ABB Robotics

PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 1/90
Author, telephone

Anders Trillkott, +46 21 344863

Table of Content
GENERAL ............................................................................................................................................................. 3

How to Migrate an Application from RW 4.0.100 to RW 5.15 .......................................................................... 3

How to Migrate DriveSystem 04 To 09 ............................................................................................................. 3

How to Upgrade to RobotWare 5.15 ................................................................................................................. 4

Downgrading from RobotWare 5.15 ................................................................................................................. 4

Incompatibilities ............................................................................................................................................... 5

RELEASE INFORMATION................................................................................................................................... 17

Release Name ................................................................................................................................................. 17

Release Date ................................................................................................................................................... 17

Ordering number............................................................................................................................................. 17

ROBOTWARE ..................................................................................................................................................... 18

Controller Hardware Support ......................................................................................................................... 18

Restrictions in Controller Hardware Support ................................................................................................ 18

Changed Controller Hardware Support ......................................................................................................... 18

Supported Robot Models................................................................................................................................ 19

Language Support .......................................................................................................................................... 20

Documentation................................................................................................................................................ 20

New Functionality RW 5.15............................................................................................................................. 21

New Functionality RW 5.15.00.01 ................................................................................................................... 25

New Functionality RW 5.15.01 ........................................................................................................................ 26

New Functionality RW 5.15.03 ........................................................................................................................ 29

New Functionality RW 5.15.04 ........................................................................................................................ 31

New Functionality RW 5.15.06 ........................................................................................................................ 32

Improvements RW 5.15................................................................................................................................... 33

Improvements RW 5.15.01 .............................................................................................................................. 39

Improvements RW 5.15.02 .............................................................................................................................. 43

ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 2/90
Author, telephone

Anders Trillkott, +46 21 344863

Improvements RW 5.15.03 .............................................................................................................................. 44

Improvements RW 5.15.06 .............................................................................................................................. 46

Information/Corrections RW 5.15 ................................................................................................................... 48

Information/Corrections RW 5.15.00.01 ......................................................................................................... 59

Information/Corrections RW 5.15.01 .............................................................................................................. 60

Information/Corrections RW 5.15.02 .............................................................................................................. 70

Information/Corrections RW 5.15.03 .............................................................................................................. 71

Information/Corrections RW 5.15.04 .............................................................................................................. 76

Information/Corrections RW 5.15.05 .............................................................................................................. 77

Information/Corrections RW 5.15.06 .............................................................................................................. 78

Product Defect Document RW 5.15 PDD ............................................................................................ 82

Product Defect Document RW 5.15.00.01 PDD ............................................................................................ 84

Product Defect Document RW 5.15.01 PDD ............................................................................................ 85

Product Defect Document RW 5.15.02 PDD ............................................................................................ 87

Product Defect Document RW 5.15.03 PDD ............................................................................................ 88

Product Defect Document RW 5.15.04 PDD ............................................................................................ 89

Product Defect Document RW 5.15.06 PDD ............................................................................................ 90

ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 3/90
Author, telephone

Anders Trillkott, +46 21 344863

General

How to Migrate an Application from RW 4.0.100 to RW 5.15

The changes in RAPID functionality (from RW 4.0.100 to RW 5.05) are described in “Migration Guide from RW
4.0.xx to RW 5.05” (RP5.05-06 - 102).
The changes in RAPID functionality (from RW 5.05 to RW 5.10) are described in “Migration Guide from RW
5.05 to RW 5.10” (RP5.10 – 053).
The changes in RAPID functionality from RW 5.10 to RW 5.15 are described in “Migration Guide from RW 5.10
to RW 5.15” (RP RW-019 / A1.1).

The main part of the system parameters (configuration parameters, CFG) remains identical in RW 5.15. There
are four documents that describe the necessary actions to migrate an application:
a) “Migration Guide from RW 4.0.xx to RW 5.05” (RP5.05-06 - 102) describes how to convert an RW 4.0.100
application to make it run on RW 5.05. It also describes all changes in system parameters.
b) “Conversion guide Additional axis parameters from RW 4.0.100 to RW 5.05” (RP5.05-06 – 111) describes
how to convert the additional axis CFG parameters from RW 4.0.100 to RW 5.05.
c) “Migration Guide from RW 5.05 – RW5.10” (RP5.10 – 053). describes how to upgrade the controller from
RW 5.05 to RW 5.10. The description is concentrated on how to move an application from RW 5.05 to run on
RW 5.10.
d) “Migration Guide from RW 5.10 – RW 5.15” (RP RW-019 / A1.1) describes how to upgrade the controller
from RW 5.10 to RW 5.15. The description is concentrated on how to move an application from RW 5.10 to run
on RW 5.15.
All four documents are available at ABB Library or from “Product Support” page: Link
The Arc welding data in a backup taken on RW 5.05 (or earlier versions) must be converted with a conversion
tool before the backup is restored on a RW 5.15 system.
The conversion tool is included on the RobotWare 5.15 DVD.

How to Migrate DriveSystem 04 To 09

Limitations:
Backups taken on a System containing Drive System ‘04 are not compatible with a System containing Drive
System ‘09 when additional axis is used.
Backups taken on a System containing Drive System ‘09 are not compatible with a System containing Drive
System ‘04 when additional axis is used.
Technote_091105_Migration Guide DriveSystem_04_To_09 found on ABB Library describes how to solve
above limitation. Link
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 4/90
Author, telephone

Anders Trillkott, +46 21 344863

How to Upgrade to RobotWare 5.15

It is possible to upgrade to RobotWare 5.15 from the following versions:
· RobotWare 5.05 (or later revisions)
· RobotWare 5.06 (or later revisions)

· RobotWare 5.07 (or later revisions)

· RobotWare 5.08 (or later revisions)

· RobotWare 5.09 (or later revisions)

· RobotWare 5.10 (or later revisions)

· RobotWare 5.11 (or later revisions)

· RobotWare 5.12 (or later revisions)

· RobotWare 5.13 (or later revisions)

· RobotWare 5.14 (or later revisions)

You can find a detailed description of how to upgrade the controller system from RobotWare 5.05 to
RobotWare 5.11.xx in the document “Migration Guide RW 5.05 – RW 5.06 – RW 5.08 – RW 5.09 – RW
5.10” (RP5.10 - 053) – RW5.14 (RP5.14-043)
Important note: When you install RobotWare 5.14: You will be asked if the installation program also shall
install a newer version of Microsoft .NET framework. You must answer “Yes” (“OK”) to this question –
RobotStudio 5.14 requires the new .NET version.

Downgrading from RobotWare 5.15

It is possible to downgrade the installation from RobotWare 5.15.
The firmware in the electronic units will be downgraded when you cold start the controller with the
downgraded system.
Important note: The firmware downgrading will take a long time:
=> From RW 5.15 to RW 5.14 will take over 10 minutes.
=> From RW 5.15 to RW 5.13 will take over 10 minutes.
=> From RW 5.15 to RW 5.12 will take over 10 minutes.
=> From RW 5.15 to RW 5.11 will take over 10 minutes.
=> From RW 5.15 to RW 5.10 will take over 10 minutes.
=> From RW 5.15 to RW 5.09 will take over 15 minutes.
=> From RW 5.15 to RW 5.08 will take over 20 minutes.
=> From RW 5.15 to RW 5.07 will take over 25 minutes.
=> From RW 5.15 to RW 5.06 will take over 30 minutes.
=> From RW 5.15 to RW 5.05 will take over 40 minutes.

The controller (and FlexPendant) will restart several times during the downgrading time.
à Do not switch off the power to the controller – this will leave the firmware in an undefined state (halfway
downgraded).
à Do not manually restart the controller during the downgrading.
It is strongly recommended that you do not downgrade the RobotStudio (limited) version from 5.15.
RobotStudio 5.15 (limited version for online work) can be used with all previous RobotWare 5.xx versions
(backwards compatible).
RobotStudio can as well be run side by side with older versions of RSO.
There are no known problems to downgrade from RobotWare 5.15 to the listed RobotWare versions.
If your robot is shipped with a 5.15 key then it’s not possible to downgrade the RobotWare
due to the fact that the keys are only upwards compatible.
Contact AfterSales (Part Support) via Robdesk for new key.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 5/90
Author, telephone

Anders Trillkott, +46 21 344863

Incompatibilities
Incompatibilities between RobotWare 5.05 and RobotWare 5.06
· RobotWare Arc programs
Use a conversion tool (supplied on the RobotWare CD) to convert the backup taken in RW
5.05 before it is restored into RW 5.06.
· Dispense I/O configuration and system module DPUSER is changed
Restore, and manually load the new DPUSER module. Manually add user changes to DPUSER
module.
· OPC server – changed text string handling
Removed quotation marks (“”) when writing to RAPID strings through the OPC server – the old
version was not OPC compliant.
· “Additional option” package with Positioners and/or Track motion must be converted
Incompatibilities between RobotWare 5.06 and RobotWare 5.07
· Changes in PROC configuration syntax for Arc welding Production Monitor
Modify the 5.05 PROC.CFG file before loading it into RW 5.07.
· CAP (Continuous process Application Platform) has moved components and changed
instructions
Modify the RAPID program (that uses CAP) with the changed components and instructions.
· Export of Service Information System (SIS) data through RAPID variables is removed
The RAPID variables for export of SIS data are removed from the service routine, and cannot
be used in RW 5.07.
· Limitations for RAPID instruction TPShow
The RAPID instruction TPShow works only with the argument TP_LATEST.
The other arguments (TP_PROGRAM or TP_SCREENVIEWER) only results in a warning in the
event log.
· Changed system configuration for single robot Spot system
The user modules are visible in the SYS.CFG in RW 5.07. Merge the 5.05 configuration (from
the 5.05 SYS.CFG) into the 5.07 SYS.CFG.

Incompatibilities between RobotWare 5.07 and RobotWare 5.08

· The Safety controller EPS (Electronic Position Switches) wizard for RW 5.07 cannot
be used for RW 5.08. The wizard is an Add-in to RS Online.
- Use RSO 5.07 and EPS wizard 5.07 to configure RW 5.07 Safety controller
- Use RSO 5.08 and EPS wizard 5.08 to configure RW 5.08 Safety controller.
Note: The EPS wizard 5.08 cannot be used with the RW 5.07 Safety controller.
The incompatibility is caused by different Windows .Net versions.
· Backup/restore of I/O configuration file for Spot MMI
If the default names of the I/O signals (for Spot welding option) have been changed (e.g.
g1_start_weld), the MMI has to be reconfigured in order to show the correct signal names on
the FlexPendant. The configuration file has been changed (and renamed) in RobotWare 5.08.
The configuration file will not be stored in the backup – when you install a new system, the
configuration file must be replaced manually.
· Changed default setting for PickMaster systems
The I/O unit DSQC328A has been replaced with the new unit DSQC652. The option “Prepared
for PickMaster” is prepared with a configuration file that uses the unit DSQC652 (in
RobotWare 5.08 systems). This configuration file must be modified if the controller is
equipped with the old DSQC328A I/O board.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 6/90
Author, telephone

Anders Trillkott, +46 21 344863

· Spot MMI application configuration file is changed
The configuration file for the Spot MMI application has been changed, both name and content is
changed. The configuration file name is changed from TpsViewSpotApp.config to
SpotSystem.xml.
· Configuration file for Spot options has been changed from RW 5.07 to RW 5.08
If you want to restore a backup from a previous release (RW 5.07) into a RW 5.08 system, you
must modify the system configuration file for the Spot options if the backup was taken on
Spot/Spot servo single gun system..
If the backup is taken from a Spot/Spot servo multi gun system, you do not need to make any
changes in the backup.
· Limitation for WriteAnyBin – ReadAnyBin functions in RAPID
The instructions WriteAnyBin – ReadAnyBin is designed to only send internal controller data
between IRC5 control systems. No data protocol is released and the data cannot be interpreted
on any PC.
It is not possible to use WriteAnyBin – ReadAnyBin between different software versions:
- Version 0 for IRC5 controller was used up to and including RW 5.07.
- Version 1 for IRC5 controller is used from RW 5.08 and later releases.
· The number of data fields in the Seam Results WebWare database table has increased for RW
5.08. The Seam Results WebWare database table created with
RW 5.07 must be removed and re-created with the PM_CreateAllDB utility.
If multiple controllers are writing to the same Seam Results database, they must all
be upgraded to RW 5.08.
· Option Force Control has been adapted to MultiMove systems
The name for the PMC sensor setup has been changed to make it possible to setup 4 sensors
(one for each robot). The name of the sensor setup (“ATI_ACROMAG”) in the backup must be
manually changed (to “ATI_ACROMAG1”).
· Incompatibility for recompiled FlexPendant SDK applications
RW 5.08 includes a Compliance tool for converting SDK applications from RW 5.07 to RW 5.08.
A problem correction in the tool resulted in a change of an internal parameter name that is
stored in a configuration file – and thereby included in the backup (from RW 5.07).
The settings for the views “Additional Test View” and “View on Operation Mode Change” must
be manually updated in order to make the work again.
· All applications that have been built with the FlexPendant SDK 5.07 and the PC SDK 5.07 must
be recompiled using the FlexPendant SDK 5.08 and the PC SDK 5.08 tools. The reason is that
the new SDK product uses a new Microsoft .NET version.
· All applications that have been built with the Robot Application Builder (RAB) 5.07 must be
recompiled using the RAB 5.08. The reason is that the new RAB product uses new Microsoft
.NET components.
· The function “Plastics Mould” (that was included in RobotWare 5.07) does not work in
RobotWare 5.08 (and has been excluded from RobotWare 5.08). The function is planned to be
included in RobotWare 5.08.01.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 7/90
Author, telephone

Anders Trillkott, +46 21 344863

Incompatibilities between RobotWare 5.08 and RobotWare 5.09
· The PickMaster 5.0 product has introduced an incompatibility if you are trying to use a backup
from an earlier release in RobotWare 5.09. The size of an array (NonCnvWOData) has been
increased from 8 to 25 elements. The array is located in module ppaUser.sys. A workaround
method is to initialize 17 more elements.

Incompatibilities between RobotWare 5.09 and RobotWare 5.10

· If you upgrade the controller software to RobotWare 5.10 on an IRB 6620 system, the robot will get
a slightly changed robot path. The changed robot path means that the robot must be commissioned
again after the upgrade, and not only started.
The path has been slightly changed in the corner zones (zone points).
The changed path is due to a new interpolator.

Incompatibilities between RobotWare 5.10 and RobotWare 5.11

· EtherNet/IP Fieldbus Adapter, predefined CFG name ENIP_SLAVE_FA is changed to
EN_SLAVE_FA.
If you are using a backup from earlier RobotWare to upgrade the system (and the system includes
the Ethernet Fieldbus Adapter), you must manually change the CFG name for the adapter (in the
CFG database)
· In RobotWare 5.11, the option 876-1 Weld Data Monitoring is automatically included with the option
659-1 Production Monitoring. If you upgrade a RobotWare 5.10 system that includes Production
Monitoring (in the license key), the RobotWare 5.11 system will display some configuration
warnings (e-log 110470) when the 5.10 backup is being restored. The warnings will not cause any
problems, and can be removed by loading a valid Weld Data Monitoring PROC configuration to the
controller.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 8/90
Author, telephone

Anders Trillkott, +46 21 344863

Incompatibilities between RobotWare 5.11 and RobotWare 5.12
· StorePath required in ERROR handlers and TRAP routines
New restrictions have been added when executing movement instructions
in error handlers and TRAP routines. As described in users manual (Programming type examples in
RAPID manual), StorePath should be used if executing movement instructions in trap routines and
error handlers.
From RW5.12 a warning will be generated if there is no StorePath. In a future releases the warning
will be changed to a stopping error.

Example:
ERROR
IF ERRNO = AW_WELD_ERR THEN
! Current movement on motion base path level
! is already stopped.
! New motion path level for new movements in the ERROR handler
StorePath;
! Store current position from motion base path level
stop_pos := CRobT(\Tool:=tool1, \WObj:=wobj1);
! Do the work to fix the problem
MoveJ service_pos, v50, fine, tool1, \WObj:=wobj1;
...
! Move back to the position on the motion base path level
MoveJ stop_pos, v50, fine, tool1, \WObj:=wobj1;
! Go back to motion base path level
RestoPath;
! Restart the stopped movements on motion base path level,
! restart the process and retry program execution
StartMoveRetry;
ENDIF
· New arguments on function FSSize, and changed behaviour
FSSize (File System Size) is used to retrieve the size of the file system in which a specified file
resides. This function was developed many years ago, and the choice to return the value in bytes is
no longer relevant.
If using a USB memory with 8 Gb memory, and check how much memory that is left, a negative
value can be received (before RW5.12).
Now, in RW5.12, the instruction has changed some in behaviour.
The new syntax is:
FSSize’(’
[ Name ’:=’ ] < expression (IN) of string>
[ ´\´Total ] | [ ´\´Free ]
[ ´\´Kbyte ]
[ ´\´Mbyte ]’)’
The Kbyte and Mbyte switches are new arguments.
The function still returns the number of bytes if none of the switches \Kbyte or \Mbyte is used. But, if
the size exceeds 8388608, a recoverable error is generated. ERR_FILESIZE is explained below.
ERR_FILESIZE - The size exceeds the max integer value for a num, 8388608.
If the Kbyte switch is used, the function returns the value in Kbyte instead of bytes, i.e. the
byte value is divided with 1024.
If the Mbyte switch is used, the function returns the value in Mbyte instead of bytes, i.e. the
byte value is divided with 1024*1024.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 9/90
Author, telephone

Anders Trillkott, +46 21 344863

· Changes in PickMaster installation
An old backup works with this release but to use the new functionalities and improvements some
changes must be made to an existing system. There have also been some cleanups of not used
RAPID modules and configurations.
Removed files:
- Conveyer dependent files have been removed
New file:
- pmrcSys.sys, contains RAPID data and routines that is moved and renamed from pmrcUser.sys
Modified RobotWare files:
- PmProjMgr.mod, corrected spelling of routines, added a WaitDI in main when project is not found,
added an elog message when no task is found in LoadAllModulesInTask, removed setting of
PM_PROJECT_STATUS in TrapProjectStopped.
- PmProjServer.mod, added IO support for error recovery, added new RAPID error recover for
starting flow in error state.
- pmrcsim.cfg, added signals pmEvent_diTrigger, pmEvent_giErrorSource, pmEvent_giMessage,
pmFlow_diRecover, pmFlow_giRecoverAction and pmFlow_giWaRecoverSelection
- pmrcsyspub.cfg, moved all RAPID event routines to internal installation
- pmrcUser.sys, moved most RAPID data and routines to pmrcSys.sys, renamed all symbols so it is
possible restore an old backup.
Modified PickMaster5 PC RAPID modules:
- PmMain.mod, added global safety height distance for intermediate positions and set it to 100,
changed incompatible RAPID routine calls to MoveInterMid, DoAction and SetLastPos in Operate.
- PmUtility.mod, renamed and moved LastRobTgt, LastWobj and LastTool to pmrcSys.sys,
MoveHomePos is calling MoveInterMid, the arguments to SetLastPos and MoveInterMid has
changed, MoveInterMid is using a new safe min z calculation with three intermediate positions,
improved error handling in PmCalcIntermid
· PM 3: StorePath required in ERROR handlers and TRAP routines
StorePath and RestoPath must be added in RAPID error handlers and traps with movement
instructions due to changes in RAPID kernel. The changes are delivered with next release of
PickMaster3 but that release date is later than RW5.12.
These changes are also necessary to do for all systems that upgrades from previous RobotWare
releases.
The main routine in PMppa140_IRC5.prg and PMppa360_IRC5.prg must be modified with following
code:
PROC main()
UnCoordinated;
InitSafeStop;
InitSpeed;
WaitForExeOrder;
%RoutineName%;
ERROR (PPA_RESTART)
IF (ERRNO = PPA_RESTART) THEN
ClearPath;
StorePath;
GotoRestartPos;
RestoPath;
RETRY;
ENDIF
ENDPROC
The SafeStopTrap trap in PMppa140_IRC5.prg and PMppa360_IRC5.prg must be modified with
following code:
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 10/90
Author, telephone

Anders Trillkott, +46 21 344863

TRAP SafeStopTrap
IF (ForceStopProcess = TRUE) THEN
ForceStopProcess:=FALSE;
ClearPath;
StorePath;
SafeStop;
RestoPath;
ENDIF
ENDTRAP
· Ethernet/IP Master/Slave
The unit type for the EtherNet/IP Fieldbus Adapter must have the internal slave parameter set to
true. Otherwise an internal error will appear and no contact will be established.

· RRI: Angles RX and RZ for Cartesian positions are interchange (DSE8588)

The rotational part of the frame in Euler angles are now presented in degrees instead of in radians
as before.
· Force control options merged
The RAPID part of RW Machining FC and RW Assembly FC is now merged into a new option Force
Control Base 661-2.
Force Control Base includes all the RAPID instructions, functions, and datatypes from both the old
options.
The RW Machining GUI option (option 877-1) is the graphical interface part of the old RW Machining
FC with additional option. This can still be ordered through “FlexFinishing” option from ATABB (ABB
Austria).
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 11/90
Author, telephone

Anders Trillkott, +46 21 344863

Incompatibilities between RobotWare 5.12 and RobotWare 5.13
• Backups taken on a system with Drive System 2004 are not compatible with a System with Drive
System 2009 when additional axis is included.
• Backups taken on a system with Drive System 2009 are not compatible with a System with Drive
System 2009 when additional axis is included.
· PROFINET internal slave configuration with firmware V2.4
If the PROFINET Master/Slave option using DSQC 678 (alias CP1616) is upgraded to firmware V2.4
using the new Robotware upgrade function, the internal slave slot configuration is a bit different.
The input / output size set to 8 bytes will in this case result in an 8 byte slot and a 32 byte size will
result in a 32 byte slot configuration.
Refer to the application manual for more information.

