system parameters | technical reference manual | abb robotics

ABB Robotics

Technical reference manualSystem parameters

Trace back information:Workspace R12-2 version a10Checked in 2012-10-11Skribenta version 1184

Technical reference manualSystem parameters

RobotWare 5.15

Document ID: 3HAC17076-1Revision: Q

© Copyright 2004-2012 ABB. All rights reserved.

The information in this manual is subject to change without notice and should notbe construed as a commitment by ABB. ABB assumes no responsibility for any errorsthat may appear in this manual.Except as may be expressly stated anywhere in this manual, nothing herein shall beconstrued as any kind of guarantee or warranty by ABB for losses, damages topersons or property, fitness for a specific purpose or the like.In no event shall ABB be liable for incidental or consequential damages arising fromuse of this manual and products described herein.This manual and parts thereof must not be reproduced or copied without ABB'swritten permission.Additional copies of this manual may be obtained from ABB.The original language for this publication is English. Any other languages that aresupplied have been translated from English.

© Copyright 2004-2012 ABB. All rights reserved.ABB AB

Robotics ProductsSE-721 68 Västerås

Sweden

Table of contents19Overview of this manual ...................................................................................................................25Product documentation, M2004 .......................................................................................................

271 About system parameters271.1 About system parameters ...................................................................................291.2 Configuration files .............................................................................................301.3 File system ......................................................................................................

332 Topic Communication332.1 The Communication topic ...................................................................................342.2 Workflows ........................................................................................................342.2.1 How to define an application protocol .........................................................352.2.2 How to define a physical channel ...............................................................362.2.3 How to define a transmission protocol .........................................................372.3 Type Application Protocol ...................................................................................372.3.1 The Application Protocol type ....................................................................392.3.2 Name ....................................................................................................402.3.3 Type .....................................................................................................412.3.4 Transmission Protocol .............................................................................422.3.5 Server Address .......................................................................................432.3.6 Trusted .................................................................................................442.3.7 Local Path ..............................................................................................452.3.8 Server Path ............................................................................................462.3.9 Username ..............................................................................................472.3.10 Password ..............................................................................................482.3.11 User ID ..................................................................................................492.3.12 Group ID ................................................................................................502.3.13 Maximum File Size ..................................................................................512.3.14 Memory Partition Size ..............................................................................522.3.15 Show Device ..........................................................................................532.4 Type Physical Channel .......................................................................................532.4.1 The Physical Channel type ........................................................................542.4.2 Name ....................................................................................................552.4.3 Connector ..............................................................................................562.4.4 Baudrate ...............................................................................................572.4.5 Parity ....................................................................................................582.4.6 Number of Bits ........................................................................................592.4.7 Number of Stop Bits ................................................................................602.4.8 Duplex ..................................................................................................612.4.9 Flow Control ...........................................................................................622.5 Type Transmission Protocol ................................................................................622.5.1 The Transmission Protocol type .................................................................632.5.2 Name ....................................................................................................642.5.3 Type .....................................................................................................652.5.4 Physical Channel ....................................................................................662.5.5 Local Address ........................................................................................672.5.6 Remote Address .....................................................................................

693 Topic Controller693.1 The Controller topic ...........................................................................................703.2 Workflows ........................................................................................................703.2.1 How to activate hold-to-run control .............................................................713.2.2 How to define path return region ................................................................723.3 Type Auto Condition Reset .................................................................................723.3.1 The Auto Condition Reset type ..................................................................

3HAC17076-1 Revision: Q 5© Copyright 2004-2012 ABB. All rights reserved.

Table of contents

733.3.2 Name ....................................................................................................743.3.3 Reset ....................................................................................................753.4 Type Automatic Loading of Modules .....................................................................753.4.1 The Automatic Loading of Modules type ......................................................773.4.2 File .......................................................................................................783.4.3 Task .....................................................................................................793.4.4 Installed ................................................................................................803.4.5 Shared ..................................................................................................813.4.6 All Tasks ...............................................................................................823.4.7 All Motion Tasks .....................................................................................833.4.8 Hidden ..................................................................................................843.5 Type Event Routine ...........................................................................................843.5.1 The Event Routine type ............................................................................883.5.2 Routine .................................................................................................893.5.3 Event ....................................................................................................913.5.4 Sequence Number ...................................................................................923.5.5 Task .....................................................................................................933.5.6 All Tasks ...............................................................................................943.5.7 All Motion Tasks .....................................................................................953.6 Type Mechanical Unit Group ...............................................................................953.6.1 The Mechanical Unit Group type ................................................................963.6.2 Name ....................................................................................................973.6.3 Robot ....................................................................................................983.6.4 Mechanical Unit 1, 2, 3, 4, 5, 6 ...................................................................993.6.5 Use Motion Planner .................................................................................

1003.7 Type ModPos Settings .......................................................................................1003.7.1 The ModPos Settings type ........................................................................1013.7.2 Name ....................................................................................................1023.7.3 Limited ModPos ......................................................................................1033.7.4 Mode ....................................................................................................1053.7.5 Limit Trans .............................................................................................1063.7.6 Limit Rot ................................................................................................1073.7.7 Limit External Trans .................................................................................1083.7.8 Limit External Rot ....................................................................................1093.7.9 Change to LModPos in Auto ......................................................................1103.8 Type Operator Safety .........................................................................................1103.8.1 The Operator Safety type ..........................................................................1113.8.2 Function ................................................................................................1123.8.3 Active ...................................................................................................1133.9 Type Options ....................................................................................................1133.9.1 The Options type .....................................................................................1143.9.2 Name ....................................................................................................1153.9.3 Description ............................................................................................1163.10 Type Path Return Region ....................................................................................1163.10.1 The Path Return Region type .....................................................................1173.10.2 Mode ....................................................................................................1183.10.3 TCP Distance .........................................................................................1193.10.4 TCP Rotation ..........................................................................................1203.10.5 External Distance ....................................................................................1213.10.6 External Rotation ....................................................................................1223.11 Type Run Mode Settings ....................................................................................1223.11.1 The Run Mode Settings type .....................................................................1233.11.2 Name ....................................................................................................1243.11.3 Switch ...................................................................................................1253.12 Type Safety Run Chain .......................................................................................1253.12.1 The Safety Run Chain type ........................................................................1263.12.2 Function ................................................................................................1273.12.3 Active ...................................................................................................

6 3HAC17076-1 Revision: Q© Copyright 2004-2012 ABB. All rights reserved.

Table of contents

1283.13 Type System Misc .............................................................................................1283.13.1 The System Misc type ..............................................................................1293.13.2 Name ....................................................................................................1303.13.3 Action values ..........................................................................................1303.13.3.1 NoOfRetry ..................................................................................1313.13.3.2 SimulateMenu .............................................................................1323.13.3.3 ModalPayLoadMode ....................................................................1333.13.4 Value ....................................................................................................1343.14 Type Task ........................................................................................................1343.14.1 The Task type .........................................................................................1353.14.2 Task .....................................................................................................1363.14.3 Task in Foreground .................................................................................1373.14.4 Type .....................................................................................................1383.14.5 Check Unresolved References ...................................................................1393.14.6 Main Entry .............................................................................................1403.14.7 Trustlevel ..............................................................................................1413.14.8 Use Mechanical Unit Group .......................................................................1423.14.9 MotionTask ............................................................................................1433.14.10 Hidden ..................................................................................................1443.14.11 RMQ Type .............................................................................................1453.14.12 RMQ Max Message Size ...........................................................................1463.14.13 RMQ Max No Of Messages .......................................................................1473.14.14 RMQ Mode .............................................................................................

1494 Topic I/O1494.1 The I/O topic ....................................................................................................1504.2 Workflows ........................................................................................................1504.2.1 How to define I/O units .............................................................................1514.2.2 How to list available unit types ...................................................................1524.2.3 How to define the unit type ........................................................................1534.2.4 How to define input and output I/O signals ...................................................1554.2.5 How to define an I/O signal group ...............................................................1564.2.6 How to define system inputs .....................................................................1574.3 Type Access Level ............................................................................................1574.3.1 The Access Level type .............................................................................1594.3.2 Name ....................................................................................................1604.3.3 Rapid ....................................................................................................1614.3.4 Local Client in Manual Mode .....................................................................1624.3.5 Local Client in Auto Mode .........................................................................1634.3.6 Remote Client in Manual Mode ..................................................................1644.3.7 Remote Client in Auto Mode ......................................................................1654.4 Type Bus .........................................................................................................1654.4.1 The Bus type ..........................................................................................1674.4.2 Name ....................................................................................................1684.4.3 Type of Bus ............................................................................................1694.4.4 Connector ID ..........................................................................................1704.4.5 Label at Fieldbus Connector ......................................................................1714.4.6 Automatic Bus Restart .............................................................................1724.4.7 Unit Recovery Time .................................................................................1734.4.8 Path to Bus Configuration File ...................................................................1744.5 Type Cross Connection ......................................................................................1744.5.1 The Cross Connection type .......................................................................1764.5.2 Resultant ...............................................................................................1774.5.3 Actor 1 ..................................................................................................1784.5.4 Invert Actor 1, Invert Actor 2, Invert Actor 3, Invert Actor 4, Invert Actor 5 ..........1804.5.5 Operator 1, Operator 2, Operator 3, Operator 4 .............................................1814.5.6 Actor 2, Actor 3, Actor 4, Actor 5 ................................................................1824.6 Type Fieldbus Command ....................................................................................1824.6.1 The Fieldbus Command type .....................................................................


