Application manual

Mechanical Unit Manager
PC software IRC5 RobotWare 5.0

Application manual Mechanical Unit Manager
M2004 Document ID: 3HAC028797-001 Revision: A

© Copyright 2007 ABB. All rights reserved.

ABB assumes no responsibility for any errors that may appear in this manual. Contravention will be prosecuted. nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses. damages to persons or property. This manual and parts thereof must not be reproduced or copied without ABB's written permission. © Copyright 2007 ABB.The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. Except as may be expressly stated anywhere in this manual. Additional copies of this manual may be obtained from ABB at its then current charge. and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. All rights reserved. In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein. fitness for a specific purpose or the like. ABB AB Robotics Products SE-721 68 Västerås Sweden . © Copyright 2007 ABB All rights reserved.

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 1. . . .4 Add. . . . . . . . . . . . . . . . . . . 19 2. . . . . . . . . . . . . . . . . . . . . . . . . . 13 2. . . . . . . . . . . . . . . . . 9 1. . . . . . . . . . . . . . . . . . . . .2 User stories . . . . . . . . All rights reserved. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Index 25 © Copyright 2007 ABB. . . . . . . . . . M2004 . . 22 2. . . . . . . . . . . . . . . . . . . 3HAC028797-001 Revision: A 3 . . . . . . . . . . . . . . . .1 Welcome to Mechanical Unit Manager . . . . . . . . . . . . . . . . . . . . . . . . 16 2. . . 6 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6 Print . . . . . . . . . . . . . . . . . . . . 15 2. . . . . . . . . . . . . . . . . . . . . . . . . . .3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Table of Contents Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 2 Using Mechanical Unit Manager 13 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5 Edit system parameters . . . . . . . . . 5 Product documentation. . 8 1 Introduction 9 1. . . . . . . . . . . . . . . . . . . remove and modify a unit . . . . . . . . . . . . . . .2 Create. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 User interface . . . . . . . . . . . . . . . . . . . . . . . . . . .3 Import and export cfg files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . save and open projects . . . . . .

Table of Contents 4 3HAC028797-001 Revision: A © Copyright 2007 ABB. . All rights reserved.

RobotStudio Online Technical reference manual . Introduction 2.Additional axes and stand alone controller Document Id 3HAC18236-1 3HAC17076-1 3HAC026820-001 3HAC021395-001 Revisions Revision Description A First edition. References Reference Operating manual . Mechanical Unit Manager now handles track motion. Organization of chapters The manual is organized in the following chapters: Chapter 1.Overview Overview About this manual This manual contains instructions for daily operation of the software tool Mechanical Unit Manager. 3HAC028797-001 Revision: A 5 . either via RobotStudio Online or via cfg-files. Who should read this manual? This manual is intended for: • • • • Prerequisites The reader should be familiar with system parameters and be used to editing these. Name changed from IRC5 Unit Manager to Mechanical Unit Manager. Describes how to use Mechanical Unit Manager. All rights reserved. Several minor changes in the program and manual. © Copyright 2007 ABB.Servo gun tuning Application manual . in addition to servo guns. Using Mechanical Unit Manager Commissioning personnel Service engineers Production engineers Robot programmers Contents Short description of Mechanical Unit Manager and how to install it.System parameters Application manual . Usage This manual should be used when using Mechanical Unit Manager to configure an additional axis for the IRC5 Controller.

The documents listed are valid for M2004 robot systems. Product manuals All hardware. robots and controllers. System parameters: Description of system parameters and configuration workflows. functions and data types. An application manual can describe one or several applications. will be delivered with a Product manual that contains: • • • • • • • • • Safety information Installation and commissioning (descriptions of mechanical installation. Functions and Data types: Description and syntax for all RAPID instructions. electrical connections) Maintenance (descriptions of all required preventive maintenance procedures including intervals) Repair (descriptions of all recommended repair procedures including spare parts) Additional procedures. CD with PC software) How to use the application Examples of how to use the application Continues on next page 6 3HAC028797-001 Revision: A RAPID Overview: An overview of the RAPID programming language. All rights reserved. M2004 Product documentation. decommissioning) Reference information (article numbers for documentation referred to in Product manual. RAPID instructions. all documents listed may be ordered from ABB. safety standards) Part list Foldouts or exploded views Circuit diagrams Technical reference manuals The following manuals describe the robot software in general and contain relevant reference information: • • • Application manuals Specific applications (for example software or hardware options) are described in Application manuals. M2004 General The robot documentation is divided into a number of categories. procedures. This means that any given delivery of robot products will not contain all documents listed.Product documentation. However. RAPID Instructions. © Copyright 2007 ABB. . if any (calibration. system parameters. regardless of whether the products are standard or optional. An application manual generally contains information about: • • • • The purpose of the application (what it does and when it is useful) What is included (for example cables. lists of tools. This listing is based on the type of information contained within the documents. only the ones pertaining to the equipment delivered. I/O boards.