· RS5.13RC3: More detail required for Profinet M/S incompatibility (DSE9845)

PROFINET internal slave configuration with DSQC 678 firmware V2.4 With Robotware 5.13 the
PROFINET M/S option using DSQC 678 can be used with two different firmware versions on the
DSQC 678 board. Firmware V2.2 (same as used with Robotware 5.12), is the default selection in
Robotware 5.13. If the user decides to upgrade the firmware on the DSQC 678 board to V2.4
(available in Robotware 5.13 thru the firmware upgrade function), the internal PROFINET slave
device is configured slightly different.
This difference causes the pervious working connection against a PLC (using Robotware 5.12 or a
Robotware 5.13 with firmware version V2.2) to stop working unless the PLC is reconfigured to reflect
the changed slot configuration with firmware V2.4.
This problem only occur if a user using Robotware 5.12 has configured the IRC5 internal PROFINET
slave with input and / or output sizes 8 or 32 bytes.
Using firmware version V2.2 an input / output size of: 8 Bytes resulted in the following Slot
configuration in the PLC project:
Slot 1: 4 Bytes
Slot 2: 4 Bytes
32 Bytes:
Slot 1: 16 Bytes
Slot 2: 16 Bytes
Using firmware version V2.4 an input / output size of: 8 Bytes now results in the following Slot
configuration in the PLC project:
Slot 1: 8 Bytes
32 Bytes:
Slot 1: 32 Bytes
All other sizes are the same in both firmware V2.2 and firmware V2.4. Remember that it is always
possible the view the IRC5 internal PROFINET slave device Slot configuration using the ‘System
info’ view.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 12/90
Author, telephone

Anders Trillkott, +46 21 344863

· PM: New work object drop distance
When upgrading to 5.13, the conveyor drop distance will be changed.
Most conveyors work areas will get a drop distance of 20 meters which is the default value of the
system parameter PROC->CONVEYOR->max_dist which from this release will define the minimum
drop distance.
This will cause most applications using the QuickAck functionality not to work properly. The
QuickAck functionality is implemented in the rapid module PPAUTILITIES. This module is not a part
of the PickMaster product offer but it is widely used and a version of it can be found in the
PickMaster 3 Forum.
One of the following actions is required if the application is using QuickAck:
1) Set the drop distance to 2 meters by setting the system parameter PROC->CONVEYOR-
>max_dist to 2000 (mm). This will restore the old control behaviour of the drop distance.
2) Update the PPAUTILITIES module to automatically work with Rw5.13.
A new version is expected to be published on the PickMaster forum.
· PM: pm_eventdata
A new component, ATime, has been added to the rapid datatype pm_eventdata which is included
with the option Prepared for PickMaster 5. Customer backups from older releases having the
Prepared for PickMaster option and containing PERS declarations of pm_eventdata will not be
compatible without manual modification. Note: the standard rapid templates used with PickMaster do
not contain such data.
Example:
PERS pm_eventdata pm_eventdata1:=[0,0,0,0,"goSignal",24,24];
must be converted to:
PERS pm_eventdata pm_eventdata1:=[0,0,0,0,"goSignal",0,24,24]; where the new component
ATime is set to 0.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 13/90
Author, telephone

Anders Trillkott, +46 21 344863

· New IRC5 Drive System
With RW 5.13, Drive System 09 will introduce the Additional Rectifier Unit, ARU-430A and the Main
Drive Unit MDU-430A for the “Low voltage” robot range (IRB 120 – 1600, 260 – 3x0).
The MDU-430A is a smaller drive unit than the MDU-790A and hence needs the additional rectifier,
ARU-430A, in order to supply up to 3 ADU-790A with enough DC-power.
This is in contrast to the MDU-790A, which has enough DC-power to drive
3 ADU-790A by itself.
This means that there will be 2 rectifiers in the “low-voltage” Drive System 09 configuration which will
affect the additional axis configuration, for Drive System 09.
In the “DRIVE_SYSTEM:” part of the additional axis configuration the
“–use_dc_link” parameter needs to be changed from “dc_link_dm<x>” (where <x>” is the drive
module number) to “dc_link_ext_dm<x>”,
example:
#
DRIVE_SYSTEM - ?
DRIVE_SYSTEM:
#
-name "M7DM1" -use_current_transfer_function "cur_tr_1.00" \
-use_current_controller "c_c_slow_1" -use_mains "mains" \
-use_trafo "trafo_dm1" -use_dc_link "dc_link_ext_dm1" -use_drive_unit "M7DM1" \
-use_cable "cable_4.5_30" -use_motor "M7DM1" -use_thermal_duty_cycle "M7DM1" \
-use_stress_duty_cycle "M7DM1"
This will work for both a “high voltage” system using MDU-790A and a “low voltage” system using
MDU430A. For MDU-790A both “dc_link_dm<x>” and “dc_link_ext_dm<x>” will be valid
configuration parameters, and will internally point to the same rectifier.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 14/90
Author, telephone

Anders Trillkott, +46 21 344863

Incompatibilities between RobotWare 5.13 and RobotWare 5.14
· PM3: Persistents and constants of itmtgt
Old rapid program having constants or persistent declarations of the data type itmtgt must be
modified to be used with Rw5.14 since the data structure has been extended with new components:
val1, val2, val3, val4 and val5.
E.g.
Old definition:
VAR itmtgt PickTarget:=[0,0,0,[[0,0,0],[0,-1,0,0],[0,0,0,0],[0,0,0,0,0,0]]];
New definition:
VAR itmtgt PickTarget:=[0,0,0,-1,-1,-1,-1,-1[[0,0,0],[0,-1,0,0],[0,0,0,0],[0,0,0,0,0,0]]];
The RAPID templates PMppa360_IRC5.prg and PMppa140_IRC5.prg have been slightly updated to
handle this incompatibility.
The new RAPID templates are backward compatible.

Incompatibilities between RobotWare 5.14 and RobotWare 5.15

· PM5: Operation Set Complete signal

The operation set complete signal is now set after the robot has departed from the pick/place position,
at the last depart action. Previously the signal was set at the pick/place position.
The update applies to both outfeeders and infeeders.
The update will apply if a robot system configured with PickMaster 5 or Palletizing PowerPac is
upgraded to 5.15.
The signal is reset when target generation is received. The signal will not reset until one complete pulse
length has elapsed. If target generation is received before operation set complete is set, the signal is
reset after one complete pulse length.
The pulse length is configurable between 50 ms to 2000 ms.

· Upgrading of PickMaster 5 systems

PickMaster 5 can always import lines and projects created by older PickMaster 5 versions
running on older RobotWare versions.

However, when moving to a newer PickMaster version, an upgrade is sometimes required also for
RobotWare:
PM5.20 compatible with RW5.13.02 or later.
PM5.13 compatible with RW5.13.02 or later.
PM5.12 compatible with RW5.13 or later.
PM5.11 compatible with RW5.09 or later.
PM5.10 compatible with RW5.09 or later.
PM5.03 compatible with RW5.09 or later.
· Change to ICI protocol for DispensePac Support

The protocol for communication with PIB/IPS is changed from pibfbc to ICI.

Background: Paint switched to ICI protocol already in 5.14.02 but they are still supporting also the old
version (pibfbc with IPS 4.30.xx or earlier).
But to be able to use new IPS versions we need to go over to ICI protocol also for DispensePac Support.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 15/90
Author, telephone

Anders Trillkott, +46 21 344863

To minimize incompatibility problems it is still possible to use the old version, depending on the key
version:
A 5.15 system with a new key (signature 175 and higher) will automatically use the new ICI protocol (for
IPS 4.50 and higher).
A 5.15 system with an old key will automatically use the old type.

When old DispensePac systems shall be used with new IPS versions (and the ICI protocol) the IPS
configuration and EIO configuration of used PIB signals has to be changed.
For details, see Release Notes IRC5P R12.1 SW: Incompatibilities between R11.1A SW and R12.1 SW.
For more information, contact Paint product support.

· Data type motsetdata updated

The data type motsetdata has been updated with a new Boolean component evtbufferact.
This component describes the settings done by ActEventBuffer and DeactEventBuffer.
Instruction DeactEventBuffer sets it to FALSE and ActEventBuffer sets it to TRUE.
It is by default set to TRUE.

The default value (TRUE) is automatically set

* at a cold start.
* when a new program is loaded.
* when starting program execution from the beginning.

· Modpos problems in RW Arc 5.15 (PDD1640/1658)

The error occurs, when you use "Modify Position" and either the active tool or the active work object or
both differ from the one(s) specified in the RAPID instruction for which you want to modify the position.

Because the tool or the work object or both differ, a dialogue is shown on the FlexPendant.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 16/90
Author, telephone

Anders Trillkott, +46 21 344863

That dialogue informs you, that tool, work object or both differ and asks you if you want to keep the
ones specified in your RAPID program (answer: Yes) or if you want to update your RAPID program with
the currently active data (answer: No).

Do not answer No!

If you answer no, the RAPID program line will be modified and might become corrupt.

Note:
Independent of your answer the value of robtarget will NOT be updated.

The changes done in 5.15 regarding the Modpos Dialog will be taken back in 5.15.00.01

· Integrated Vision requires FlexPendant of type TPU3

The Integrated Vision FlexPendant application requires sxTPU3. The application will not launch
correctly on earlier versions.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 17/90
Author, telephone

Anders Trillkott, +46 21 344863

Release Information
The information should be considered as last minutes information and most up-to-date.
For more information please visit Robot Release Information (RRI) Homepage: RRI

Release Name
The release name is RobotWare 5.15.06
The release contains following:
· RobotWare 5.15.06 build 6021
· RobotStudio 5.61

Release Date
Release date 2014-05-16

Ordering number
Ordering number for the RobotWare 5.15.06 DVD is 3HAC8531-3.93
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 18/90
Author, telephone

Anders Trillkott, +46 21 344863

RobotWare

Controller Hardware Support

This list is an overview of the supported main computer units.
• DSQC 600 Main computer
• DSQC 600A Main computer
• DSQC 623 Main computer
• DSQC 639 Main computer

Restrictions in Controller Hardware Support

- DSQC 600 Main computer – must be equipped with minimum 256 MByte RAM memory.
- In multimove applications DSQC600A are minimum.

Changed Controller Hardware Support

Following adapters can be mounted directly on the main computer DSQC 639.
· DSQC 667 Profibus Fieldbus adapter.
· DSQC 669 Ethernet/IP Fieldbus adapter.

· DSQC 688 Profinet Fieldbus adapter.

Following hardware support are implemented in RW 5.11

· IRC5P Controller for Paint applications

· Paint TPU Teach pendant for Paint applications

· DSQC 647 Safety controller for SafeMove functionality

· DSQC 678 PROFINET Master/slave fieldbus

Following hardware support are implemented in RW 5.11.01

· DSQC687 (PBUS) ProfibusMaster/Slave card

Following hardware support are implemented in RW 5.12

· DSQC378 CC Link (Computer communication link) is now included as a standard gateway option.
· SxTPU3 New FlexPendant

· DSQC 678 ProfiNet Master/Slave with new firmware

New version of the ProfiNet Master/Slave board with new firmware (version 2.2) that supports FastStartup

Following hardware support are implemented in RW 5.12.02

· DSQC572 DeviceNet Lean

Following hardware support are implemented in RW 5.12.03

· IRC5 Drive System ‘09’

Following hardware support are implemented in RW 5.13

· DSQC697 (DNET) One channel DeviceNet card
ABB Robotics
PRU Title Ref

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Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 19/90
Author, telephone

Anders Trillkott, +46 21 344863

Supported Robot Models

• IRB 120
• IRB 140/140T
• IRB 1400/1410
• IRB 1600/1600ID/1520ID
• IRB 2400/2400L
• IRB 2600/2600ID
• IRB 260
• IRB 340
• IRB 360
• IRB 460
• IRB 4400
• IRB 4600
• IRB 640
• IRB 6400RF/R
• IRB 6600/6600ID
• IRB 660
• IRB 6620/6620LX
• IRB 6640/6640ID
• IRB 6650/6650ID/6650S
• IRB 6660
• IRB 760
• IRB 7600
ABB Robotics
PRU Title Ref

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Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 20/90
Author, telephone

Anders Trillkott, +46 21 344863

Language Support
The following languages are supported in RobotWare.
· English
· French
· German
· Spanish
· Italian
· Chinese (simplified Chinese, mainland Chinese) 1) 2)
· Portuguese (Brazilian Portuguese) 1)
· Dutch 1)

· Swedish 1)

· Danish 1)
·
1)
Czech
·
1)
Hungarian
·
1)
Finnish
·
1) 2)
Korean
· Japanese 1) 2)
· Russian 1) 2)
·
1)
Romania
·
1)
Polish
· Turkish 1)
Notes:
1) The language is only supported in the controller and Flex Pendant
2) The language support for Asian languages (Chinese, Korean, Japanese) and Russian has some specific
limitations:
- TPWrite, TPRead, and TPPrint do not work – use English text.
- Printing error text from RAPID (instruction ErrWrite) does not work - use English text.

Documentation
See Release Notes on documentation DVD: 3HAC032875-001
ABB Robotics
PRU Title Ref

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Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 21/90
Author, telephone

Anders Trillkott, +46 21 344863

New Functionality RW 5.15

Add date to backup name for System Input Signal backup
It is possible in 5.15 to choose if the date shall be added to the backup name for System Input Signal
Backup.
It is also possible to choose the system name as backup name instead of a predefined name.

System output “Robot not moving” set for zero speed

The System output “Robot not moving" is improved so the output also can be set when the robot is moving
very slow or standing still e.g. that speed override is set to zero.
To activate the improvement set the system parameter "Mech.Unit Not Moving Detection Level" type "Robot"
topic "Motion". Test and adjust the value until the output will change at wanted speed.

New functionality for changing EventPresetTime from RAPID

Two new instructions ActEventBuffer and DeactEventBuffer have been added.

Syntax:
ActEventBuffer;
DeactEventBuffer;

The 2 new instructions activate and deactivate the use of the event buffer in the system.

Normally you configure to use an event buffer when process signals must be set in advance when using
slow process equipment’s, typical application Dispense.
However, the use of an event buffer affects the cycle time for an application using finepoints, such as
SpotWelding.
To combine SpotWelding and Dispense, the event buffer needs to be activated/deactivated
when switching between the two applications.

New robot IRB 1520ID Type A

Support for new robot types:
Variants
IRB 1520ID / 1.5m 4kg Type A
IRB 1520ID variant with new gear boxes and improved tuning is supported in this release.

New robot IRB 4600 Type C

Support for new robot types:
IRB 4600 variants with new gear boxes on axis 1 and 3 (TYPE C) are supported in the release
Variants:
IRB 4600 / 2.05m 60kg Type C
IRB 4600 / 2.05m 45kg Type C
IRB 4600 / 2.50m 20kg Type C
IRB 4600 / 2.55m 40kg Type C
ABB Robotics
PRU Title Ref

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Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 22/90
Author, telephone

Anders Trillkott, +46 21 344863

IRB 6400 Rex and IRB 640 with IRC5
Support for S4C+ robot types in IRC5:
Variants
IRB 640 160kg
IRB 6400R / 2.5m 120kg
IRB 6400R / 2.5m 120kg bal. B
IRB 6400R / 2.5m 150kg
IRB 6400R / 2.5m 150kg bal. B
IRB 6400R / 2.5m 150kg HP
IRB 6400R / 2.8m 150kg
IRB 6400R / 2.8m 150kg bal. B
IRB 6400R / 3.0m 100kg
The robots are supported in the SAC (Stand Alone Controller) option in this release.

Spot GUI refactoring.

In this release the Spot GUI has been refactored.
The old four buttons view is removed and replaced with a single status view. This new screen shows the
overall status of the current process. From here all relevant information about the equipment and spot data
can be quickly accessed.
It is similar to the old status screen in previous releases but it has some new features.
1. Button to the built-in manual actions in Spot.
2. Button to the configured Spot Process I/O, showing the current status of the equipment.
3. A welding progress that shows the welding progress and also the current/latest run user hook.
4. Button to the Process Event Log showing the current/latest error or warning, it stores the 20 latest spot
related errors and warnings.
There is also easy access to the spot process data, e.g. spotdata, gundata, simdata.

Automatic check of prog_no in spotdata

In this release the 'prog_no' parameter in spotdata has changed to the type dnum as default. And the size of
this parameter will automatically be checked against the size of the weld program output group.
As a result of this change the setup data 'MAX_PROG_NO' has been removed and is not needed anymore.

Dispense GUI refactoring

The RobotWare Dispense operator interface, available from the ABB menu, has been improved. It has got a
somewhat new appearance with some new information and functionality. This has been done in parallel with
a similar refactoring of the Spot GUI, to ensure a common look and feel.

Dispense: New customizing possibilities

RobotWare Dispense supports a bead oriented programming philosophy. All parameters affecting the
characteristics and appearance of the bead are included in the beaddata for each beadtype. This technique
separates the defining of the bead parameters from robot path teaching and simplifies off line programming
as well as manual teaching and touch up.
In the default beaddata version the most used data components are present. During customizing it is
possible to hide (delete) components if they not are valid for the specific process or equipment. It is also
possible to add some components if desired.
It has since long time been possible to add components to beaddata and equipdata to be used if there is a
need to set an output group with information to the process equipment. This output group is set in advance
in each dispense position, according to a new time component in equipdata.
It is now also possible to add a speed component to beaddata, controlling the speed during dispensing.
(This was introduced in 5.14.01). It is also possible to add a TCP offset component to beaddata, controlling
the distance from the TCP to the sheet during dispensing. (Introduced in 5.14.03). For more information, see
the Customizing chapter in the Dispense Manual.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 23/90
Author, telephone

Anders Trillkott, +46 21 344863

Force Change during Weld
In this release it is possible to use different forces during the welding phase for servo guns.
The gun force in Spot Servo Options can be controlled from the welding controller via group outputs.
Internally in the Spot software an input group will monitored during the weld, and if the value on the input
group changes, the gun force will change immediately to a lower or higher force.

For more detailed information, see the Spot Options user manual.

Blocking of EPS/SafeMove in Auto if no configuration

When Operational mode switch is turned to Automatic mode and EPS/SafeMove is not activated, an error
log 20325 takes focus on the Flexpendant unit informing the user that "Safety supervision is not active".

Data type motsetdata updated

The data type motsetdata has been updated with a new Boolean component evtbufferact.
This component describes the settings done by ActEventBuffer and DeactEventBuffer.
Instruction DeactEventBuffer sets it to FALSE and ActEventBuffer sets it to TRUE.
It is by default set to TRUE.

The default value (TRUE) is automatically set

* at a cold start.
* when a new program is loaded.
* when starting program execution from the beginning.

Profinet Stack Extension

The following changes have been introduced:
For all buses,
* Increased the number of available cross connections from 100 to 300
* Increased the number of type declarations from 60 to 100

Specific for Profinet SW option,

* Increased the possibility for the user to run 50 units instead of 20.

Max Limit Sensor Correction

The optical tracking functionality to supervise incremental correction change between two successive sensor
measurements (max_incr), gives a recoverable error if the correction changes more than max_incr allows. If
the optional argument "\WarnMaxCorr" in the RAPID instruction "CapLATRSetup" is present if CAP is
used or "Max Correction Warning" is set TRUE in the Optical Sensor Properties for RW Arc, the recoverable
error is changed to a warning and movement continues taking the measured correction.
Up to RW 5.14.xx the correction was not limited if the user had chosen to convert the recoverable error into
a warning.
Starting with RW 5.15 this was changed in a way that, if the user had chosen to convert the recoverable
error into a warning, path correction continues with an increment of "max_incr" instead. That will enable the
operator to limit corrections.
For "max_corr" applies the same, i.e. if the user had chosen to convert the recoverable error into a warning,
the correction will never be larger than "max_corr" compared to the programmed path.
ABB Robotics
PRU Title Ref

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Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 24/90
Author, telephone

Anders Trillkott, +46 21 344863

Modification of CalcJointT
Function CalcJointT has been modified with a new optional argument ErrorNumber.
New syntax:
CalcJointT '('
[ '\'UseCurWObjPos ',']
[ Rob_target ':='] <expression (IN) of robtarget> ','
[ Tool ':=' ] <persistent (PERS) of tooldata>
[ '\' WObj ':=' <persistent (PERS) of wobjdata>]
[ '\' ErrorNumber ':=' <variable or persistent (INOUT) of errnum> ')'
If using the new optional argument ErrorNumber, and the variable or persistent is set to
ERR_ROBLIMIT, at least one axis is outside the working area or the limits are exceeded for at least one
coupled joint. The return value from CalcJointT will be a jointtarget value corresponding to the used
robtarget, but it cannot be used in any movement instruction.
The difference between using the optional argument and using an ERROR handler to take care of the error
is that the jointtarget will be updated if \ErrorNumber is used and ERR_ROBLIMIT is set to the variable or
persistent.
Example:
The jointtarget value corresponding to the robtarget value p3 is stored in
jointpos3. If the position can be reached, it is used, otherwise the jointtarget
value is written on the FlexPendant.
VAR jointtarget jointpos3;
CONST robtarget p3 := [...];
VAR errnum myerrnum;
jointpos3 := CalcJointT(p3, tool2 \WObj:=orb1 \ErrorNumber:=myerrnum);
IF myerrnum = ERR_ROBLIMIT THEN
TPWrite "Joint jointpos3 cannot be reached.";
TPWrite "jointpos3.robax.rax_1: "+ValToStr(jointpos3.robax.rax_1);
..
TPWrite "jointpos3.extax.eax_f"+ValToStr(jointpos3.extax.eax_f);
ELSE
MoveAbsJ jointpos3, v100, fine, tool2 \WObj:=orb1;
ENDIF

Speed Limitation and Supervision

With a new system input, LimitSpeed, the speed of the robot can be reduced. The function is designed to
make it easy to enter an area that is supervised by SafeMove. The limits are default max manual mode
speed but can be changed by the Rapid instructions: SpeedLimCheckPoint - Set a speed limit for the check
points of the robot
SpeedLimAxis - Set a speed limit for an axis.
A system output LimitSpeed can also be defined and it will be set when the reduced speed has been
achieved.
It is important to note that the LimitSpeed function by itself is not a safety rated function.
When using the LimitSpeed system output as input to SafeMove to perform a change of the supervision
limits the following way to work is recommended:
1. The margin between the SafeMove supervision and the axis speed set by the SpeedLimAxis function
should be at least 2 degrees per second. The margin between the SafeMove supervision and the speed set
by the SpeedLimCheckPoint function should be at least 10mm/s. The suggested way to achieve the margin
is to reduce the LimitSpeed setting in the Rapid instruction compared to the configured SafeMove setting.
2. Since the speed is computed in different ways in the motor reference generation and in the SafeMove
supervision (two channel solution) there is a possibility that SafeMove will trigger even after LimitSpeed has
reported that the speed has been reduced. If this happens try to increase the margins as described in step1.
ABB Robotics
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Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 25/90
Author, telephone

Anders Trillkott, +46 21 344863

SMB1 - Serial Measurement Board
A new resolver measurement board DSQC633C is being developed.
It shall be 100% backwards compatible towards today's boards DSQC633A/B and shall also have support
for new functions.
Main features are
- Smaller size.
- Two Al-casing variants, one same size as that one for DSQC633A/B and another smaller one for new
products.
- The SMB unit denominations are 3HAC044168-001 (RMU101) for the compatible one and 3HAC043904-
001 (RMU102) for the new smaller one.
- Lower power consumption in battery mode.
- New very small 7.2V 2-cell Li with battery mode life time about 5. Recommended exchange interval 3
years.
- Improved measurement performance for mechanical unites that are tuned together with DSQC633C.

Fronius with Label functionality (PDD325)

Now the option 650-9 Fronius TPS4000/5000 has partly the same support for label functionality as the rest
of the welders. The available/supported signal is ArcEst and ArcEstLabel.

The label functionality is described in the Arc manual chapter 4.5 Configurable error handling.