Table of contents

1834.6.2 Assigned to Unit .....................................................................................1844.6.3 Type of Fieldbus Command ......................................................................1854.6.4 Value ....................................................................................................1864.7 Type Fieldbus Command Type ............................................................................1864.7.1 The Fieldbus Command Type type .............................................................1874.7.2 Name ....................................................................................................1884.7.3 Type of Unit ...........................................................................................1894.7.4 Default Value ..........................................................................................1904.7.5 Download Order ......................................................................................1914.8 Type Signal ......................................................................................................1914.8.1 The Signal type .......................................................................................1954.8.2 Name ....................................................................................................1964.8.3 Type of Signal ........................................................................................1974.8.4 Assigned to Unit .....................................................................................1984.8.5 Signal Identification Label .........................................................................1994.8.6 Unit Mapping ..........................................................................................2014.8.7 Category ...............................................................................................2024.8.8 Access Level ..........................................................................................2034.8.9 Default Value ..........................................................................................2044.8.10 Store Signal Value at Power Fail ................................................................2054.8.11 Filter Time Passive ..................................................................................2064.8.12 Filter Time Active ....................................................................................2074.8.13 Invert Physical Value ...............................................................................2084.8.14 Analog Encoding Type .............................................................................2094.8.15 Maximum Logical Value ............................................................................2114.8.16 Maximum Physical Value ..........................................................................2124.8.17 Maximum Physical Value Limit ...................................................................2134.8.18 Maximum Bit Value ..................................................................................2144.8.19 Minimum Logical Value ............................................................................2154.8.20 Minimum Physical Value ...........................................................................2164.8.21 Minimum Physical Value Limit ...................................................................2174.8.22 Minimum Bit Value ..................................................................................2184.8.23 Signal Value at System Failure and Power Fail .............................................2194.9 Type System Input ............................................................................................2194.9.1 The System Input type .............................................................................2204.9.2 Signal Name ...........................................................................................2214.9.3 Action ...................................................................................................2224.9.4 Action Values .........................................................................................2224.9.4.1 Backup ......................................................................................2244.9.4.2 Disable Backup ...........................................................................2254.9.4.3 Interrupt .....................................................................................2274.9.4.4 Limit Speed ................................................................................2294.9.4.5 Load .........................................................................................2314.9.4.6 Load and Start ............................................................................2334.9.4.7 Motors Off ..................................................................................2344.9.4.8 Motors On ..................................................................................2364.9.4.9 Motors On and Start .....................................................................2374.9.4.10 Reset Emergency Stop .................................................................2394.9.4.11 Reset Execution Error Signal .........................................................2404.9.4.12 Start ..........................................................................................2424.9.4.13 Start at Main ...............................................................................2444.9.4.14 Stop ..........................................................................................2454.9.4.15 Quick Stop .................................................................................2464.9.4.16 Soft Stop ....................................................................................2474.9.4.17 Stop at End of Cycle ....................................................................2484.9.4.18 Stop at End of Instruction ..............................................................2494.9.4.19 System Restart ...........................................................................2504.9.4.20 SimMode ...................................................................................2514.9.5 Argument 1 ............................................................................................


Table of contents

2534.9.6 Argument 2 ............................................................................................2544.9.7 Argument 3 ............................................................................................2554.9.8 Argument 4 ............................................................................................2564.9.9 Argument 5 ............................................................................................2574.9.10 Argument 6 ............................................................................................2584.9.11 System Input Actions ...............................................................................2594.10 Type System Output ..........................................................................................2594.10.1 The System Output type ...........................................................................2604.10.2 Status ...................................................................................................2614.10.3 Signal ...................................................................................................2624.10.4 Status values ..........................................................................................2624.10.4.1 Auto On .....................................................................................2634.10.4.2 Backup Error ..............................................................................2644.10.4.3 Backup in progress ......................................................................2654.10.4.4 Cycle On ....................................................................................2664.10.4.5 Emergency Stop ..........................................................................2674.10.4.6 Execution Error ...........................................................................2684.10.4.7 Limit Speed ................................................................................2694.10.4.8 Mechanical Unit Active .................................................................2704.10.4.9 Mechanical Unit Not Moving ..........................................................2714.10.4.10 Motors Off ..................................................................................2724.10.4.11 Motors On ..................................................................................2734.10.4.12 Motors Off State ..........................................................................2744.10.4.13 Motors On State ..........................................................................2754.10.4.14 Motion Supervision On .................................................................2764.10.4.15 Motion Supervision Triggered ........................................................2774.10.4.16 Path Return Region Error ..............................................................2784.10.4.17 Power Fail Error ..........................................................................2794.10.4.18 Production Execution Error ...........................................................2804.10.4.19 Run Chain OK .............................................................................2814.10.4.20 Simulated I/O ..............................................................................2824.10.4.21 TaskExecuting ............................................................................2834.10.4.22 TCP Speed .................................................................................2844.10.4.23 TCP Speed Reference ..................................................................2854.10.4.24 SimMode ...................................................................................2864.10.5 Argument ..............................................................................................2874.10.6 Argument 2 ............................................................................................2884.11 Type Unit .........................................................................................................2884.11.1 The Unit type ..........................................................................................2904.11.2 Name ....................................................................................................2914.11.3 Type of Unit ...........................................................................................2924.11.4 Connected to Bus ....................................................................................2934.11.5 Unit Identification Label ............................................................................2944.11.6 Unit Trustlevel ........................................................................................2964.11.7 Unit Startup State ....................................................................................2974.11.8 Store Unit State at Power Fail ....................................................................2984.11.9 Regain Communication Reset ...................................................................2994.12 Type Unit Type .................................................................................................2994.12.1 The Unit Type type ..................................................................................3014.12.2 Name ....................................................................................................3024.12.3 Type of Bus ............................................................................................3034.12.4 Vendor Name .........................................................................................3044.12.5 Product Name ........................................................................................3054.12.6 Internal Slave .........................................................................................

3075 Topic Man-machine Communication3075.1 The Man-machine Communication topic ................................................................3085.2 Type Automatically Switch Jog Unit ......................................................................3085.2.1 The Automatically Switch Jog Unit type .......................................................


Table of contents

3095.2.2 Enable switch jog unit ..............................................................................3105.3 Type Backup Settings ........................................................................................3105.3.1 The Backup Settings type .........................................................................3115.3.2 Name ....................................................................................................3125.3.3 Path ......................................................................................................3135.3.4 Unique name ..........................................................................................3145.3.5 Disable name change ...............................................................................3155.4 Type Most Common Instruction ...........................................................................3155.4.1 The Most Common Instruction types ...........................................................3175.4.2 Name ....................................................................................................3185.4.3 Parameter Number ..................................................................................3195.4.4 Alternative Number ..................................................................................3205.4.5 Instruction Name .....................................................................................3215.4.6 Only for Motion Task ................................................................................3225.5 Type Most Common I/O Signal ............................................................................3225.5.1 The Most Common I/O Signal type .............................................................3235.5.2 Signal Name ...........................................................................................3245.5.3 Signal Type ............................................................................................3255.6 Type Production Permission ................................................................................3255.6.1 The Production Permission type ................................................................3265.6.2 Name ....................................................................................................3275.6.3 Permission .............................................................................................3285.7 Type Warning at Start ........................................................................................3285.7.1 The Warning at Start type .........................................................................3295.7.2 Cursor PP Diff Warning ............................................................................3305.7.3 Show PP to Cursor Button ........................................................................

3316 Topic Motion3316.1 The Motion topic ...............................................................................................3336.2 Workflows ........................................................................................................3336.2.1 How to define base frame .........................................................................3356.2.2 How to restrict the work area for articulated robots ........................................3366.2.3 How to restrict the work area for parallel arm robots ......................................3376.2.4 How to define arm check point ...................................................................3396.2.5 How to define arm loads ...........................................................................3416.2.6 How to optimize drive system parameters ....................................................3436.2.7 How to tune motion supervision .................................................................3446.2.8 How to define transmission gear ratio for independent joints ...........................3466.2.9 How to define external torque ....................................................................3486.2.10 How to define supervision level ..................................................................3496.3 Type Acceleration Data ......................................................................................3496.3.1 The Acceleration Data type .......................................................................3506.3.2 Name ....................................................................................................3516.3.3 Nominal Acceleration ...............................................................................3526.3.4 Nominal Deceleration ...............................................................................3536.3.5 Acceleration Derivate Ratio .......................................................................3546.3.6 Deceleration Derivate Ratio .......................................................................3556.4 Type Arm .........................................................................................................3556.4.1 The Arm type ..........................................................................................3566.4.2 Name ....................................................................................................3576.4.3 Independent Joint ...................................................................................3586.4.4 Upper Joint Bound ..................................................................................3596.4.5 Lower Joint Bound ..................................................................................3606.4.6 Independent Upper Joint Bound .................................................................3616.4.7 Independent Lower Joint Bound .................................................................3626.4.8 Calibration Position .................................................................................3636.4.9 Performance Quota .................................................................................3646.4.10 Jam Supervision Trim Factor .....................................................................3656.4.11 Load Supervision Trim Factor ....................................................................


Table of contents

3666.4.12 Speed Supervision Trim Factor ..................................................................3676.4.13 Position Supervision Trim Factor ...............................................................3686.4.14 External Const Torque .............................................................................3696.4.15 Use Arm Load ........................................................................................3706.4.16 External Proportional Torque .....................................................................3716.4.17 External Torque Zero Angle ......................................................................3726.4.18 Load Id Acceleration Ratio ........................................................................3736.4.19 Angle Acceleration Ratio ..........................................................................3746.4.20 Deactivate Cyclic Brake Check for axis ........................................................3756.5 Type Arm Check Point .......................................................................................3756.5.1 The Arm Check Point type ........................................................................3766.5.2 Name ....................................................................................................3776.5.3 Position x, y, z ........................................................................................3786.6 Type Arm Load .................................................................................................3786.6.1 The Arm Load type ..................................................................................3796.6.2 Name ....................................................................................................3806.6.3 Mass .....................................................................................................3816.6.4 Mass Center x, y, z ..................................................................................3826.6.5 Inertia x, y, z ...........................................................................................3836.7 Type Brake ......................................................................................................3836.7.1 The Brake type .......................................................................................3846.7.2 Name ....................................................................................................3856.7.3 Control Off Speed Limit ............................................................................3866.7.4 Control Off Delay ....................................................................................3876.7.5 Brake Control On Delay ............................................................................3886.7.6 Brake Control Min Delay ...........................................................................3896.7.7 Absolute Brake Torque .............................................................................3906.7.8 Brake Ramp Speed Limit ..........................................................................3916.7.9 Max Brake Time ......................................................................................3926.8 Type Control Parameters ....................................................................................3926.8.1 The Control Parameters type .....................................................................3936.8.2 Name ....................................................................................................3946.8.3 Friction FFW On ......................................................................................3956.8.4 Friction FFW Level ..................................................................................3966.8.5 Friction FFW Ramp ..................................................................................3976.9 Type Drive Module ............................................................................................3976.9.1 The Drive Module type .............................................................................3986.9.2 Name ....................................................................................................3996.9.3 Number .................................................................................................4006.10 Type Drive System ............................................................................................4006.10.1 The Drive System type .............................................................................4016.10.2 Name ....................................................................................................4026.10.3 Use DC-Link ...........................................................................................4036.10.4 Use Drive Unit ........................................................................................4046.10.5 Current Vector On ...................................................................................4056.11 Type Drive Unit .................................................................................................4056.11.1 The Drive Unit type ..................................................................................4066.11.2 Name ....................................................................................................4076.11.3 Drive Unit Position ...................................................................................4086.12 Type Force Master ............................................................................................4086.12.1 The Force Master type .............................................................................4096.12.2 Name ....................................................................................................4106.12.3 Use Force Master Control .........................................................................4116.12.4 References Bandwidth .............................................................................4126.12.5 Use Ramp Time ......................................................................................4136.12.6 Ramp when Increasing Force ....................................................................4146.12.7 Ramp Time ............................................................................................4156.12.8 Collision LP Bandwidth ............................................................................4166.12.9 Collision Alarm Torque .............................................................................


