Professional Documents
Culture Documents
IRC5-Getting Started 3HAC021564-001, Rev D, en PDF
IRC5-Getting Started 3HAC021564-001, Rev D, en PDF
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Safety Note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1 Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
1.1 Procedure for single robot systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.2 Procedure for multi robot systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2 General. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
2.1 What you need to get the system started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.2 What is a FlexPendant? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.3 What is RobotStudioOnline? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.4 What is RobotWare? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.5 About the media pool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.6 When to use the FlexPendant and RobotStudio Online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.7 Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3
Table of Contents
4
Overview
Overview
Usage
This manual contains instructions for starting up the IRC5 robot controller for the very first
time after the physical installation has been completed.
Prerequisites
The reader should be familiar with...
• mechanically installing the robot hardware
• be trained in robot operation
The contents of the manual assumes all hardware (manipulator, controller and such) has been
installed correctly and connected to each other.
References
Reference Document ID
Product manual, procedures - IRC5 3HAC021313-001
Product manual, reference information - IRC5 3HAC021313-001
Operator's manual - IRC5 with FlexPendant 3HAC16590-1
Online
Operator's manual - RobotStudio 3HAC18236-1
Online
Getting started - IRC5 and RobotStudio 3HAC021564-001
Trouble shooting manual - IRC5 3HAC020738-001
Technical reference manual - System parameters 3HAC17076-1
Application Manual - MultiMove 3HAC021272-001
3HAC021564-001 Revision: D 5
Overview
Continued
Revisions
Revision Description
- First edition
A Information has been added on new SMB functionality and Absolute Accuracy
systems.
B Information about connecting controller to LAN removed. References to
Operator's Manual, IRC5 and Product Manual, IRC 5 introduced instead
C Contents restructured and condensed. Procedures rewritten. Scope of
information not changed.
D Calibration information for Absolute Accuracy systems has been changed.
The order of actions in chapter 1 has been changed.
6 3HAC021564-001 Revision: D
Safety Note
Safety Note
General
Please note that there is no information regarding safety aspects in this manual!
In an effort to keep this manual short, there is no information regarding:
• safe handling and operation of the equipment
• generic reference information
• detailed procedures
This information may be found in the Product Manuals or the Operator's Manuals delivered
with the robot system.
3HAC021564-001 Revision: D 7
Safety Note
8 3HAC021564-001 Revision: D
1 Procedures
1.1. Procedure for single robot systems
1 Procedures
1.1. Procedure for single robot systems
Description
This instruction is valid for IRC5 single robot systems.
xx0500001407
A single robot system contains either a controller with integrated Control and Drive Modules
or a Control Module to which one Drive Module is connected.
Procedure
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1 Procedures
1.1. Procedure for single robot systems
Continued
xx0400001042
Connection:
• A: FlexPendant socket
connector
4. If the system is delivered with fully functional
system software installed, proceed as detailed
in section Power up on page 15
If no functional system software has been
installed, please proceed below!
5. After connecting the FlexPendant, proceed with
installing RobotStudioOnline.
Install RobotStudioOnline on a PC
Step Action
1. Insert the Robot's software CD in the PC.
If a menu for the CD is opened automatically, continue with step 5
If no menu for the CD is opened, continue with step 2
2. On the Start menu, click Run .
3. In the Open box, type the drive letter for your CD drive followed by:
:\launch.exe
Example: If your CD drive has the letter D, then type: D:\launch.exe
4. Click OK.
5. Select language for the CD menu.
Continues on next page
10 3HAC021564-001 Revision: D
1 Procedures
1.1. Procedure for single robot systems
Continued
Step Action
6. On the CD menu, click Install.
7. On the installation menu, click RobotStudioOnline . This opens the Installation
wizard, which will guide you through the rest of the software installation
8. Follow the instructions in the Installation Wizard.
9. After installing RobotStudioOnline, proceed with obtaining a RobotStudioOnline
license key if required.
NOTE that for a try-out period of 30 days, RobotStudioOnline will work without
license key.