IRC5 for the controller and robot © Copyright 2007 ABB. programmers and trouble shooters.Product documentation. All rights reserved.IRC5 and RobotStudio Online IRC5 with FlexPendant RobotStudio Online Trouble shooting . The group of manuals includes: • • • • • Emergency safety information Getting started . M2004 Continued Operating manuals This group of manuals is aimed at those having first hand operational contact with the robot. 3HAC028797-001 Revision: A 7 . that is production cell operators.

it is important that all safety regulations are followed when entering safeguarded space.IRC5 with FlexPendant. Even if a pattern of movement is predicted. 8 3HAC028797-001 Revision: A © Copyright 2007 ABB.Safety Safety Safety of personnel A robot is heavy and extremely powerful regardless of its speed. All rights reserved. make sure you are familiar with the safety regulations described in Operating manual . Therefore. A pause or long stop in movement can be followed by a fast hazardous movement. a change in operation can be triggered by an external signal resulting in an unexpected movement. Safety regulations Before beginning work with the robot. .

3HAC028797-001 Revision: A 9 . In Mechanical Unit Manager all instances belonging to a servo gun or track motion are found under that unit in the structure.1 Introduction 1. the instances are arranged according to type. Welcome to Mechanical Unit Manager 1 Introduction 1. edit the configuration and then export the configuration and use it in an IRC5 controller. Intended use The intention is to import a system parameter configuration into Mechanical Unit Manager.1. e. all instances of Arm are listed under the type ARM. All rights reserved.g. © Copyright 2007 ABB.1. Welcome to Mechanical Unit Manager What is Mechanical Unit Manager? Mechanical Unit Manager is a stand alone software tool where system parameters for servo guns and track motion can be edited. The advantage is the focus on servo guns and track motion with a structure that gives a good overview of the system parameters. In a configuration file (cfg file).

A new delivery is based on the same type of guns they have already delivered.2. which will create a configuration file with IRC5 syntax. intended as inspiration and explanation of when Mechanical Unit Manager is useful. but targeting the IRC5 controller. . The user starts Mechanical Unit Manager and adds a servo gun to the project by selecting Add Unit and selecting the servo gun type. User story 3 A company has a configuration file for a servo gun they have delivered with the S4C+ controller.1 Introduction 1. User stories 1. and a lot of the tuning parameters can be reused within the same gun family. and then select Save to save the project with all the guns. There are other guns in the same gun family as the one that has just been tuned. The user tunes the new gun and changes some parameter values. the user exports the data to a configuration file that could be loaded again in the robot controller. The user imports a configuration file with S4C+ syntax to Mechanical Unit Manager. who wants to tune a gun in the lab. The user saves the project and then exports it. To create a configuration of a new gun in the same family the user opens the related project. However.2. All rights reserved. User story 2 The user has tuned one servo gun. User stories About the user stories These are examples of how users use Mechanical Unit Manager. uses Mechanical Unit Manager to edit all the system parameters during the tuning. User story 1 The user. and duplicates the existing gun. the behaviors of the guns are very similar. 10 3HAC028797-001 Revision: A © Copyright 2007 ABB. After all the steps in the tuning process are completed and some parameters have been changed. After that the user saves the project and starts to tune the gun.

All necessary templates are taken from RobotWare.exe NOTE! To run Mechanical Unit Manager. Installation 1. 3HAC028797-001 Revision: A 11 . run the file launch. All rights reserved. RobotWare of the same version must be installed on your computer. Installation Location of the installation file Mechanical Unit Manager is installed from the RobotWare CD by running the file: Tools\Mechanical Unit Manager\setup. To install RobotWare.1 Introduction 1.3.3. © Copyright 2007 ABB.exe on the RobotWare CD.