Table of contents

4176.12.10 Collision Speed .......................................................................................4186.12.11 Collision Delta Position ............................................................................4196.12.12 Force Detection Bandwidth .......................................................................4206.12.13 Delay Ramp ...........................................................................................4216.12.14 Ramp to Real Contact ..............................................................................4226.13 Type Force Master Control ..................................................................................4226.13.1 The Force Master Control type ...................................................................4246.13.2 Name ....................................................................................................4256.13.3 No. of Speed Limits .................................................................................4266.13.4 Torque 1 ................................................................................................4276.13.5 Torque 2 ................................................................................................4286.13.6 Torque 3 ................................................................................................4296.13.7 Torque 4 ................................................................................................4306.13.8 Torque 5 ................................................................................................4316.13.9 Torque 6 ................................................................................................4326.13.10 Speed Limit 1 .........................................................................................4336.13.11 Speed Limit 2 .........................................................................................4346.13.12 Speed Limit 3 .........................................................................................4356.13.13 Speed Limit 4 .........................................................................................4366.13.14 Speed Limit 5 .........................................................................................4376.13.15 Speed Limit 6 .........................................................................................4386.13.16 Kv 1 ......................................................................................................4396.13.17 Kv 2 ......................................................................................................4406.13.18 Kv 3 ......................................................................................................4416.13.19 Kv 4 ......................................................................................................4426.13.20 Kv 5 ......................................................................................................4436.13.21 Kv 6 ......................................................................................................4446.14 Type Friction Compensation ................................................................................4446.14.1 The Friction Compensation type .................................................................4456.14.2 Name ....................................................................................................4466.14.3 Friction FFW On ......................................................................................4476.14.4 Friction FFW Level ..................................................................................4486.14.5 Friction FFW Ramp ..................................................................................4496.15 Type Jog Parameters .........................................................................................4496.15.1 The Jog Parameters type ..........................................................................4506.15.2 Name ....................................................................................................4516.15.3 Configurable Linear Step Size ...................................................................4526.15.4 Configurable Reorient Step Size ................................................................4536.15.5 Configurable Joint Step Size .....................................................................4546.16 Type Joint ........................................................................................................4546.16.1 The Joint type .........................................................................................4556.16.2 Name ....................................................................................................4566.16.3 Logical Axis ...........................................................................................4576.16.4 Use Drive System ....................................................................................4586.16.5 Use Process ...........................................................................................4596.16.6 Lock Joint in Ipol .....................................................................................4606.16.7 Follower to Joint .....................................................................................4616.17 Type Lag Control Master 0 ..................................................................................4616.17.1 The Lag Control Master 0 type ...................................................................4626.17.2 Name ....................................................................................................4636.17.3 Kp, Gain Position Loop .............................................................................4646.17.4 Kv, Gain Speed Loop ...............................................................................4656.17.5 Ti Integration Time Speed Loop .................................................................4666.17.6 Forced Control Active ..............................................................................4676.17.7 Forced Factor for Kp ................................................................................4686.17.8 Forced Factor for Ki .................................................................................4696.17.9 Raise Time for Kp ....................................................................................4706.17.10 Notch Filter Active ...................................................................................4716.17.11 Notch Filter Frequency .............................................................................


Table of contents

4726.17.12 Notch Filter Width ...................................................................................4736.17.13 Notch Auto Mode ....................................................................................4746.17.14 Auto No Weave Frequency .......................................................................4756.17.15 Auto Min Frequency ................................................................................4766.17.16 Auto Max Relative Change ........................................................................4776.17.17 FFW Mode .............................................................................................4786.17.18 Bandwidth .............................................................................................4796.17.19 Df .........................................................................................................4806.17.20 Dw .......................................................................................................4816.17.21 Delay ....................................................................................................4826.17.22 Inertia ...................................................................................................4836.17.23 K Soft Max Factor ....................................................................................4846.17.24 K Soft Min Factor ....................................................................................4856.17.25 Kp/Kv Ratio Factor ..................................................................................4866.17.26 Ramp Time ............................................................................................4876.18 Type Linked M Process ......................................................................................4876.18.1 The Linked M Process type .......................................................................4886.18.2 Name ....................................................................................................4896.18.3 Offset Adjust. Delay Time .........................................................................4906.18.4 Max Follower Offset .................................................................................4916.18.5 Max Offset Speed ....................................................................................4926.18.6 Offset Speed Ratio ..................................................................................4936.18.7 Ramp Time ............................................................................................4946.18.8 Master Follower Kp ..................................................................................4956.18.9 Torque follower .......................................................................................4966.18.10 Torque distribution ..................................................................................4976.18.11 Follower axis pos. acc. reduction ...............................................................4986.19 Type Mains ......................................................................................................4986.19.1 The Mains type .......................................................................................4996.19.2 Name ....................................................................................................5006.19.3 Mains Tolerance Min ................................................................................5016.19.4 Mains Tolerance Max ...............................................................................5026.20 Type Measurement Channel ................................................................................5026.20.1 The Measurement Channel type .................................................................5036.20.2 Name ....................................................................................................5046.20.3 Use Measurement Board Type ...................................................................5056.20.4 Disconnect at Deactivate ..........................................................................5066.20.5 Measurement Link ...................................................................................5076.20.6 Board Position ........................................................................................5086.21 Type Mechanical Unit .........................................................................................5086.21.1 The Mechanical Unit type ..........................................................................5096.21.2 Name ....................................................................................................5106.21.3 Use Activation Relay ................................................................................5116.21.4 Use Brake Relay .....................................................................................5126.21.5 Use Connection Relay ..............................................................................5136.21.6 Use Robot ..............................................................................................5146.21.7 Use Single 1, 2, 3, 4, 5, 6 ..........................................................................5156.21.8 Allow Move of User Frame ........................................................................5166.21.9 Activate at Start Up ..................................................................................5176.21.10 Deactivation Forbidden ............................................................................5186.21.11 Deactivate PTC superv. at disconnect .........................................................5196.21.12 Activate from any motion task ....................................................................5206.22 Type Motion Planner ..........................................................................................5206.22.1 The Motion Planner type ...........................................................................5216.22.2 Name ....................................................................................................5226.22.3 Brake on Time ........................................................................................5236.22.4 Dynamic Resolution .................................................................................5246.22.5 Path Resolution ......................................................................................5266.22.6 Queue Time ...........................................................................................


Table of contents

5276.22.7 Teach Mode Max Speed ...........................................................................5286.22.8 Process Update Time ...............................................................................5296.22.9 Prefetch Time .........................................................................................5306.22.10 Event Preset Time ...................................................................................5316.22.11 CPU Load Equalization .............................................................................5326.22.12 Restrict placing of circlepoints ...................................................................5346.22.13 Use Motion Supervision ............................................................................5356.22.14 Motion Supervision Permanent Off .............................................................5366.22.15 Motion Supervision Max Level ...................................................................5376.22.16 Remove Corner Path Warning ...................................................................5386.22.17 Time Event Supervision ............................................................................5396.22.18 High Interpolation Priority .........................................................................5406.22.19 Speed Control Warning ............................................................................5416.22.20 Speed Control Percent .............................................................................5426.22.21 Use spline parameters .............................................................................5436.22.22 Use additional interp. object batch ..............................................................5446.22.23 Bandwidth of path pose filter .....................................................................5456.22.24 Circle Speed Priority ................................................................................5466.22.25 Number of Internal Event Objects ...............................................................5476.23 Type Motion Supervision ....................................................................................5476.23.1 The Motion Supervision type .....................................................................5486.23.2 Name ....................................................................................................5496.23.3 Path Collision Detection ...........................................................................5506.23.4 Jog Collision Detection .............................................................................5516.23.5 Path Collision Detection Level ...................................................................5526.23.6 Jog Collision Detection Level ....................................................................5536.23.7 Collision Detection Memory .......................................................................5546.23.8 Manipulator supervision ...........................................................................5556.23.9 Manipulator supervision level ....................................................................5566.24 Type Motion System ..........................................................................................5566.24.1 The Motion System type ...........................................................................5576.24.2 Name ....................................................................................................5586.24.3 Min Temperature Cabinet .........................................................................5596.24.4 Max Temperature Cabinet .........................................................................5606.24.5 Min Temperature Robot ............................................................................5616.24.6 Max Temperature Robot ...........................................................................5626.25 Type Motor ......................................................................................................5626.25.1 The Motor type .......................................................................................5636.25.2 Name ....................................................................................................5646.25.3 Use Motor Type ......................................................................................5656.25.4 Use Motor Calibration ..............................................................................5666.26 Type Motor Calibration .......................................................................................5666.26.1 The Motor Calibration type ........................................................................5676.26.2 Name ....................................................................................................5686.26.3 Commutator Offset ..................................................................................5696.26.4 Commutator Offset Valid ..........................................................................5706.26.5 Calibration Offset ....................................................................................5716.26.6 Calibration Offset Valid .............................................................................5726.26.7 Calibration Sensor Position .......................................................................5736.27 Type Motor Type ...............................................................................................5736.27.1 The type Motor Type ................................................................................5746.27.2 Name ....................................................................................................5756.27.3 Pole Pairs ..............................................................................................5766.27.4 Stall Torque ...........................................................................................5776.27.5 ke Phase to Phase ...................................................................................5786.27.6 Max Current ...........................................................................................5796.27.7 Phase Resistance ...................................................................................5806.27.8 Phase Inductance ....................................................................................