3HAC021564-001 Revision: D 11
1 Procedures
1.1. Procedure for single robot systems
Continued
xx0400001299
12 3HAC021564-001 Revision: D
1 Procedures
1.1. Procedure for single robot systems
Continued
3HAC021564-001 Revision: D 13
1 Procedures
1.1. Procedure for single robot systems
Continued
en0200000057
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1 Procedures
1.1. Procedure for single robot systems
Continued
Power up
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3HAC021564-001 Revision: D 15
1 Procedures
1.1. Procedure for single robot systems
Continued
16 3HAC021564-001 Revision: D
1 Procedures
1.1. Procedure for single robot systems
Continued
3HAC021564-001 Revision: D 17
1 Procedures
1.2. Procedure for multi robot systems
Description
This instruction is valid for IRC5 multi robot systems, i.e. systems using the MultiMove
option.
xx0400001042
A MultiMove robot system contains either an integrated Control and Drive Module or a
separate Control Module (as shown in the illustration above) to which a number of Drive
Modules (one for each robot being run by the system) have been connected. Up to four robots
may be operated by a MultiMove system.
NOTE!
All multi robot systems are delivered configured as single robot systems. In order to be fully
functional as multi robot systems, these systems must be re-configured.
How to perform this is detailed in the RobotStudioOnline Installation Manual.
18 3HAC021564-001 Revision: D
1 Procedures
1.2. Procedure for multi robot systems
Continued
Procedure
xx0400001141
Connections:
• A: Robot communication card
• B: Ethernet card
• C: Ethernet connection to drive
module #1 (connected on delivery)
• D: Ethernet connection to drive
module #2
• E: Ethernet connection to drive
module #3
• F: Ethernet connection to drive
module #4
3HAC021564-001 Revision: D 19
1 Procedures
1.2. Procedure for multi robot systems
Continued
xx0400001295
Connections:
• X7: safety signal cable to drive
module #1(connected on delivery)
• X8: safety signal cable to drive
module #2
• X14: safety signal cable to drive
module #3
• X17: safety signal cable to drive
module #4
4. Make sure any safety related Refer to the work station wiring diagram.
connections are made correctly.
5. Connect the FlexPendant to the
controller.
xx0400000729
Connection:
• A: FlexPendant socket connector
20 3HAC021564-001 Revision: D
1 Procedures
1.2. Procedure for multi robot systems
Continued
Install RobotStudioOnline on a PC
Step Action
1. Insert the Robot's software CD in the PC.
If a menu for the CD is opened automatically, continue with step 5
If no menu for the CD is opened, continue with step 2
2. On the Start menu, click Run
3. In the Open box, type the drive letter for your CD drive followed by:
:\launch.exe
Example: If your CD drive has the letter D, then type: D:\launch.exe
4. Click OK.
5. Select language for the CD menu.
6. On the CD menu, click Install.
7. On the installation menu, click RobotStudioOnline . This opens the Installation
wizard, which will guide you through the rest of the software installation
8. Follow the instructions in the Installation Wizard.
9. After installing RobotStudioOnline, proceed with obtaining a RobotStudioOnline
license key if required.
NOTE that for a try-out period of 30 days, RobotStudioOnline will work without
license key.
3HAC021564-001 Revision: D 21
1 Procedures
1.2. Procedure for multi robot systems
Continued
22 3HAC021564-001 Revision: D
1 Procedures
1.2. Procedure for multi robot systems
Continued
xx0400001299
3HAC021564-001 Revision: D 23
1 Procedures
1.2. Procedure for multi robot systems
Continued
24 3HAC021564-001 Revision: D
1 Procedures
1.2. Procedure for multi robot systems
Continued
en0200000057
3HAC021564-001 Revision: D 25
1 Procedures
1.2. Procedure for multi robot systems
Continued
Power up
en0400001017
xx0400000978
• A: Control Module
main switch
4. After switching the power on, proceed with loading
calibration data.
26 3HAC021564-001 Revision: D
1 Procedures
1.2. Procedure for multi robot systems
Continued
3HAC021564-001 Revision: D 27
1 Procedures
1.2. Procedure for multi robot systems
Continued
28 3HAC021564-001 Revision: D
2 General
2.1. What you need to get the system started
2 General
2.1. What you need to get the system started
Illustration
The illustration depicts, in a schematical way, the delivered parts, the software tools to install
them and the basic work flow.
en0400000766
3HAC021564-001 Revision: D 29
2 General
2.1. What you need to get the system started
Continued
Parts
30 3HAC021564-001 Revision: D
2 General
2.1. What you need to get the system started
Continued
3HAC021564-001 Revision: D 31
2 General
2.2. What is a FlexPendant?
Continued
Description of FlexPendant
The FlexPendant (occasionally called TPU, or teach pendant unit) is a device for handling
many of the functions involved with operating the robot system; running programs, jogging
the manipulator, producing and editing application programs, etc.