New Functionality RW 5.15.00.01

New TRACK option for new motor to IRBT and IRT tracks
Motor configuration in the TRACK-option has been changed since a new motor will be used for IRT140,
IRBT4004, IRBT6004 and IRBT7004 tracks. With a new motor the track needs a new tuning to get the same
motion performance. The new tuning needs new Motion configuration files in the option.
A new option has been created including the new Motion configuration files. The new option is named Track-
TypeA. When changing motor on an existing track, the new option has to be used and a new system with
that option has to be created. An A-sign will be on the new motor to make it easy to identify the new motor
on site. The option can be used with earlier versions of RobotWare, i.e. no upgrade of RobotWare is needed
when motor is replaced. It is possible to load an old backup when the new system with the new option has
been installed.
ABB Robotics
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Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 26/90
Author, telephone

Anders Trillkott, +46 21 344863

New Functionality RW 5.15.01

Weld Repair functionality fully automatic
A new feature called WeldRepair is introduced.
When welding synchronized with two or more welding robots and a positioner, weld-errors can sometimes
occur in one of the welding robots. Since the motion and process is synchronized, the welding robot without
weld-error will also stop and perform error-handling.
Using the weld repair functionality will shut-down the arc only in the failing robot while the others are
continuing its weld.
The faulty seam is automatically re-welded at the error location.

Weld Repair Functionality Semi-automatic

When welding synchronized with two or more welding robots and a positioner,
weld-errors can sometimes occur in one of the welding robots. Since the motion and process is
synchronized, the welding robot without weld-error will also stop and perform error-handling. Using the weld
repair functionality will shut-down the arc only in the failing robot while the others are continuing its weld.
The faulty seam is automatically re-welded at the error location after the user defined service position has
been executed.

ESAB AnyBus support in RobotWare Arc

There is now support in RW Arc for ESAB AnyBus when the PowerSource option 650-7 Standard I/O
Welder is selected in the Robot Control Module key.
ESAB AnyBus means that all programming of the PowerSource is done via the ESAB U82 Pendant, and
that there is no integration of the PowerSource on the ABB FlexPendant. Robot - PowerSource
communication is done via DeviceNet and ESAB W82 unit.

The ESAB AnyBus support consists of example config files that are copied to the
HOME:/Arc/ConfigTemplates/ESAB directory on the robot system during startup.
The files are:

ESAB_AnyBus_EIO.cfg
ESAB_AnyBus_PROC.cfg
ReadMe.txt

The config files should be loaded from either FlexPendant or RobotStudio with the following mode:
Load parameters and replace duplicates.

The ReadMe.txt file also contains this information.

These example files combined with the Standard I/O welder option 650-7, contains no supervision of the
following error signals from the PowerSource:

diWDUErrorActive
diPSErrorActive
diWFErrorActive

It´s up to the end user to decide if these signals should be monitored and/or supervised, and implement a
way to do this.
This is not the responsibility of ABB.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 27/90
Author, telephone

Anders Trillkott, +46 21 344863

Integrated Vision
The Integrated Vision solution may be used in a wide range of applications including locating parts,
measuring visual properties and reading code labels.
The system supports the use of Cognex InSight smart cameras which include embedded image processing.
The cameras connect to the service port of the main computer via a switch. When ordering the Integrated
Vision option the controller is fitted with a switch that provides the extra ports needed for connecting up to 3
cameras.
The system software consists of three parts:
-Vision configuration in RobotStudio
-Vision execution/coordination from RobotWare using dedicated Rapid instructions
-Monitoring including camera image view from the FlexPendant.
The RobotStudio PC shall be connected to the service port when configuring the vision system, but is not
needed during production.
The robot controller (Rapid and FlexPendant) requires the option "1341-1 Integrated Vision".
System can be configured using RobotStudio Free.

EtherNet/IP
* When using QuickConnect a wait time must be specified before IOenable and after device
power on in the Rapid program. The wait time can be found in the device EDS file.
* Fieldbus Command Interface (FCI) for EtherNet/IP.
* Support of Rockwell Point/IO.
* Possibility to use the full range of the subnet mask.

Fieldbus commands for EtherNet/IP

Fieldbus commands are used to perform service requests towards an IO Unit. Fieldbus commands translate
to explicit messaging as defined by CIP specification.
Service requests are typically SET / GET or RESET but can be of other kind according the CIP specification.
With service SET, attributes for an IO Unit can be changed in order to change the behavior of the IO Unit. A
common Fieldbus command can be enabling the QuickConnect attribute.

# An example of a Fieldbus command in EIO.cfg

EIO_COMMAND_TYPE:
-Name "Enable_QuickConnect" -UnitType "MyUnit" -DefValue "1" -OrderNr 4 \
-EN_Path "6,20 F5 24 01 30 0C,D1" -EN_Service 0x10

A Fieldbus command is performed only once during startup of the Robot Controller or for a replacement IO
Unit.

ProfiEnergy as official option

PROFIenergy is an application profile that specifies methods and techniques to
implement energy-saving functions within a PROFINET IO enabled device. The
PROFIenergy device profile can be selected in combination with either 888-2
PROFINET master/slave or 888-3 PROFINET slave SW option.
The option supports the Class 1 (Standby Management) Device Profile. The robot
controller can act and respond to incoming PROFIenergy commands but not
generate them. The option complies with the PROFIenergy Profile Specification
TC3-09-0002a, version 1.1.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 28/90
Author, telephone

Anders Trillkott, +46 21 344863

New robot IRB 360 8kg
Support for new robot type:
Variant
IRB 360 / 1.13m 8kg

IRB 360 variant with higher payload is supported in the release

New robot IRB 1600 10 kg

Support for new robot types:
Variants
IRB 1600 / 1.2m 10kg
IRB 1600 / 1.45m 10kg

IRB 1600 variants with higher payload are supported in the release.

New robot IRB 6660 3.3 100kg

SoftWare support for new robot types:
Variants
IRB 6660 / 3.3m 100kg

DSQC 350B config added in media pool (PDD1603)

A unit type for the DSQC350B is added in the media pool.

Instruction by instruction execution doesn't weld (PDD1613)

In this release a new operator dialog has been implemented.
It will be shown when an e.g. SpotL is run in step by step mode. The purpose of this dialog is to inform the
operator what will happen if step forward or start button is pressed. This dialog and behavior is the same for
all spot options.

Text from the Spot Options manual describing the sequence:

The instruction is executed in two steps (Step Mode = Step Over):
1. The robot will move to the weld position. After this step it is possible to modify the position if needed.
2. If the step forward button is pressed again, an operator dialog will be shown with instructions on how to
continue. It is possible to weld or skip the current position and move to next instruction.

Note!
To perform a weld in this position, the start button must be pressed. Program execution will stop after the
current instruction is ready. To restart the program normally, the start button must be pressed again.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 29/90
Author, telephone

Anders Trillkott, +46 21 344863

New Functionality RW 5.15.03

New RAPID function SocketPeek
A new function, SocketPeek, has been added.
It can be used to test for the presence of data on a socket,
and returns the number of bytes data that can be received on the specific socket.

Syntax:
SocketPeek '('
[ Socket ':=' ] < variable (VAR) of socketdev > ')'
A function with a return value of the data type num.

Increased input/output sizes for EtherNet/IP FA

The EtherNet/IP fieldbus adapter can handle 255 bytes of IO data for both input and output.

Increased input/output sizes for Internal slave

Internal slave in option EtherNet/IP M/S can now handle up to 509 bytes of input and 505 bytes of output
data.
The EDS file is updated accordingly.

CSSDeactMoveL updated with optional argument TLoad

An update has been done to CSSDeactMoveL. Optional argument TLoad has been added.

New robot IRB 6700

SoftWare support for new robot types:
Variants
IRB 6700 / 2.60m 200kg
IRB 6700 / 2.65m 235kg
IRB 6700 / 2.80m 205kg
IRB 6700 / 2.85m 155kg
IRB 6700 / 3.05m 175kg
IRB 6700 / 3.20m 150kg

IRB 6700 / 2.60m 175kg LeanID

IRB 6700 / 2.65m 220kg LeanID
IRB 6700 / 2.80m 200kg LeanID
IRB 6700 / 2.85m 140kg LeanID
IRB 6700 / 3.05m 155kg LeanID
IRB 6700 / 3.20m 145kg LeanID

The first variants in the IRB 6700 family are supported in the release.

WZHomeJointDef for deactivated mech units

The System Parameter Ignore joint world zones have been added under Topic Motion and Type Single. If
this System Parameter is set this axis will be excluded from consideration in all joint WorldZones, overriding
any setting in WZHomeJointDef and WZLimJointDef.

New robot IRB 360 1.6m 6kg

SoftWare support for new robot type:
IRB 360 / 1.6m 6kg

IRB 360 1.6m variant with larger payload is supported in the release.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 30/90
Author, telephone

Anders Trillkott, +46 21 344863

A new reweld mode in the spot options.
In this release a new reweld mode has been added to support KSR reweld in specific Bosch weld timers.
And for this a new optional signal data has been added in the SwDefTimerIO routine in Spot, it will enable a
certain handshake sequence with the timer when the "Reweld" button is selected on the TPU.
If this signal is configured the start weld signal will go to high when a weld error occur, this serves as a
handshake to the timer to enable KSR weld mode when a reweld is done with the new signal.
E.g. SwDefTimerIO ... \DOResetFaultReweld := my_reset_fault reweld_signal ...;
If this signal is not configured the standard reweld mode will be used, that is, the reset fault signal to the
timer will be set and start weld will be used as the start signal.

Optical Tracking - Flag (PDD2513)

For the Laser Tracker Calibration (LTC) FlexPendant (FP) application exists every tracking sensor type is
defined using the Process configuration instance SENSOR_TYPE.
One component, "Sensor is used for tracking", indicates, if the sensor is used for seam tracking, i.e. is
mounted with its TCP near the robot TCP and almost parallel z-direction of the sensor tool and the robot
tool, which is used during calibration.
When the laser sensor calibration has been performed successfully using LTC, in manual mode a
reorientation of the new sensor tool at the calibration plate origin is done to give the operator the possibility
to inspect the quality of the calibration.
Today the reorientation of the new sensor tool is done for all sensors.
Starting with RW 5.15.03 no reorientation will be done for sensors, which are not used for tracking. This to
avoid collisions and robot singularities during reorientation, as the sensor tool may differ in size and
orientation very much from the robot tool used for calibration.

Support for IRB 2600 on IRBT 4004 Type A (PDD2636)

Files have been added to support IRB 2600 on IRBT 4004 in additional option Track-TypeA.

Support for IRB 760 on IRBT 7004 Type A (PDD2637)

Files have been added to support IRB 760 on IRBT 7004 in additional option Track-TypeA.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 31/90
Author, telephone

Anders Trillkott, +46 21 344863

New Functionality RW 5.15.04

Servo gun synchronization does not affect Safemove synchronization (PDD1764)
The servo gun axis previously affected the synchronization of Safemove even though the axis is not part of
the Safemove configuration. This has now been fixed, i.e. if the servo gun e.g. loses its revolution counter it
will not affect the Safemove synchronization.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 32/90
Author, telephone

Anders Trillkott, +46 21 344863

New Functionality RW 5.15.06

New robot IRB 6700
SoftWare support for new robot types:
Variants
IRB 6700 / 2.70m 300kg
IRB 6700 / 3.00m 245kg
IRB 6700 / 2.70m 270kg LeanID
IRB 6700 / 3.00m 220kg LeanID

WeldRepair functionality
In previous releases, only the ArcOK (Arc Established) signal was supervised for WeldRepair functionality.
In this release, WeldRepair functionality is enabled also for the USERIO1 signal.
NOTE! this change is valid only for the Standard IO welder & AristoMig Integrated welder and not for the
Fronius Welders.

Production Monitoring OPC support

In this release, the Production Monitoring option in RW Arc has OPC support.
Log to OPC must be enabled in the Process Configuration (default value).
The OPC client should connect to the following variables in T_ROB1, module PM_OPC.

PERS wwSeamDisp ProdMonSeamDisplacement:=["-","-","-","-","-","-",0,0,0,0,0,0,0,0,0,0,0,0,0,"-","-"];

PERS wwSeamEvents ProdMonSeamEvent:=[0,0,0,"-","-",0,"-",0,0,"-","-"];
PERS wwSeamResult ProdMonSeamResult:=[0,0,"-","-",0,"-",0,0,0,0,0,0,0,0,0,0,FALSE,"-","-"];
PERS wwCycleResult ProdMonCycleResult:=[0,0,"-","-",0,0,0,0,0,0,0,0,0,0,FALSE,"-",0,0,"-","-"];
! BullsEye OPC
! PERS wwBullsEye ProdMonBullsEye:=[0,0,"-",0,0,0,0,0,0,0,0,0,0,0,0,0,"-",0,"-","-"];

! Navigator OPC
! PERS wwSearchSpMsg ProdMonNavigatorSearch:=[0,0,0,0,0,0,0,0,0,0,0,"-","-","-"];
! PERS wwMeasure1DMsg ProdMonNavigatorMeasure:=[0,0,0,0,0,0,"-","-","-"];

! Smartac OPC
! PERS wwSMT_1D ProdMonSmartac1D:=[0,0,"-",0,0,0,0,0,0,0,"-","-"];
! PERS wwSMT_Part ProdMonSmartacPart:=[0,0,"-",FALSE,0,0,"-","-"];
! PERS wwSMT_Groove ProdMonSmartacGroove:=[0,0,"-",0,0,0,0,0,0,0,"-","-"];

! TSC OPC
! PERS wwTchCleanMsg ProdMonTorchClean:=[0,0,"-","-","-","-"];

NOTE! the variables that are commented out in the module PM_OPC should be uncommented if that option
is present in the Control module key.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 33/90
Author, telephone

Anders Trillkott, +46 21 344863

Improvements RW 5.15
PM5: Flow recovery dialogue
To improve usability, the selection of a work area has been skipped in the flow recovery dialogue
on the flex pendant.
A selected recover action will always be applied on the master work area. Advanced users can use the I/O
interface to enable flow recovery with other (more unusual) selections of work areas.
In the same dialogue, the flow recovery action "Next Pallet" has been renamed to "Terminate Job",
indicating that the currently running job will be terminated without any further picks and places.
"Terminate job" works in exactly the same way as "Next Pallet" (applied on the master work area):
After the flow has been restarted, the job status is idle and the flow is ready for starting a new job.
The next job can be launched from a PLC or using the flex pendant "Start job" button.

IRB 6660-1.9/205 to QuickMove 2

The tuning of the Pre-machining robot IRB 6660-205/1.9 has been changed to increase the performance of
machining process applications.

All acceleration will be lower compared to older version and all servo gains have increased.
If an upgrade of RobotWare is done a recommendation is to start with default tuning again if any tuning has
been done in the system that is upgraded.

I.e. all TuneServo and AccSet etc should be back to 100% before any special customer tuning should be
considered.
A prerequisite to upgrade any IRB6660 is that the robot needs to have a SMB-unit of version 3HAC031851-
001/05 or later.
If a robot with an older version of the SMB is used there is a major risk that oscillations will occur.
The new tuning uses friction compensation by default. When upgrading existing systems, insert the string -
friction_ff_on in all instances of CFRIC_BLOCK of the MOC.cfg file of the backup. Also change the values
for friction_ff_level to 0.8, 1.5, 1.5, 0.4, 0.7 and 0.3 for axis 1 to 6 respectively, and then restore the backup.
When upgrading an existing IRB 6660-1.9/205 also look at RSI "Service Information System option added to
IRB 6660-1.9/205" for more information about how to modify the backup before you restore it.

Spot process tasks hidden

In this release the spot process tasks "DA_PROCX" has been hidden on the TPU and in RobotStudio.
The reason for this change is to get a cleaner look and feel on the TPU and in RobotStudio, and also to add
some "ease of use" by not showing information that can confuse users.
This should not have any effect on robot systems in general. Old backups should work as before, it will be
possible to restore old systems.
But one known limitation is that UI instructions (example, UIMessageBox) run from hidden background tasks
can cause hangings because they cannot be shown on the TPU, this could be the case if these instructions
are added directly in the user hooks and not in the recommended places.
Note! All error handling in the spot process are run from the motion task by default, i.e. the internal and the
user defined error handling (SwErrorRecover). These two methods are the recommended way to perform
error recovery.

Support for two tracks in the same system

Now support for two tracks in the same system with TrackMotion additional option has been added. It is
possible to create systems with two tracks (IRBT/IRT) in a multi move system. ROB_1 together with
TRACK_1 on drive module 1 and ROB_2 together with TRACK_2 on drive module 2.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 34/90
Author, telephone

Anders Trillkott, +46 21 344863

Cleanup the default user modules in spot options
In this release the default user modules in the spot options has been simplified.
The Spot Options manual has been updated and the version string in all user modules has been updated to
"5.15.0" to reflect the changes made.

This has been done:

swdefine.sys - Only manual actions remains, all other code moved to the swuser and swdefusr modules.

swsup.mod - Only the main routine remains, with a call to a supervision init routine in the swuser.sys
module, "SupervisionInit".

swdefusr.sys - Same as before, except that the "DefineUsrData" and "UpdateUsrData" routines has been
moved to this module from the swdefine module.
If data types have to be changed, this module needs to be customized.

swuser.sys - Same as before, except that the shelf routines (SwPowerOn etc.) has moved to this module,
and also some of the default supervision previously located in the swsup module.
The weld contactor and water start signals are now controlled by logical cross connections instead of code.
Eg.
g1_weld_power = motor_on + g1_enable_curr + g1_process_fault (invert)
g1_start_water = motor_on + g1_enable_curr + g1_process_fault (invert)
And only the reply from the flow sensors remains as code, that is, the logic to turn the water flow off if an
error occur. If the process and supervision has to be changed this module needs to be customized.

Some useful paint instructions are now available in the basic DispencePack Support
Following paint instructions/functions are now available in the basic DispensePac Support option:

SetTmSignal
GetSignal
PaintBackup
PaintRestore
IpsSetParam

In previous releases you needed also the sub option PaintTypeProdManager to make these instructions and
functions available. Now only the basic DispensePac Support is needed.

Extended keystring
In 2012 the robot serial number was extended for some robot types. This was a necessary step to avoid
running out of serial numbers. More and more robot models will turn to this extended serial number format.
The PC software for robot system installation and license key generation, has until 5.15 only been able to
support the old style serial number format. The old format was restricted to "2 digits dash 5 digits" e.g. 14-
12345.
To cope with the new serial number format the license key software would up until 5.15 create an
abbreviated serial number in order for other software to work as normal. This would result in a serial number
e.g. 7600-123456 to be condensed to 76-23456.
In 5.15 we have extended the key string format to include the full serial number. The key string file (.kxt) will
after 5.15 contain
a second line starting with a #-sign. Robot Studio 5.15 will automatically read this line and append to the old
style key. The information in the second line will give the full serial number for the system created.
As long as RobotStudio 5.15 is used, the full serial number of the system will be shown in a system created
by such a key string, regardless of RobotWare version used.
The new style key string file (.kxt) can be used in older versions of RobotStudio, but the full serial number
will not be shown in the system created. It is also possible in RobotStudio 5.15 to manually remove the #-
sign and following key string characters.

There is one compatibility limit. If a system is created with the new style key string it is not possible to modify
or "Create from Backup" that system in RobotStudio earlier than 5.15.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 35/90
Author, telephone

Anders Trillkott, +46 21 344863

RobotStudio: SafeMove configurator may cause wrong safety configuration (PDD57)
When configuring zone points in the "Safe/Monitor Tool Zone" tabs the user are now able to easily see in
which zone the points will be defined via an updated text.
The text "Zone Definition" has been changed to:
"Zone Definition in relation to the base frame" and "Zone Definition in relation to the world coordinates"
depending on what have been selected in the "Mechanical Units" tab.

New event log message for manipulator supervision (PDD127)

A new dedicated event log message, 50444, for manipulator supervision is introduced. It is now possible to
distinguish manipulator supervision from other supervision event logs, and if necessary adjust the system
parameter Manipulator supervision level, in topic Motion, type Motion Supervision, to get the desired
behavior of the system.

Flying start/end: Possibility to have more than 2 concurrent CAP processes in the same RAPID task
(PDD182)
If the program pointer is much further in the RAPID program with CAP sequences than the motion pointer,
which is possible for flying start/end and/or short segments and/or high speed, it must be possible to create
many CAP processes in advance, i.e. before the movement is executed.
Until RW 5.14, it was not possible to create more than two processes. Starting with RW 5.15 it is possible to
create up to 10 processes in the same RAPID task.

WeldGuide III Sensor Calibration (PDD251)

The WeldGuide III sensor calibration has been improved.
There is now also support for TwinWire sensor calibration.
To be able to take advantage of these improvements, the WeldGuide III board needs firmware 2.8 or higher.

885-1 SoftMove and 635-5 Spot Servo Equalizing is not working correctly (PDD531)
In this release it will be possible to use the standard gun arm deflection compensation in Spot Servo
Equalizing (635-3) together with SoftMove (885-1) equalizing at the same time.
This can be useful when the gun arm deflection is relatively big, SoftMove alone cannot compensate for the
deflection of the gun during welding.

Short description of functionality:

During the closing of the gun the robot will be set into a soft mode, and when the gun has closed on the
plates , soft mode will be deactivated.
When force is applied on the gun during the weld, the standard gun arm deflection will be activated

SafeMove: CBC necessary, if "Call Routine..." CBC and then "Cancel Call Rout." (PDD534)
NOTE: Only affecting CyclicBrakeCheck if it is executed as a service routine.
If CyclicBrakeCheck is called with "Call routine" and then a "Cancel Call routine" is done without executing
any code, the CBC signals are not affected.

SafeMove: CBC signals are set to 0 without any act. of limits, if a restore is exe. (PDD541)
Before RW5.15, all PSCXCBCXXX signals were set to 0 when restoring a system.
Now, from RW5.15, all PSCXCBCREQ signals will be set to 1 when restoring a system.
Max allowed speed is 250 mm/s (if configured in the SafeMove configuration).
A CyclicBrakeCheck needs to be executed.

FCResetDampingTune and FCSetDampingTune clarification (PDD732)

Following is implemented in documentation:
FCResetDampingTune and FCSetDampingTune both affects actual damping value set up by the
FCAct instruction.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 36/90
Author, telephone

Anders Trillkott, +46 21 344863

SafeMove wizard - Incorrect update of the resolver offsets (PDD770)
Improved the Motor Calibration tab to show the changed calibration values after you have changed tab and
then get back to calibration tab again.
The dialog warning about that the user might need to download calibration data has also been changed to fit
the improvement.

Fronius IF - Missing Message when deleting a Job (PDD812)

In RW 5.15 the user is asked with a dialogue to confirm deletion of a job before the job is deleted. In earlier
versions the job was deleted without confirmation.

Optional parameter to specify the number of used bits for the new functions BitNegDnum and
BitLShDnum (PDD818)
A new optional argument Size has been added to functions BitLShDnum and BitNegDnum.
New syntax:
BitLShDnum?(?
[Value ?:=?] ? ,?
[ShiftSteps? :=?]
[ \ Size := ] ?)?