Table of contents

5816.28 Type Path Sensor Synchronization .......................................................................5816.28.1 The Path Sensor Synchronization type ........................................................5826.28.2 Name ....................................................................................................5836.28.3 Max Advance Distance .............................................................................5846.28.4 Max Delay Distance .................................................................................5866.28.5 Max Synchronization Speed ......................................................................5876.28.6 Min Synchronization Speed .......................................................................5886.28.7 Synchronization Type ..............................................................................5896.29 Type Process ...................................................................................................5896.29.1 The Process type ....................................................................................5906.29.2 Name ....................................................................................................5916.29.3 Use SG Process ......................................................................................5926.29.4 Use Linked Motor Process ........................................................................5936.30 Type Relay .......................................................................................................5936.30.1 The Relay type ........................................................................................5946.30.2 Name ....................................................................................................5956.30.3 Output Signal .........................................................................................5966.30.4 Input Signal ............................................................................................5976.31 Type Robot ......................................................................................................5976.31.1 The Robot type .......................................................................................5986.31.2 Name ....................................................................................................5996.31.3 Use Robot Type ......................................................................................6006.31.4 Use Old SMB ..........................................................................................6016.31.5 Use Robot Calibration ..............................................................................6026.31.6 Use Joint 1, 2, 3, 4, 5, 6 ............................................................................6036.31.7 Base Frame x, y, z ...................................................................................6046.31.8 Base Frame q1, q2, q3, q4 ........................................................................6056.31.9 Base Frame Moved by .............................................................................6066.31.10 Gravity Alpha .........................................................................................6086.31.11 Gravity Beta ...........................................................................................6096.31.12 Gamma Rotation .....................................................................................6106.31.13 Upper Work Area x, y, z ............................................................................6116.31.14 Lower Work Area x, y, z ............................................................................6126.31.15 Upper Check Point Bound x, y, z ................................................................6136.31.16 Lower Check Point Bound x, y, z ................................................................6146.31.17 Use Six Axes Corvec ...............................................................................6156.31.18 Track Conveyor with Robot .......................................................................6166.31.19 Max External Pos Adjustment ....................................................................6176.31.20 7 axes high performance motion ................................................................6186.31.21 Time to Inposition ....................................................................................6196.31.22 Orientation Supervision Off .......................................................................6206.31.23 Conveyor Tool Change Mode ....................................................................6216.31.24 Mech.Unit Not Moving Detection Level ........................................................6226.32 Type Robot Serial Number ..................................................................................6226.32.1 The Robot Serial Number type ...................................................................6236.32.2 Name ....................................................................................................6246.32.3 Robot Serial Number High Part ..................................................................6256.32.4 Robot Serial Number Low Part ...................................................................6266.33 Type SG Process ..............................................................................................6266.33.1 The SG Process type ...............................................................................6286.33.2 Name ....................................................................................................6296.33.3 Use Force Master ....................................................................................6306.33.4 Sync Check Off .......................................................................................6316.33.5 Close Time Adjust. ..................................................................................6326.33.6 Close Position Adjust. ..............................................................................6336.33.7 Force Ready Delay ..................................................................................6346.33.8 Max Force Control Motor Torque ................................................................6356.33.9 Post-synchronization Time ........................................................................6366.33.10 Calibration Mode .....................................................................................


Table of contents

6376.33.11 Calibration Force High .............................................................................6386.33.12 Calibration Force Low ..............................................................................6396.33.13 Calibration Time ......................................................................................6406.33.14 Number of Stored Forces ..........................................................................6416.33.15 Tip Force 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 ..............................................................6436.33.16 Motor Torque 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 ........................................................6456.33.17 Squeeze Position 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 ...................................................6466.33.18 Soft Stop Timeout ...................................................................................6476.34 Type Single ......................................................................................................6476.34.1 The Single type .......................................................................................6486.34.2 Name ....................................................................................................6496.34.3 Use Single Type ......................................................................................6506.34.4 Use Joint ...............................................................................................6516.34.5 Base Frame x, y, z ...................................................................................6526.34.6 Base Frame q1, q2, q3, q4 ........................................................................6536.34.7 Base Frame Coordinated ..........................................................................6546.34.8 Mech.Unit Not Moving Detection Level ........................................................6556.35 Type Single Type ..............................................................................................6556.35.1 The type Single Type ...............................................................................6566.35.2 Name ....................................................................................................6576.35.3 Mechanics .............................................................................................6586.36 Type Stress Duty Cycle ......................................................................................6586.36.1 The Stress Duty Cycle type .......................................................................6596.36.2 Name ....................................................................................................6606.36.3 Speed Absolute Max ................................................................................6616.36.4 Torque Absolute Max ...............................................................................6626.37 Type Supervision ..............................................................................................6626.37.1 The Supervision type ...............................................................................6636.37.2 Name ....................................................................................................6646.37.3 Brake Release Supervision On ..................................................................6656.37.4 Speed Supervision ..................................................................................6666.37.5 Position Supervision ................................................................................6676.37.6 Counter Supervision ................................................................................6686.37.7 Jam Supervision .....................................................................................6696.37.8 Load Supervision ....................................................................................6706.37.9 Power Up Position Supervision ..................................................................6716.37.10 In Position Range ....................................................................................6726.37.11 Zero Speed ............................................................................................6736.37.12 Affects Forced Control .............................................................................6746.37.13 Forced on Position Limit ...........................................................................6756.37.14 Forced off Position Limit ...........................................................................6766.37.15 Thermal Supervision Sensitivity Ratio .........................................................6776.38 Type Supervision Type .......................................................................................6776.38.1 The type Supervision Type ........................................................................6786.38.2 Name ....................................................................................................6796.38.3 Max Force Control Position Error ...............................................................6806.38.4 Max Force Control Speed Limit ..................................................................6816.38.5 Dynamic Power Up Position Limit ...............................................................6826.38.6 Teach Max Speed Main ............................................................................6836.38.7 Teach Max Speed DSP .............................................................................6846.38.8 Max Jam Time ........................................................................................6856.38.9 Max Overload Time .................................................................................6866.38.10 Auto Max Speed Supervision Limit .............................................................6876.38.11 Influence Group ......................................................................................6886.38.12 Alarm Position Limit for Brake Release ........................................................6896.38.13 Position OK Ratio for Brake Release ...........................................................6906.39 Type Transmission ............................................................................................6906.39.1 The Transmission type .............................................................................6916.39.2 Name ....................................................................................................


Table of contents

6926.39.3 Rotating Move ........................................................................................6936.39.4 Transmission Gear Ratio ..........................................................................6946.39.5 Transmission Gear High ...........................................................................6956.39.6 Transmission Gear Low ............................................................................6966.40 Type Uncalibrated Control Master 0 ......................................................................6966.40.1 The Uncalibrated Control Master 0 type .......................................................6976.40.2 Name ....................................................................................................6986.40.3 Kp, Gain Position Loop .............................................................................6996.40.4 Kv, Gain Speed Loop ...............................................................................7006.40.5 Ti Integration Time Speed Loop .................................................................7016.40.6 Speed Max Uncalibrated ...........................................................................7026.40.7 Acceleration Max Uncalibrated ..................................................................7036.40.8 Deceleration Max Uncalibrated ..................................................................

705Index


Table of contents

This page is intentionally left blank

Overview of this manualAbout this manual

This manual describes the IRC5 system parameters by topic and type in anoverview. It also covers some basic workflow descriptions on how to add, edit anddelete parameters. This can be done via specific software tools, which are notdescribed here, nor how to use them.The manual covers the most common types and parameters in the topicsCommunication, Controller, I/O, Man-machine Communication, and Motion.

UsageThis manual should be used as a reference during configuration of the robot system.The manual includes parameters for both the basic robot system and selectedsoftware and hardware options. The option parameters require that you have thespecified option installed in your robot system.It is recommended that you create a backup or save the configuration files beforechanging any parameters.Note! This should only be performed by a trained technician!

Who should read this manual?This manual is intended for:

• production technicians• programmers• service technicians

PrerequisitesThe reader should be familiar with:

• industrial robots and terminology.• the RAPID programming language.• how to configure system parameters using RobotStudio or FlexPendant.

Organization of chaptersThe manual is organized in the following chapters:

ContentChapter

About system parameters1

Topic Communication2

Topic Controller3

Topic Man-machine Communication4

Topic I/O5

Topic Motion6

Continues on next page3HAC17076-1 Revision: Q 19


Overview of this manual

ReferencesThe manual contains references to the following information products:

Document IDReference

3HAC027097-001Operating manual - Getting started, IRC5 and RobotStudio

3HAC16590-1Operating manual - IRC5 with FlexPendant

3HAC032104-001Operating manual - RobotStudio

3HAC020738-001Operating manual - Trouble shooting IRC5

3HAC16578-1Operating manual - Calibration Pendulum

3HAC025709-001Operating manual - Service Information System

3HAC16581-1Technical reference manual - RAPID Instructions, Functions andData types

3HAC16580-1Technical reference manual - RAPID overview

3HAC16585-1Technical reference manual - RAPID kernel

3HAC021395-001Application manual - Additional axes and stand alone controller

3HAC020676-001Application manual - DeviceNet

3HAC020434-001Application manual - Engineering tools

3HAC023009-001Application manual - INTERBUS

3HAC18154-1Application manual - Motion coordination and supervision

3HAC18152-1Application manual - Motion functions and events

3HAC18153-1Application manual - Motion performance

3HAC021272-001Application manual - MultiMove

3HAC023008-001Application manual - PROFIBUS-DP

3HAC020435-001Application manual - Robot communication and I/O control

3HAC020436-001Application manual - Servo motor control

The following revisions of this manual have been released.

DescriptionRevision

First edition, released with IRC5 RW 5.04.-

Released with IRC5 RW 5.05.AThe printed manual split in two parts.Chapter Man-machine Communication added.Chapter Motion extended with more types and parameter descriptions.

Released with IRC5 RW 5.06.BChapter Motion extended to include all visible parameters.

Released with IRC5 RW 5.07.C

Released with IRC5 RW 5.08.DNew parameters added in topics Motion and I/O.Type Drive System added in topic Motion.

Continues on next page20 3HAC17076-1 Revision: Q



Continued

DescriptionRevision

Released with IRC5 RW 5.09.ENew parameters in Motion and I/O.New types Auto Condition Reset and Run Mode Settings added in topic Con-troller.All DeviceNet parameters moved to Application manual - DeviceNet.

Released with IRC5 RW 5.10.FChanges in topic I/O: System Input has new action value, Load. SystemOutputhas new parameter, Argument 2, and new status value, TaskExecuting. Inaddition, there are several minor changes in the sections about System Inputand System Output.Changes in topic Controller: New parameters in type Task for the new func-tionality RAPID Message Queue.

Released with IRC5 RW 5.11.GNew introduction to system parameters.Changes in topicController: Changes in Auto Condition Reset, Event Routine,and ModPos Settings.Changes in topic I/O: New action value in System Output. Changes in SystemInput.Changes in topic Man-machine Communication: New types Warning at Startand Automatically Switch Jog Unit.Changes in topic Motion: New parameters in Motion Planner and Motion Su-pervision. New type SIS Single Parameters.

Released with IRC5 RW 5.12.HChanges in topic Controller: New parameter RMQ Mode, in Task. Minor cor-rections in Auto Condition Reset, Automatic Loading of Modules, and EventRoutine.Changes in topic I/O: New action value Production Execution Error, in SystemInput. Changes in types Fieldbus Command Type and Unit. Minor correctionsin all types.Changes in topic Motion: Parameter Use Arm Load added.

