseware
1.1. Courseware files
Overview
In this exercise we will unpack the courseware files and set the default RobotStudio folder.

Extracting the Courseware folder

Along with the RobotStudio Courseware you have received a RobotStudio Courseware.zip
file.
1. Right click the RobotStudio Courseware.zip file and select WinZip and Extract to.
2. In the Zip Self-Extractor dialog, browse to where you have your My Documents folder
and select the RobotStudio folder.

3. Click the Unzip/Extract button.

Setting the RobotStudio User Project Folder

4. On the File tab click Options.

5. In the Options dialog select Files & Folders.

6. In the User Project Folder click the browse […] button.
7. Browse to the Courseware folder that you just extracted and click the OK button.

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 Courseware

8. Click OK.
By setting the User Project Folder you have now created a shortcut that will appear in all
open, import load and save dialogs. For example:

Here we can see the Courseware button in the Open dialog

Challenge
If you have an internet connection you can visit the RobotStudio community. Go to
http://www.abb.com/roboticssoftware .

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2. Learning the basics

2.1. RobotStudio Overview

2.1.1. Exploring RobotStudio

Overview
Before starting with the actual exercises, we will take a quick look at RobotStudio and
commonly used functions.

To open a demo station

Now we will open a demo station to play with. Do not save any changes to the station during
this exercise.
1. On the Start menu select
All Programs > ABB Industrial IT > Robotics IT > RobotStudio 6.0x > RobotStudio
to start RobotStudio.
2. In the File tab, click Open.

3. Browse to the folder \Courseware\Stations and open the station Exploring.

The main parts of RobotStudio window

The picture on the next page shows the main parts of RobotStudio:

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 Learning the Basics
1
2
6
3
7

5 9

1 Quick Access Toolbar

For quick access to commonly used commands and settings. To add an item to the
toolbar, right click the item and select Add to quick access toolbar or click the
arrow next to the toolbar and select Customize Commands.

2 Tabs
The tabs contain collections of commands and setting items for different
functions according to the following table:

File Opening, saving stations and options etc.

Home Building up stations, creating systems, creating paths with

graphical programming.

Modeling Creating and grouping components, creating solids, curves and

surfaces, measurements and CAD operations. This is also from
where you create Tools, Conveyors, Smart Components and the
Mechanism Modeler.

Simulation Setting up, configuring, controlling, monitoring and recording

simulations.

Controller For working with system parameters and configuration and setting
up relationships to transfer programs, data etc. between controllers.
(VC (Virtual Controller) or live controllers)

Rapid Editor for writing new and/or debugging existing Rapid programs.

Add-Ins PowerPacs and Add-Ins.

Modify This is a contextual tab, which is only visible when an object is

selected. It lists specific commands for that object type.

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3 Layout and Paths&Targets browser

The Layout browser displays the physical items of the station, such as robots and
tools. When working with the objects, you either select them here or in the
Graphics window.
The Paths&Targets browser displays program data such as controllers, tool data,
work objects and targets.

4 Output window and Simulation Watch

The Output window displays messages from RobotStudio and the Virtual
Controller. Some messages are active; by clicking on them you get more
information.
In Simulation Watch you can monitor values of dynamic properties and IO
signals in Smart Components.
Note: Depending on main tab, different windows will show.

5 Active Toolbar
Shows active templates and parameters such as speed data and zone data. These
are the default settings that will be used when creating Move instructions.

6 RobotStudio Help menu

Here you will find help on RobotStudio, Rapid, API etc.

7 Documents Manager
Allows you to easily search and browse for files to load into the station. It is also
possible to add references to files and folders or embed files into the station.

8 Graphics window
The Graphics window displays the objects in the station. Here you select objects
and parts of objects when building and programming stations. Icons for selection
levels and snap modes can be found at the top of the Graphics window. Using
correct selection level and snap mode settings is important for successful work in
the Graphics window.

9 Controller status bar

A green light indicates that the controller is in AUTO mode, yellow that it is
MANUAL mode, and red that it is not started.

To explore selection levels and snap modes

1. In the Graphics window click the Part Selection icon.

The name of an icon appears as a ToolTip when holding the cursor over the icon.

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 Learning the Basics

2. In the Graphics window click the Snap Object icon.

This is a multi-snap mode, snapping to the closest center, edge or corner.

3. In the Graphics window click the fork lift. The entire fork lift is now highlighted red.
You can also see the pick point as a white star that has snapped to the closest
center/edge/corner.
4. On the Home tab, in the Freehand group click the Move button. A cross with arrows in
the X, Y and Z directions now appear on the truck. Drag the arrows to move the object.

5. On the Home tab, in the Freehand group click the Jog Joint button and then select any
joint on one of the robots. By pressing the left mouse button on one of the joints in the
Graphics window you are able to jog it in any direction.

6. Continue exploring the selection levels and snap modes by snapping to corners, edges
and center points of parts, tools, entities and surfaces etc.
7. Close the station without saving when you are done.

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2.1.2. Navigating the Graphics window using the mouse

Navigating the Graphics window using the mouse
The table below shows how to navigate the Graphics window using the mouse:
To Use the keyboard / Description
mouse combination

Select Items Just click the item to select.

To select multiple items, press the SHIFT key
while clicking the new items.