BitNegDnum?(?
[Value ?:=?]
[ \Size := ] ?)?

With the new optional argument, you can limit the number of bits that should be considered when using
BitLShDnum and BitNegDnum. The bits above the number used in optional argument Size will be set to 0.

Example:
VAR dnum myvalue;
! Read a 16 bits digital input signal
myvalue:=GInputDnum(gi2);
! Value 43346 (= 0000000000000000000000000000000000001010100101010010 binary) read from gi2
! Shift 8 steps left, only consider the 16 lowest bits
result:=BitLShDnum(myvalue, 8 \Size:=16);
! result = 20992 (= 0000000000000000000000000000000000000101001000000000 binary)
! Shift 8 steps left, consider all 52 bits in a dnum
result:=BitLShDnum(myvalue, 8);
! result = 11096576 (= 0000000000000000000000000000101010010101001000000000 binary)

LoadIdentify improvement when ModalPayLoadMode is 0 (PDD820)

This is a change that affects LoadIdentify service routine when ModalPayLoadMode is 0.
ModalPayLoadMode can be found in Controller, System Misc.
The LoadIdentify routine has been modified so a new loaddata can be defined even if there already is a
loaddata defined in the system.
User dialog:
----------------------------------
Name of loaddata to copy to:
load1
load2
Buttons:
Define new Cancel OK
----------------------------------
The "Define new" button is new in RW5.15.
ABB Robotics
PRU Title Ref

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Department Date Filename Page
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Author, telephone

Anders Trillkott, +46 21 344863

110016 Unsafe flying-end (PDD906)
In RW 5.14.xx and earlier you may get an error message, that the application process is interrupted
(110013), even if no process supervision is active - this is corrected in RW 5.15.
In RW 5.15 the "unsafe flying end" warning message (110016) is improved: the minimum distance to be
given in "distance" is added in the warning text, so the user gets a hint.

Improvement in Safemove (PDD908)

A "Note" has been added to inform the user what the picture of "Tool Points" actually means.

"NOTE: It is only the configured points that are supervised, not the volume between the

Update motion supervision after system parameters change from RAPID (PDD1098)
The motion supervision settings will now be updated when writing to the corresponding system
parameters using the WriteCfgData instruction from RAPID. The changes will not take effect for Robot
movements until a Motors On order is performed and the changes will not affect an active path. For the
changes to take effect the path must be cleared using, e.g., the RAPID instruction ClearPath. To make
Motion Supervision settings that affect the path immediately the instruction MotionSup shall be used.

LTC: new parameter (PDD1173)

A new configuration parameter is introduced for SENSOR_PHYSICAL. The parameter is called
"UsedForTracking".
If a sensor is mounted as usual for tracking, i.e. near the robot tool's TCP that is used in a process
application (e.g. arc welding), this parameter shall be set to "true". There will be no difference compared to
earlier RW releases.
If a sensor is not mounted for tracking, and points in another direction than or is placed far from the robot
tool TCP, then the parameter shall be set to "false". The difference during calibration is, that no visual
verification of the position of the calibration plate origo (x=0, y=0 for the calibration plate work object) will be
performed. This step is skipped during the calibration setup to avoid collision with the sensor.

IRB360 Motion Execution Problem (DSE9325)

The robot movement in wrong direction at end of tracking is now reduced.

Drift of the robot after AS stop with Fc Assembly (DSE10414)

This change concerns systems where the system parameter Keep contact force at stop, in type FC
Application, is set to TRUE.

When the force control execution is stopped because of an emergency stop, the active references will now
always be stopped if the measured force is lower than 50% of the reference force.
This is done to prevent the robot from drifting after restart, in cases where no contact force has been built up
before the emergency stop.

Motors On State PM5 (DSE10432)

A new system signal, pmSystem_doMotorOnState, is added for the option Prepared for PickMaster 5,
indicating motors on state for the controller.
pmSystem_doMotorOnState:
- Is set when the controller is in motors on state. It is reset otherwise.
pmSystem_doMotorOn - Motors on system output:
- Is set when the controller is in motors on state. Is pulsing if the controller is in guard stop state or if an axis
is unsynchronized. It is reset otherwise.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 38/90
Author, telephone

Anders Trillkott, +46 21 344863

Possible to change Collision detection only if option installed (DSE10628)
Now it is only possible to change system parameters for the Collision Detection option in topic Motion if the
option is installed.
On the TPU the parameters will be hidden and in RobotStudio the parameters will be displayed as N/A.

No error message at end of welding in coordinated mode (DSE10782)

When welding synchronized, ArcX instructions should be used in the robot tasks, and in the non-welding
task (external axis or robot), the corresponding ArcMoveX instructions should be used.
Previously, if the corresponding ArcMoveX instructions were not used, execution would hang at the end of
the weld.
Now an error message (elog) is presented informing about the problem, that the corresponding ArcMoveX
instructions should be used in the external axis or robot.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 39/90
Author, telephone

Anders Trillkott, +46 21 344863

Improvements RW 5.15.01
PM5: 40631 Instruction error
A correction has been made to avoid error 40631,
indicating that too many consecutive MoveX instructions has been used with the \Conc option.
The error is automatically avoided by the routines PmDoAction, PmDoMove1, PmDoMove2 and
PmDoMove3.
In order to avoid the error for MoveX instructions outside PmDoAction, e.g. intermediate movements,
movement to home position or customized movements:
Replace MoveX with PmDoMove or turn off \Conc.

PM5: Stack search on a master infeeder.

Now possible to run stack search on a master infeeder. A new version of PmMain.sys is required. This
version is available with Palletizing PowerPac 5.15.01.

Added error recovery for elog 40631

If the number of movement instructions in succession using argument \Conc has been exceeded, then the
system variable ERRNO is set to ERR_CONC_MAX.
This error can be handled in the error handler.
Instructions affected:
MoveAbsJ
MoveC
MoveExtJ
MoveJ
MoveL
TriggC
TriggJ
TriggL
TriggLIOs

New arguments to speed up the advance shape tuning

This concerns the automatic friction value identification in advance shape tuning.

Two new arguments are added to FricIdEvaluate to be able to speed up the identification process.
The values are optional, if they are omitted the behavior is unchanged.

With argument OptTolerance it is possible to increase the tolerance for the search and the argument
FricLevelMin will make it possible to start the search from a higher starting value.
Using these arguments will speed up the identification but might give a less accurate result

AristoMig Integrated option

The AristoMig Integrated option now recognizes more ESAB PowerSource types.
The following PowerSources have been tested by ESAB.
Mig 5000i
Mig 4004i Pulse
Mig 6502c
Mig 5002c
Mig 4002c
Mig 3001i
Mig 6502c
Important to notice that ABB only supports AristoMig 5000i.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 40/90
Author, telephone

Anders Trillkott, +46 21 344863

Standard IO configurations for DN-lean in Mediapool\service\ioconfig (PDD145)
The Standard IO Configuration of the mediapool now consists of separate folders for DeviceNet and
DNLean.

The Folders contains the CFG files listed below:

Mediapool\RobotWare_5.15.1054\utility\service\ioconfig\DeviceNet
d327A_10.cfg
d327A_11.cfg
d327A_12.cfg
d327A_13.cfg
d327A_14.cfg
d327A_15.cfg
d328A_10.cfg
d328A_11.cfg
d328A_12.cfg
d328A_13.cfg
d328A_14.cfg
d328A_15.cfg
d332A_10.cfg
d332A_11.cfg
d332A_12.cfg
d332A_13.cfg
d332A_14.cfg
d332A_15.cfg
d350B_10.cfg
d350B_10s.cfg
d350B_11.cfg
d350B_12.cfg
d350B_13.cfg
d350B_14.cfg
d350B_15.cfg
d351A_10.cfg
d351A_10s.cfg
d351A_11.cfg
d351A_12.cfg
d351A_13.cfg
d351A_14.cfg
d351A_15.cfg
d352A_10.cfg
d352A_10s.cfg
d352A_11.cfg
d352A_12.cfg
d352A_13.cfg
d352A_14.cfg
d352A_15.cfg
d355A_10.cfg
d355A_11.cfg
d355A_12.cfg
d355A_13.cfg
d355A_14.cfg
d355A_15.cfg
d651_10.cfg
d651_11.cfg
d651_12.cfg
d651_13.cfg
d651_14.cfg
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 41/90
Author, telephone

Anders Trillkott, +46 21 344863

d651_15.cfg
d652_10.cfg
d652_11.cfg
d652_12.cfg
d652_13.cfg
d652_14.cfg
d652_15.cfg
d653_10.cfg
d653_11.cfg
d653_12.cfg
d653_13.cfg
d653_14.cfg
d653_15.cfg
dsqc377A_10.cfg

Mediapool\RobotWare_5.15.1054\utility\service\ioconfig\DNetLean
d351Lean_10.cfg
d351Lean_10s.cfg
d351Lean_11.cfg
d351Lean_12.cfg
d351Lean_13.cfg
d351Lean_14.cfg
d351Lean_15.cfg
d651Lean_10.cfg
d651Lean_11.cfg
d651Lean_12.cfg
d651Lean_13.cfg
d651Lean_14.cfg
d651Lean_15.cfg
d652Lean_10.cfg
d652Lean_11.cfg
d652Lean_12.cfg
d652Lean_13.cfg
d652Lean_14.cfg
d652Lean_15.cfg
d653Lean_10.cfg
d653Lean_11.cfg
d653Lean_12.cfg
d653Lean_13.cfg
d653Lean_14.cfg
d653Lean_15.cfg
dsqc377ALean_10.cfg

LAN Ethernet driver updated (PDD677)

An updated Ethernet driver is included in the release.

Improved LoadIdentify documentation (PDD991)

The documentation regarding the LoadIdentify service routine has been improved and a Tip has been added
to support the user when a 0 kg mass was identified. The same Tip/additional information has also been
added to the service routine when a 0 kg mass is identified.

WeldRepair functionality - StdIOWelder in SemiAutomaticMode (PDD1424)

Handles number of configured weld errors correctly when in SemiAuto2 Independent mode.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 42/90
Author, telephone

Anders Trillkott, +46 21 344863

Tuning position and orientation of infeeders (PDD1425)
Tuning position and orientation of infeeders from the operators interface on the flex pendant has now been
enabled.
Before tuning, a warning text must be confirmed, since the layout on the outfeeder can be affected in an
unexpected way on the outfeeder if the function is used in the wrong way.

If "Limit Speed" is used together with reduced running speed (PDD1462)

Activation/deactivation of the limit for the speed of checkpoints is moved to same place as the limits of axes
so the response of the system input LimitSpeed will be faster.

Limitation of number of layers in Operation sets in Workarea (PDD1553)

The limitation for the total number of layers for all operation sets in one work area is now 32767.

TPReadxx allowed in Manual Full Speed (PDD1600)

The RAPID instructions TPReadFK, TPReadNum and TPReadDnum are now allowed to execute in Manual
Full Speed mode again as before RW5.15.

Allow service routines to execute in Manual Full Speed (PDD1600)

Some Service Routines, such as Load Identification, require movements with speeds that are higher than
the speed allowed in Manual Reduced Speed. It is therefore allowed to call a Service Routine from Manual
Full Speed Mode and also to switch to Manual Full Speed when in a Service Routine.
A limitation is that Manual Full Speed is only allowed to be used for program verification according to ISO
10218-1:2011. Therefore, Service Routines supplied from ABB, such as Load Identification, have
safeguards implemented to make sure that no unexpected movements are performed in Manual Full Speed
mode.

Not able to take backup, it is saying XML file is missing (PDD1802)

If Backup or any other function/operation fails due to an error saying that the system.xml file is missing/not
installed, please restart the system (Warmstart)
to recover.
If it still fails, please download the system again via RobotStudio.

Better error handling when reading a path file (PDD1850)

If the internal buffer is too little to hold the stored path of a MultiPass run, the user did not get any
information about the reason why the reading of the path file was unsuccessful. In manual mode a warning
was sent.
Starting with RW 5.15.01 an error message is sent if the internal buffer is too small to hold the contents of
the path file you want to read.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 43/90
Author, telephone

Anders Trillkott, +46 21 344863

Improvements RW 5.15.02
Improvement of Track TypeA performance
Performance improved for Track TypeA compared to release 5.15.00.01 where this new type was
introduced.

LoadIdentify and ManLoadIdentify improvements (PDD2188/PDD2229)

There have been modifications in service routines LoadIdentify and ManLoadIdentify.

1) MOVE button has been removed.

When "SlowTest" has been executed, there is no need to push MOVE button to continue the execution of
the service routine. When executing in manual full speed this button was a problem.

2) The speed override is checked before start of movements.

It is not allowed to execute the movements with reduced speed, and it was hard to remember to change this
when changing operating mode from manual reduced speed to manual full speed. When changing to
manual reduced speed the speed override is set to 3%.

3) Added error handling.

If a stop occurred during movements, the service routine was ended. Now a stop will be handled in an error
handler, and it is possible to restart the latest movement sequence from the beginning. This is very useful
when first executing the service routine in manual mode slowly, and then executing the measurements in
manual full speed. If stopping the execution in the real measurements, it is not necessary to run the slow
movements again.

4) Slow test movement improvements for robots (LoadIdentify only).

The slow speed test has been improved in two ways:
We have removed redundant movements from the sequence and we have introduced a new CFG
parameter, load_id_test_speed_factor (exists under robot in cfg). The speed factor can be set between 1
and 6, where the value 1 corresponds to the original speed of
the slow speed test. The default value of the speed factor is 4.

5) User Interface improvements.

Some UI has been changed from using old TPReadFK to using UIMessageBox instead.

IRB 6660_1.90_205 noise issue (PDD2263)

A noise problem that has occurred for some IRB 6660-205/1.9 robots has been solved.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 44/90
Author, telephone

Anders Trillkott, +46 21 344863

Improvements RW 5.15.03
Possibility to use stationary guns with CSS.
In this release the css direction search direction is corrected when using stationary guns.
If the setup data opposite_z is set to true the direction will be changed to negative z related to the tool, e.g.
into the fixed tip.

SafeMove CBC updates

Changes that has been done in this version of CyclicBrakeCheck.

1) The WARNING level has been changed, and the test is performed with a higher torque than before. In
earlier versions the difference between ERROR level and WARNING level was too small,
and then it was a risk that the ERROR occurred without any WARNING notice.

2) Each time the warning 37230 is reported in the event log, a file, CBC_WARNING_REPORT.log,
is updated. Information about date, time, name of the mechanical unit and the axis number is logged.

WeldGuide MultiPass Storage/Replay

Improvements have been made to the WeldGuide MultiPass Storage/Replay functionality.
In previous releases, it could sometimes happen that there was a problem to replay a stored path with the
ArcRepL instruction, if there was a process error on the first layer (when the path was stored).
This is now corrected.

Immediate response on the Redo Search signal (PDD2283)

When setting the redo search signal, e.g. for a slip sheet stack, the robot will now always make
a search from the top before the next pick.
In previous releases there was one limitation: a search would not occur if a movement to pick up
a slip sheet already had been executed in Rapid but not yet performed by the robot.
There is now a built-in automatic handling of this scenario; the robot will stop on path and request
new targets on the slip sheet infeeder. After having the new targets confirmed, the robot will search from the
top
of the stack before picking the slip sheet.
If the robot stops on path too close to the slip sheet feeder, i.e. it has passed the first approach position
just above the pick position, the pick will continue without a search.

Wrong measurement channel IRBT x004 (PDD2309)

The default parameters for the measurement channel have now been changed match most new track
motion installations. When the configuration file now is changed to use channel 7 of the robot the majority of
the tracks have the right parameters. Only the servo guns for robots on a track have a problem, they still
need to use measurement_link 2 and measurement_node 1. Files for IRB 4400 have not been changed
since they use the same setup as with servo gun.

Reset of limit error (Q-master) for Fronius PS (PDD2362)

Customers that are using Q-Master on the Fronius power source had to reset a limit error in the power
source manually. Starting with RW 5.15.03, the error is reset automatically at start and restart of the weld by
toggling the signal E12 "source error reset" in the power source.

SoftMove offsdist parameter (PDD2827)

In this release a new parameter has been added in the swdefusr.sys module, smeq_offset_dist.
It should be used as a search distance when running SpotL with softmove activated, e.g. \SMEQ.
Note! It is important that this distance is equal or larger than the expected tolerances of the object to be
welded, since it can be located lower than nominal position.
The default value of this parameter is 3mm, but it can be set in the range 1-5mm.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 45/90
Author, telephone

Anders Trillkott, +46 21 344863

Support for GSDML version 2.3 (PDD2401)
PROFINET Configurator Express version 1.12:
Support of reading PROFINET GSDML version 2.3.

However there are some limitations:

1)
A parameter that is optional according to standard is regarded as mandatory by the PROFINET Configurator
Express tool.
The ABB DESTO device’s CI501 and CI502 have GSDML files are not possible to use with their ordinary
GSDML file.
Workaround:
GSDML files with this problem have to be sent to ABB for conversion.

2)
It seems that the import of all Siemens units with version 7.0 are failing.
Workaround:
Copy the failing file in the KW Configurator GSDML library by attaching "_original" at the end of the file
name. (path to library: C:\Users\Public\Documents\FDCML10\Profinet\SIEMENS).
Identify the failing GSDML part by importing the file into PCWORKS (by Phoenix Contact). It will show which
part is causing the problem.
Remove move the Identified failing part and store the file.
Open the PROFINET Configurator project and select "Import device" by right clicking the device catalog.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 46/90
Author, telephone

Anders Trillkott, +46 21 344863

Improvements RW 5.15.06
Motion Supervision for IRB 120
The sensitivity IRB 120 “Motion Supervision of” has been decreased to avoid false alarms.

CyclicBrakeCheck update
In previous releases, functionality to log warnings from CyclicBrakeCheck to a file called
CBC_WARNING_REPORT.log was introduced.
This functionality has been removed in RW5.15.06.
Instead, a file called CBC_REPORT.log will exist in the HOME folder after execution of a CyclicBrakeCheck.
The result of the 100 latest CyclicBrakeCheck runs will be stored in that file in a FIFO queue.
Below you can see how it looks like and the content of it. CyclicBrakeCheck has been executed once on a
single robot system.

Improved cycle time if the Arc preset time is used (PDD1201)

In previous releases, the functionality behind the arc preset time (found in the Arc Equipment properties in
the process configuration) did not work as described in the process flow charts in the user manual. Instead it
acted as a delay of the PowerOn signal. This led to increased cycle times.

In this release, the arc preset time now works as described in the process flow charts.

SpotServo Equalizing with SoftMove (PDD3095)

In this release the SoftMove equalizing functionality has been changed and improved.
Previously in some positions/orientations there was a risk that the robot could move in not only the z-
direction as configured, but also in x or y direction depending on gravity influences and friction of the robot
axes.
This behavior has been fixed now, however with some increased stiffness of the robot as a result.

ProfiNet FSU for modules Port2 (PDD3146)

The possibility to configure fast startup for multiple ports for a slave device is now possible with PROFINET
M/S SW (888-2) option.
The fast unit startup (FSU) functionality for PROFINET M/S SW option (888-2) has been updated.
It is now possible to configure FSU on units in a chained IO setup. This relates, typically, to IO units located
in a toolchanger setup.

Weld Guide error (PDD3230)

In this release, the error messages have been improved for WeldGuide sensor errors. The error message
will now inform which sensor that is the reason for the error (Current or Voltage). There will also be a stop of
motion and process.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 47/90
Author, telephone

Anders Trillkott, +46 21 344863

German texts for load identification have been changed (PDD3422)
The English text:
"Should test of measurement movements first be done with low speed in MAN/RED. SPEED before the real
measurements with higher speed"
with the previous German translation:
"Soll ein Test der Messbewegungen mit reduzierter Geschwindigkeit ausgeführt werden, bevor die
Messungen bei höherer Geschwindigkeit erfolgen?"
has been changed to:
"Vor Messungen mit hoher Geschwindigkeit muss ein Test der Messbewegungen mit reduzierter
Geschwindigkeit ausgeführt werden."

And the English text:

"To be able to run in manual full speed mode for measurement movements, test in"
with the previous German translation:
"Zum Ausführen von Messbewegungen im Testen 100% ist zuvor ein Test im Einrichtbetrieb mit reduzierter"
has been changed to:
"Vor Messungen mit hoher Geschwindigkeit muss ein Test der Messbewegungen mit"

Softmove equalizing functionality (PDD3423)

The following improvements have been done regarding SoftMove equalizing:
1. A warning message has been added if the robot speed is lowered when using SoftMove equalizing. The
css performance will be influenced negatively if the tcp speed is set too low, approx. below 100mm/s.
In manual operation mode the warning message will be appear if speed is lower than 50% of the
programmed speed.
Auto mode - warning message if speed lower than 5% programmed speed.
2. If running spot instructions in simulated and no plates mode, the robot will move to the nominal position
and not activate SoftMove equalizing.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 48/90
Author, telephone

Anders Trillkott, +46 21 344863

Information/Corrections RW 5.15
Manual Full Speed
The new ISO 10218-1:2011, see reference [1] (replacing the older ISO 10218-1:2008) was given the status of
Swedish Standard in January 2012.
Chapter 5.7.4 now states that Manual High Speed is to be used for "Programme verification only".
To comply with the new standard, only the following set commands will be allowed:
Start program execution, including:
- Setting Run Mode to Single Cycle or Continuous
- Setting Speed to 0 – 100%
(The speed is always set to 3% when the Enable Device button is pressed)
Step program execution, including
- Setting of Step Mode to Step Into, Step Out, Step Over and Next Move Instruction
Stop program execution
Setting of program pointer (Debug view):
- PP to Main
- PP to Routine
- PP to Cursor
- Call Routine (Service Routine)
- Cancel Call Routine (Cancel Service Routine)
- Check program
Set of I/O signals
Simulation of I/O signals
Use of some System inputs
- All actions with Stop functionality
- MotorOff
- AckAutoMode (internal)
- SafeMoveConfirmStop (internal)
- LimitSpeed
Use of System outputs
Modify of Task Selection Panel settings
Restart of the system
Examples on functionality removed/blocked compared to RW5.14.03 in MANFS mode:
Load, Save or Edit of RAPID program
Modify of Program Data
Use of System input signals
- Except the ones specified above
Modify of CFG parameter settings
Backup/Restore
Jogging

Appearance of FP SDK controls: CheckBox, Led, Switch, RadioButton

The RadioButton control of the FlexPendant SDK now has the same forecolor when disabled as other
similar controls (e.g. Led, Switch, CheckBox, Button) of the FP SDK.