Released with RW5.12.02.JChanges in topic Motion: Type Event Routine: Parameter The Event Routinetype on page 84.




Continued

DescriptionRevision

Updated for the RW 5.13 release.KAll SIS system parameters are moved to Operating manual - Service Informa-tion System.The section How to define work area in topic Motion is corrected and dividedinto two new sections, How to restrict the work area for articulated robots onpage335 andHow to restrict the work area for parallel arm robots on page336.Changes in topic Communication:

• Added the new system parameter Show Device on page 52 in the typeApplication Protocol.

Changes in topic Controller:• Updated the system parameters, Task on page 78, Shared on page 80,

All Tasks on page 81, and All Motion Tasks on page 82 in the typeAutomatic Loading of Modules.

• Updated the system parameters, The Event Routine type on page 84and Event on page 89 in the type Event Routine.

Changes in topic I/O:• The parameterAction on page221 is updated and added the new system

parametersArgument 3 on page254 andArgument 4 on page255 in thetypeSystem Input. Also added the new action valueBackup on page222for the parameter Status.

• Changes in the type System Output: The Status on page 260 systemparameter is updated. The status value system parameters TCP Speedon page283 and Mechanical Unit Not Moving on page270 are updated.Added the new status value parametersBackup in progress on page264and Backup Error on page 263.

• The parameters Unit Recovery Time on page 172 and Type of Bus onpage 168 are updated in the type Bus.

• Updated the type The Signal type on page191 and the Unit Mapping onpage 199 system parameter.

• Updated the system parameter Regain Communication Reset onpage 298 in the type Unit.

Changes in topic Man-Machine Communication:• Added the new type The Backup Settings type on page 310 and the

corresponding new system parameters in topic Man-machine Commu-nication.

Changes in topic Motion:• Added the new system parameters Max External Pos Adjustment on

page616andOrientation Supervision Off on page619 in the typeRobot.• Added the new system parameterUse Drive Unit on page403 in the type

Drive System.• Added the new system parameter Use Drive System on page457 in the

type Joint.• Added the new type Drive Unit and the parameters The Drive Unit type

on page 405, Name on page 406, and Drive Unit Position on page 407.• Added the new system parameter Use spline parameters on page 542

and updated the system parameter Event Preset Time on page 530 inthe type Motion Planner.

• The section about the type The Arm Load type on page378 is updated.• The image in the sectionHow to define arm loads on page339 is updated.




Continued

DescriptionRevision

Updated for the RW 5.13.02 release.LChanges in topic Motion:

• Added the new system parameter Use additional interp. object batchon page 543 in the type Motion Planner.

• Updated the system parameters Gravity Alpha on page 606, GammaRotation on page609, andOrientation SupervisionOff on page619 in thetype Robot.

Changes in topic I/O:• Updated the system parameter TaskExecuting on page 282 in the type

System Output.

Updated for the RW 5.14 release.MChanges in the About system parameters chapter.

• Added the new section File system on page 30.Changes in the topic Controller.

• Updated the Usage section in the system parameter Reset on page74.Changes in the topic I/O.

• Updated theAdditional Information subsection in the system parameterMechanical Unit Not Moving on page 270.

• Updated the Description subsection in the system parameters Stop onpage 244 and Soft Stop on page 246.

• Updated theAllowed values subsection in the system parameterDefaultValue on page 203.

• Updated the various subsections in the type The Cross Connectiontype on page 174.

• Updated the information about the maximum number of user I/O signalsand the maximum number of digital I/Osignals on I/O units in the Limit-ations subsection of the type The Signal type on page191, in the Limit-ations subsection of the section How to define input and output I/Osignals on page 153, and in the Limitations and Predifined unit typesubsections of the type The Unit Type type on page 299.

Changes in the topic Motion.• Updated the Limitations subsection in the system parameter Manipu-

lator supervision on page 554.• Updated the Limitations subsection in the system parameter Manipu-

lator supervision level on page 555.• Updated the various subsections in the system parameter Mains Toler-

ance Max on page 501.• Added the new system parameter Bandwidth of path pose filter on

page 544.• Updated the various subsections in the system parameter Conveyor

Tool Change Mode on page 620.• Added the new system parameter Use DC-Link on page 402.• Added the new system parameter Teach Max Speed DSP on page683.• Removed the system parameter Teach Normalized Low Speed.• Updated the system parameter Teach Max Speed Main on page 682.

Updated for the RW 5.14.02 release• Updated the image in the section Arms for relating arm load to on

page 339.• Updated the section Allowed values on page 551 in the Path Collision

Detection Level system parameter.• Updated the section Allowed values on page 552 in the Jog Collision

Detection Level system parameter.

N




Continued

DescriptionRevision

Updated for the RW 5.14.03 release• Updated the section Server Path on page 45 with information about

FTP Server FileZilla.• Updated the Limitations and Allowed values in the section Name on

page 129. Also added the new system parameter ModalPayLoadModeon page 132.

• Updated the Additional information section in The System Input typeon page 219.

• Added a new system parameter Disable Backup on page 224.• Updated the Description and Arguments in the section Interrupt on

page 225.• Added a new system parameters SimMode on page 250 and SimMode

on page 285.• Added a new system parameterDeactivate Cyclic Brake Check for axis

on page 374.• Added a new system parameter Use Robot Calibration on page 601.• Added a new system parameter Thermal Supervision Sensitivity Ratio

on page 676.

P

Updated for the RW 5.15 release• A note is added in Configuration files on page 29.• Updated the figure in section Event routine execution examples on

page 85.• Added a new chapter Type Options on page113 under topic Controller.• Changed the limitation for handling the maximum number of cross

connections from 100 to 300 in the section The Cross Connection typeon page 174.

• Updated the section Action Values on page 222.• Added a new action value Limit Speed on page 227.• Added a new argument Argument 5 on page 256.• Added a new argument Argument 6 on page 257.• Added a new chapter System Input Actions on page 258.• Added a new action value Limit Speed on page 268.• Updated the value Mechanical Unit Not Moving on page 270.• Changed the maximum limitation of Unit Type instances in the system

from 60 to 100 in the section The Unit Type type on page 299.• Added a new system parameter Max Brake Time on page 391.• Added a new system parameter Circle Speed Priority on page 545.• Added a new system parameter Number of Internal Event Objects on

page 546.• Added a new system parameter Use Robot Type on page 599.• Added a new system parameter Mech.Unit Not Moving Detection Level

on page 621.• Added a new system parameter Squeeze Position 1, 2, 3, 4, 5, 6, 7, 8,

9, 10 on page 645.• Added a new system parameter Mech.Unit Not Moving Detection Level

on page 654.• Updated the allowed values in Mechanics on page 657.

Q



Continued

Product documentation, M2004Categories for manipulator documentation

The manipulator documentation is divided into a number of categories. This listingis based on the type of information in the documents, regardless of whether theproducts are standard or optional.All documents listed can be ordered from ABB on a DVD. The documents listedare valid for M2004 manipulator systems.

Product manualsManipulators, controllers, DressPack/SpotPack, and most other hardware will bedelivered with a Product manual that generally contains:

• Safety information.• Installation and commissioning (descriptions of mechanical installation or

electrical connections).• Maintenance (descriptions of all required preventive maintenance procedures

including intervals and expected life time of parts).• Repair (descriptions of all recommended repair procedures including spare

parts).• Calibration.• Decommissioning.• Reference information (safety standards, unit conversions, screw joints, lists

of tools ).• Spare parts list with exploded views (or references to separate spare parts

lists).• Circuit diagrams (or references to circuit diagrams).

Technical reference manualsThe technical reference manuals describe reference information for roboticsproducts.

• Technical reference manual - Lubrication in gearboxes: Description of typesand volumes of lubrication for the manipulator gearboxes.

• Technical reference manual - RAPID overview: An overview of the RAPIDprogramming language.

• Technical referencemanual - RAPID Instructions, Functions and Data types:Description and syntax for all RAPID instructions, functions, and data types.

• Technical reference manual - RAPID kernel: A formal description of theRAPID programming language.

• Technical reference manual - System parameters: Description of systemparameters and configuration workflows.

Application manualsSpecific applications (for example software or hardware options) are described inApplication manuals. An application manual can describe one or severalapplications.



Product documentation, M2004

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, I/O boards, RAPID instructions, system

parameters, DVD with PC software).• How to install included or required hardware.• How to use the application.• Examples of how to use the application.

Operating manualsThe operating manuals describe hands-on handling of the products. The manualsare aimed at those having first-hand operational contact with the product, that isproduction cell operators, programmers, and trouble shooters.The group of manuals includes (among others):

• Operating manual - Emergency safety information• Operating manual - General safety information• Operating manual - Getting started, IRC5 and RobotStudio• Operating manual - Introduction to RAPID• Operating manual - IRC5 with FlexPendant• Operating manual - RobotStudio• Operatingmanual - Trouble shooting IRC5, for the controller and manipulator.


Product documentation, M2004

Continued

1 About system parameters1.1 About system parameters

OverviewSystem parameters describe the configuration of the robot system. The parametersare configured according to order on delivery.By changing the parameters values, the performance of the system can be adjusted.The system parameters usually only need changing if the robot system is modifieddue to a changed process.

Parameter structureThe parameters are grouped together in a number of different configuration areas,named topics. These topics are divided into different types of parameters.For each type, a number of objects or instances can be defined, thus having thesame type. Each such instance has a number of parameters, which must be givenspecific values. In some cases these parameters, depending on their values, arefurther structured in subparameters, also called arguments or action values.

Topic definitionA topic is a configuration area with a specific collection of parameters.There are six topics in the controller, each describing different areas in the robotsystem. All parameters are stored in a separate configuration file for each topic.These are known as cfg files (file extension .cfg). SeeConfiguration files on page29.

Type definitionA type is a section of a topic, which defines parameters of the same type. Asindicated above, there can be many instances of the same type. All such instancesare referred to with the name of the type. For example, an instance of the typeSignal is called a Signal instance or just a Signal. Note that also each separatesignal object has a unique name, for example digin1.

System parameters definitionAll parameters of an object are assigned a value to describe the robot systemconfiguration.The parameter values are normally predefined on delivery. The values are restrictedto data type, and sometimes to be within an interval, which is described for eachparameter in Technical reference manual - System parameters.Most parameters require a restart (warm start) of the controller to take effect afterbeing changed.Some parameters are visible but not editable since they are a part of the systemand should not be changed.