Rotate the station CTRL + SHIFT + Press CTRL + SHIFT + the left mouse
button while dragging the mouse to rotate
the station.
With a 3-button mouse you can use the
left and middle buttons, instead of the
keyboard combination.

Pan the station CTRL + Press CTRL + the left mouse button while
dragging the mouse to pan the station.

Zoom the station CTRL + Press CTRL + the right mouse button while
dragging the mouse to the left to zoom out.
Dragging to the right zooms in.
With a 3-button mouse you can also use
the middle button, instead of the keyboard
combination.

Zoom using SHIFT + Press SHIFT + the right mouse button

window while dragging the mouse across the area
to zoom into.

Select using SHIFT + Press SHIFT + the left mouse button while
window dragging the mouse across the area to
select all items that match the current
selection level.

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2.1.3. Managing document folders

Create a gallery for frequently used documents
It is possible as a user to create a document gallery in order to easily access your frequently
used documents. The galleries can be created using the Documents window, and are also
placed in Import Library or Import Geometry menus in the Home tab.

1. On the Documents window, press on Locations in order to add and locate your galleries.

2. When the Document Locations dialogue box appears, click on Add Location > File
System, as depicted in the picture below. By doing so, the File System dialogue box will
pop up.

3. Now we want to create a gallery for the library objects located in the courseware folder.
On the File System dialogue box, name the new location as Courseware. Then set the
path to the Library folder located in the Courseware folder, and select *.rslib as a Filter
from the dropdown menu. Set up the rest of parameters as shown in the following picture
and press OK.

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4. Now you can see the Courseware gallery added to the Document Locations list.

5. Press OK in order to complete the task and add the gallery to the Import Library menu.
The result will be the same as the below picture.

You can now create a gallery for Import Geometries following the above instruction. See the
picture below for the settings in the File System dialogue box.

Searching for Specific Documents

Using the Search function in Documents window, you can search for a document by its
name. The result will appear on the Documents window. Then you can double-click on the
found item(s) in order to import it to the station. You can also use the Browse function in

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order to browse to all available locations created in Document Locations. These functions
provide an easy, quick access to your documents.

2.2. Creating a basic station

Goal of the chapter

In the next series of exercises we will learn how to build a basic station containing a robot, a
tool, a fixture and a work piece as shown in the picture. Later we will program the robot to
operate on the work piece.

2.2.1. Creating a new station

Overview
A new station can be created in three ways:
· Solution with Empty Station - creates an empty station, placed in a Solution folder
structure on the hard disk.
· Solution with Station and Robot Controller – creates a station in a Solution folder
structure with a virtual Robot Controller (VC). The VC can be created from a robot model
list, or from a robot backup.
· Empty Station - creates a new empty station, no folders or files are created on the hard
disk.
In this exercise we will use the second alternative.

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Creating a New Station Using a Solution Folder

1. In the File tab, click New and then select a new Solution with Station and Robot
Controller

2. Name it mySolution. Browse to the location Courseware\Solutions and create a folder

named Module_1 and select or go in to that folder and press Select Folder.
3. Name the system IRB1600_6kg_1.2m. (Note that the location is predetermined by the
Solution.)
4. Make sure that the RobotWare is version 6.0x and in the robot model drop down
window, find the robot IRB 1600 6kg 1.2m.
5. Press Create.
6. In the File tab select Save Station As.
7. Browse to the folder \Courseware\Solutions\Module_1\mySolution\Stations.
8. Save it as mySolution_1.

The solution folder is used to help you, as a user, keeping a well-structured folder system
that is easy to navigate through. Later in this module you will also see the other features that
solutions have.

Learn more
Click the Help button in the top right corner of RobotStudio.

See the help section for information about

Workflow for building a new station Creating stations and systems.

2.2.2. Adding a Tool

Overview
We will now import and attach a tool to the robot. This is done in two steps: first we import the
tool to the station and then we attach it to the robot.

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The tool that we will import is a library component, which means that it is a RobotStudio object
that has been saved as a separate file. The library import creates a link from the station to the
library file on the hard drive. Therefore, several stations can share the same library component.
On the Home tab you can find the Import library button, it has two sections:
1. The upper button opens up a dialog where you can browse for libraries.

2. The lower part that opens up default RobotStudio libraries and personal galleries.

Importing the Tool

1. Open the station from the last exercise (mySolution_1), unless it is already open.
2. In the Home tab click the Import Library button. Since you have already created the
Courseware gallery to this menu, you can now easily select the needed library
component from this gallery. Click the Courseware gallery and select Pen.

The tool will be imported to the station and placed at the origin of the world coordinate
system, thus hidden inside the robot. However, in the Layout browser you can see that
the tool has been imported.

Attaching the Tool

1. Inside the Layout browser, drag the tool Pen and drop it on the robot IRB1600.

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2. Answer the question “Do you want to update the position of Pen” with Yes.

The tool is moved and attached to the wrist of the robot.

3. Save the station as mySolution_2.
Notice that RobotStudio adds the _2 automatically.

2.2.3. Importing the Controller Cabinet

Overview
We will now import a model of the controller cabinets to the station. The controller model is
for visual representation only, the Virtual Controller runs regardless if there is a cabinet or
not.

