ABB Automation Technology Products AB

Robotics
Created by: Approved by:

Alex Okhiria Göran Holmqvist

Distribution - To Dept. Datum - Date Filnamn Sida -
Page
ABB SolutiosBank IS 01-12-08 TSG_RS 12: External
Axis 1/1
Type of doc:
Software Support, Industrial Software Products
Trouble Shooting Guide doc.

TSG_RS 12: External Axis, RS 1.1

Product: RobotStudio

Version: 1.1

Subject: External Axis

Problem: How do I work with external Axis (i.e. track)?

Solution:
1. Start up RobotStudio
2. Import a robot (IRB2400_M98A-M2000.rlb)
3. Import an External Axis (T2002_4.rlb)
4. Under Components in the Object browser, drag and drop the robot on the track
5. Enter Yes
6. Right Click on IRB2400_M2000 in the object browser
7. Select Setup controller
8. Select Change controller
9. Select Go to Systempool
10.Select D or C: …\V40\robots
11.Select IRB2400_M2000 as the robot model
12.Select Set current robot
13.Make sure Warm start is not ticked
14.Close the window
15.Ok
16.Again, Right Click on IRB2400_M2000 in the object browser
17.Select Start Controller and wait for the controller to start
18.Select Setup controller
19.Select External Axis
20.Select External Axis Wizard
21.Tick on the Box before T2002
22.Select Add Parameters

Step 23 - 24 below is only necessary when VC 4.0 is involved.

For VC 3.2 down to VC 2.1, continue from step 25.

23.Select under Library>External Axis>Track.cfg > M2000>D7_DC4U_C1B1.cfg

24.Click on Open and wait for the controller to start
25.Select under Library>External Axis>Track.cfg > M98 >T2002_4.cfg
26.Click on Open and wait for the controller to start
27.Next
28.Next
29.Select Coordinated Motion
ABB Automation Technology Products AB
Robotics
Created by: Approved by:

Alex Okhiria Göran Holmqvist

Distribution - To Dept. Datum - Date Filnamn Sida -
Page
ABB SolutiosBank IS 01-12-08 TSG_RS 12: External
Axis 2/1
Type of doc:
Software Support, Industrial Software Products
Trouble Shooting Guide doc.
30.Select Advanced
31.Select Use Model definition
32.OK
33.Select Finish once and then wait for the controller to start.
34.Right click on IRB2400_M2000 in the object browser
35.Select Mechanism status
36.Move the slide bar (at the bottom of the open IRB2400 window) sideways to move the
robot along the track
37.Create targets as usual
38.Create Paths as usual
39.Synchronize to VC as usual
41.Run your program.