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Mechanical Engineering Faculty

Department of Mechatronics PROGRAMMING ROBOT MOTIONS
USING ROBOTSTUDIO

1. OVERVIEW
1.1 Introduction
Offline programming is the best way to maximize return on investment for robot systems.
ABB's simulation and offline programming software, RobotStudio, allows robot programming to
be done on a PC in the office without shutting down production, this allows you to perform tasks
such as training, programming, and optimization without disturbing the production.
The tool is built on the ABB Virtual Controller, an exact copy of the real software that runs
your robots in production. This allows very realistic simulations to be performed, using real robot
programs and configuration files identical to those used on the shop floor.
RobotStudio comes with a full package of features and add-ons allowing for perfect offline
simulation reducing risks, fastening the start-ups, shortening the change-overs and at the end
increasing the productivity.
The world’s most used offline programming tool for robotics comes with a holistic package of
features and add-ons for various applications.

1.2 Preparation
Students need to install following software before coming to class:
- RobotStudio 2021.2 (https://new.abb.com/products/robotics/robotstudio/downloads).
- Student can download supported tools for this software.
Note: This version is just free for 30 days.

1.3 Goals
 Have ability to create and control virtual robot to do basic steps.
 Have ability to jog the robot in Joint-space and Cartesian-space.
 Have ability to program the robot to follow the desired paths.

2. BASIC KNOWLEDGE
2.1 RobotStudio Features
Virtual Meetings: is a collaboration feature allowing to share the digital robot solutions in web
meetings. The participants are immersed in the virtual room, using a VR headset connected to
RobotStudio, where the RobotStudio station can be shared for making design reviews and sales
proposals without travelling.

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Figure 1: The RobotStudio GUI

Digital Twin: is a concept to monitor and optimize the automation solution without disturbing the
ongoing production. It enables real-time simulation of the production system , like a digital
shadow, allowing the users to try changes and do optimization in the virtual world without
affecting the production.

Virtual Commissioning: ABBs virtual commissioning solutions speed up commissioning by

simulating an exact replica of the production cell in RobotStudio so that all technical issues can be
solved in advance. RobotStudio allows to connect to PLCs and other external devices to fully
virtually test the complete logic and safety of the cell prior to installing the physical line.

Stop position simulation: is a feature that visualizes the optimal breaking distance. It simulated
the stop position of the robot with millisecond precision for easier use of SafeMove, reduced
footprint of cells and for faster and more effective virtual and physical commissioning.

Augmented Reality: By using Augmented Reality (AR) technology, you can visualize robot
solutions by overlaying the modelled solution over the real-life production environment as a
hologram. This is done by visualizing simulations created in RobotStudio through augmented
reality glasses or by using our app on a smart phone or tablet.

2.2 Features for both robot and virtual controllers

ScreenMaker for IRC5
ScreenMaker is a tool in RobotStudio for developing custom screens on the IRC5 controller. It is
used to create customized FlexPendant GUIs without the need to learn the Visual Studio
development environment and .NET programming.

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RAPID Editor
The integrated RAPID editor enables you to view and edit programs loaded into a controller, both
robot and virtual. The editor is useful for editing all robot tasks other than robot motion. With the
RAPID editor you can edit the RAPID code of the program modules and system modules. Each
module you open appears in an editor window of its own, where you can add or edit RAPID code.

System Builder
With the System Builder, you can create, build, modify and copy RobotWare 5 systems to run on
virtual and robot controllers. These systems can be converted to boot media and downloaded to a
robot controller.

I/O Configurator
I/O Configurator is used to manage configuration of various fieldbus devices. It is also required
for configuring generic and safety I/O devices.

Transfer
The transfer function allows easy transfer of offline-created RAPID programs to the real robot on
the shop floor. This means that you can transfer data from a virtual controller (which is offline) to
a robot controller (which is online). As part of the transfer function you can also compare the
RAPID data present in the virtual controller with that present in the robot controller and then select
which data to transfer. You can also use the transfer function to transfer data from a virtual
controller to another virtual controller.