Importing the Controller Cabinet

1. Open the station from the last exercise (mySolution_2), unless it is already open.
2. On the Home tab click the Import Library button (lower section).
3. In the Equipment folder, select the IRC5_Control-Module library.

The cabinet will be imported to the station and placed at the origin of the world
coordinate system.
4. Save the station as mySolution_3.

2.2.4. Moving the controller cabinet

Overview
We will now move the controller to a more suitable position in the station. If not the exact
position is important, Freehand move is an easy way to modify the position of objects.

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RobotStudio has several functions for moving objects, each suitable for different situations. In
this exercise the exact position is not important as long as it is placed out of reach from the
robot so we will use the Freehand move.

Moving the controller cabinet part

1. Open the station from the last exercise (mySolution_3), unless it is already open.
2. In the Layout browser select IRC5_Control-Module or use selection level Part to make
the selection directly in the graphics window.

3. On the Home tab, in the Freehand group click the Move button.

4. Click and hold on the green arrow in the Freehand move cross, then drag the controller
one floor square (about 1 meter) to the right of the robot (negative Y direction). Then
click and hold on the red arrow and drag it one square backwards (negative X direction).

5. Save the station as mySolution_4.

2.2.5. Importing CAD files

Overview
You can add work pieces and custom equipment, like fixtures or conveyors, by importing the
CAD models of the objects. In this exercise we will import a table and box.

Importing the CAD files

1. Open the station from the last exercise (mySolution_4), unless it is already open.
2. On the Home tab click Import Geometry.

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3. In the Open dialog browse to \Courseware\Geometry then hold down the [CTRL] key
and select the objects Box.sat and Table.sat.
4. Click the Open button.

5. Save the station as mySolution_5.

Learn more
Click the Help button in the top right corner of RobotStudio.

See the help section for information about

Libraries, geometries and CAD files Supported CAD formats and import options

Troubleshooting and optimizing How to solve geometry problems like slow

geometries updates and invisible parts.

Challenge
The detail level of a model can be changed to increase the performance for large models.
Open the Options dialog and go to Graphics>Performance.
To increase performance for large models, set the detail level to Coarse. This only affects the
visual representation of the object, not the accuracy when generating curves and targets.
To improve visual display and make it easier to select points in objects with many details, set
the detail level to Fine.
When you are finished, change back to the default value, Automatic. RobotStudio will then
determine which level to use based on the zoom factor in the station. This increases the file
size of the station.

2.2.6. Positioning the Table

Overview
The table will be moved 600 mm from the Base Frame of the robot in X direction, 100 mm in
Y direction, and finally with a -30º rotation around Z. We will use the Set Position command
for this movement.

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Positioning the Table

1. Open the station from the last exercise (mySolution_5), unless it is already open.
2. In the Layout browser right click the Table and select Position > Set Position.
3. In the Set position dialog, in the Reference list select the World coordinate system.
4. In the Position fields enter these values 600, 100, 0.
5. In the Orientation fields enter these values 0, 0, –30.

6. Click Apply and then Close.

7. Save the station as mySolution_6.

2.2.7. Placing the box

Overview
We will now put the box on the table relative to one of the corners of the table. For placing an
object relative another (such as putting a part on a fixture) the Place command is a way to do
this without knowing the exact coordinates of an object. For this example we will use the
Place by two points command since we need to both move the box and change its orientation
around one axis.

TIP!
When selecting a corner of an object, make sure to click inside the surface of the object, this
to make sure the pick point will snap correctly.

Placing the Box on the Table

1. Open the station from the last exercise (mySolution_6), unless it is already open.
2. In the Graphics window select the Part Select level and the Snap End mode.

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3. Rotate and zoom the station so you get a view similar to the one in the picture below. It
is easier if you have a clear view of the box and the corners of the table.

4. In the Layout browser right click the box part, select Position > Place > Two Points.
5. When the text insertion point is positioned in any of the Primary point - From boxes,
click the corner of the box marked with 1 in the picture.
6. When the text insertion point is positioned in any of the Primary point - To boxes, click
the corner of the table marked with 2.
7. When the text insertion point is positioned in any of the Point on X-Axis -From boxes,
click the corner of the box marked with 3.
8. When the text insertion point is positioned in any of the Point on X-Axis -To boxes,
click the corner of the table marked with 4.

TIP!
The selection of the points can be made in any order according to which selection
box you place your curser in prior to making the selection in the graphics window.
This can be extremely useful when trying to place objects when there are other
graphics either partially or fully obscuring the objects you are trying to place. For
example the points on the object you are placing can be selected first when only that
item is in view and then you can reorient the graphics window in order to then
make the selections on the object you are placing to. (refer to images below)

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9. Click Apply and Close.

The primary point on the box is now moved to the primary point on the table and the
points on the X-Axis set the orientation of the box.
10.Save the station as mySolution_7.

2.3. Programming the Basic Station

2.3.1. Jogging the Robot

Overview
Before programming the station, we will practice jogging the robot. Jogging the robot can be
done in several ways but here will use the freehand functionality. Note that both Mechanism
Joint Jog and Mechanism Linear Jog are available also from the Modify tab which is
enabled when the robot is selected in the Layout browser.

Jogging the Robot Joint by Joint

1. Open the station from the last exercise (mySolution_7), unless it is already open.
2. On the Home tab, in the Freehand group click Jog Joint.