1 Introduction 1.3. . All rights reserved. Installation 12 3HAC028797-001 Revision: A © Copyright 2007 ABB.

C D Unit picture Project tree E Unit Continues on next page 3HAC028797-001 Revision: A 13 . A project acts as a file that can be saved and opened again. Text box where you can write unit properties for the selected unit.g.1. User interface 2 Using Mechanical Unit Manager 2. Represents a servo gun or track motion and contains unit properties and all the system parameters for that unit. which template the unit is created from). Some text is generated automatically (e. All rights reserved. User interface Unit properties view en0700000526 Part number A B © Copyright 2007 ABB. A project tree contains one or more units.2 Using Mechanical Unit Manager 2. The project can be exported as a whole or selected parts of the project can be exported. but any text can be added or edited.1. Term Unit view Unit properties window Description Tree structure for selecting unit and type. Picture indicating if it is a servo gun or track motion.

© Copyright 2007 ABB. A project acts as a file that can be saved and opened again. E.2 Using Mechanical Unit Manager 2. E F Unit Type G System parameter 14 3HAC028797-001 Revision: A .1. Represents a servo gun or track motion and contains all the system parameters for that unit. The project can be exported as a whole or selected parts of the project can be exported. A group of system parameters. List of system parameters for the selected type.g. Description of the selected type. A project tree contains one or more units. All rights reserved. the type ARM contains all system parameters that define an arm. A system parameter contains a value that defines a characteristic of the unit. User interface Continued System parameter view en0700000145 Part number A B C D Term unit view System parameter window Description window Project tree Description Tree structure for selecting unit and type. The type SINGLE_TYPE specifies if the unit is a servo gun or a track motion.

2. Click on the File menu and select Save Project or Save Project As. a project must be created before adding a unit. To create a new project: 1. Create. Click on the File menu and select Open Project. save and open projects 2. you can open it by: 1. All rights reserved. Save project To save a project with all its units: 1.2. 2. © Copyright 2007 ABB. Open project If you have saved a project earlier. Click on the File menu and select New Project. Browse to the project and click Open. 3HAC028797-001 Revision: A 15 .2. Create. Type a name for the project and click Save. save and open projects Create new project If there is no project open.2 Using Mechanical Unit Manager 2.

Unit Manager will use all parameters that have to do with servo guns and track motion. Import and export cfg files About cfg files A cfg file is a text file with configuration data. All rights reserved. . Illustration en0700000530 Continues on next page 16 3HAC028797-001 Revision: A © Copyright 2007 ABB.3. If a project is already open the program will add the imported units to the existing project. the robot controller using RobotStudio Online. select Import. 3. a new one will be created containing one or several new units according to the cfg file. In the File menu. If the cfg file contains more than one unit.2 Using Mechanical Unit Manager 2. a dialog will allow you to select which units to import. If no project is open. Browse and select the cfg file you wish to import. A cfg file can contain configuration data for several units. Exported files are of IRC5 format and can only be used by an IRC5 controller. Import and export cfg files 2. or installed to.3. How to import a cfg file When importing a cfg file. All other parameters will be ignored. A cfg file can also be generated from. Click Open. A cfg file for a servo gun or track motion can be delivered from the manufacturer of the unit. Action 1. Supported cfg formats Imported cfg files can be of both S4Cplus and IRC5 format. see Operating manual RobotStudio Online. 2.

Illustration Continues on next page 3HAC028797-001 Revision: A 17 . a dialog shows which types are missing and asks if you want to add the unit with default values for these types. see Change connection on page 21. The missing types must get the default values from a template.2 Using Mechanical Unit Manager 2. All rights reserved. Illustration en0700000527 5. select Export. © Copyright 2007 ABB. Import and export cfg files Continued Action 4. Either select the template file by clicking From template and select a template. en0700000528 How to export a cfg file Action 1. If any types are missing in the cfg file. or select the correct values under Joint and Measurement Channel. Click OK.3. For more information about connection settings. Click Yes to continue. In the File menu.

en0700000529 4. Click on the plus in front of the unit to see the types of that unit. Select which units and which types to export. The connection settings can be changed for all exported units by selecting unit in the field Unit name. see Change connection on page 21. Import and export cfg files Continued Action 2. Write a name and select a directory for the exported cfg file. Illustration en0700000202 3. All rights reserved. This does not affect the open project. For more information about connection settings. Click OK. Check the box in front of the types you wish to export. Check the box in front of the unit to select the whole unit. the connection settings from the project will be exported.3. If no changes are made. Click OK.2 Using Mechanical Unit Manager 2. © Copyright 2007 ABB. 18 3HAC028797-001 Revision: A . and click Save. A dialog allows you to change the connection settings for the units in the exported file.