The FlexPendant consists of both hardware, such as buttons and joystick, and software. The
FlexPendant is connected to the controller module through an integrated cable and connector.
NOTE that specific functions may not be performed using the FlexPendant, but only through
RobotStudioOnline . How to perform these are specified in Operator's manual - RobotStudio
Online.
32 3HAC021564-001 Revision: D
2 General
2.2. What is a FlexPendant?
Continued
Main parts
These are the main parts on the FlexPendant.
en0300000586
A Connector
B Touch screen
C Emergency stop button
D Enabling device
E Joystick
F Hold-to-run buttons (not included in all systems)
3HAC021564-001 Revision: D 33
2 General
2.2. What is a FlexPendant?
Continued
Hardware buttons
There are a number of dedicated hardware buttons on the FlexPendant. Four of them are
programmable and four are pre-programmed.
en0300000587
34 3HAC021564-001 Revision: D
2 General
2.2. What is a FlexPendant?
Continued
en0300000588
A ABB menu
B Status bar
C ClientView
D Close button
E Task bar
F Quickset menu
3HAC021564-001 Revision: D 35
2 General
2.2. What is a FlexPendant?
Continued
ABB menu
The ABB menu contains programs, configurations, and applications. This is described in
section The ABB menu in Operator's manual - IRC5 with FlexPendant.
Status bar
The Status bar displays information about the system and messages. This is described in
section Status bar in Operator's manual - IRC5 with FlexPendant.
ClientView
The ClientView is the main area for displaying all available functions, this is where
applications are displayed and used.
Close button
Tapping the close button closes the presently open view or application.
Task bar
The Task bar displays all open views and applications.
Quickset menu
The Quickset menu contains shortcuts to jogging and settings. This is described in section
The Quickset menu in Operator's manual - IRC5 with FlexPendant.
36 3HAC021564-001 Revision: D
2 General
2.3. What is RobotStudioOnline?
Continued
en0400000913
Overview
RobotStudioOnline is a PC software with which you work with robots, as a complement to
working from the FlexPendant. RobotStudioOnline is optimized for text based programming
(suitable for programs with lot of logic or complex structure) and tasks related to managing
the robot's system.
RobotStudioOnline can be installed on an ordinary computer running Windows 2000 or later.
This computer can then be connected to one or several controllers by an Ethernet network,
or to one single controller by the controller's service port connection.
3HAC021564-001 Revision: D 37
2 General
2.4. What is RobotWare?
Continued
RobotStudioOnline functionality
The main entry to the functionality of RobotStudioOnline is a robot view explorer. From this
you select which robot to work with, in case you have several robots installed, and what parts
of the system you want to work with.
RobotStudioOnline contains:
• The System Builder for creating, installing and maintaining systems.
• A configuration editor for editing the system parameters of the running system.
• A program editor for online programming.
• An event recorder for recording and monitoring robot events.
• Tools for backing up and restoring systems.
• An administration tool for User Authorization.
• Other tools for viewing and handling controller and system properties.
Concept
RobotWare is a generic term for all software to be installed in the robot system designed to
operate the robot.
RobotWare is installed and stored in the Media Pool folder on a PC/server. The media pool
is described in section About the media pool on page 39.
RobotWare is delivered on a CD and this contains software for all available models, options
and such.
However, a RobotWare license key, required to access the software, is delivered:
• on a diskette
• as a character string printed on a piece of paper delivered with the controller cabinet.
When adding functionality at a later date, a new license key is required to access the
functions. The key is available from your local ABB representative.
38 3HAC021564-001 Revision: D
2 General
2.5. About the media pool
Overview
The media pool is a folder on your PC that contains the RobotWare software. It is from the
media pool you select programs and options when building systems.
Overview
For operating and managing the robot, you either use the FlexPendant or RobotStudioOnline.
The FlexPendant is optimized for handling robot motions and ordinary operation, and
RobotStudioOnline is optimized for configuration, programming and other tasks not related to
the daily operation.
To... Use...
Start the controller. The power switch on the controller's front panel .
Restart the controller. The FlexPendant, RobotStudio Online or the power
switch on the controller's front panel .