3. In the Graphics window select one of the joints and move it by dragging the mouse.

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Jogging the Robot Linearly

1. On the Home tab, in the Freehand group click Jog Linear.

2. In the Graphics window select the robot by clicking on it.

A cross with red, green and blue arrows is now displayed at the Tool Center Point (TCP).

3. Click and drag the arrows to jog the robot. Use the red arrow for X direction, green for Y
and blue for Z.

Reorienting the Tool of the Robot

1. On the Home tab, in the dropdown list of the Freehand group select Active Tool.
2. Click the button for Jog Reorient.

3. In the Graphics window select any part of the robot.

Circular arrows are now displayed around the TCP.
4. Drag the arrows to reorient the tool around its current TCP position.

Jumping Back to the Neutral Position

After finishing the jogging practice, jump back to the original neutral position.
1. In the Layout browser, open the context menu by right clicking the robot and then select
Jump Home.

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2.3.2. Creating a Workobject

Overview
The first thing we will do when programming the station is to create a workobject coordinate
system. Workobjects are special coordinate systems in which the programmed positions are
stored. Correctly used, workobjects facilitate calibration and modifications of the cell layout:
when repositioning the work piece or the robot itself, you just reposition the workobject
correspondingly, and the program is up-to-date again.
Programming a robot without having specific workobjects is possible, but not recommended.
A default workobject, Wobj0, which always is fixed at the origin of the controller’s world
coordinate system, will be used in that case.

A workobject consist of two frames. The User Frame (User coordinate system) is referenced
from the World Coordinate System and the Object Frame (Object coordinate system) is
referenced from the User Frame. See picture above where the position of two different parts
located in the same fixture are described.

Creating the Workobject

1. Open the station from the last exercise (mySolution_7), unless it is already open.
2. In the Graphics window select the Part Select selection level and the Snap Object snap
mode.

3. Rotate and zoom the station till you get a clear view of the top of the box.

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4. On the Home tab click on Other and select Create Workobject from the drop-down
menu.
5. In the Create Workobject dialog, in the Name box enter Wobj_Box.

6. In the User Frame group click the Frame by points box and then click the drop-down
arrow.
7. In the Frame by points dialog select Three-point as method for defining the frame.
8. Set the insertion point in one of the First point on X axis boxes and then click the corner
of the box marked as 1 in the picture above.
The coordinates of the selected point are now inserted in the boxes and the insertion
point moved to the Second point on X axis boxes.
9. Continue clicking in corners 2 and 3 in Second point on X axis and Point on Y axis,
respectively.

10.Click Accept.
The Create frame by points dialog will close.
11.In the Create Workobject dialog click Create.
A workobject, displayed as a coordinate system, is now created on the box. You can also
see the workobject in the Paths&Targets browser.

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12.Save the station as mySolution_8.

Learn More
Click the Help button in the top right corner of RobotStudio.

See the help section for information about

About coordinate systems Workobjects and other coordinate systems useful

when programming a robot.

2.3.3. Programming Motion

Overview
Paths are RobotStudio elements that contain the instructions for the robot. The order in which
the instructions are stored in the path is the order in which they will be executed.
We will create a path where the robot moves along the sides of the small box on top of the
larger one. This is done by 'graphical programming', i.e. by making selections in the graphics
window.

There are a few steps we must take in order to achieve a working robot path. The first step is
to use the corners of the box in the graphics to create targets. The second step will be to adjust
the orientation of the targets. Finally we will add these targets to a path and set appropriate
axes configurations for each instruction.

Creating the targets

1. Open the station from the last exercise (mySolution_8), unless it is already open.
2. In the Graphics window select Part Selection level and Snap End.

3. Zoom and rotate the station so that you get a clear view of the tool and the small box.

4. On the Home tab click the Target drop-down and select Create Target.
5. In the Create Target dialog, make sure the pointer is set to the first Position box.

6. In the Graphics windows click the corners on the top surface in the same order as in the
picture above.

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The red stars show positions where targets will be created.

7. In the Create Target dialog click the Create button.
Now 4 targets are created with default orientation (0,0,0).

Adjusting the target orientation

To get a good view on the current orientation of the targets we will use the function
View Tool at Target which will give us a preview on how the tool will be oriented
around the targets.

1. In the Paths&Targets browser select the first target (Target_10) and click the Modify
tab.
2. In the View Tool at target drop-down, select Pen.

As the orientation of our targets are zero and our TCP has Z pointing out from the tool,
the preview of the tool will be hidden in the box. To be able to see this preview we need
to make the box invisible

3. In Layout browser un-check Visible in the context menu of the box.

Next step is to set a suitable orientation for the first target and then re-use this orientation
for the rest of our targets. If the exact orientation is known, it is easiest to manually type
these values into the Set Position dialog. In this case when we have no exact values we
will manually adjust the orientation of the first target.
4. In the Freehand group select reference Local in drop-down list. Then select Target_10 in
Paths&Targets browser and then enable the Rotate button.

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As a help to see if a target is reachable we will now enable the function View Robot at
Target.
5. In the context menu of Target_10, select View Robot at Target. Now the robot will
jump to the target as soon as it is possible to reach.
6. Rotate the target approximately +180 degrees around the Y axis by click&drag on the
green arrow.
7. Rotate the target approximately +15 degrees around the Z axis by click&drag on the blue
arrow.