Working with system parametersSystem parameters are configured using RobotStudio or the FlexPendant. This isdetailed in Operating manual - RobotStudio and Operating manual - IRC5 withFlexPendant.Experienced users can also edit the configuration files. In the configuration filesall types and parameters have specific names. To help working with such text filesthese names are indicated in the parameter descriptions under the caption "Cfgname".

Example illustrationThis example illustrates the structure from topic, down to arguments (also calledaction values).

en0800000183



Continued

1.2 Configuration files

Configuration filesA configuration file is a text file that lists the values of system parameters. Notethat if the parameter is assigned the default value, then it will not be listed in theconfiguration file.There are six configuration areas in the controller, saved as configuration files(*.cfg).Configuration files are by default saved in the folder SYSPAR for the system, forexample ..\MySystem\SYSPAR\.The configuration files are included in backups.

Note

Configuration files shall not be loaded in systems running an older RobotWareversion than in which they were created.

Configuration file:Configuration area:Topic:

SIO.cfgSerial channels and file transfer protocolsCommunication

SYS.cfgSafety and RAPID specific functionsController

EIO.cfgI/O boards and signalsI/O

MMC.cfgFunctions to simplify working with thesystem

Man-machineCommunication

MOC.cfgThe robot and external axesMotion

PROC.cfgProcess specific tools andequipmentProcess

ExampleThis is an example from SIO.cfg, topic Communication.

#

COM_PHY_CHANNEL:

-Name "COM1" -Connector "COM1"

-Name "LAN1" -Connector "LAN"

-Name "SER1" -Connector "SERVICE"

#

COM_TRP:

-Name "TCPIP1" -Type "TCP/IP" -PhyChannel "LAN1"

ExplanationThree instances of the type Physical Channel.

• One instance with Name defined as COM1 and Connector defined as COM1.• One instance with Name defined as LAN1 and Connector defined as LAN.• One instance with Name defined as SER1 and Connector defined as

SERVICE.One instance of the type Transmission Protocol.

• One instance with Name defined as TCPIP1, Type defined as TCP/IP, andPhysical Channel defined as LAN1.


1 About system parameters1.2 Configuration files

1.3 File system

OverviewThis section describes the paths on the controller, USB device, or mounted disks.

Examples of paths

Environment variablesNOTE: The character : can be used in the environment variables.

DescriptionPath

The backup is placed in /hd0a/BACKUP/my_dirBACKUP:my_dir

The backup is placed in /hd0a/BACKUP/my_dirBACKUP/my_dir

The backup is placed in /hd0a/<system_name>/HOME/my_dirHOME:my_dir

The backup is placed in /hd0a/<system_name>/my_dirSYSTEM:my_dir

Drives on the controllerNOTE: The character : can not be used in the path.

DescriptionPath

Flash drive or hard drive on the controller./hd0a/my_dir

USB device on the controller./bd0/my_dir

Second USB device on the controller./bd1/my_dir

x:th USB device on the controller./bdx/my_dir

If using more than one USB device, they are numbered in the order that they areconnected.

Directories on the controller

DescriptionPath

The backup is placed in /hd0a/my_dir/my_dir/

The backup is placed in /hd0a/bd0/my_dir if no USB stick is inserted./bd0/my_dir

Current directoryCurrent directory is not defined but varies depending on what happens in thesystem. Therefore, all references should be defined with complete paths (or usingenvironment variables).

Mounted disksThere must be an FTP or NFS connection to a running FTP/NFS server with readand write access to the backup directory. Verify the connection after loading theCommunication configuration (SIO.cfg) and restarting the controller. In the followingexample, the device is named as pc:

pc:/my_dir

Related informationBackup on page 222Load on page 229



1 About system parameters1.3 File system

Load and Start on page 231


1 About system parameters1.3 File system

Continued

2 Topic Communication2.1 The Communication topic

OverviewThis chapter describes the types and parameters of the Communication topic.Each parameter is described in the section for its type.

DescriptionThe Communication topic contains parameters for configuring the controller's serialchannels and file transfer protocols. The parameters are organized in three types:

1 Application protocol2 Physical channel3 Transmission protocol


2 Topic Communication2.1 The Communication topic

2.2 Workflows

2.2.1 How to define an application protocol

OverviewApplication protocols are options for data transmission in the robot system.

PrerequisitesA physical channel and a transmission protocol must be defined before anapplication protocol can be defined.The option NFS Client or FTP Client must be installed in the robot system.

How to define an application protocolTo define an application protocol:

1 In the topic Communication, choose the type Application Protocol.2 Select the application protocol to define, or add a new one.3 Enter, delete or change the parameters of the application protocol. Note that

the required parameters vary depending on the option installed. Seedescription of the type Application Protocol for examples.For detailed information about each parameter and examples of typicalconfigurations, see the descriptions in the type Application Protocol.

4 Save the changes

Related informationThe Application Protocol type on page 37.How to define a physical channel on page 35.How to define a transmission protocol on page 36.Application manual - Robot communication and I/O control.


2 Topic Communication2.2.1 How to define an application protocol

2.2.2 How to define a physical channel

OverviewWith the Physical Channels you configure the serial channels, which can be usedfor communication with printers, terminals, computers, and other equipment.

How to define a physical channelTo define a physical channel:

1 In the topic Communication, choose the type Physical Channel.2 Select the physical channel to define, or add a new one.3 Enter, delete or change the parameters of the physical channel.

For detailed information about each parameter, see the descriptions in thetype Physical Channel.

4 Save the changes.

Related informationThe Physical Channel type on page 53.


2 Topic Communication2.2.2 How to define a physical channel

2.2.3 How to define a transmission protocol

OverviewTransmission protocols are standards for data transmission.

PrerequisitesA physical channel must be defined before a transmission protocol can be defined.

How to define a transmission protocolTo define a transmission protocol:

1 In the topic Communication, choose the type Transmission Protocol.2 Select the transmission protocol to define, or add a new one.3 Edit the parameters of the transmission protocol.

For detailed information about each parameter, see descriptions in the typeTransmission Protocol.

4 Save the changes.

Related informationThe Transmission Protocol type on page 62.How to define a physical channel on page 35.


2 Topic Communication2.2.3 How to define a transmission protocol

2.3 Type Application Protocol

2.3.1 The Application Protocol type

OverviewThis section describes the type Application Protocol, which belongs to the topicCommunication. Each parameter of this type is described in a separate informationtopic in this section.

Cfg nameCOM_APP

Type descriptionApplication protocols are standards for data transmission on application level. Therobot system can use different protocols, but only one at a time.The application protocols are options for the robot system.

PrerequisitesA physical channel and a transmission protocol must be defined before anapplication protocol can be defined.

Related informationHow to define an application protocol on page 34.How to define a physical channel on page 35.How to define a transmission protocol on page 36.Application manual - Robot communication and I/O control.

Example: FTPThis is a typical example of a configuration for FTP Client.

Value:Parameter:

MyFTPName

FTPType

TCPIP1Transmission Protocol

100.100.1.10Server Address

YesTrusted

pc:Local Path

c:\backupServer Path

Operator1Username

robotPassword

1000Maximum File Size

500Memory Partition Size



2 Topic Communication2.3.1 The Application Protocol type

Example: NFSThis is a typical example of a configuration for NFS Client.

Value:Parameter:

MyNFSName

NFSType

TCPIP1Transmission Protocol

255.255.100.105Server Address

YesTrusted

pc:Local Path

c:\backupServer Path

10User ID

0Group ID


2 Topic Communication2.3.1 The Application Protocol type

Continued

2.3.2 Name

ParentName belongs to the type Application Protocol, in the topic Communication.

Cfg nameName

DescriptionThe name of the application protocol.

UsageUsed as a protocol label (to tell the application protocols apart).

Allowed valuesA string with maximum 40 characters.


2 Topic Communication2.3.2 Name

2.3.3 Type

ParentType belongs to the type Application Protocol, in the topic Communication.

Cfg nameType

DescriptionThe type of application protocol.

UsageSpecify the type of application protocol, FTP or NFS.

Allowed valuesFTP or NFS

Related informationApplication manual - Robot communication and I/O control.


2 Topic Communication2.3.3 Type

2.3.4 Transmission Protocol

ParentTransmission Protocol belongs to the type Application Protocol, in the topicCommunication.

Cfg nameTrp

DescriptionSpecifies which transmission protocol is used by the application protocol.

UsageTransmission Protocol is set to the same value as the parameter Name, in the typeTransmission Protocol, for the transmission protocol you want to use (e.g. TCP/IP).


Related informationName on page 63.Application manual - Robot communication and I/O control.


2 Topic Communication2.3.4 Transmission Protocol

2.3.5 Server Address

ParentServer Address belongs to the type Application Protocol, in the topicCommunication.

Cfg nameServerAddress

DescriptionThe IP address of the computer that runs the server application that the applicationprotocol communicates with.

UsageIf the application protocol is used for communication with a remote computer, theIP address of that computer is specified in Server Address.

Allowed valuesFour integers between 0 and 255, separated with dots.


ExampleAn IP address typically looks like this:100.100.100.100


2 Topic Communication2.3.5 Server Address

2.3.6 Trusted

ParentTrusted belongs to the type Application Protocol, in the topic Communication.

Cfg nameTrusted

DescriptionA flag that specifies if losing the connection should make the program stop.

UsageAn application protocol used for backups or similar can have Trusted set to No. Ifthe connection is lost, the program continues and the backup can be made later.An application protocol that relies on the connection for safety must have Trustedset to Yes. If the connection is lost, the program will stop and no hazardoussituations can occur because of the lost connection.

Allowed valuesYes or No.



2 Topic Communication2.3.6 Trusted

2.3.7 Local Path

ParentLocal Path belongs to the type Application Protocol, in the topic Communication.

Cfg nameLocalPath

DescriptionThe controller's reference to the connection.

UsageWhen the connection is used from a RAPID program or the FlexPendant, it isreferenced with the name defined in Local Path.Defines what the shared unit will be called on the robot. The parameter value mustend with a colon (:).

Allowed valuesA string with a maximum of 20 characters. The string must end with a colon (:).


ExampleThe application protocol is used for a connection with unit C: on a remote PC. LocalPath is set to pc:. The file C:\test.prg can then be accessed from a RAPID programor the FlexPendant as pc:test.prg.


2 Topic Communication2.3.7 Local Path

2.3.8 Server Path

ParentServer Path belongs to the type Application Protocol, in the topic Communication.

Cfg nameServerPath

DescriptionThe name of the disk or folder to connect to, on a remote computer.

UsageSpecify the path of the disk or folder that the application protocol should connectto.

Note

The exported path should not be specified if communicating with an FTP serverof type Distinct FTP, FileZilla or MS IIS.

Allowed valuesA string with a maximum of 40 characters.