CapRefresh with optional arg. \RestartDist set in mm results in a restart dist. in meters
The value provided in the optional argument \RestartDist of CapRefresh was interpreted as a distance in m
instead of mm.
This is now corrected.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 49/90
Author, telephone

Anders Trillkott, +46 21 344863

An active tracklog can cause system failure
Until RobotWare 5.14.xx the following is valid regarding track log:
For "At Point Trackers"(APTr) like weldguides with activated tracklog, tracking information is written to disc
directly at each tracking measurement.
For "Look Ahead Trackers"(LATr) like optical trackers with activated tracklog, tracking information is saved
in an internal buffer. When that buffer is full, the content is flushed to disc.
Disc access during tracking may take too long time thus causing problems for task execution.
In 5.15 logging is changed for both APTr and LATr, which now have the same logging mechanism:
1. the internal buffer is a ring buffer
2. flushing to disc is done whenever tracking is stopped or ends
3. the internal buffer size has a default of 1000 track data entries, which can be changed using the new
optional argument "\LogSize" of the setup instructions "CapAPTrSetup" or "CapLATrSetup"
4. each time the internal buffer is flushed to disc, it overwrites the data from a previous flushing in the file.

External axis position not update for BullsEye

If a TCP check is made with a track mounted robot where the BullsEye is mounted on the track or on the
floor, it is now possible to run that check in another track position than zero. In previous releases this was
not possible.

Start of multimove robots from I/O

The update applies to multimove robots running projects created with PickMaster 5 or Palletizing Powerpac.
For single robots, the previous startup sequence can still be used.
The project startup sequence from I/O is modified to avoid startup failures.
Before: pmSystem_diLoadStartX was pulsed to load and start the PmProjMgr.mod for each motion task.
Now: PmSystem_diLoadX is pulsed to load PmProjMgr.mod for each motion task. pmSystem_diStart is then
pulsed to start the rapid execution for all motion tasks synchronously.
There are also corrections in PmProjMgr.mod.

Support of FTP servers

The FTP client that comes with the option "FTP client" supports the following FTP servers:
Serv-U, version 11.1.0.7
Distinct version 3.0
FileZilla, version 0.9.40
MS IIS
Linux Ubuntu version 9.10
HP-UX version 10.20

Unable to connect to Ethernet/IP internal slave

It is now possible to use multicast for the internal slave (841-1 EtherNet/IP m/s option) even if the slave is
located on the LAN port.

Safemove: in German language and Win 7 characters are not visible

The left menu in Safemove has been resized.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 50/90
Author, telephone

Anders Trillkott, +46 21 344863

Force change during weld
In this release it is possible to use different forces during the welding phase for servo guns.

For this functionality to work correctly, the force calibration procedure has been changed. Now also the gun
position is stored in the SG_PROCESS table when performing the force calibration, squeeze_pos1 to 10.
It is really important for the gun force accuracy and performance that this procedure is done properly.

Therefor the SWDEFINE module has been updated to this release and must be used for this functionality to
work.
A SWDEFINE module from an old backup will not have this function and will not store the positions of the
gun in the SG_PROCESS table.

It is also very important that the gun forces used during production later on is in the range of the force
calibration table in order to get an acceptable accuracy of the force.

For more info on this functionality see the Spot Option manual.

Backup limited to max path 100 bytes when using compress functions on the controller
Backup/restore can be done using archive and compress functionality on the controller. The max path (on
any file in the backup) is limited to 100 bytes when data shall be stored in an archive on the controller.

The internal data representation for sensor data is changed

In RW 5.15 as to be capable to handle larger values. It was changed from unsigned short to double. But the
values returned by the RAPID instructions included in the sensor interface (ReadVar, WriteVar, IVarValue,
ReadBlock, WriteBlock) are not changed. That means e.g. that IVarValue still returns only positive values in
the connected PERS variable.

Program pointer not possible to set in current routine (PDD8)

We have given two pop up messages to user why he will not able to set program pointer in current routine,
corresponding yes and no button.

RobotStudio: SafeMove configurator may cause wrong safety configuration (PDD57)

Problems with zone points not updated directly after manually entering values have been solved.
The right TCP value is now shown when pressing the "Get Current TCP pos" button.
In the graphical view of the zones (Safe/Monitor Tool Zone tab) the base frame object is now always
showing the actual robot baseframe independent of what is selected in the "Mechanical Unit" tab.

FlexPendant Explorer is disabled when controller goes to sysfail (PDD98)

When controller goes to sysfail FlexPendant Explorer is disabled.
This is now corrected.

Strange graphic behaviour on GTPU3 (PDD142)

When we have align robtargets in motion instruction, selection of instruction is not proper and some of
robtarget don’t have correct value.
This problem is now solved.

BACKUP/RESTORE window needs to be closed after making a backup (PDD168)

When you issue a BACKUP with certain backup-syspar-settings it is not possible to select a directory for a
subsequent RESTORE. Selection possibility is greyed out.
If you then close and re-open the BACKUP/RESTORE window the problem is gone (can be seen as
workaround).
Problem is also gone after controller Restart.
Problem only occurs, when the system parameter BACKUP_DEFAULT -disable_name_change is set to 1
so we have enabled button for this scenario.
It’s working now as per expectation.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 51/90
Author, telephone

Anders Trillkott, +46 21 344863

IRC5 start-up error with DN Lean and double master (PDD169)
It is now possible to use DeviceNet Lean with another DeviceNet Master.

System Crash when moving into position with wrong loaddata active (PDD176)
The problem when system crash when moving into position with too high loaddata active has now been
solved.

Certain entries in MMC.CFG not backwards compatible RW 5.14 -> RW 5.13 (PDD219)
Configuration files shall not be loaded in systems running an older RobotWare version than in which they
were created.

Error in RAPID example Application Manual Spot options revH (PDD253)

In this release the RAPID examples in the MeasureWearL chapter has been corrected.

MoveJ p1,v1000,z50,ref_tool1;
MeasureWearL p2,v1000,gun1\Reference,ref_tool1;
tool1 := ref_tool1;
! tool1 is then used during the production.
MoveL p1,v1000,z50,tool1;
Calibrate,gun1\TipChg;
Has been corrected to
Calibrate gun1\TipChg;

WeldGuide III Dwellbit error (PDD258)

In previous releases, it could happen that the error message 80001 - WeldGuide_III Fault”, "Tracking did not
start Check dwell bit IO Check voltage/current probe" appeared and tracking was restarted. This is now
corrected.

Smartac/search instruction (PDD282)

When searching a seam, the start is searched, and then the end is searched.
If the end search failed, the first search was cleared.
This is now corrected, so the first search is not cleared.

Gundata valid for all guns in the system (PDD356)

In this release a new data has been added in the default spot user code.
Module swdefusr.sys
MAX_GUN_FORCE {SW_NOF_GUNS}:= [5000,5000,5000,5000];
It is used to supervise the maximum allowed gun force in the spot instructions.
The new data replaces the old MAX_TIP_FORCE that was used before, now obsolete.
The reason for this change is that the max gun force is depending on the type of gun, and if several guns
are used in a system with tool changer, it is likely that the max gun force is different between these guns.

Store SID data for ESAB AristoMig500i on USB connected to FlexPendant (PDD446)
It is now possible to store a SID file from the AristoMig5000i FlexPendant application directly onto a USB
stick connected to the FlexPendant.

Possible to add more than 8 MTZ points in the Savemove configuration (PDD467)
The possibility to add more than 8 MTZ/STZ points than allowed has been corrected.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 52/90
Author, telephone

Anders Trillkott, +46 21 344863

RS5.14.02 VC does not start up (PDD490)
When using the Virtual Controller it is easy to get a long file path for the system.
Standard Windows path length limitation is 260, but the Virtual Controller cannot handle so long file paths.
One reason is that is shall be possible to have directories and files in the system directory. HOME, BACKUP
etc.

To be able to handle e.g. a backup, restrictions are introduced. When the system is started up and the file
path is too long, an Event Log Message will inform that the system path is too long and must get shorter.
The controller will enter System Failure state.

Wago IO module not connected any more after warm start (PDD540)
A Wago unit with the extra label (/000-004) for 750-306 is a special module manufactured for ABB robots.
There is known problems with these modules and the problem we got are very much similar. Most of the
people that have these special modules and have got problems have replaced them with an ordinary 750-
306.
Ways to try to get the problem solved:
One way is to try and update firmware which can only be made by WAGO. Contact Peter Top at Wago
Netherlands.
Another way is a workaround and is to run with POLLED connection instead of COS if that’s possible.
If the modules contain both analog and digital io nodes, grouping them together i.e. all analog on one
module and all digital on another might solve the problem.

Error: System.ArgumentNullException when loading station (PDD569)

Problem to read uas grant configuration file in unix file format has been corrected. (Work around for previous
releases is to change to dos file format)

IRB 120 Jerky Motion (PDD603)

The error geo interp. fails when switching singarea\wrist to quat. during cnv tracking has been solved.

Documentation - Error 50042 (PDD622)

Event log messages 50042 and 50426 have been improved to help during trouble shooting.

Intensive use of TriggLIOs causes the system to crash (PDD629)

The problem when using intensive TriggLIOs and the system goes to system failure has now been solved.
An event log will be reported. This describes how to increase the number of internal event objects used in
the instructions. To solve the problem increase the system parameter Number of Internal Event Objects in
topic Motion and type Motion Planner and restart the controller.

CAP Speed (PDD632)

The following limitations exist for CAP with use of flying start and flying end:
1. CapX instructions take capdata as RAPID data of type PERS. That means, that the RAPID programmer
has to be aware that changes in the content may have undesired effects on CapX instructions, that are
already executed in RAPID but whose movements have not been executed yet.
Due to flying start and flying end, i.e. zone points instead of fine points in both beginning and end of
sequences of CapX instructions, the program pointer may far ahead of the motion pointer.
The RAPID programmer has to consider this situation and maintain his/her own data stack for all PERS CAP
data that are different for different CapX instructions.

2. The capspeeddata components "fly_start" and "fly_end" were intended to cut cycle time, but they do not
work for "high" speed, because it takes too long time (0.1 - 0.5 s) to change the robot's speed.
That feature will be removed: it is not improving the performance of the robot. On the contrary, it causes
undesired speed variations.
Customers, which do not need to use weaving, should use TrigX instructions instead until the feature is
removed in a future release of RobotWare. Even if the same speed as main(speed) is used in fly_start and
fly_end, the speed variations may occur.).
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 53/90
Author, telephone

Anders Trillkott, +46 21 344863

Restart function after emergency stop in Dispense system (PDD687)
A correction has been done to improve execution of time before events at a restart.

Files for IO Bus not installed with error but bus works (PDD736)
Problem is now solved.

Lost unit function back to earlier behaviour (PDD758)

Behavior is back to earlier releases behavior:
When the PROFINET master have lost a unit it only reports lost unit.
When the PROFINET master de-activates a unit no event log is shown.

Incorrect window open identification in FP GUI (PDD779)

When we have 6 views open and in that 6 views there is one program editor view along with custom view
should be opened. When user try to launch existing program editor view from custom application, user
getting pop up that " It’s not possible to have more than 6 views open." but it should open existing program
editor.
This is now corrected.

It fails to read file information in system Home directory (PDD780)

When user tries to get content of Home directory, He is not able to get because the pattern he passed is not
good enough for this.
Now whatever pattern he passed till home directory, able to read whole content of home directory.

SafeMove wizard – Restart dialog not fully localized in French (PDD783)

When downloading a Safemove configuration the restart of the system sometimes fails due to different
reasons and will show a dialog telling about it, these texts have now been translated.

Arc ignition wgen supervision gun fault (PDD787)

Previously, if a gun fault was active at Arc process start, the Arc would ignite and then the gun supervision
fault would be reported.
Now, the gun fault is checked before the Arc is ignited.

SafeMove wizard – Problem in the report generation (PDD792)

When adding MAR, Monitoring Axis Range, sometimes the order of the Axis was not correct, this have now
been solved. Also solved this issue when saving the configuration to file.

Fronius IF - Wrong Value in Wirefeed Speed (PDD811)

The wire feed value shown by the analog display in the monitor view was not correct.
This is now corrected.

Fronius IF – Runtime data is not updated (PDD815)

The "Runtime Data" in the "Monitor" view of the FP application "Fronius TPS Integrated" was not updated
correctly and the WireFeed showed wrong values.
This is now corrected.

Fronius TPS Integrated not to be used with RCU (PDD816)

The option "Fronius TPS Integrated" cannot be used together with the Fronius RCU5000i.
If the RCU is connected before the FP application "Fronius TPS Integrated" is started, all functionality except
runtime data is disabled.
If the RCU is connected to the power source after the FP application "Fronius TPS Integrated" had
been started, functionality is not disabled, but all job related functionality will collide with the RCU
functionality and result in unpredictable data. The user is strongly recommended to restart the FP application
"Fronius TPS Integrated" after attaching an RCU to the power source.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 54/90
Author, telephone

Anders Trillkott, +46 21 344863

Ordering a backup from FPU creates empty backup folder when SysInput (PDD823)
When Disable backup parameter is high and user want to take a backup, in this situation backup is restricted
but problem is that any empty folder of backup is created. Which give impression to the user that backup is
created though it’s restricted.
So Now In this backup is totally restricted and no empty folder of backup is created.

Using Bosch WeldTimer Interface limits the number of I/O signals (PDD832)
In previous releases the Bosch WT interface could under some circumstances interfere with the I/O screen
on the TPU. The symptoms of this were that no signals could be viewed from the I/O screen.
This problem has been fixed in this release.

Ethernet/IP LAN Slave Communication with Rockwell PLC (PDD845)

It is now possible to connect to the EtherNet/IP internal slave (option 841-1) using multicast on the LAN port.

FP GUI – Not acceptable filter position in data list (PDD850)

Putting Active filter Label for user to showing text when he tries to filter data.

Corrections for mechanical gripper types (PDD875)

Corrections for fork, claw, clamp and other mechanical gripper types.
Following functionality has been corrected:
* Product height tuning.
* Height control of intermediate movements.
* Output from rapid instruction PmGetWaHeight.
Following is required to enable the corrections:
Palletizing PowerPac 5.15 (or later)
The rapid PmUtility module from Palletizing PowerPac 5.15 (or later).

Error handling not working (PDD880)

In previous releases there was a problem with an internal error handler in the ManSpot routine.
An illegal RAISE was done, and the problem was discovered when the ManSpot was run from a bg-task.
This problem has been fixed in this release.

Ethernet/IP Master Configuration - Beckoff bus coupler BK9105 (PDD885)

The problem is solved with the cfg parameter -EN_ConnectionPriority "SCHEDULE".
This note can also be found in the documentation.

Modify default values in SafeMove configurator (PDD909)

Two default values have been changed in the SafeMove configurator in RobotStudio.

1. The default value for "Tolerance" under "Operational Safety Range (OSR)" is 10,00 deg. The value have
been reduced to 5,00 deg.
2. The default value for "Maximum Axis Speed" under "Safe Axis Speed (SAS)" is 250,0 deg/s. The value
have been changed to 20,0 deg./s.

Uncorrect mechanical unit name that crashes the Virtual FlexPendant (PDD984)
A buffer overrun in RobotCommunication runtime is corrected. It's now possible to have mechanical
unit names of 32 bytes.

FcPress instruction gives error 50076 (PDD986)

If an FCPress1LStart instruction with argument ForceFrameRef:=FC_REFFRAME_PATH was the first force
control instruction after a warm start of the controller it would give error 50076 first time. This is now
corrected.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 55/90
Author, telephone

Anders Trillkott, +46 21 344863

StartMove instruction locked (PDD990)
If a stop occurs right after StartMove instruction has started to execute, the instruction can hang forever.
This behavior has been corrected in this release. The problem seems to occur only if the robot needs to do a
regain to path.

When LoadIdentify results in 0 kg mass (PDD991)

Following will be implemented in RW 5.15.01 documentation:
In some cases the LoadIdentify service routine for a robot with unknown mass identifies a 0 kg mass. In
these cases it is recommend to consider the statements below;
- Check that arm loads are correctly defined and redo the identification.
- If the load is very small compared with the maximum load for the Robot, a 0 kg mass can be OK.
- Find the weight of the load in some other way and perform a load identification with known mass to remove
the dependency on arm loads.

Not possible to restart robot after AS,GS or program stop (PDD990)

If the robot is stopped (with auto stop, general stop or program stop)
while waiting for correct tool input signal values (e.g. to indicate gripper opened),
there is a risk that the robot program gets stuck in the PmCheckToolEventInputSignals routine.
This problem has now been solved.

Error 20457 SC2 Changed Safety Conf. error when changing SafeMove conf. (PDD1006)
The saved or downloaded Safety configuration contained in some cases parameters that should not have
been added, these have now been removed.
These faulty parameters only occur in cases where you have a translation and/or rotation of the robot.

Backup Folder name beginning with space is not accessible anymore (PDD1061)
In previous versions, when creating backup, it was allowed to give a backup name that starts with a
whitespace character. This will lead to problem later.

From RW 5.15, it is not allowed to give a folder name that starts with an empty space at backup. An error
message will be returned and ask the user to give a new valid backup name.

System failure in UNDO (PDD1067)

The combination of IMeassageBox and system restart that could lead to system failure has been solved.

TAF errors (PDD1081)

When user is saving log file, we are showing progress bar to user so that he can understand that something
is happening in background.
So there was problem in maximum limit of progress bar which cause a problem to user.
Right now that issue is solved. They can save log file and progress bar will appear as it should come.

Instruction UIMessageBox restarts executing after Stop (PDD1092)

Message boxes from normal or trap execution levels will not be shown anymore when
executing service/user routines.

Performance issue for pallet patterns with many products (PDD1107)

A correction has been made that substantially improves the
the ability to handle pallet patterns with a large number of products.
The correction prevents motion supervision errors (50082) during operation.
Occurrences of corner path failures (50024) are minimized.

In previous releases, motion supervision error can occur during operation when using >600 products. It can
also occur for only 200 products when the pallet pattern is used with safe positions. System failures and lost
contact with the flex pendant may also occur.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 56/90
Author, telephone

Anders Trillkott, +46 21 344863

RCS 5.13 missing Events (PDD1138)
The occasional event missing problem with RCS has been solved.

heat_speed problem (PDD1186)

When starting the Arc welding process after scrape start with a very low process speed (<1 mm/s) during the
heat phase and a normal speed during the main welding phase, the weaving pattern was not correctly
applied for Robots with second generation TrueMove. This error has been corrected in RobotWare 5.15.
The minimum process speed allowed in the heat phase is 0.2 mm/s.
A lower speed may result in a movement without weaving.

Error in system builder while creating system from backup when using IRBT (PDD1202)
Improved incompatibility check for additional options.

Strange files on flash disk during installation of RW5.15 (PDD1203)

When creating Boot media in RobotStudio, there is a limitation which is the file path cannot be longer
than 150 characters.
Otherwise when installing the system from the Boot media, strange files and folders start with @@ can
be created in the controller.

Service Information System option added to IRB 6660-1.9/205 (PDD1261)

The SIS (Service Information System) functions have now been added to IRB 6660-1.9/205. This means
that supervision of Calendar Time etc. now should work.
If upgrading an existing system and restoring a backup some manual actions are needed. SIS will store
some values in the backup, to get these values back when restoring an old backup this has to be modified
manually. First take a new backup of the new system, or save the Motion configuration to file (MOC.cfg).
Copy the complete SIS_EXTERNAL section from the MOC.cfg file in the new backup to the old, and then
restore the old backup.
When upgrading an existing IRB 6660-1.9/205 also look at RSI "IRB 6660-1.9/205 to QuickMove 2" for more
information about how to modify the backup before you restore it.

Erroneous Message while editing System Parameter in RS (PDD1268)

It is not possible to edit the System Input signal Backup to have the on the backup from Robot Studio.
Argument 1 must be empty to set the Backup name to the . That is not possible from Robot Studio.

This can be made from the Flex Pendant:

- Set any value on Argument 1
- Press OK
- Empty the field for Argument 1
- Press OK
-> Now the backup will get the when the backup is made.

Extended keystring limitations (PDD1283)

The RAPID instruction IsSysId will not return the extended keystring. It will still return the old style serial
number format.
The backinf.txt file in backups will also only contain the old style serial number format.

NFS Client: max path (PDD1310)

In the NFS client the maximum length for a path is 99 characters.
Note that it is the whole path that has to be included in the 99 characters, not only the server path. For
example if ordering a backup towards an nfs mounted disk, all the directories created by backup,
RAPID/TASK1/SYSMOD/, has to be included in the max path.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 57/90
Author, telephone

Anders Trillkott, +46 21 344863

Unknown Publisher warning when installing RobotWare on Windows 7 (PDD1314)
In certain situations when running the RobotWare setup on a Windows 7 system with User Account Control
(UAC) enabled a warning would be displayed listing "ABB RobotWare.msi" as originating from an "Unknown
Publisher" despite the file having a valid digital signature.
The problem is related to Windows Installer changes in Windows 7 and the use of multiple languages in the
RobotWare setup and has now been corrected.

RS SafeMove does not retain STZ (PDD1378)

When having a Robot configuration that has a rotation which is other than around Z axis and then uploading
or loading a Safemove configuration file to make new changes, the values will be incorrect. Instead it is
recommended to create a new configuration and do the changes.

Dependency between ManServiceCalib and ManForceCalib not clear (PDD1447)

When run for the first time it will check if the gun is force calibrated, if not, a warning message will be
presented to the operator.
ManForceCalib will check the status of a Boolean parameter located in the swuser.sys module, force_calib
that will be set to true
when a ManForceCallib has been executed successfully.

If you know that the gun is already force calibrated the warning message in ManSericeCalib can be ignored.

IO preferences definition window (PDD1450)

In most common part we are showing safety signals as well as user signals.
So we are showing the signals according configuration file what we have for signals.
But as per requirement right now we are showing signals in alphabetical order.

Robot and Single now possible to select when changing Base Frame (DSE6212)
When changing the system parameters Base Frame Moved by (type Robot) and Base Frame Coordinated
(type Single) in topic Motion it is now possible to select an instance from Robots or Singles.

Active filter not displayed in IO units signals view (DSE9606)

When user select unit in Input and Output view. There is list of unit.After that if he wants to filter the unit, he
was not able to see current filter for units.
This is now corrected.

Servogun outside working area (DSE10259)

It should now be possible to run the servo gun to the limit assigned under the Upper/Lower Joint Bound in
the Motion configuration.

FPU Motion Supervision value not updating (DSE10407)

Making new event for changing cfg data and putting one menu item "Refresh" to get updated data.

50246 Linked motor error (DSE10411)

In order to get the same retardation of master and follower during emergency stop the follower will now be
updated with the same performance as the master.

SocketMess: Handle problem when copying socketdev with GetDataVal (DSE10421)

If copying a socketdev with GetDataVal and using the copied socketdev in RAPID sockets
instructions/functions, a problem could occur. If closing the original socketdev with SocketClose, but
continues using the copy of the original socketdev, you will get hanging RAPID sockets instructions.
In RW5.15 an update has been done to handle this problem. You will get an event log (number 41605) if
using a socketdev that has been copied when the original socketdev has been closed.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 58/90
Author, telephone

Anders Trillkott, +46 21 344863

Incorrect rounding of SMB values (DSE10423)
Earlier parameters stored on the SMB board are not the same as the calibration parameters written on the
sticker on the robot. There is difference between two in rounding figure value.
So a change is made in the way that both value should be same and user can not be confused with two
different values.