Tip!
If you press the [f]-key while rotating, the rotation will execute in smaller steps.

8. In the context menu of Target_10, click Modify Target>Set Position.

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9. Select World as reference and make the final adjustments to round off the angles as in
pictures below. Press Apply.

10. In the context menu of Target_10, select Copy Orientation.

11. Multi-select the three remaining targets and click Apply Orientation from the context
menu. Now all targets will have the same orientation.

12. Make the box visible again by checking Visible from the context menu.
13. Step through the targets and make sure they are all possible to reach. As View Robot at
Target is activated the robot will automatically jump to the targets if possible.
14. Disable View Tool at Target, View Robot at Target.
15. Save the station as mySolution_9.

Adding the targets to a path

1. Open the station from the last exercise (mySolution_9), unless it is already open.
2. On the Home tab click Empty Path from the Path drop-down menu.

An empty path, Path_10, is now created and displayed in the Paths&Targets browser.
3. Right click the path, select Rename and change the name to Path_Box.

On the Status Bar down at the bottom of the interface you can see the active instruction
template. These are the default settings that will be used when creating the Move
instructions.

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4. Change the parameters according to the picture below.

5. In the Paths&Targets browser multi-select the four targets.

6. On the Modify tab click the Add to Path button and select Path_Box and First.

7. In the Paths&Targets browser select Target_10.

8. On the Modify tab click the Add to Path button and select Path_Box and Last. Now the
loop is closed.

Tip!
You can also use drag&drop to create the instructions.

9. Select the path, and in the Modify tab select Rename Targets. Write pBox_ as target
prefix and press Apply. This function also available from the context menu of the path.

10. Save the station as mySolution_10.

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Setting axes configuration

Before we can setup and run a simulation we need to define what axes configurations the
robot should have for each target. This can be done manually by stepping through each
instruction and clicking Configurations from the context menu. In this way you will get
a list of all available configurations. In cases where we have many instructions a more
efficient way is to use Auto Configuration. With this method way we only have to a
starting configuration and then RobotStudio will calculate the configuration for the rest
of the instructions in order to get as smooth movements of the robot axes as possible.

1. Open the station from the last exercise (mySolution_10), unless it is already open.
2. Select Path_Box and click Auto Configuration from the Modify tab.

3. Select the configuration (0,0,-1,1) in the list and press Apply. The robot will now step
through all instructions and assign valid configurations to them.

4. Save the station as mySolution_11.

Tip!
Auto Configuration is also available from the path context menu.

Learn more
Click the Help button in the top right corner of RobotStudio.

See the help section for information about

About targets and paths Targets, paths and move instructions.

Robot axis configurations Axes configurations

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 Learning the Basics

2.3.4. Running the Simulation

Overview
One of the key features of RobotStudio is that the same software the runs in the real controller
also runs in the virtual controller on the computer. This means that we are able to run a
simulation that gives us almost the identical behavior as we would achieve on the real
controller.
We are now in a position to create a rapid program. This program will be stored on the
system running on the virtual controller, just as the program for a real robot is stored on its
system.

Synchronize to RAPID (The Virtual Controller)

1. Open the station from the last exercise (mySolution_11), unless it is already open.
2. On the Rapid tab, click the Synchronize button.

3. In the Synchronize to RAPID dialog make sure all data are selected and then click OK.

All program data is now transferred from the RobotStudio station to the virtual
controller.
4. To get a view of the result, expand the tree structure in the Rapid tab, and double click
Module1 as shown below.

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Setup the Simulation

Each RAPID TASK in a controller has a defined “Main entry” (or entry point), which is
the procedure where the RAPID execution will start. Normally this entry point is a
procedure named main. But for a RobotStudio simulation we can override this entry
point with “simulation entry point”. This is a quick way to simulate a specific procedure
without changing the entry point in the controller.

1. Right click Path_Box and click Set as simulation entry point.

2. In the Simulation tab click the Play button. The robot will now execute the RAPID
program.

Note: This is the easiest way to execute a path. The entry point will not affect the RAPID
code and is only for testing a path in simulation. That’s why you don’t need to synchronize
to RAPID. In the next chapter we will look at how to simulate more than one path.

3. You can also go to Simulation > Simulation Setup and click on T_ROB1 and then
choose Path_Box as Entry Point.

2.3.5. Adding a start and home position

Overview
To be sure that the robot can execute this linear path we will add a new target which we will
use as an approach/depart target. As the path, so far, only consists of linear instructions
problems can occur in situations where the actual position of the robot makes a linear
movement to the first instruction impossible.

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 Learning the Basics

Adding an approach/depart target

1. In the Paths&Targets browser select copy from the pBox_10 context menu. Then click
Paste from the Wobj_Box context menu.
2. Rename the target to Appr_Box.
3. Select Appr_Box and click Set Position from the Modify tab.

4. Set the reference to Local and move the target -150mm in the Z direction. Press Apply.

5. In the toolbar for active templates, change to MoveJ and set the parameters as below.

6. Select the target Appr_Box and then add it to the top of the path.

7. Change back to MoveL as active template.

8. Repeat step 6 but now add the instruction last in the path.

Note that the yellow triangle warning appears on the new instructions. This is because no
axes configurations are set yet.
9. Select Path_Box and click Auto Configuration from the Modify tab.