Shut down the controller. The power switch on the controller's front panel.
3HAC021564-001 Revision: D 39
2 General
2.6. When to use the FlexPendant and RobotStudio Online
Continued
To... Use...
Jog a robot. The FlexPendant
Start or stop a robot program. The FlexPendant
To... Use...
Acknowledge events. The FlexPendant.
View and save the controller's event logs. RobotStudio Online or
the FlexPendant.
Back up the controller's software to files on the PC or a server. RobotStudio Online or
the FlexPendant.
Back up the controller's software to files on the controller The FlexPendant.
Transfer files between the controller and network drives. RobotStudio Online or
the FlexPendant.
Program a robot
To... Use...
Create or edit robot programs RobotStudio Online to create the program's structure and
in a flexible way. This is most of the source code and the FlexPendant to store robot
suitable for complex programs positions and make final adjustments to the program.
with a lot of logic, I/O signals When programming, RobotStudioOnline provides the following
or action instructions. advantages:
• A text editor optimized for RAPID code, with auto-
text and tool-tip information about instructions and
parameters.
• Program check with program error marking.
• Close access to configuration and I/O editing.
40 3HAC021564-001 Revision: D
2 General
2.6. When to use the FlexPendant and RobotStudio Online
Continued
To... Use...
Edit the system parameters of the running RobotStudio Online or the FlexPendant
system.
Save the robot's system parameters as RobotStudio Online or the FlexPendant
configuration files.
Load system parameters from configuration RobotStudio Online or the FlexPendant
files to the running system.
Load calibration data. RobotStudio Online or the FlexPendant
To... Use...
Create or modify a system. RobotStudio Online together with RobotWare and a
valid RobotWare Key.
Install a system on a controller. RobotStudio Online
Install a system on a controller from The FlexPendant.
a USB memory.
3HAC021564-001 Revision: D 41
2 General
2.7. Product documentation, M2004
Continued
Calibration
To... Use...
Calibrate base frame etc. The FlexPendant
Calibrate tools, work objects etc. The FlexPendant
Related information
The table below specifies which manuals to read, when performing the various tasks referred
to:
General
The robot documentation may be divided into a number of categories. This listing is based on
the type of information contained within the documents, regardless of whether the products
are standard or optional. This means that any given delivery of robot products will not contain
all documents listed, only the ones pertaining to the equipment delivered.
However, all documents listed may be ordered from ABB. The documents listed are valid for
M2004 robot systems.
42 3HAC021564-001 Revision: D
2 General
2.7. Product documentation, M2004
Continued
Hardware manuals
All hardware, robots and controller cabinets, will be delivered with a Product manual which
is divided into two parts:
Product manual, procedures
• Safety information
• Installation and commissioning (descriptions of mechanical installation, electrical
connections and loading system software)
• Maintenance (descriptions of all required preventive maintenance procedures
including intervals)
• Repair (descriptions of all recommended repair procedures including spare parts)
• Additional procedures, if any (calibration, decommissioning)
Product manual, reference information
• Reference information (article numbers for documentation referred to in Product
manual, procedures, lists of tools, safety standards)
• Part list
• Foldouts or exploded views
• Circuit diagrams
RobotWare manuals
The following manuals describe the robot software in general and contain relevant reference
information:
• RAPID Overview: An overview of the RAPID programming language.
• RAPID reference manual part 1: Description of all RAPID instructions.
• RAPID reference manual part 2: Description of all RAPID functions and data types.
• Technical reference manual - System parameters: Description of system
parameters and configuration workflows.
3HAC021564-001 Revision: D 43
2 General
2.7. Product documentation, M2004
Continued
Application manuals
Specific applications (e.g. software or hardware options) are described in Application
manuals. An application manual can describe one or several applications.
An application manual generally contains information about:
• The purpose of the application (what it does and when it is useful)
• What is included (e.g. cables, I/O boards, RAPID instructions, system parameters)
• How to use the application
• Examples of how to use the application
Operator's manuals
This group of manuals is aimed at those having first hand operational contact with the robot,
i.e. production cell operators, programmers and trouble shooters. The group of manuals
include:
• Getting started - IRC5 and RobotStudio Online
• Operator's manual - IRC5 with FlexPendant
• Operator's manual - RobotStudio Online
• Trouble shooting manual for the controller and robot
44 3HAC021564-001 Revision: D
Index
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Index
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