SafeMove: After Cyclic Brake Check fails (DSE10455)

Reworked English text in error message 20450.

Restart the controller when program is executing (DSE10502)

When user running some rapid program and in between if he was doing restart then getting some pop up,
which is really irritating to user and that pop up not giving any useful information.
This is now corrected.

DN Lean: No communication to units from other vendor (DSE10538)

It is now possible to communicate with the Lenze I/O Device using DeviceNet Lean

SafeMove: System failure state if revolution counter value is lost (DSE10582)

Corrections have been made to avoid system failure when the revolution counter is lost.

Tuning error at UINumTune and UIDNumTune in RobotStudio (DSE10598)

If the instructions UINumTune and UIDnumTune are used with decimal values (increments) the tuning
(increasing/decreasing) could result in an incorrect value on the virtual FlexPendant. This could occur if the
PC has a locale (regional setting) other than English specified.
This has been corrected.

Possible to use DNum in PM (DSE10639)

It is now possible to use DNum in Production Manager.

Weld Repair Functionality (DSE10758)

Implemented in RW 5.15. See PDD for details. Documentation will be introduced in RW 5.15.01

TFP-SDK application name in taskbar is wrong if app is started (DSE10790)

When user wants to launch a view, he can directly click on view icon and launch it. He can do same thing
through Rapid using UISHOW instruction.
But problem is that it’s not possible to launch view through UISHOW instruction.
This problem is now corrected.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 59/90
Author, telephone

Anders Trillkott, +46 21 344863

Information/Corrections RW 5.15.00.01
A system or folder on the controller cannot start with the character 'å'.
Due to a limitation in the VxWorks DOS file-system, a system or folder on the controller cannot start with the
character 'å' (lower-case). If a system starting with 'å' is downloaded to the controller, then the download will
fail.

Profinet SW Slave disconnects from Network/PLC (PDD1444)

Now the slave is in operation even when a lot of movement calculations are required.

Limit error when initiating a SpotL using software equalization (PDD1552)

A problem when using a robot with base frame and the Absolute Accuracy option together with a stationary
tool has now been corrected.

Program pointer on FP not consistent with program pointer in controller (PDD1640)

The changes done in 5.15 regarding the Modpos Dialog will be taken back in 5.15.00.01 as it is thought to
be confusing for the user.
Now It should not be possible to change the RAPID instruction by answering a dialogue box on the TPU
regarding WorkObject or Tool.

Motion Timeout with "Restart Distance" and "Scrape Optional On" selected (PDD1654)
If you had configured your RW Arc system with "Restart Distance" and "Scrape Optional On", it could
happen that you got the error 110012 - "Movement-start timeout".
This is now corrected.

SYSFAIL when having any IDrive error from the IPS in AbsAcc robot system (PDD1721)
Position messages are now disabled by default and only enabled during startup on systems with PIB safety
(IRC5P). This will in turn prevent stack overflow on IRC5 systems using AbsAcc when position messages
appear.

Consistency check problem of PERS data defined from user record type (PDD1770)
Replacing a module with an updated version is done in two steps, first is the original module is unloaded and
then the new updated module is loaded.

Unloading a module that contains a record definition that is referenced from another module will cause a
temporary record to be created to avoid syntax error during this replace operation.

The fact that the updated module contains a record which size has been altered is not discovered.

If creating a backup and performing a restore operation will cause all modules to be deleted (including all
temporary records) and when loading the updated module together with the referencing module, the error
will be discovered.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 60/90
Author, telephone

Anders Trillkott, +46 21 344863

Information/Corrections RW 5.15.01
Servo Tool Control instructions added in MMC MotionSetAdv picklist.
Servo Tool Control basic instructions has been added in the MMC MotionSetAdv picklist in this release.
And the old example code has been removed, no example code will be copied to the Home directory when
this option is installed.
The Spot Servo or Spot Servo Equalizing options should be selected and used if a more complete Servo
Tool functionality is required.

Restart distance may go wrong together with flying start

If you use capdata.restart_dist != 0 together with flying start, and a supervision error occurs, the RAPID
execution may get stuck.
The error will occur, if the restart distance is longer than the distance of the path between the last robtarget
before the first CAP instruction of the active CAP sequence and the position of the supervision error.

PM5: Rapid lockup when starting project via I/O

Correction to eliminate a previous risk of having a lockup in the rapid program when starting a project from
I/O.

PROFINET firmware
In case the PROFINET board doesn't have a firmware that is supported by the RobotWare it has to be
loaded with a supported version. Sometimes the user have to use Step7 in order to load the new version in
these cases the user can get the firmware from:

• On the PC where the RobotWare is installed: ...\ABB Industrial IT\Robotics

IT\Mediapool\\firmvare\DSQC678_xxxx.fwl
• On the IRC5 Controller: \hd0a\\firmvare\DSQC678_xxxx.fwl

DSQC678_xxxx the four x is the version of the firmware

Open up the subnet mask

From RW5.15.01, we have removed the restriction on subnet mask.
The controller now supports all valid subnet masks.

Toochanger RAPID limitation

This is applicable for RAPID code handling a Toolchanger setup.

When connecting a device in a tool changer setup. There is need a need for a delay of minimum 500
milliseconds between power on and IoEnable in the RAPID program.

The following example is applicable in RAPID.

...
IoDisable unit
Power off io 1
Power on io 2
Wait 500 ms
IoEnable unit
...

EtherNet/IP configuration data parameter

The configuration parameter EN_ConfigData can only be edited via the I/O configuration file and not from
the FlexPendant or RobotStudio.
If the EN_ConfigData is used and a backup is taken, the full data array will be visible (even the data that is
not used) in the configuration file (eio.cfg).
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 61/90
Author, telephone

Anders Trillkott, +46 21 344863

HotEdit, saving of position changes
The HotEdit functionality now works as designed.

Write Error during Restore

You can get the Event Log Error: "Operational Error 2136: Restore Error. Error during the restore step
Configuration. Write Error."
and not know why the restore didn´t succeed.
One thing to check is if there are any open files in the targets HOME directory. It is then not possible to
overwrite the files from the BACKUP´s HOME directory, and the restore operation will fail.
In 5.14 and earlier releases these files have been skipped without error message and the restore have
continued to its end.
All files are not obvious that they are open. When working with the Virtual Controller, it can be dlls or GIF
pictures. To solve the problem you can close the Virtual Flex Pendant, erase the files (or the whole HOME
directory) and then make a new restore.

Configuration problem with IRT 104

The motion configuration files for the IRT 104 track have now been corrected to make it possible to use the
track with other robots than IRB 2400 and IRB 4400.

Integrated Vision: Error 20630 when loading complex job from RAPID
After loading a job that has got a complex configuration for output to RAPID, and then setting the camera to
RunMode, the system may display the error message "20630 Camera job is not valid".
There is a limitation in how large and complex the configuration may be, but it is not possible to give a fixed
number.
As a guide value, three vision tools that each produce up to 10 parts with X, Y and Angle is generally OK.
More vision tools/item types may not work.

Integrated Vision: Communication error if default camera settings are not used
If the camera is not using default communication settings the result may be that RAPID instructions return
error code “Communication Error”. The safest method to get default settings is to open Integrated Vision in
RobotStudio and go to Connect->Add Sensor, right click and select “Show all sensors”. Select the device to
reset and click “Apply factory settings” in the lower right corner.

The most important settings to reset are:

Telnet port: 23
User: “admin”
Password: “”
They can be viewed under RobotStudio->Vision->Connect->Network settings.

Integrated Vision: DHCP enabled camera does not get address

It has been observed that cameras with DHCP enabled sometimes do not receive an address. The following
may be attempted to work around the problem:
-Warm start the controller
-Power cycle the camera and the warm start the controller. If the camera receives power from the controller
this is the same as power cycling the mains switch of the controller.
-Assign a static IP address 192.168.125.X to the camera using Connect->Add sensor or Connect->Network
settings in RobotStudio.

Integrated Vision - Requires camera firmware version 4.08

The minimum firmware version to be used with Integrated Vision is 4.08. If this version is not available for a
specific camera model, then use the newest version available shall be used.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 62/90
Author, telephone

Anders Trillkott, +46 21 344863

RobotWare installation problem: Invalid Drive (DSE10507)
In rare situations an error message displaying "Invalid Drive" may show up during the installation of
RobotWare, and it is not possible to continue the installation. This situation should only occur when there
has been a previous installation of RobotWare and there have been changes to the location of the
mediapool after that installation.

This error occurs because the drive letter of the hard drive may have been changed or an additional
(external) hard drive may have been removed. For the RobotWare installation this means that the drive letter
that the installation has been using previously for mediapool, no longer exists.

To be able to proceed with the installation of RobotWare, one option is to connect the disconnected hard
drive again. Another option is to search for the MediaPool and the MPPath registry keys in the registry and
change the value of these to a path/location that is accessible for the computer. This path will then be used
as the new mediapool.

Improved German/English SafeMove text (PDD27)

The proposed German text is replacing the original text in the SafeMove in 5.15.01.
A translation to English is replacing the original English text. The translations to the rest of our supported
languages are planned to future release.

Error message when ArcXStart instruction is forgotten. (PDD530)

If a weld seam is programmed without the ArcXStart instruction (ArcLStart or ArcCStart), there will now be
an error message (that has to be acknowledged) informing about the problem situation.
When the error message has been acknowledged, program execution in that task will be stopped.

Correct way of programming:

ArcLStart p1
Arc p2
ArcLEnd p3

Incorrect way of programming:

Arc p2
ArcLEnd p3

CAP speed at flying start and end not used any more (PDD632)
Up to RW 5.15.01 it was possible to specify different speed for flying start and flying end, i.e. approach and
depart speed for flying weld. This was ment to give the user the possibility to decrease cycle time, but it
resulted in problems to control the robot speed due to delays in motion control when a speed change is
requested.
Investigations showed, that the most efficient way, i.e. the fastest solution, is to leave speed planning to
motion control without interference from the application layer (CAP).
Therefore the values specified in capspeeddata for flying start and flying end are not used by the application
process any more - the values are ignored. The data entries remain present in capspeeddata though for
compatibility reasons.

System builder from backup (Spanish) (PDD764)

The System Builder has a resized label in "Create Backup from ..." dialog to fit the Spanish text.

Fronius IF - Wrong default value in Burnback Correction (PDD813)

When a new job was created using Fronius TPS Integrated, default values and limits where not correct.
This is now corrected.

Misleading error message for different system restrictions(PDD826)

New elog solution, where the error messages for system restrictions is no longer misleading.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 63/90
Author, telephone

Anders Trillkott, +46 21 344863

EN_INTERNAL_SLAVE mismatch (PDD847)
A new EDS file for 841-1 EtherNet/IP m/s option exits. It now specifies the correct default input and output
assembly sizes for communication with the Ethernet/IP adapter in the robot controller.
The Device Type is changed to '43 Generic Device (key able)' due to deprecated Device Type '0 Generic
Device (deprecated)'. Due to this, the new EDS file (version 1.1) is not compatible with older version of
RobotWare.

Weld Data Mismatch Each Other on RobotWare-Arc (PDD897)

In the ArcWare FlexPendant application the name and data for welddata and weavedata did not correspond.
The names in the combo box were sorted alphabetically but the data stored in another structure were not.
This has now been corrected.

Elog entry with ArcEquipment Classes (PDD1143)

When a configured ArcWare IO-signal (defined in PROC.cfg) is not also configured in EIO.cfg, an error
message is issued to the Elog.
This message is now presented at startup.

Scrape_start / ign_move_delay problem. (PDD1185)

The combination of scrape start, ignition move delay and the new interpolator (TrueMove 2nd generation)
could result in the error message 110012 (Movement start timeout).
This is corrected in RW 5.15.01.

EIO System Signal Backup Save not possible with unchanged parameter (PDD1215)
Earlier we have to change parameter to the opposite functionality and then change them back to default and
wanted function and then it is possible to save the settings.
Now user can save backup the way he wants to save it.

Erroneous Message while editing System Parameter in RS (PDD1268)

Changed behavior for the system parameter System Input for Action: Backup:
If the name of the backup should be the system name, Arg1 shall be set to the environment variable:
"SYSTEM:".
It will be possible to use old cfg-files ( e.g. in backups) where Arg1 is empty.
In the cfg-editor from the Flex Pendant or Robot Studio the letters: "SYSTEM:" shall be used.

Problem with Absolute Accuracy and path recorder (PDD1269)

An issue with the path recorder together with the Absolute Accuracy option has now been solved. The robot
was performing an incorrect reverse path recorder movement due to an incorrect Absolute Accuracy
adjustment.

Correction for extended Robot System Serial Numbers (PDD1283)

A correction has been done for the Rapid function IsSysId to make sure that extended Robot System Serial
Numbers are handled correctly.

RW Warm Start from FPU requires 2nd acknowledgement (PDD1300)

2nd acknowledgement from Warm start is removed.

Work object not connected (PDD1325)

A correction has been made to avoid a failure in connecting the next work object to be tracked by the robot.
The now corrected problem could occur after some time of normal operation for some system setups.

RobotWare - FlexPendant - Not possible to create new Routine……… (PDD1349)

When creating a new Routine inside Module on USB, It's throwing an exception.
This is now corrected.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 64/90
Author, telephone

Anders Trillkott, +46 21 344863

WG tracklog does not on VC if the directory name is to long (PDD1406)
The track log file specified in the configuration for weldguide or optical tracking is always created in the
HOME directory of the active robot system. On a controller the directory path length is limited to 80 and that
is sufficient. But on a virtual controller (VC) running on a PC this often is not sufficient. Sometimes the path
for the HOME directory of the active system is much longer than 80 characters.
Starting with RW 5.15.01 the path length for the track log file on a VC is extended to 512.

Dependency between ManServiceCalib and ManForceCalib not clear (PDD1447)

In this release the ManServiceCalib service routine has been changed.

When run for the first time it will check if the gun is force calibrated, if not, a warning message will be
presented to the operator.
ManForceCalib will check the status of a Boolean parameter located in the swuser.sys module, force_calib
that will be set to true
when a ManForceCallib has been executed successfully.

If you know that the gun is already force calibrated the warning message in ManSericeCalib can be ignored.

Hidden routines should not be shown while filtering routines (PDD1459)

We have one button called search routine on debug pallete in Program editor. When user click on it, then all
Routines were listed.
Hidden Routines are no longer part of that list.

Incorrect message after revolution counter update (PDD1476)

Reported problem corrected.

Strict sorting issue (PDD1514)

Correction for placing in containers with strict sorting.
In some usage scenarios there was a risk that a robot would place item number n+1 in a container although
item number n not had been placed.
This is now corrected.

SpotWare : call of UpdateSpotData has no effect when rewelding (PDD1543)

In this release a timing problem when updating spotdata parameters has been fixed if performed from the
UpdateSpotdata user hook.
It should now be possible to update data also in an error situation.

Program is not restarted after PE_EndPause when it was running before Saving mode was activated
(PDD1544)
The robot will pause it´s program cycle during a "ProfiEnergy pause" (request). If any program is running
when "PE start pause" is received.
When "PE end pause" is received, the program cycle will continue its cycle.

See manual for complete description.

Motors On does not work in Manual mode while PE mode is active (PDD1546)
If a robot is in ProfiEnergy pause mode (mode 0x1) it is possible to switch from auto to manual mode and do
commissioning, then switch back to auto and return to ProfiEnergy pause mode without any additional
actions taken by operator or PLC.
See manual for complete description.

Circle Uncertain Error with PathRecorder (PDD1547)

A correction has been done to avoid "50063 Circle uncertain" at start of the PathRecorder movement
backwards after that a weld restart with Restart Distance failed.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 65/90
Author, telephone

Anders Trillkott, +46 21 344863

SW Equalizing CalcJountT/AbsAcc (PDD1552)
In this release the problem with robots reaching work area limit has been fixed.
If a SpotL was run with software equalizing functionality activated and the robot was located on a track
motion, this problem could occur.

Inputs and Outputs viewer on FPU exposes safety signals in several selections (PDD1564)
Reported problem solved.

Wrong Czech flag (PDD1575)

In Control panel-> Language view we are showing language with country flag.
The problem was that some of country flags like Czech etc. were appearing with wrong language name.
This is now solved.

Drive Module 2 external axis configuration (PDD1581)

It is now possible to change the Drive Module system parameters for external axis in RobotStudio and on
the FlexPendant.
In topic Motion and type Joint parameter Use Drive Module and Drive Module Number have been added.

FlexpendantView in Robotstudio not working with RobotWare 5.15 (PDD1599)

The problem to get a Flexpendant View from RobotStudio is now corrected.

TuneMaster - AutoTune Function (PDD1656)

A problem when running the AutoTune tab in TuneMaster for external axis has now been corrected.

WeldGuide 3 problem med SS Tracking (PDD1698)

Problem is solved with upgrading firmware in the WGIII.
Upgrade with Firmware 2.9.
Upgrading from 2.5 to 2.9 works properly.
Singleside tracking tracks as it should.

WG3 Advanced firmware upgrade/downgrade issue. (PDD1704)

Upgrade with Firmware 2.9.
Upgrading from 2.5 to 2.9 works properly.

pnetfbc_show cause sysdmpts to tsksup….. (PDD1741)

The PROFINET show routine has been corrected.

IRB 660 extended working range and linear jog (PDD1768)

A problem when jogging or moving IRB 660 linear in the extended working range has now been corrected.

DispensePac option not working in RW5.15 (PDD1779)

PIB reset mechanism was not working during installation, if using pre-ICI (PIBfbc) communication,
potentionally causing I/O configuration to become unsynchronized. This has been corrected.

Not possible to enter devicenet address for io unit on IPS node via ICI bus (PDD1792)
Added the possibility to edit ICI path for ICI-based EIO units through RobotStudio and FlexPendant system
parameter editors.

Not possible to view unit bit values in io window (PDD1793)

When any unit is connected to ICI bus and if user tries to see the bit values of connected unit getting
unresolved reference error.
Now we have Greyout bitvalues if any unit is connected with ICI bus.

Profinet KW-software (PDD1794)

The PROFINET Configuration Tool v.1.1 supports GSDML files with version 2.25. The tool is now included
in RobotWare 5.15.01.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 66/90
Author, telephone

Anders Trillkott, +46 21 344863

ErrorMsg 20325, SafeMove safety supervision not activated (PDD1796)
It can happen that Warning message 20325 is shown after a warmstart in configurations where there is a
SafeMove unit mounted in one drive module and no unit in another drive module in the same system, e.g.
where positioners are used. This message can be ignored when it is shown for a drive module where there
is no SafeMove unit mounted.
Changed message text from SafeMove to PSC because it's also used for EPS

TCP speed corrected in Signal Analyzer (PDD1798)

There was a problem calculating the speed in a MultiMove system.
The TCP speed has been corrected in Signal Analyzer in RobotStudio.

RCS stops with error -49 (PDD1799)

A problem when the RCS-module stops with error -49 have now been corrected

Stationary Arc (PDD1808)

Stepwise execution forward / backwards in an Arcwelding program in independent mode with WeldRepair
activated,
could in previous release (RW5.15) lead to Stationary Arc (welding without motion).
This is now corrected.

Access to AliasIO signal lost after warm start (PDD1816)

With instruction AliasIO it is possible to define a signal with an alias name. The signal identifier according to
the program (the signal variable declared in RAPID) is updated after a power fail in most cases.
However, if using signals in RECORD data types, the descriptor in the signal is not updated after a power
fail. The consequences can be that wrong signals are set after a power fail.
A solution is to do new alias couplings in the PowerOn event routine.

Example:
MODULE my_module

RECORD xSignalDO
string Name;
bool Valid;
signaldo Signal;
ENDRECORD
VAR xSignalDO mysignal;

PROC main()
! Power fail restart will not refresh the Alias
! connection for mysignal.Signal
AliasIO config_do, mysignal.Signal;

Brake Release errors on IRB 52 (PDD1831)

Limits for brake release supervision have been changed to avoid problems for IRB 52 when using Soft
Servo.

50226 Motor reference error caused by TCP speed outputs (PDD1837)

A problem when the TCP speed output was used in synchronized Multi Move system has now been
corrected.

Controller goes to sysfail (PDD1845)

When using the Ethernet port option (905-1) for EtherNet/IP, be sure to turn of DHCP on all devices. In
some cases the controller can go to system failure when starting up the robotware if there are some DHCP
enabled devices connected to one of the Ethernet ports on the extra Ethernet card.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 67/90
Author, telephone

Anders Trillkott, +46 21 344863

Error Handling Problem (PDD1859)
In previous releases, it could happen in some situations that the built-in Weld Error Recovery could hang,
and it was not possible to recover from a weld error.
The error was likely to happen in a multimove setup with two or more welding robots combined with an
external axis, when welding with one robot and the external axes at the time (e.g. T_ROB1 & T_POS1
welding synchronized, T_ROB2 waiting on WaitSyncTask instruction) and a process error was active.
Then the Recovery menus would appear, but after the menu was acknowledged, then nothing would
happen, the error handling was hanging.
If welding with both robots and the external exes, then there was no problem.
This is now corrected.

System input Backup doesn't add date correctly (PDD1861)

If using argument 5 with value 'AddDate', the system should add a date to the name of the backup.
In 5.15 the date has been the date when the Robot Controller was warm started. This is solved in 5.15.01.
The date will be the date when the backup is made.

Strict order patch causes error 50052 (PDD1876)

Strict order patch causes error 50052 when using DeviceNet Lean has been corrected.

Error 40734 during executing SpotL instruction (PDD1883)

During executing SpotL instruction the robot stops with error 40734. This occurs because some texts
translated into Polish get too long.
The error has been solved in 5.15.01 by exchanging the Polish texts that were too long with English texts.

Pathrecorder with AbsAcc Robots and WeldRepair Functionality (PDD1885)

An error correction has been made for the PathRecorder when run on a Robot with AbsAcc. The problem
comes after a weld stop on a circle at the start of the PathRecorder move.
The error message was "AbsAcc circle begins with a frame change"

Saving system diagnostic may sometimes fail (PDD1889)

A correction has been implemented to solve the problem that it was not possible sometimes to create a
System Diagnostic.

Robot locked at the end of an arc seam in a 'partially' synchronous multimove environment (PDD1917)
In previous releases, it could happen that a Robot and a positioner, that welded synchronized, could get in a
locked situation at the ArcXEnd instruction.
From RW 5.15, there would also be an elog message that stated that the positioner task was not using
ArcMoveExtJ instructions, when it in fact was.
In earlier versions (RW<5.15), there was no error message, execution would just get locked at the ArcXEnd
instruction.
This locked situation is now corrected.

Undo Aborted SpotWare (PDD1930)

In RW5.15 there could sometimes be a problem with internal servo tool errors and hangings during
execution of SpotL instructions when using gun arm deflection compensation. This problem has been fixed
in this release.