ExampleThe usage of Server Path may depend on which FTP server is being used.

For most FTP serversIf the application protocol should connect to the folder C:\Robot1\Backup on aremote computer, Server Path is set to C:\Robot1\Backup.

For FTP servers Distinct FTP, MS IIS, and FileZillaIf the server exports C:\Robot1 and the application protocol want to connect toC:\Robot1\Backup, Server Path is set to Backup.


2 Topic Communication2.3.8 Server Path

2.3.9 Username

ParentUsername belongs to the type Application Protocol, in the topic Communication.

Cfg nameUserName

DescriptionThe user name used by the robot when it logs on to an FTP server on a remotecomputer.

UsageCreate a user account on the FTP server. The user name of this account is thenspecified in Username, and the password in Password.

LimitationsUsername is only used with the RobotWare option FTP Client.


Related informationPassword on page 47.Application manual - Robot communication and I/O control.


2 Topic Communication2.3.9 Username

2.3.10 Password

ParentPassword belongs to the type Application Protocol, in the topic Communication.

Cfg namePassword

DescriptionThe password used by the robot when it logs on to an FTP server on a remotecomputer.

UsageCreate a user account on the FTP server. The user name of this account is thenspecified in Username, and the password in Password.

LimitationsPassword is only used with the RobotWare option FTP Client.


Additional informationNote that the password written here will be visible to all who have access to thesystem parameters.

Related informationUsername on page 46.Application manual - Robot communication and I/O control.


2 Topic Communication2.3.10 Password

2.3.11 User ID

ParentUser ID belongs to the type Application Protocol, in the topic Communication.

Cfg nameUserID

DescriptionUsed by the NFS protocol as a way of authorizing the user to access a specificserver.

UsageIf the NFS server requires a User ID and Group ID for access to the server, thesenumbers are specified in the parameters User ID and Group ID.If this parameter is not used, set it to the default value 0.Note that User ID must be the same for all mountings on one controller.

LimitationsUser ID is only used with the RobotWare option NFS Client.

Allowed valuesAn integer between 0 and 2,147,483,647.Default value is 0.

Related informationGroup ID on page 49.Application manual - Robot communication and I/O control.


2 Topic Communication2.3.11 User ID

2.3.12 Group ID

ParentGroup ID belongs to the type Application Protocol, in the topic Communication.

Cfg nameGroupID

DescriptionUsed by the NFS protocol as a way of authorizing the user to access a specificserver.

UsageIf the NFS server requires a User ID and Group ID for access to the server, thesenumbers are specified in the parameters User ID and Group ID.If this parameter is not used, set it to the default value 0.Note that Group ID must be the same for all mountings on one controller.

LimitationsGroup ID is only used with the RobotWare option NFS Client.

Allowed valuesAn integer between 0 and 2,147,483,647.Default value is 0.

Related informationUser ID on page 48.Application manual - Robot communication and I/O control.


2 Topic Communication2.3.12 Group ID

2.3.13 Maximum File Size

ParentMaximum File Size belongs to the type Application Protocol, in the topicCommunication.

Cfg nameMaxFileSize

DescriptionThe parameter Maximum File Size defines the maximum file size for files to betransferred between the controller and remote clients.

UsageTransferring large files between the controller and remote clients, e.g. a pc, canmake the system slow. By setting the maximum allowed file size to be transferred,the system will not be slowed down when files are being transferred.If the file size is larger than the value of Maximum File Size, an error report isgenerated in the event handler.

LimitationsMaximum File Size is only used with the RobotWare option FTP Client.

Allowed valuesFile size in kB (kilo bytes), between 1 and 2000.Default value is 500 kB.



2 Topic Communication2.3.13 Maximum File Size

2.3.14 Memory Partition Size

ParentMemory Partition Size belongs to the type Application Protocol, in the topicCommunication.

Cfg nameCommPartSize

DescriptionThe parameter Memory Partition Size defines the size of the allocated memorypartition for the FTP communication.

UsageBy using a separate memory partition for the FTP communication, the risk ofdisturbing other program execution is avoided.If no separate memory partition is desired, set the value to 0.

PrerequisitesMemory Partition Size is only used with the RobotWare option FTP Client.

Allowed valuesPartition size in kB (kilo bytes), between 0 and 2000.Default value is 300 kB.Note that values above default value cannot be guaranteed to function. The availablememory partition size depends on what other options are installed.



2 Topic Communication2.3.14 Memory Partition Size

2.3.15 Show Device

ParentShowDevice belongs to the type Application Protocol, in the topicCommunication.

Cfg nameShowDevice

DescriptionShow Device defines if the storage device should be visible in the list of storagedevices on the FlexPendant.

UsageThe Show Device parameter can be used to restrict access to an FTP or an NFSmounted storage device. If the ShowDevice parameter is set to No, it will not bevisible in the open/save dialogs on the FlexPendant.NOTE! If the path of the storage device is known to the user, it is possible to accessthat storage device by entering the path in the open/save dialogs on theFlexPendant, regardless of the value of the Show Device parameter.

PrerequisitesShow Device is used only with the RobotWare options FTP client and NFS client.



2 Topic Communication2.3.15 Show Device

2.4 Type Physical Channel

2.4.1 The Physical Channel type

OverviewThis section describes the type Physical Channel, which belongs to the topicCommunication. Each parameter of this type is described in a separate informationtopic in this section.

Cfg nameCOM_PHY_CHANNEL

Type descriptionPhysical channels are used for configuring the serial channels on the controller.As standard, the controller has one serial channel, which can be used forcommunication with printers, terminals, computers, and other equipment.If the controller has option Multiple Serial Ports installed, there can be three serialchannels available.

Description:Serial channel:

A standard RS232 portCOM1

Only available if Multiple Serial Ports is installedCOM2

Only available if Multiple Serial Ports is installedCOM3

Related informationHow to define a physical channel on page 35.


2 Topic Communication2.4.1 The Physical Channel type

2.4.2 Name

ParentName belongs to the type Physical Channel, in the topic Communication.

Cfg nameName

DescriptionName specifies the logical connection. It is used when accessing the physicalserial channel.




2.4.3 Connector

ParentConnector belongs to the type Physical Channel, in the topic Communication.

Cfg nameConnector

DescriptionConnector connects a physical communication port with a specific configurationin the system.

Allowed valuesCOM1 in a standard system.Also, COM2 and COM3, in a system with Multiple Serial Ports installed.


2 Topic Communication2.4.3 Connector

2.4.4 Baudrate

ParentBaudrate belongs to the type Physical Channel, in the topic Communication.

Cfg nameBaudrate

DescriptionBaudrate defines the baud the controller will operate on for the selected physicalchannel.

UsageBaud is the signalling rate of the communication, which determines the maximumspeed of the data transfer in serial channels. The higher the baud, the faster thecommunication can be.

LimitationsBoth devices, the serial ports in both ends, that communicate on the channel haveto use the same baud. The devices have to be defined with the same transmissionspeed. Therefore,Baudratemust be set to the baud of the device that is connectedto the controller.

Allowed valuesA value between 300-38,400, specifying the signal rate.The default value is 9,600.


2 Topic Communication2.4.4 Baudrate

2.4.5 Parity

ParentParity belongs to the type Physical Channel, in the topic Communication.

Cfg nameParity

DescriptionParity configures the parity check for the data transfer.

UsageParity check is an error detection method to help detect data corruption that mightoccur during transmission of data. The parity check adds a parity bit to each bytethat is transmitted.Depending on whether the transmitted byte contains an odd or even number of1-bits, the parity bit will be either 0 or 1. Each time a data byte is received, it ischecked that the number of 1-bits matches the parity bit.

LimitationsBoth receiver and transmitter of data must agree on the type of parity.

Allowed values

Description:Value::

The number of 1-bits in a transfer byte must be odd. If they are odd, theparity bit is set to 0.

Odd

The number of 1-bits in a transfer byte must be odd. If they are even, theparity bit is set to 1.

Even

No parity check is performed.None


2 Topic Communication2.4.5 Parity

2.4.6 Number of Bits

ParentNumber of Bits belongs to the type Physical Channel, in the topic Communication.

Cfg nameNoOfBits

DescriptionNumber of Bits defines the number of data bits in each byte.

UsageThe number of bits depends on the device the controller should communicate with.Both receiver and transmitter must agree on the number of data bits as well as thebaudrate. There may either be 7 or 8 data bits depending on the selection made.

LimitationsBoth receiver and transmitter of data must agree on the number of bits.

Allowed values7 or 8, specifying the number of data bits.

Related informationBaudrate on page 56.


2 Topic Communication2.4.6 Number of Bits

2.4.7 Number of Stop Bits

ParentNumber of Stop Bits belongs to the type Physical Channel, in the topicCommunication.

Cfg nameNoOfStopBits

DescriptionNumber of Stop Bits defines the number of stop bits.

UsageA stop bit is used to identify the end of a data byte when it is transmitted. A stopbit can be detected correctly even if the previous data bit also had a value of 1.This is accomplished by the stop bit's duration.

LimitationsBoth receiver and transmitter of data must agree on the number of bits.Stop bits are excluded from the parity calculation. For more information aboutparity, see Parity.

Allowed values1 or 2, specifying the number of stop bits.

Related informationParity on page 57.


2 Topic Communication2.4.7 Number of Stop Bits

2.4.8 Duplex

ParentDuplex belongs to the type Physical Channel, in the topic Communication.

Cfg nameDuplex

DescriptionDuplex defines whether or not the controller shall be able to send and receive datasimultaneously on this physical channel.

UsageDuplex is the ability to transport data in both directions.With full duplex the controller is able to both send and receive data at the sametime.With half duplex the data flow is limited to one direction at a time.

Allowed valuesFULL or HALF.


2 Topic Communication2.4.8 Duplex

2.4.9 Flow Control

ParentFlow Control belongs to the type Physical Channel, in the topic Communication.

Cfg nameFlowControl

DescriptionFlow Control defines which type of data flow control is used between the devicesthat are communicating on the physical channel.

UsageFlow control adjusts the data transfer so that no data is sent before the receivingdevice can receive it. Flow control is extra important when the sending device cansend data at a higher speed than the receiving device is able to receive.

LimitationBoth receiver and transmitter of data must agree on the type of flow control used.

Allowed values

DescriptionValue

Hardware flow control, uses signals on the serial cable to control if sendingor receiving is enabled.

RTS/CTS

Software flow control, uses characters in the communication stream to controlsending and receiving of data.

XON/XOFF

Flow control will not be used.NONE


2 Topic Communication2.4.9 Flow Control

2.5 Type Transmission Protocol

2.5.1 The Transmission Protocol type

OverviewThis section describes the type Transmission Protocol which belongs to the topicCommunication. Each parameter of this type is described in a separate informationtopic in this section.