FlexPendant Viewer
The FlexPendant Viewer takes a snapshot of the FlexPendant of the connectedphysical robot
controller and displays it in RobotStudio. The Viewer is updated at a user-defined interval.

VirtualRobot Technology
VirtualRobot Technology enables robot systems to run on a PC using the same software that drives
the real robots. It is possible to run several robots at the same time on your PC.

2.3 Basic steps in Robotstudio

2.3.1 Manage user interface using mouse
The table below shows how to navigate the graphics window using the mouse.

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2.3.2 Creating the station

The following steps define the workflow for building a new station.
1. Create an empty station.
2. Import a robot model.
3. Add positioners and track motion.
4. Create a virtual controller.
5. Import a tool and attach it to the robot.
6. Create a workobject.

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7. Define paths and targets to create a robot program graphically.
8. Synchronize to RAPID to create the RAPID program.

3. Experimental Content
3.1 Time: 5 hours for each group of students.
3.2 Content
Students do following exercises:

3.2.1 Exercise 1: Create a robot station and jog the robot.

Goal:
- Open solution with an empty station.
- Open solution from previous station.
- Import robot from ABB library.
- Creating robot system from layout.
- Jog the robot in Joint-space and Cartesian-space.

Guide: Tutorial Getting started 1: https://www.youtube.com/watch?v=XxBWydEtgWk

Tutorial Getting started 2: https://www.youtube.com/watch?v=CUXYfFio5Vc

3.2.2 Exercise 2: Program the robot to move on an arbitrary path.

Goal:
- Import tool.
- Create path.
- Set instruction template.
- Move along path: line, triangle, rectangle.

Guide: Tutorial Getting started 3: https://www.youtube.com/watch?v=7ULDTTC9nXI

3.2.3 Exercise 3: Program the robot to track the desired path on the desired object.
Goal:
- Create workobject.
- Create Targets.
- Add indtructions to new path.
- Auto configuration.
- Synchronize to RAPID.

Guide: Tutorial Getting started 4: https://www.youtube.com/watch?v=W8L7I6LvmhI

Tutorial Getting started 5: https://www.youtube.com/watch?v=BtoUe3_Z0IY

3.2.4 Exercise 4: Program the robot to track the circular path.

Goal:

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- Import the object from CAD software.
- Make the robot to track the circular path.

Guide:
- Create the cylinder object in the CAD software.
- Save this object as “.SAT” or “.STEP”.
- Import this object to RobotStudio.
- Make the robot follow the circular path.

Figure 2: The cylinder object

3.2.5 Exercise 5: Program the robot to make T-joint welding.

Figure 3: T-joint welding

Guide:
- Create the T-joint object in CAD.
- Import to RobotStudio.
- Program the robot to track the two welding linear line.

References
[1] Website ABB – RobotStudio
[2] Tutorial for RobotStudio: https://new.abb.com/products/robotics/robotstudio/tutorials

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4. Experimental Results (Note: Students should submit this paper to the Teacher after class)
Exercise 1:

Not work □ Not work perfectly □ Work perfectly □

Another Idea:

Exercise 2:

Not work □ Not work perfectly □ Work perfectly □

Another Idea:

Exercise 3:

Not work □ Not work perfectly □ Work perfectly □

Another Idea:

Exercise 4:

Not work □ Not work perfectly □ Work perfectly □

Another Idea:

Exercise 5:

Not work □ Not work perfectly □ Work perfectly □

Another Idea:

Name of Student:……….………….……..………Student ID:……...….………….Group:………

Name of Student:……….………….……..………Student ID:……...….………….Group:………
Name of Student:……….………….……..………Student ID:……...….………….Group:………
Name of Student:……….………….……..………Student ID:……...….………….Group:………
Name of Student:……….………….……..………Student ID:……...….………….Group:………

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