XML files get corrupted during cold-start (I-Start) (PDD1932)

Fix possible corrupted XML log files at I-start on VC.
During I-start on VC, the XML log files (e.g. cfgtext_registry.xml) are sometimes not correctly generated
under [mySystem]/INTERNAL. This causes the system is started incorrectly and no display on Virtual
FlexPendant.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 68/90
Author, telephone

Anders Trillkott, +46 21 344863

Not possible to clear EthernetIP bus IP address from the system parameters when using LAN (PDD1938)
When user is giving some IP Address and after that it got erased means not giving any IP address which is
not accepting as valid IP.
This is now corrected.

FlexPendantperforms restart when backup path to long with NFS share (PDD1951)
Using NFS and make backup; if the backup path is greater than NFS max path, 99 bytes, might the
Flexpendat restart. This has been corrected in 5.15.01, an e-log is displayed and Flexpendant does not
restart.

Replicable restarts of FlexPendant (PDD1952)

During heavy traffic between a camera and the Integrated Vision FlexPendant application sometimes the
FlexPendant will reboot.
This occurs when manipulating the camera from the FlexPendant or Robot Studio (if the FlexPendant
application is running.)

Cannot overwrite a SafeMove file (PDD1992)

The psc_irobot_1.sxml file was write protected for safety reasons in RW5.15.0 due to there could be a
potential safety hazard when copying a SafeMove setup from one system to another.

WeldRepair GetProcErr() does not work correctly (PDD2010)

In RW 5.15, the GetProcErr function used together with WeldRepair, did not work as expected when used in
independent welding.
This is now corrected.

Step Backward Num Limit Errror Spotware (PDD2019)

In previous releases (RW5.15) there could be a problem when running spot instruction is step backward
mode. The error 41752 could occur if the program number I/O group was bigger than 23 bits.
This problem has been corrected in this release.

Misleading comment for different system restrictions (PDD2029)

The misleading comment in error message 20293, regarding system restrictions is now corrected.

Integrated vision: Always execute CamSetRunMode" after updating "Output to RAPID" configuration in
RobotStudio (PDD2057)
After updating the "Output to RAPID" configuration in RobotStudio it is important to run the RAPID
instruction "CamSetRunMode" because this forces the controller to reload the active result configuration. If
"CamSetRunMode" is not executed before the next image acquisition is performed, the results from the
camera may be interpreted wrongly.

Axis computer DSQC 601 firmware update failed (Revision 10) (PDD2077)
In this release it is possible to use Axis computer DSQC 601 rev.10.

Circle uncertain (50063) (PDD2080)

There is a weakness in the path recorder:
If you use a circle instruction where the path built by start point, circle point and end point is very close to a
straight line, the path recorder "replay" (PathRecMoveBwd or PathRecMoveFwd) will end up with the error
log message 50063 "Circle uncertain" .
There are two different work around possibilities:
1. Replace the circle instruction with a linear instruction. Keep in mind, that it is no problem to have a linear
instruction be synchronized with a circle instruction in an MMS coordinated movement.
2. If it is not possible to use a linear

Limited ModPos in production window causes motors off (PDD2118)

ModPos in production window (Synchronized ModPos) fails and causes motors off
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 69/90
Author, telephone

Anders Trillkott, +46 21 344863

Instruction CamGetResult delivers already used positions even if the vision-tool is disabled (PDD2066)
When disabling a vision tool during run-time results may still be produced from that vision tool even though
they should not. A possible workaround can be used in this situation:
-To assign the vision tools that are enabled/disabled during production to different item types.
That way it is possible to sort out only the results that originate from the last image acquisition.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 70/90
Author, telephone

Anders Trillkott, +46 21 344863

Information/Corrections RW 5.15.02
Integrated Vision: CamGetParameter \NumVal does not work with a negative value
The RAPID instruction CamGetParameter with optional argument NumVal has not worked for negative
values. It gave error code 41774.
That problem has now been solved.

Slow speed test for LoadIdentify of palletizer

A correction has been made to make it possible to run the slow speed test in the Service routine
LoadIdentify for palletizer robots IRB 260, IRB 460, IRB 660 and IRB 760.

ErrorMsg 20325, SafeMove safety supervision not activated (PDD1796)

Error message 20325 changed from Warning to Error type. New argument in this error message that points
out the Drive module that contains the non-activated EPS/SafeMove unit. This error message can only be
issued for a Drive module that has a physical EPS/SafeMove unit installed.

LoadID error during identification of load for IRBP-A750 (PDD2216)

In RW5.15.01 there was a problem with ManLoadIdentify in some cases. If it was required to jog the external
manipulator to a specific position, or if the external manipulator was of the type IRBP-B or -D this occurred,
you got execution error due to reference error in the RAPID code.

Drive unit firmware reflash failed (PDD2277)

The firmware for the units below have been upgraded in RobotWare:
DSQC676 - new revision is 73, This is a part inside the MDU 790A DSQC 663. (Control board - Not available as sparepart
or mentioned in any manual)
DSQC681 - new revision is 27, This is a part inside the MDU 790A DSQC 664. (Control board - Not available as sparepart
or mentioned in any manual)
The upgrade corrects errors in previous revision regarding downloading a corrupt firmware.
The firmware will be automatically upgraded when installing the new RobotWare.

Smart Positioner - Unable to return Axis 1 to Normal mode – Ref. Cal. Errors (PDD2296)
Independed joint for axis one for general kinematic robot is now working.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 71/90
Author, telephone

Anders Trillkott, +46 21 344863

Information/Corrections RW 5.15.03
TIG not supported by WG III
Weldguide III does not support TIG welding.

Tracking in blocked mode

If tracking is still enabled when the weld inhibit signal is set high and WeldGuide III is used, the firmware of
the weld guide needs to be updated to version 2.9 or later and the RobotWare to latest possible.

Sometimes the background task "tAWSys_1" (or another number) will stop when toggling the weld inhibit
signal and pressing start. This problem has been solved in RW 5.15.02 and later, it is recommended that the
RobotWare is updated.

39505 Error Message confusing

In Multirobot systems with more than one drive module, the error reporting for power fail in the drive module
did not work properly.

Power Fail in drive module power supply is supervised by the Axis computer board via some IO signals. If a
power fail occurred on one drive module, an elogs(39505) is generated not only for the drive module
suffered from power fail but also from all other drive modules in the system.

This did of course complicate fault tracing the troublesome drive module and its power supply system.

This is now corrected, only one elog is generated for the drive module suffering a power fail. The elog
contains the drive module number that has the problem.

Calibration lost
A problem when clearing the memory in the cabinet on a IRB 260/460/660/760 has now been corrected.

Not able to connect to the PROFINET internal slave

IRC5 PROFINET Controller (master) to IRC5 internal PROFINET device (slave) connection is not
supported. I.e. It is not possible to connect with an IRC5 PROFINET Controller (5.15.03), using option 888-
2, towards another IRC5 PROFINET Device using option 888-2/888-3.

No support of legacy mode (PDD52)

The PROFINT connection has to be of "RT Class 2". I.e. any PROFINET device must support "RT Class 2"
in order to establish IO exchange of data.

RS/SafeMove: Wrong calculation of STZ points in relation to..... (PDD1661)

When having selected "Define the points for ToolZones in relation to the world coordinates" and then in the
"Safe Tool Zone" page press the "Get Current TCP pos" button you will now get the right values of the TCP
position.

Circle Uncertain (2080)

An error correction has been made for the PathRecorder.
The problem come after a weld stop on a circle at the start of the PathRecorder move when the path built by
start point, circle point and end point was very close to a straight line.
The error message was 50063 "Circle uncertain".
Note that when use of SingArea\Wrist can the reorientation be different from the programmed on the circle
at the PathRecorder move.

Limited ModPos in production window causes motors off (PDD2118)

The problem with ModPos in production window (Synchronized ModPos) is now fixed.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 72/90
Author, telephone

Anders Trillkott, +46 21 344863

UAS grant - Not possible to update revolution counter (PDD2170)
The user is not able to update the revolution counters when he has UAS grant "Revolution counters update"
only and needs the grant Calibration as well which is wrong. This is corrected in 5.15.03.
Now the user can update the revolution counters with the UAS grant "Revolution counter update" only
and can do calibration related tasks like Fine calibration, Base Frame calibration, Update/clear SMB data
etc. with the grant "Calibration" only
and if he has to do both he has to have both the grants.

Problems after station change at welds without weldguide (PDD2253)

The problem occurred only if Production Monitoring is used together with tracking (Weldguide or Optical
Tracking).
If you track on one Station of an interchange positioner, but don't track on the other station, you got the error
message 50066 (Robot not active).
This is now corrected.

Problem in ArcWare (PDD2269)

There was an error in the mmc.cfg file for ArcWare, which caused the methods ArcLStart and ArcCStart to
have faulty parameter lists when programming in Robot Studio or on the FlexPendant.
This is now solved

Redo Search signal trigs an extra search after picking (PDD2283)

An extra search could occur directly after picking a slip sheet or pallet if the Redo Search signal was
triggered while the robot was picking.
This is now corrected. The new search will occur at the next approach to the feeder.

Safemove with hanging robot gives mismatch for STC when entering STZ page (PDD2284)
When downloading a Safemove configuration to the Robot and the Robot have a rotation in the Y-axis, for
example a hanging robot and then do a "Upload from controller" the Y-axis values would be all zeros and
the 2D view of the Safety zone looks corrupted, this have now been corrected.

IPathPos path storage does not store corrected path…. (PDD2299)

Reported problem solved.

Ethernet/IP LAN communication loss (PDD2349/PDD2350)

Removed the linkage between TCP and IO connections that made the EtherNet/IP Master drop IO
connections undesirable.

Scrape-start with ign_move_delay influences weaving (PDD2363)

A problem when using ign_move_delay on QuickMove/TrueMove 2nd Generation robots has been
corrected.

Automatic friction tuning fails in 4 robot multimove system (PDD2374)

When running automatic Friction Tuning (option Advanced Shape Tuning) on a MultiMove system, the
tuning would fail if not running on robot 1. That error has now been corrected.

Limitations for Multipass (PDD2379)

The MultiPass functionality supports up to 1000 targets when generating the replay seam of a recorded
path.
These targets are then played back with linear movements (ArcRepL.)
When recording seams with circular (ArcC) instructions the MultiPass replay method will substitute the
circular movements
to a lot of very short linear movements. There is a risk that the maximum 1000 targets is reached even
with a relatively short seam if using circular movements in a seam.
When using circular movements with MultiPass this risk should be observed.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 73/90
Author, telephone

Anders Trillkott, +46 21 344863

RobotWare ARC sets wrong IgnitionSchedule before PowerOn signal is sent to powersource (PDD2382)
At start/restart of a weld always the welding schedule specified for the main phase of the welding process
was set, even if an ignition phase or heat phase, which might have a different schedule, was specified.
This is now corrected.

FlexPendant crashes during restart after restore or loading parameter (PDD2387)

A fault in the ProfiNet driver caused a pagefault when having a ProfiNet unit configured with "Regain
Communication Reset" in the System Parameters but not configured in the binary configuration file. This is
now corrected.

Interrupts set up with IVarValue during a weld (PDD2392)

After restart of a weld sequence with active weldguide, TRAP routines connected with IVarValue (Sensor
Interface) were not executed.
This error is now corrected.

2 Channel Fault (PDD2406)

A problem that could result in system failure state has been corrected. In this state the robot loses CH1 and
is unable to recover until a warm start is performed.

SIS data lost when flash drive is replaced (PDD2559)

SIS data, including the duty time counter for the robot, is now automatically updated from SMB when the
flash drive is replaced in the main computer and a new system is installed.
Previously the data had to be manually updated from SMB, using the FlexPendant menu 'Calibration', 'SMB
Memory'.

Ethernet/IP Master Drops Connection every 35sec (PDD2592)

Reported problem solved.

Error 34263 Rectifier startup error (PDD2658)

A robustness improvement in the rectifier startup process has been made to Drive System 09 (high voltage).
This has been a particular issue when the power grid is of low quality/disturbance type.

Overshoot of axes on IRB 640 (PDD2669)

The Motion configuration for IRB 640 in the Stand Alone Controller option has now been corrected to make it
possible to run the robot with IRC5.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 74/90
Author, telephone

Anders Trillkott, +46 21 344863

SoftMove Equalising – issues (PDD2824)
1. The deflection movement and synchronization gun vs. the robot movement has been improved in this
release.
2. The stiffness parameter has been removed and replaced with a new data used to select the type of
softmove mode to be used.
Type 1, standard mode: Soft move is used during gun closing while the robot is set to soft state with the
force offset specified in the instruction. When gun has closed, softmove will be deactivated and gun arm
deflection compensation is done during weld from that new position.
Type 2, search mode: Soft move is activated and the force offset is increased in small steps and the
movement towards the plate is supervised, when the plates are "found" the gun will close.
This mode supervises too small or too big movements. Default tcp speed is 50mm/s when approaching the
target from the initial release movement. A too high speed will influence the "search" performance
negatively. The gun closing will only be done when the softmove "search" is ready, this is done to prevent
collision with the plates if they are located higher than nominal position. Rest of sequence same as in type 1.
3. The softmove tuning procedure has been improved, the force offset value should now be more reliable.
And this procedure can be run in automatic mode that was not allowed in previous releases.
All these changes has drawbacks regarding cycle time, the average cycle time per spot will be
approximately 200-700ms slower than without \SMEQ data in the SpotL instruction depending on the
settings.
New data in swdefusr.sys:
Softmove offset distance parameter has been added, smeq_offset_dist.
It shall be used as a search distance when running SpotL with softmove activated, i.e. \SMEQ.
Note! It is important that this distance is equal or larger than the expected tolerances of the object to be
welded, since it can be located lower than nominal position. Release distance can NOT be smaller or equal
to this value
The default value of this parameter is 3mm, but it can be set in the range of 1-5mm.
The positions shall be teached on the plates when using SoftMove Equalizing, and teach_dist shall not be
used.
A softmove approach speed has been added, approach_speed, default value 50mm/s
Note! A higher speed value will have a negative influence on the "search" performance, but lower the cycle
time.
approach_speed{4} := [50,50,50,50]; Range 20-200mm/s.
A softmove gun close speed has been added, gun_close_speed, default value 100mm/s
Note! A higher speed value can make the moving tip collide with the plates if using softmove type 1, but
lower the cycle time.
gun_close_speed{4} := [100,100,100,100]; Range 20-200mm/s.

Important information regarding limitations:

This function should not affect the plates more than 50N to 100N during the welding sequence, however
there are positions in the work area where it will be difficult to get good results, and the forces applied on
plates can be higher.
Not all positions or arm configurations are suitable for SoftMove Equalizing, if poor performance (e.g not
reaching the position or pressing to hard) is experienced try to reorient the robot axes or gun arm
configuration. Friction force may vary too much so that the force offset needed will be too high, this can
deform the plate.
The robot axis configuration will affect the performance and a gun configuration that allows axis 5 movement
gives better performance in general.
Larger robot types will have higher internal gear friction and inertia and that will affect the sensitivity, and it
will be harder to find a friction value good enough.
This functionality needs to tested and validated case by case to be sure about the performance since there
are limitations regarding robot axis configuration vs. softmove performance.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 75/90
Author, telephone

Anders Trillkott, +46 21 344863

Wrong gun force used (PDD2828)
In previous releases an incorrect gun force could be used when reading data from a weld timer when the
softw_equ boolean was set to true. The gun would close with no force on the electrodes, and if a close
position adjustment was configured, the weld could be performed in the air.
This is now corrected.

Zero gun force is used during weld (PDD2829)

A timing problem has been corrected in this release, sometimes an incorrect gun force could be used when
reading data from a weld timer. The gun would close with no force on the electrodes, and if a close position
adjustment was configured, the weld could be performed in the air.

Defect report spot servo equalizing - Interrupt during spot sequence (PDD2830)
In this release the problem with the "automatic reweld" after interrupting the gun opening after weld has
been fixed.

System Startup Errors (PDD2833)

It is now possible to have DHCP on devices connected to the extra Ethernet port (Ethernet port option 905-
1) when using EtherNet/IP and PROFINET.

Profinet generates Drive Error when I/O unit is lost and robot moves (PDD2866)
A problem have been corrected to avoid error 50430 (Underrun in the Axis computer) when an I/O unit is
lost and the system output TCPSpeed is used.

System Input / Output configuration (PDD2875)

When using the Virtual Controller and EtherNet/IP m/s it is necessary to set the bus to virtual since it is not
set to virtual automatically by the system. Either set the bus type for EtherNet/IP to 'virtual' OR set the
configured EtherNet/IP units to be connected to virtual bus instead of EtherNet/IP bus.

SIS with External axis (positioner) (PDD2883)

The service routine ServiceInfo now shows a message that no data is available for the mechanical unit if SIS
is not configured.

Mechanical Unit name cannot be edited in cfg editor (PDD2975)

A correction has been done to make it possible to change the Mechanical Unit name in Topic Motion in
RobotStudio. To edit names RobotStudio is needed since no names can be changed from the FlexPendant.

System Boot wrongly sets revolution counter OK (PDD3018)

A problem with revolution counter unintentionally being set to ok has been fixed. The problem occurred on
system with Absolute Accuracy option and unsynchronized revolution counters. When performing an I-start(
or new system installation restart) the counters were set to ok.

SafeMove/EPS configuration files missing after booting a system created from a backup (PDD3044)
When using the Create from Backup functionality in the System Builder on a backup from a RobotWare
version prior to 5.15.03 the system may fail to install properly if it contains the options "810-1 Electronic
Position Switches" or "810-2 SafeMove". The symptoms may include the event message "20269 - SC1
Motor Calibration Error" during startup.
The error occurs if the Create from Backup wizard is completed early with the Finish button as soon as it
becomes available. To work around this problem ensure that you complete all the dialogs of the wizard
before clicking Finish.

To correct an existing system that was created with this fault, run it through the Modify wizard of the System
Builder (you do not need to make any actual changes).
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 76/90
Author, telephone

Anders Trillkott, +46 21 344863

Information/Corrections RW 5.15.04
Not possible to Pendulum calibrate IRB 6700 Lean ID
In releases RobotWare 5.15.03, 5.15.04 it is not possible to calibrate the robot model IRB 6700 LeanID.
If you need to do a Pendulum Calibration, please contact your ABB service contact.

Pendulum Calibrate in a MultiMove system

In releases RobotWare 5.15.03 and 5.15.04 it is not possible to Pendulum Calibrate robot 2, 3 or 4 in a
MultiMove system (Option 604-1 and 604-2).
If you need to do a Pendulum Calibration, please contact your ABB service contact.

Backup problem. Module name containing å,ä,ö. (PDD3056)

In a control system of RobotWare 5.15 track, it is strongly recommended NOT using non-English letters in a
file name, e.g. 'nödstop.mod'.
Having non-English letters in a file name could cause incorrect copying of the file and this could lead to
problem when e.g. performing backup of the system.

Configure 8 servo welding guns for one robot (PDD2892)

8 servo welding guns cannot be configured for one robot by default. It's only supported to have six external
axes per Motion Task. A solution to this problem is to use a Multi Move system but only one robot. Put servo
gun 1-5 in Task 1 and gun 6-8 in Task 2. For all servo guns in Task 2 activate system parameter “Activate
from any motion task” in Topic "Motion" and Type "Mechanical Unit". If this is done, the units can be
activated from Task 1. For more information see documentation of this parameter in the System Parameters
manual.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 77/90
Author, telephone

Anders Trillkott, +46 21 344863

Information/Corrections RW 5.15.05
Pendulum Calibrate in a MultiMove system
It is now possible to Pendulum Calibrate all robots in a MultiMove system (Option 604-1 and 604-2).
It is now possible to calibrate 6700 LeanID
In releases RobotWare 5.15.03, 5.15.04 it is not possible to calibrate the robot model IRB 6700 LeanID.
This problem is now fixed in 5.15.05.

Motion supervision - IRB 120

Max friction for IRB 120 has been increased to avoid Motion Supervision error when starting a cold robot.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 78/90
Author, telephone

Anders Trillkott, +46 21 344863

Information/Corrections RW 5.15.06
Active tool will not be replaced by User dialog
Until 5.14 track the user is warned about wrong tool being active, from 5.15 track Yes and No buttons are
added to the dialog to replace the active tool in the Rapid instruction.
From 5.15.05 we will go back to the old behavior by implementing the following user dialog.
"Unable to modify the position..."
"Reason: Wrong tool selected"
"Change the tool in the instruction or set the desired tool in the jogging view."
"OK"

DispencePac: There is no timeout on telnet receive from PIB, could block other tasks.
An internal timeout has been added for the IpsCommand and IpsSetParam RAPID instructions. This is to
prevent a long controller lockup if the PIB is disconnected while one of these instructions is being used.

RobotReferenceInterface floods error log, when sending empty string (PDD1156)

No internal elog is printed for this type of error anymore.

Loading programs from FTP server doesn't work... (PDD2290)

It has not been possible to load a program from an FTP server if write/upload/delete permissions are turned
off.
It has now been solved, and it is now possible.

PROFINET Configurator not able to support DESTO CI501 and CI502 /Stotz (PDD2802,PDD2313)
With the PROFINET Configurator version 1.14.1 from KW Software it is possible to import ABB Stotz
GSDML files. E.g. for device types specified in:
GSDML-V2.1-ABB-S500-CI501-PNIO-20090407
GSDML-V2.1-ABB-S500-CI502-PNIO-20090407
GSDML-V2.25-ABB-S500-CI501-PNIO-20121120
GSDML-V2.25-ABB-S500-CI502-PNIO-20121120
GSDML-V2.25-ABB-S500-CI504-PNIO-20121120
GSDML-V2.25-ABB-S500-CI506-PNIO-20121120

Hanging SpotL (PDD2874)

In previous releases a robot could hang before weld for some seconds if running a multimove system with
several spot robots.
This problem has been corrected in this release.

UAS - 'Hide non accessible functions (PDD2885)

Earlier after configuring UAS and select "Hide non accessible functions" in the flexpendant there is no
different with ""Show message when trying to access protected functions".
Flexpendant shows the same functions in both cases.
This is now fixed.
But the only side effect from this change is as follows.
When the selection is changed from "Hide non accessible functions" to "Show message when trying to
access protected functions" the function Edit options are enabled for tool0/Wobj0/Payload0 but those edit
options are supposed to be grayed out. Though it is not harmful as the TPU shows a message when user
tries to perform the edit options.

Correction Filter in trackdata causes error message (PDD2891)

In RW 5.15.05 and earlier you could get the error "110181 - Track max incremental corr error" with
OpticalTracking Arc if you used a filter value in trackdata higher than "10". (Max value is 10).
In RW 5.15.06 the max. value is checked correctly and a value higher than 10 is automatically reduced to 10
internally.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 79/90
Author, telephone

Anders Trillkott, +46 21 344863

Configure 8 servo welding guns (PDD2892)
It is now possible to configure 8 servo welding guns in a Single Robot system without using a MultiMove
option.