10. Select the configuration (0,0,-1,1) in the list and click Apply. The selected configuration
will now be set to the first target and calculated for the others.

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Learning the Basics

Now we will also add a Home position that we will place in a separate path.
11. From Home tab, create a new empty path and rename it to Home.

12. In Home tab, select Jump Home from the context menu of the robot. The robot will
now reset the axes to default values.
13. From the Modify tab, select Mechanism Joint Jog.

14. Jog the robot according to the screenshot below.

Tip!
Click the separate boxes for each axis and press space on your keyboard. Now you will
be able to write exact values.
15. Change active work object to wobj0 from the Settings group in Home tab.
16. In the toolbar for active templates, change to MoveJ and set the parameters as below.

17. In Path Programming group of Home tab, click Teach Instruction.

A new target will now be created in wobj0 and a MoveJ instruction will be added to the
new Path. Press yes on the message that follows.

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 Learning the Basics

18. Rename the new target to HomePos.

19.To be able to simulate both paths we need to make a main path that calls for the paths
that we want to simulate. Do as before and create an empty path and name it main.
20.Then drag Path_Box and Home in to main and set main as entry point.

21.To transfer the new instructions to the virtual controller, click Synchronize to RAPID
from the RAPID tab.

22. Make sure everything is selected and then click OK.

23. Save the station as mySolution_12.

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Learning the Basics

Tip!
Note that synchronization can be done in several ways. The Synchronize button appears
in both the Home and Rapid tabs. Alternatively right clicking on either the system or a
particular path in the Paths&Targets Browser on the Home gives you this same option.

2.3.6. Using the Rapid Editor for basic adjustments

Overview
In this section we will look into how to use the Rapid Editor for basic adjustments of our
program. We will also step through each instruction one by one. Later in the course we will
learn how to use the more advanced features for debugging and editing.

Rapid Editor
1. Open the station from the last exercise (mySolution_12), unless it is already open.
2. In the Rapid tab, expand the tree structure and double click Module1 as shown below.

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 Learning the Basics

3. Change the speed to v1000 in the HomePos instruction.

4. Click Apply changes.

5. Confirm the change by clicking YES.

6. To be able to see both our graphical view and the program, click New Vertical Tab
Group by right clicking the editor tab.

7. In the Virtual Controller group of the Controller tab, open the Control Panel and
change to AUTO mode and push the Motors Button.

Tip!
Click the button up in the right corner to switch style of the Control Panel.

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Learning the Basics

8. Back in the Rapid tab Set the program pointer to the main routine

9. Use the Step in (F11) function to step through the program.

As we now have done changes to the program directly in the virtual controller, we need
to synchronize the changes back to the station.
10. While still in the Rapid tab, click the lower half of the Synchronize button to reveal the
Synchronize to Station feature. Synchronize to the station.

11. In the dialog, check the top node so that everything is selected and press OK.

Note that the instruction we changed in the Rapid Editor is now also changed in the
Paths&Targets browser.

12. Save the station as mySolution_13

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 Learning the Basics

13.Save the station as a Pack&Go from the Share section of the File tab. A Pack&Go file
will include all data required to restore the station and system, so this is the
recommended way of saving a project when finished or when moving to another PC.

14. Make a folder in the RobotStudio directory called Pack&Go and in there save all your
Pack&Go’s

2.3.7. Simulation settings

Overview
In this section we will look into the RobotStudio options for simulation settings. The
Simulation speed setting allows you to set the simulation’s speed relative the real time. This
can be useful when having longer simulations where you want to save time running through
the simulations.

RobotStudio Options
1. Open the station from the last exercise (mySolution_13), unless it is already open.
2. From the File tab, click Options.

3. Go to the Simulation section and click Simulation Clock and check As fast as possible.
Then click OK.

4. Press Play from the Simulation tab to run the simulation again. Now note that it will run
through the simulation in a much shorter time but the resulting process time will be the
same.
5. Go back to Options and uncheck As fast as possible again.

Learn more
Click the Help button in the top right corner of RobotStudio.

See the help section for information about

Options RobotStudio Options

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2.3.8. Saving the robot program

Saving the robot program
1. In the Rapid browser, select Save program As from T_ROB1 context menu.

2. In the folder \Courseware\RAPID Programs save the program as BoxProgram_1.

Summary
Now we have created a robot program that can be loaded to a real robot. The saved modules
can be viewed or edited using the Rapid editor or any text editor.
Basically, our program exists in three independent versions now:
§ In RobotStudio, where the positions and motion properties are saved in the path.
§ In the virtual controller, where it is stored in the controller’s program memory just as on
a real controller.
§ As files on the hard drive, which we saved from the virtual controller through
RobotStudio.

2.3.9. Using the solution folder.

Using the solution folder
1. Go to the File tab and press Open
2. Go to \Courseware\Solutions\Module_1\mySolution and open mySolution.rssln

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3. Now you can see all the stations that were saved in the solution and easily pick out the
station that you want.