containing default values for all parameters.4. All rights reserved. Continues on next page 3HAC028797-001 Revision: A 19 . Click on the Unit menu and select Duplicate Unit. A new unit is now created in the same project with the same parameter values as the original unit. Click on the Unit menu and select Remove Unit. connection settings and click OK. © Copyright 2007 ABB. Add.2 Using Mechanical Unit Manager 2. To duplicate a unit: 1. 2. Add. Select the unit in the unit view. Enter a name for the unit. Duplicate unit Duplication of a unit may be useful if you have already configured one unit and want to configure a similar one. Select the unit you want to duplicate in the unit view. 3. 3. select type of unit. 2. Confirm by clicking Yes. en0700000531 A standard servo gun or track motion is now added to the project. remove and modify a unit 2. Type a new name for the new unit and click OK. remove and modify a unit Add unit To add a new unit to the project: 1. Remove unit To remove a unit from the project: 1. 2. Click on the Unit menu and select Add Unit.4.

Select the unit in the unit view. Type the new name for the unit and click OK. All rights reserved. en0700000146 To rename a unit: 1. 3.4. © Copyright 2007 ABB. Continues on next page 20 3HAC028797-001 Revision: A . but the instances of all types under that unit will have the parameter Name set to the new name.2 Using Mechanical Unit Manager 2. Add. 2. remove and modify a unit Continued Rename unit Renaming a unit does not only change the name of the unit itself. Click on the Unit menu and select Rename Unit.

parameter Measurement Node. 3HAC028797-001 Revision: A 21 .System parameters. topic Motion. topic Motion. parameter Measurement Link. type Joint. topic Motion.4. 2. All rights reserved.System parameters. Select connection settings and click OK. parameter Logical Axis. en0700000528 Logical Axis Drive Module Measurement Link Board Position See Technical reference manual . See Technical reference manual .System parameters.2 Using Mechanical Unit Manager 2. See Technical reference manual . Select the unit in the unit view. © Copyright 2007 ABB. 3. Measurement Node See Technical reference manual . More information about these settings can also be found in Application manual Additional axes and stand alone controller. parameter Board Position.System parameters. The physical drive module that the unit is connected to. Add. type Joint. type Joint. remove and modify a unit Continued Change connection To change connection for a unit: 1. topic Motion. type Joint. Click on the Unit menu and select Change Connection.

5. Edit system parameters Descriptions of system parameters For information about the system parameters. Click on the value you wish to change. Edit system parameters 2. There you can find descriptions of most system parameters. etc. 2. All rights reserved. Type a new value 1. .2 Using Mechanical Unit Manager 2.5.System parameters. see Technical reference manual . en0700000147 Continues on next page 22 3HAC028797-001 Revision: A © Copyright 2007 ABB. default values. including allowed values. Type the new value. Select the type in the unit view. 3.

en0700000149 © Copyright 2007 ABB.5. Edit system parameters Continued Select value from drop down list Some parameters are used to select which instance of a type to use.2 Using Mechanical Unit Manager 2. All rights reserved. These values are set by selecting one of the instances of the corresponding type present in this project. 3HAC028797-001 Revision: A 23 . These parameters typically starts with "use_".

All rights reserved. 2. Print 2. Select the units you want to print and click OK.6. In the left column are the type names and in the right column are the system parameter names and their values: en0700000129 24 3HAC028797-001 Revision: A © Copyright 2007 ABB.2 Using Mechanical Unit Manager 2. Click on the File menu and select Print. .6. Unit properties and all system parameters for the selected units will be printed in a list. Print Print the content of a project To print the content of a project: 1.

Index A add unit 19 C cfg files 16 change connection 21 change values 22 configuration files 16 copy unit 19 D description window 14 duplicate unit 19 E edit system parameters 22 export cfg files 16 I import cfg files 16 installation 11 N new project 15 O open project 15 P print 24 project 15 project tree 13. 14 user interface 13 3HAC028797-001 Revision: A 25 . 19 unit picture 13 unit properties view 13 unit properties window 13 unit view 13. 14 R remove unit 19 rename unit 20 S safety 8 save project 15 system parameter 14. 14. All rights reserved. T type 14 U unit 13. 22 system parameter view 14 system parameter window 14 © Copyright 2007 ABB.

. All rights reserved.26 Index 3HAC028797-001 Revision: A © Copyright 2007 ABB.

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en . Revision A.ABB AB Robotics Products S-721 68 VÄSTERÅS SWEDEN Telephone: +46 (0) 21 344000 Telefax: +46 (0) 21 132592 3HAC028797-001.