AWC - Tracking did not start (PDD2908)

In previous RW versions, an unwanted errormessage could appear when welding and tracking with the
AWC HW.
The following error message appeared 10s after weld start.
80001 {"T_ROB1 WeldGuide Fault", "Tracking did not start", "Check dwell bit IO", "Check voltage/current
probe", ""}
This error message is intended for WGIII only.
This is now corrected.

Switch from language on FlexPendant does not work (PDD2962)

Earlier when you want to change from English to Spanish or the other way around on the FlexPendant the
restart command that the FlexPendant needs to be restarted to activate the new language was not coming.
This is now fixed.

StackOverflow in combination with WeldRepair (PDD2964)

Internal improvements in the ProgramServer has been made to minimize the risk of getting the error 40222
Limit Error, StackOverflow when running advanced errorhandling with WeldRepair active.

Spot singularity EQ Multimove (PDD3020)

In previous releases there could be a problem when calculating the gun deflection movement in MMS
systems when welding at the same time. This has been corrected in this release.

RW/SafeMove: Basic SM configuration files are missed.... (PDD3044)

When using "Create from Backup" functionality in the System Builder on a backup from a RobotWare
version prior to 5.15.03 the system may fail to install properly if it contains the options "810-1 Electronic
Position Switches" or "810-2 SafeMove". The symptoms may include the event message "20269 - SC1
Motor Calibration Error" during startup. The error occurs if the Create from Backup wizard is completed early
with the Finish button as soon as it becomes available.
This problem has been fixed. The system will be correctly created no matter when the user completes the
wizard.

ICC with two indexing conveyors (PDD3060)

Problem that occurred on an ICC system, using two indexing conveyors, and setting "Time before indexing
move" to 0.5s on both conveyors, is now solved.
The maximum value of that parameter "Time before indexing move" is also increased to 1.0s.

Stationary tool not working with IRB 360 (PDD3063)

Stationary tool not working with IRB 360 problem has been solved.

Correction of Chinese translation (PDD3084)

The Chinese translation of the term "trap" has been changed from 陷阱 to 中断, as 中断 is the term that
should be displayed on the FlexPendant in this context.

DeviceNet: Explicit messaging (PDD3087)

It is now possible to use class, instance and attribute ids > 127 in explicit message accesses on DeviceNet.

SpotServo (stop during weld can result in that the gun is closed) (PDD3090)
In some rare cases when the robot was stopped after weld, before the gun was opened, at restart the gun
could still be closed leading to (in the worst case) that the gun could break when the robot was moved away.
This unusual behavior has been corrected in this release.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 80/90
Author, telephone

Anders Trillkott, +46 21 344863

Cyclic Brake Check data for MU motors (PDD3101)
Regarding Cyclic brake check for MU motors:
Before running Cyclic brake check for ABB MU motors the parameter "Max static arm torque" needs to be
set in the configuration. (Configuration/Motion/Brake). The parameter should define the maximum static
torque (Nm on motor side) for the brake to hold when motor is in off state. The value is depending on
customer specific mechanical unit design and load data. Be sure that the torque is lower than the
mechanical brake capacity.

SafeMove and additional axis:

Basically the SafeMove option only supports ABB track motion units.
Non ABB track motion units, non ABB positioners, and other external axis may be supported by the
SafeMove option but this needs to be verified case by case.

Internal method for fine calibration from RAPID cause’s axis speed error for external axis (PDD3111)
It is now possible to do fine calibration in motors on state with external axes, without getting speed errors.

Not possible to copy folder to another one where a folder with same name exists (PDD3138)
It is now possible to copy a folder to a location where already a folder with same name exists.

Unable to restart Flow after setting redo search (PDD3144)

Correction for a problem occurring when ordering a redo search while
the robot was moving towards the search stack.

TPU message not translated for Modpos on jointtarget (PDD3147)

Earlier the message "Don't Show this dialog again" is not translated into other languages (from English) in
the Modpos dialog.
This is now fixed

Not possible to update rev. counter with UAS grant update rev. counter only (PDD3161)
In RW 5.15.04 it was not possible to update revolution counters with UAS grant "Revolution counter update"
only when Flexpendant is configured to "Hide non accessible functions". As a result the Calibration view
becomes empty.
This is now fixed. Now the Calibration view shows the mechanical units available in the system and it is
possible to update the revolution counters.

RobotWare installation failure (PDD3170)

The RobotWare installer previously contained an outdated version of Microsofts MSXML component that in
rare cases could cause installation failures on Windows Vista or later.
This has been corrected.
For older RW following workaround can be used:
To install RobotWare without the MSXML component you must copy the file "RobotWare_No_MSXML.mst"
use the following line:
setup.exe /V"TRANSFORMS=RobotWare_No_MSXML.mst"
Change setup.exe to the path of the setup file in case you are not running the mst-file from the same
directory.

System Ouput Motion Supervision Triggered can now handle Picker collisions (PDD3192)
System Ouput Motion Supervision Triggered can now handle 50444 (Motion supervision - loose arm
detection triggered)

Motion inaccuracies when moving via multiple repeating joystick deflections (PDD3250)
Using a work object with a not so good normalized user frame quaternion could cause problems during
jogging.
The handling of jogging with such work objects has been improved.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 81/90
Author, telephone

Anders Trillkott, +46 21 344863

Optical Tracking - Reference Error after Restart (PDD3298)
When using Optical Tracking on two robots running in synchronized mode, restarting the program after a
stop would result in error 50366, "Reference Error". This error has now been corrected.

PN generates Drive Error when IO unit is lost and robot moves (PDD3236 / PDD3260)
There was an error with handling unit state changes on PROFINET. This has been corrected so that
refma/motion is not affected and "Refma underrun" should not occur because of unit state changes.

TPU does not connect with the controller - ROBRSP ERROR (PDD3401)
A console printout has been removed to not slow down the controller.

Strange effects in MultiMove System incl. UNDO handler (PDD3427)

In this release the instructions MoveExtJ, SearchExtJ and ArcMoveExtJ has been blocked for use in an
UNDO handler.
Event log 41524 is triggered if any movement instruction is executed in an UNDO handler.
No movement instructions are allowed in UNDO handlers.
The UNDO handler should be used for cleaning up and resetting the system. For example, closing a file or
resetting of synchronized coordinated movements.
If a mechanical unit should be moved to a certain position at a program start or when calling a routine, this
must be done either in the START event routine or in the beginning of the routine, not in an UNDO handler.

Booting a FlexPicker ends up with mismatch between controller and SMB data (PDD3456)
When performing an I-start of an IRB360 installed controller, the system will start up uncalibrated since SMB
data is not automatically read into the controller. The workaround is to read the data from SMB to controller.
Use Flexpendant and navigate to: Calibration/SMB Memory/Update.../. Make the choice "Update cabinet
with SMB memory data".

Wrong CSS direction if stationary tool (PDD3474)

Problem 1.
In previous releases if a stationary tool was used together with SoftMove equalizing, the "soft" movement
would be done in the wrong direction, that is, away from the fixed tool tip and not against the tip.
This behavior has been corrected in this release, now the "soft" direction will be decided by the robhold data
in the used tooldata.
Example:
If robhold in the tooldata used is set to "true" the soft movement will be done in the positive z-direction away
from the fixed tip and towards the object to be welded. But if robhold is set to "false" the soft movement will
be done in the negative z-direction against the fixed tip on the stationary gun.

Problem 2.
If a tilted workobject with a zero position far out was used, the internal calculation would be incorrect. In this
release the workobject uframe transdata when running spot instructions is zeroed internally since it is not
relevant for the css direction, which only should be done in the tool z direction.

Wrong softmove tuning offset distance from plates (PDD3474)

In this release the softmove tuning offset distance has been corrected, it should be done from the release
distance.
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 82/90
Author, telephone

Anders Trillkott, +46 21 344863

Product Defect Document RW 5.15 PDD

Program pointer not possible to set in current routine PDD8
RobotStudio: SafeMove configurator may cause wrong safety configuration PDD57
FlexPendant Explorer is disabled when controller goes to sysfail PDD98
Strange graphic behaviour on GTPU3 PDD142
BACKUP/RESTORE window needs to be closed after making a backup before a restore PDD168
IRC5 startup error with DN Lean and double master PDD169
System Crash when moving into position with wrong loaddata active PDD176
Flying start/end: Possibility to have more than 2 concurrent CAP processes PDD182
Certain entries in MMC.CFG not backwards compatible RW 5.14 -> RW 5.13 PDD219
WeldGuide III Sensor Calibration PDD251
Error in RAPID example Application Manual Spot options revH PDD253
WeldGuide III Dwellbit error PDD258
Smartac/search instruction PDD282
Gundata valid for all guns in the system PDD356
Store SID data for ESAB AristoMig5000i on USB connected to the FlexPendant PDD446
Possible to add more than 8 MTZ points in the SafeMove configuration PDD467
RS5.14.02 VC does not start up PDD490
SoftMove Improvements for Spot PDD531
SafeMove: CBC necessary, if "Call Routine..." CBC and then "Cancel Call Rout. PDD534
Wago IO module not connected any more after warm start PDD540
SafeMove: CBC signals are set to 0 without any activation of limits, if a restore is executed. PDD541
Error: System.ArgumentNullException when loading station PDD569
IRB 120 Jerky Motion PDD603
Documentation - Error 50042 PDD622
Intensive use of TriggLIOs causes the system to crash PDD629
Restart function after emergency stop in Dispense system PDD687
Operation Set Complete signal PDD717
FCResetDampingTune and FCSetDampingTune clarification PDD732
Files for IO Bus not installed with error but bus works PDD736
Lost unit function back to earlier behaviour. PDD758
SafeMove wizard - Incorrect update of the resolver offsets PDD770
Incorrect window open identification in FP GUI PDD779
It fails to read file information in system Home directory PDD780
SafeMove wizard - Restart dialog not fully localized in French PDD783
Arc ignition when supervision gun fault PDD787
SafeMove wizard - Problem in the report generation PDD792
Fronius IF - Wrong Value in Wirefeed Speed PDD811
Fronius IF - Missing Message when deleting a Job PDD812
Fronius IF - Runtime Data is not updated PDD815
Opt. Para. to specify the nr. of used bits for the new functions BitNegDnum and BitLShDnum PDD818
LoadIdentify improvement when ModalPayLoadMode is 0 PDD820
Ordering a backup from FPU creates empty backup folder when SysInput PDD823
Using Bosch WeldTimer Interface limits the number of I/O signals PDD832
Ethernet/IP Lan Slave Communication with Rockwell PLC PDD845
IRC5 - FlexPendant GUI - Not acceptable filter position in data list PDD850
Corrections for mechanical gripper types PDD875
Error handling not working PDD880
Ethernet/IP Master Configuration - Beckoff bus coupler BK9105 PDD885
110016 Unsafe flying-end PDD906
Improvement in Safemove PDD908
Modify default values in SafeMove configurator PDD909
Uncorrect mechanical unit name that crashes the Virtual FlexPendant PDD984
FcPress instruction gives error 50076 PDD986
StartMove instruction locked PDD990
When LoadIdentify results in 0 kg mass PDD991
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 83/90
Author, telephone

Anders Trillkott, +46 21 344863

Error 20457 SC2 Changed Safety Configuration error when changing SafeMove config PDD1006
Upgrading of PickMaster 5 systems PDD1023
Backup Fooldername beginning with space is not accessible anymore PDD1061
System failure in UNDO PDD1067
TAF errors PDD1081
Instruction UIMessageBox restarts executing after Stop PDD1092
Update motion supervision after system parameters change from RAPID PDD1098
Performance issue for pallet patterns with many products PDD1107
RCS 5.13 missing Events PDD1138
LTC: new parameter PDD1173
heat_speed problem PDD1186
Robot can get locked when changing thickness of the plates in a soft equalize system PDD1187
Error in system builder while creating system from backup when using IRBT PDD1202
Strange files on flash disk during installation of RW5.15 PDD1203
Service Information System option added to IRB 6660-1.9/205 PDD1261
NFS Client: max path PDD1310
Unknown Publisher warning when installing RobotWare on Windows 7 PDD1314
Robot and Single now possible to select when changing Base Frame DSE6212
Active filter not displayed in IO units signals view DSE9606
Servogun outside working area DSE10259
FPU Motion Supervision value not updating DSE10407
50246 Linked motor error DSE10411
Drift of the robot after AS stop with Fc Assembly DSE10414
SocketMessaging: Handle problem when copying socketdev with GetDataVal DSE10421
Incorrect rounding of SMB values DSE10423
Motors On State PM5 DSE10432
Restart the controller when program is executing DSE10502
DN Lean: No communication to units from other vendor DSE10538
SafeMove: System failure state if revolution counter value is lost DSE10582
Tuning error at UINumTune and UIDNumTune in RobotStudio DSE10598
Possible to change Collision detection only if option installed DSE10628
Possible to use DNum in PM DSE10639
Weld Repair Functionality DSE10758
TFP-SDK application name in taskbar is wrong if app is started DSE10790
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 84/90
Author, telephone

Anders Trillkott, +46 21 344863

Product Defect Document RW 5.15.00.01 PDD

Profinet SW Slave disconnects from Network/PLC PDD1444
Limit error when initiating a SpotL using software equalization PDD1552
Program pointer on Flexpendant not consistent with program pointer in controller PDD1640
Motion Timeout with "Restart Distance" and "Scrape Optional On" selected PDD1654
Sudden syntax error in program. PDD1658
SYSFAIL when having any IDrive error from the IPS in AbsAcc robot system PDD1721
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 85/90
Author, telephone

Anders Trillkott, +46 21 344863

Product Defect Document RW 5.15.01 PDD

RobotWare installation problem: Invalid Drive DSE10507
Improved German SafeMove text PDD27
Standard IO configurations for DN-lean in Mediapool\service\ioconfig PDD145
Error message when ArcXStart instruction is forgotten. PDD530
CAP speed at flying start and end not used any more PDD632
LAN Ethernet driver updated PDD677
System builder from backup (Spanish) PDD764
Fronius IF - Wrong default value in Burnback Correction PDD813
Misleading errormes. for diff. syst. Restrictions PDD826
EN_INTERNAL_SLAVE mismatch PDD847
Weld Data Mismatch Each Other on RobotWare-Arc PDD897
Elog entry with ArcEquipment Classes PDD1143
Scrape_start / ign_move_delay problem. PDD1185
EIO System Signal Backup Save not possible with unchanged parameter PDD1215
Erroneous Message while editing System Parameter in RS PDD1268
Problem with Absolute Accuracy and path recorder PDD1269
Correction for extended Robot System Serial Numbers PDD1283
RW Warm Start from FPU requires 2nd acknowledgement PDD1300
Work object not connected PDD1325
RobotWare - FlexPendant - Not possible to create new Routine in new Module….. PDD1349
WG tracklog does not on VC if the directory name is to long PDD1406
WeldRepair functionality - StdIOWelder in SemiAutomaticMode PDD1424
Tuning position and orientation of infeeders PDD1425
Hidden routines should not be shown while filtering routines PDd1459
If "Limit Speed" is used together with reduced running speed PDD1462
Incorrect message after revolution counter update PDD1476
Strict sorting issue PDD1514
Indication of Weave issues with IRB 4600 PDD1516
SpotWare : call of UpdateSpotData has no effect when rewelding PDD1543
Prog. is not restarted after PE_EndPause when it was run. before Saving mode was active. PDD1544
Motors On does not work in Manual mode while PE mode is active PDD1546
Circle Uncertain Error with PathRecorder PDD1547
Limitation of number of layers in Operation sets in Workarea PDD1553
Inputs and Outputs viewer on FPU exposes safety signals in several selections PDD1564
Wrong Czech flag PDD1575
Drive Module 2 external axis configuration PDD1581
FlexpendantView in Robotstudio not working with RobotWare 5.15 PDD1599
TPReadFK allowed in Manual Full Speed PDD1600
DSQC 350B config added in media pool PDD1603
Instruction by instruction execution doesn't weld PDD1613
TuneMaster - AutoTune Function PDD1656
WeldGuide 3 problem med SS Tracking PDD1698
WG3 Advanced firmware upgrade/downgrade issue. PDD1704
pnetfbc_show cause sysdmpts to tsksup……. PDD1741
IRB 660 extended working range and linear jog PDD1768
DispensePac option not working in RW5.15 PDD1779
Not possible to enter devicenet address for io unit on IPS node via ICI bus PDD1792
Not possible to view unit bit values in io window PDD1793
Profinet KW-software PDD1794
TCP speed corrected in Signal Analyzer PDD1798
RCS stops with error -49 PDD1799
Not able to take backup, it is saying XML file is missing PDD1802
Stationary Arc PDD1808
Acces to AliasIO signal lost after warm start PDD1816
50226 Motor reference error caused by TCP speed outputs PDD1837
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 86/90
Author, telephone

Anders Trillkott, +46 21 344863

Better error handling when reading a path file PDD1850
Error Handling Problem PDD1859
System input Backup doesn't add date correctly PDD1861
Strict order patch causes error 50052 PDD1876
Error 40734 during executing SpotL instruction PDD1883
Pathrecorder with AbsAcc Robots and WeldRepair Functionality PDD1885
System built on 64bit Windows OS cannot save system diagnostics PDD1889
Robot locked at the end of an arc seam in a 'partially' synchronous multimove environment PDD1917
Undo Aborted SpotWare PDD1930
XML files get corrupted during cold-start (I-Start) PDD1932
Not possible to clear EthernetIP bus IP address from the system param. when using LAN PDD1938
FlexPendantperforms restart when backup path to long with NFS share PDD1951
WeldRepair GetProcErr() does not work correctly PDD2010
LoadID error during identification of load for IRBP-A750 PDD2216
Step Backward Num Limit Errror Spotware PDD2019
Misleading comment for different system restrictions PDD2029
Axis computer DSQC 601 firmware update failed (Revision 10) PDD2077
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 87/90
Author, telephone

Anders Trillkott, +46 21 344863

Product Defect Document RW 5.15.02 PDD

ErrorMsg 20325, SafeMove safety supervision not activated PDD1796
LoadId needs additional modifications PDD2188
LoadID error during identification of load for IRBP-A750 PDD2216
LoadId needs an improvement if it gets interrupted PDD2229
IRB 6660_1.90_205 noise issue PDD2263
Drive unit firmware reflash failed PDD2277
Smart Positioner - Unable to return Axis 1 to Normal mode - Reference Calculation Errors PDD2296
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 88/90
Author, telephone

Anders Trillkott, +46 21 344863

Product Defect Document RW 5.15.03 PDD

RS/SafeMove: Wrong calculation of STZ points in relation to..... PDD1661
Circle Uncertain PDD2080
Limited ModPos in production window causes motors off PDD2118
UAS grant - Not possible to update revolution counter PDD2170
Problems after station change at welds without weldguide PDD2253
Problem in ArcWare PDD2269
Redo Search signal trigs an extra search after picking PDD2283
Safemove with hanging robot gives mismatch for STC when entering STZ page PDD2284
IPathPos path storage does not store corrected path…… PDD2299
39505 Error Message confusing PDD2300
Wrong measurement channel IRBT x004 PDD2309
Ethernet/IP LAN communication loss PDD2349
Ethernt/IP Drops Communication PDD2350
Scrape-start with ign_move_delay influences weaving PDD2363
Automatic friction tuning fails in 4 robot multimove system PDD2374
Limitations for Multipass PDD2379
RobotWare ARC sets wrong IgnitionSchedule before PowerOn signal is sent to powersource PDD2382
FlexPendant crashes during restart after restore or loading parameter PDD2387
Interrupts set up with IVarValue during a weld PDD2392
Support for GSDML version 2.3 PDD2401
2 Channel Fault PDD2406
SIS data lost when flash drive is replaced PDD2559
Ethernet/IP Master Drops Connection every 35sec PDD2592
Support for IRB 2600 on IRBT 4004 Type A PDD2636
Support for IRB 760 on IRBT 7004 Type A PDD2637
Error 34263 Rectifier startup error PDD2658
Overshoot of axes on IRB 640 PDD2669
SoftMove Equalizing – issues PDD2824
SoftMove offsdist parameter PDD2827
Wrong gun force used PDD2829
Zero gun force is used during weld. PDD2829
Defect report spot servo equalizing - Interrupt during spot sequence PDD2830
System Startup Errors PDD2833
Profinet generates Drive Error when I/O unit is lost and robot moves PDD2866
SIS with External axis (positioner) PDD2883
Mechanical Unit name cannot be edited in cfg editor PDD2975
System Boot wrongly sets revolution counter OK PDD3018
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 89/90
Author, telephone

Anders Trillkott, +46 21 344863

Product Defect Document RW 5.15.04 PDD

Servo gun synchronization does not affect Safemove synchronization PDD1764
ABB Robotics
PRU Title Ref

SEROP Release Notes RW 5.15.06 RP5.15

Department Date Filename Page
Release Notes RW 5.15.06.doc
DMRO/QMPP 2014-05-14 90/90
Author, telephone

Anders Trillkott, +46 21 344863

Product Defect Document RW 5.15.06 PDD

Improved cycle time if the Arc preset time is used PDD1201
PROFINET Configurator unable to import Stotz gsdml file v2.25 PDD2313
PROFINET Configurator not able to support DESTO CI501 and CI502 PDD2802
Hanging SpotL PDD2874
UAS - 'Hide non accessible functions PDD2885
Correction Filter in trackdata causes error message PDD2891
Configure 8 servo welding guns PDD2892
AWC - Tracking did not start PDD2908
Switch from language on FlexPendant does not work PDD2962
StackOverflow in combination with WeldRepair PDD2964
Spot singularity EQ Multimove PDD3020
RW/SafeMove: Basic SM configuration files are missed.... PDD3044
ICC with two indexing conveyors PDD3060
Stationary tool not working with IRB 360 PDD3063
Correction of Chinese translation PDD3084
DeviceNet: Explicit messaging PDD3087
SpotServo (stop during weld can result in that the gun is closed) PDD3090
SpotServo Equalizing with SoftMove PDD3095
Internal method for fine calibration from RAPID causes axis speed error for external axis PDD3111
Not possible to copy folder to another one where a folder with same name exists PDD3138
Unable to restart Flow after setting redo search PDD3144
ProfiNet FSU for modules Port2 PDD3146
TPU message not translated for Modpos on jointtarget PDD3147
Not possible to update rev. counter with UAS grant update rev. counter only PDD3161
RobotWare installation failure PDD3170
System Output Motion Supervision Triggered can now handle Picker collisions PDD3192
Weld Guide error PDD3230
Profinet master/slave SW issue - REFMA UNDERRUN PDD3236
Motion inaccuracies when moving via multiple repeating joystick deflections PDD3250
PN generates Drive Error when IO unit is lost and robot moves PDD3260
Optical Tracking - Reference Error after Restart PDD3298
TPU does not connect with the controller - ROBRSP ERROR PDD3401
German texts for load identification have been changed PDD3422
Softmove equalizing functionality PDD3423
Strange effects in MultiMove System incl. UNDO handler PDD3427
Wrong CSS direction if stationary tool PDD3474