2.4. Local Origin

Overview
In the next series of exercises we will cover several topics. We will start with unpacking a
new station.
In this station we will import a CAD model with which we will use to create a tool. Each
CAD file has its own local coordinate system referred to as its Local Origin. We will explore
this and see how it relates to some of the functions within RobotStudio.
Finally we will look at another coordinate system called the Task Frame and explore how it
relates to other coordinate systems within RobotStudio.

Unpack & Work

1. From the Share section in the File tab select Unpack & Work and unpack the file
TaskFrame.rspag from Courseware\Stations.
2. In the Select the directory where the files will be unpacked field click the Browse
button.

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3. In the dialog browse to \Courseware\Solutions\Module_1 click New Folder and name it

myBasicSolution and go in to that folder

4. Click the Select Folder button.

5. Click the Next button.

6. Check the controller system dialog and click the Next button.
7. Click the Finish button.
8. When finished, click the Close button.
9. Import the geometry SpintecTool.sat from the Courseware folder.

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A geometry representing the tool is now imported to the station and placed with its local
origin in the zero point of the world coordinate system. As the local origin on this
specific part is not placed on the attachment point of the tool you will see the offset
between the coordinate system and actual CAD part.

Attach to Robot
To show why this can be a problem we will attach the tool geometry to the robot.
1. In the Layout browser right click the SpintecTool and on the context menu point to
Attach to and select the robot.

Tip!
Drag&drop is often easier when using the Attach command.

2. In the Update the position dialog click Yes.

Due to the definition of the local coordinate system of the part, you get an offset of the
tool. This needs to be corrected prior to using the CAD geometry to make our tool.
3. In the context menu of the SpintecTool, select Detach. Select Yes when asked to restore
the position of the Spintec tool.

Setting the Local Origin

1. Make the robot invisible by un-checking Visible from the context menu.
2. In graphics, zoom in such that you get a good view of the tool.

3. Select Selection level Surface and Snap mode Center.

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4. In the Layout browser right click the SpintecTool and select Position>Place. In this case
we will place the object by one point.
5. Make sure the pointer is in one of the Position boxes and then click the surface as in
picture above.

Tip!
To avoid clicking on the floor, go into RS Options and make the floor invisible.

6. Click Apply and Close. This will move the SpintecTool to RobotStudio world zero.
7. In the Layout browser right click the SpintecTool and select Position>Rotate. In this
case we will rotate the object about the world coordinate system by 90 degrees. Click
Apply and Close.

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At this point if we were to attach the tool to the robot it would still not go to the correct
position as the attachment point reference is still the local coordinate system of the part.
In the next steps we will adjust the local coordinate system to match the position of the
model.

8. In the Layout browser right click the SpintecTool and select Modify>Set Local Origin.
You will notice in the dialog box the following values.

We will now correct these values to coincide with the corrected CAD model by changing
all values to zeros. Click Apply.

The coordinate system is now moved to coincide with the actual position in the station
which also happens to be the attachment point of our tool geometry.

9. Attach the tool geometry to the robot to see the difference. Now it should attach
correctly.
10. Detach it again.

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Learning the Basics

Exporting the Geometry

Now we will export the geometry with a new name for later use.
11. In the Export group of the Modify tab which is visible after selecting SpintecTool in
the browser, click Export Geometry. (Also available from context menu.)

In the Export Geometry window, select Format ACIS files of the highest Version and
click Export.

Any file format with a valid CAD Converter license can be used for the export.

12. In the Save As dialog change the name to mySpintecTool.

13. Click the Save button.

14. Make the robot visible again.

Learn more
Click the Help button in the top right corner of RobotStudio.
See the help section for information about

Introduction Definitions and overview of the geometry and

>Terms and Concepts library system in RobotStudio.
>Libraries, geometries and CAD files

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 Learning the Basics

2.5. Creating a tool

Overview
In this exercise we will create a tool from the CAD file saved in the previous exercise. To do
this we will import the geometry representing the tool. From this geometry we specify a Tool
Center Point (TCP) along with other parameters such as mass and center of gravity. When
the tool is finished we will save it as a library component and attach it to the robot.

Preparing the geometry

Note! After creating a tool the geometry will no longer be editable within the tool. It is
possible to export the geometry from the tool however it is good practice to make a copy
and/or export the geometry to file before creating the tool.
1. Unpack the Pack&Go file TaskFrame.rspag from Courseware\Stations unless the
station is still open.
2. Import the geometry mySpintecTool.sat from the Courseware folder unless it is already
imported.
A geometry for the tool is now imported to the station and placed at the origin of the
world coordinate system. Note that this is the geometry we fixed in the local origin
exercise. If necessary there is a correct copy in the Solutions folder.
3. In the Layout browser right click the robot and uncheck Visible.

Click in the Graphics to remove the red marking and the robot will now be invisible and
you can see the tool on the floor. In the Layout browser the node for the robot is marked
with a magnifying glass , indicating that it is not visible in the Graphics window

Creating a reference frame

To simplify the later TCP definition we will start by creating a reference frame.

1. Zoom and rotate the station so that you get a clear view of the tip of the tool. It is
important that you see the circular front of the tip clearly.

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Learning the Basics

2. On the Home tab click the Frame drop-down and select Create Frame.

3. In the Graphics window select Surface Selection level and Snap Center.

4. In the dialog click in the Frame Position field and then in the Graphics window click on
the tip surface.

The snap goes to the center of the surface as our selection level and snap mode.
5. Click the Create button.

As we did not define an orientation it is aligned with the world coordinate system. Now
we will use the graphics to get the angle of the tool.
6. In the Layout browser right click Frame1 and select Set Normal to Surface.

7. In the Set Normal to Surface dialog click the top field and then in the Graphics window
click the tip surface.

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 Learning the Basics

8. Click the Apply button.

Since the default definition of the approach direction is positive Z it points out of the
surface.

Creating the new tool

Now that we have both graphics and frame we will use these to create a tool.
1. In the Mechanism group of the Modeling tab click the Create Tool button to start the
wizard.

2. In the Create Tool wizard in the Tool Name field enter mySpintecTool.
3. To select a part click the Use Existing button and in the drop-down list select the
mySpintecTool part.
4. Type in 3kg as mass.
5. In the Graphics window select Part Selection level and Snap Gravity.

6. In the Create Tool dialog click in the Center of Gravity field and then in the Graphics
window click the tool graphics.

Note that snap gravity assumes that the object is of the same density when calculating
the center of gravity. You can also type in moment of Inertia but there is no RobotStudio
functionality for this so you have to get the data externally.
7. Click the Next button.
8. In the TCP Name field enter tSpintec.
This is the name of the tooldata that will be used in RAPID
9. In the Values from Target/Frame list select Frame_1.

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10. Click the large arrow [->] button to add the TCP.

11. Click the Done button.

In the Layout window we can see that the geometry part has been replaced by the tool
mechanism. But that the frame remains.
12. In the Layout browser right click the Frame_1 frame and select Delete.

Saving the tool as a library component

Saving the tool as a library component makes it available for use in other stations as well. It
also means that if you update the library then all stations using the library will be updated
the next time you open them.
1. In the Layout browser click on the tool mySpintecTool and select Save as Library from
the Modify tab.

2. In the Save As dialog enter \Courseware\Libraries\mySpintecTool.

Note the small floppy disk that shows that the tool now is a library file.

Attaching the tool to a robot

1. Right click in the Graphics window and select View All.
The station now zooms out so that all objects are visible.
2. In the Layout browser right click the robot and make it visible again.
3. Attach the tool to the robot.

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4. In the Update the position dialog click Yes.

The tool is attached to the flange of the robot.

5. Save the station as

\Courseware\Solutions\Module_1\myBasicSolution\Stations\MyStation_NewTool.rsstn.

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2.6. Task Frame

Overview
Now we have created a new tool that we will use when executing the path on the new work
piece. It is important to understand that there are several different coordinate systems when
working with RobotStudio. In this chapter we will learn how to work with the Task Frame. As
these concepts will carry forward through the training modules it is important to understand
the differences between these, as outlined below.

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Moving the TaskFrame

1. Open the station from the last exercise (MyStation_NewTool.rsstn), unless it is already
open.

As we can easily see in this station, we will not be able to execute the path on top of the
work piece without moving the robot. This can be done on two ways; either by moving
the BaseFrame of the robot or moving the TaskFrame of our controller. To avoid
changing BaseFrame values in the controller we will adjust the TaskFrame which is the
recommended way. Modification of the BaseFrame values is typically only done in
specific instances such as wall or ceiling mounting of the robot, MultiMove Systems,
conveyor tracking or working with external axes. Later in the course we will see
situations where this is required.
2. Import the geometry Stand.sat from the \Courseware\Geometry folder.
3. In the Controller tab select the system in the Controller browser and click on the Task
Frames button.

4. In the Position XYZ fields enter 0, 0, 600 with world as reference.

5. Click on the Apply button.

6. As you do not want to have an offset to the BaseFrame, answer Yes on the question
“Do you also want to move the base frame(s)?”

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7. As the workobject including targets was pre-created in this station in the position we
want, answer Yes on the question “Do you want to keep the positioning of all stationary
RAPID objects?”

The robot is now moved up on the robot stand, with all target locations kept.

Making the final adjustments

Now we will make sure the robot can reach the targets and run auto configuration to set
suitable axes configurations.

1. Activate View Robot at target and step through all the targets in the workobject,
obWorkPiece.

2. As it seems possible to reach all targets, de-activate View Robot at target.

3. Set MoveL as active template from the toolbar with parameters as below.

4. Multi-select all targets and add them to a new path by clicking Add to new path from the
Modify tab.
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5. Drag and drop the MoveL Approach instruction down such that it is the last instruction
in the path.
6. Add the Approach target again as the first instruction; this time, setting MoveJ as the
active template.

7. Run Auto Configuration to set the axes configurations. Either from the context menu of
the path or the Modify tab.

8. As configuration for the first target, select (0,0,-1,0). Press Apply. Now the
configurations for the rest of the targets are calculated.
9. Now use your knowledge from earlier parts of this course, to setup and run a simulation.
You need to first synchronize the path to the RAPID and set the path as entry point.
10.Save the station at \Courseware\Solutions\Module_1\myBasicSolution\Stations\ as
myStation_NewPath.rsstn.

Learn more
Click the Help button in the top right corner of RobotStudio.

See the help section for information about

Coordinate Systems The different coordinate system used

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