Cfg nameCOM_TRP

Type descriptionTransmission protocols are standards for data transmission.

Related informationHow to define a transmission protocol on page 36.


2 Topic Communication2.5.1 The Transmission Protocol type

2.5.2 Name

ParentName belongs to the type Transmission Protocol, in the topic Communication.

Cfg nameName

DescriptionName specifies the name of the transmission protocol. Transmission protocolsare used for transferring data.




2.5.3 Type

ParentType belongs to the type Transmission Protocol, in the topic Communication.

Cfg nameType

DescriptionType defines the type of transmission protocol to be used.

LimitationsTCP/IP settings can only be viewed from the Configuration Editor in RobotStudio.For detailed information, see Operating manual - RobotStudio.

Allowed values

Description:Value:

Point-To-Point protocol, provides communication for simple links which transportpackets between two nodes. Thereby, it is only possible to run PPP on the serialchannels, i.e. COM1.

PPP

Protocol without handshakes.RAW

Related informationThe Physical Channel type on page 53.Operating manual - RobotStudio.For configuration of the LAN port, see Operating manual - IRC5 with FlexPendant.


2 Topic Communication2.5.3 Type

2.5.4 Physical Channel

ParentPhysical Channel belongs to the type Transmission Protocol, in the topicCommunication.

Cfg namePhyChannel

DescriptionPhysical Channel connects a transmission protocol with a physical channel.

LimitationsIt is not possible to connect to the LAN port. For configuration of the LAN port, seeOperating manual - IRC5 with FlexPendant.

Allowed valuesCOM1, in a standard system.Also, COM2 and COM3, in a system with Multiple Serial Ports installed.

Related informationThe Physical Channel type on page 53.Operating manual - IRC5 with FlexPendant.


2 Topic Communication2.5.4 Physical Channel

2.5.5 Local Address

ParentLocal Address belongs to the type Transmission Protocol, in the topicCommunication.

Cfg nameLocalAdress

DescriptionLocal Address specifies an IP address of the controller's serial port, i.e. COM1.

LimitationsThe parameter Local Address can only be used when the parameter Type has thevalue PPP.

Allowed valuesA string consisting of 4 integer values between 0 and 255, each specifying one ofthe four parts, separated by dots.

Related informationType on page 64.

ExampleAn IP address consists of four parts, each with eight bits, separated by dots:100.100.100.100 or 138.227.1.45.


2 Topic Communication2.5.5 Local Address

2.5.6 Remote Address

ParentRemote Address belongs to the type Transmission Protocol, in the topicCommunication.

Cfg nameRemoteAdress

DescriptionRemote Address specifies an IP address of the remote peer's serial port. This canbe the IP address of the serial port on a PC used for communication with thecontroller.

LimitationsThe parameter Remote Address can only be used when the parameter Type hasthe value PPP.

Allowed valuesA string consisting of 4 integer values between 0 and 255, each specifying one ofthe four parts, separated by dots.

Related informationType on page 64.

ExampleAn IP address consists of four parts, each with eight bits, separated by dots:100.100.100.100 or 138.227.1.45.


2 Topic Communication2.5.6 Remote Address

3 Topic Controller3.1 The Controller topic

OverviewThis chapter describes the types and parameters of the Controller topic. Eachparameter is described in the section for its type.

DescriptionThe Controller topic contains parameters for safety and RAPID specific functions.The parameters are organized in the following types:

1 Auto Condition Reset2 Automatic Loading of Modules3 Event Routine4 Mechanical Unit Group5 ModPos Settings6 Operator Safety7 Path Return Region8 Run Mode Settings9 Present Options10 Safety Run Chain11 System Misc12 Task


3 Topic Controller3.1 The Controller topic

3.2 Workflows

3.2.1 How to activate hold-to-run control

OverviewSafety in program execution is essential. The function hold-to-run control is usedwhen extra safety is necessary in the operating mode Manual. The hold-to-runfunction only allows robot movements when a button is manually actuated andimmediately stops these movements when released.

Additional informationThe hold-to-run control is always activated in Manual Full Speed mode.

How to activate the hold-to-run controlTo activate the hold-to-run control for manual reduced speed mode:

1 In the Controller topic, choose the type Operator Safety.2 Edit the parameters for robot movement control and execution. Set the

parameter Active to True.For detailed information about the parameters, see the descriptions in theOperator Safety type.

3 Save the changes.

Related informationThe Operator Safety type on page 110.Operating manual - IRC5 with FlexPendant.


3 Topic Controller3.2.1 How to activate hold-to-run control

3.2.2 How to define path return region

Return movementA return movement must take place if the current robot path deviates from theprogrammed path. This happens for example if an uncontrolled stop has occurredor the robot has been jogged away from its path. A return movement begins whenprogram start is ordered and stops before the program continues with the instructionthat was interrupted.

Path return regionIn a return movement, the path return region specifies the distance from the currentrobot position to the last executed path. The maximum path return region can beset both for start in manual mode and for start in automatic mode.

How to define path return regionTo define the path return region:

1 In the Controller topic, choose the type Path Return Region.2 Edit the Mode parameter to specify the operating mode.3 Edit the parameters for movement in the selected mode. For detailed

information about each parameter, see the descriptions in the type PathReturn Region.

4 Save the changes.

Related informationThe Path Return Region type on page 116.


3 Topic Controller3.2.2 How to define path return region

3.3 Type Auto Condition Reset

3.3.1 The Auto Condition Reset type

OverviewThis section describes the type Auto Condition Reset, which belongs to the topicController. Each parameter of the type is described in a separate information topicin this section.

Cfg nameAUTO_COND_RESET

Type descriptionThe type Auto Condition Reset defines if a number of conditions should be resetwhen switching to auto mode.A message box is displayed on the FlexPendant with information about the resetconditions.

LimitationsThere can be only one instance of the type Auto Condition Reset.


3 Topic Controller3.3.1 The Auto Condition Reset type

3.3.2 Name

ParentName belongs to the type Auto Condition Reset, in the topic Controller.

Cfg namename

Allowed valuesAllDebugSettings (cannot be changed).


3 Topic Controller3.3.2 Name

3.3.3 Reset

ParentReset belongs to the type Auto Condition Reset, in the topic Controller.

Cfg namereset

DescriptionReset defines if a number of conditions should be reset when switching to automode.If any of the conditions cannot be executed, then switching to auto will be rejected.The Reset setting is also applied when starting the controller in auto mode.

UsageIf Reset is set to YES then the following conditions are reset when switching toauto:

• The Program Pointer (PP) is set to Main module for all tasks if callchain doesnot originate from Main routine.

• All tasks are enabled.• All stopped background tasks are started.• Simulation of all simulated I/O signals is removed.• Speed is set to 100%.• RAPID Spy is deactivated.

If Reset is set to NO, then none of the above conditions are reset automatically.If a service routine is running and PP was manually moved to another routinebefore the service routine was called, then the above does not apply. Switching toauto will then be rejected.

Allowed valuesYESNODefault value is YES.


3 Topic Controller3.3.3 Reset

3.4 Type Automatic Loading of Modules

3.4.1 The Automatic Loading of Modules type

OverviewThis section describes the type Automatic Loading of Modules which belongs tothe topic Controller. Each parameter of this type is described in a separateinformation topic in this section.

Cfg nameCAB_TASK_MODULES

Type descriptionRAPID modules can be loaded automatically when the controller is restarted if theyare specified in the type Automatic Loading of Modules.

UsageThere must be one instance of the type Automatic Loading of Modules for each ofthe module to be loaded.

System restartAll changes in the type Automatic Loading of Moduleswill take effect after a normalrestart or a restart of the program server (P-start).

Additional informationIf the configuration module is changed, it may in one case (see below) replace theloaded module after a normal restart. In any other case, you will get a warning. Toreplace the loaded module regardless of task type, do a P-start.The configuration module replaces the loaded module if the:

• loaded module is a program module AND• the task is semistatic.

The program pointer is only lost if a configuration change results in unloading ofthe module that the program pointer is in. If a shared or installed module is changedfrom True to False, or is moved to another task, the task will be reinstalled and theprogram pointer is reset. All previously loaded modules are reloaded and unsavedchanges will not be lost.If a changed and unsaved user-loaded module is unloaded due to configurationchanges, it will be saved to a recovery directory and pointed out in an ELOGmessage.If a changed and unsaved configuration loaded module is unloaded due toconfiguration changes, it will be saved from where it was loaded.All tasks are reinstalled with modules according to the configuration after a P-start.Note that after a P-start, all user-loaded modules are lost.



3 Topic Controller3.4.1 The Automatic Loading of Modules type

Related informationThe Task type on page 134.Technical reference manual - RAPID overview.ELOG messages are described in Operating manual - Trouble shooting IRC5.Restarts are described in Operating manual - IRC5 with FlexPendant.


3 Topic Controller3.4.1 The Automatic Loading of Modules type

Continued

3.4.2 File

ParentFile belongs to the type Automatic Loading of Modules, in the topic Controller.

Cfg nameFile

DescriptionThe parameter File describes a path to the module file.

UsageThe module file shall contain one module to be loaded, installed, or shared.

Allowed valuesA path, for example, HOME:base.sys

Related informationTechnical reference manual - RAPID overview.


3 Topic Controller3.4.2 File

3.4.3 Task

ParentTask belongs to the type Automatic Loading of Modules, in the topic Controller.

Cfg nameTask

DescriptionTask is the symbolic name of the task to which the module will be loaded.

UsageThe task is defined in the type Task.The available task(s) is shown under the type Task.

LimitationsCannot be combined with All Tasks, All Motion Tasks, or Shared.

Allowed valuesA task name with maximum 30 characters.

Additional informationAll automatically loaded modules need information on which task they will beloaded or installed in, even if only one task is configured in the system.

Related informationThe Task type on page 134.All Tasks on page 81.Shared on page 80.Application manual - Engineering tools.


3 Topic Controller3.4.3 Task

3.4.4 Installed

ParentInstalled belongs to the type Automatic Loading of Modules, in the topic Controller.

Cfg nameInstalled

DescriptionA module can be installed or loaded. A loaded module is visible in remote clients,for example, RobotStudio and FlexPendant. An installed module is not visible, thatis, it does not occur in the list of modules.

UsageSet Installed to Yes to install a module, and to No to load a module.

LimitationsCannot be combined with Shared.

Allowed valuesYES or NO.The default value is No.

Additional informationTo remove an installed module, the parameter Installed must be set to No andrestart the system.

Related informationShared on page 80.All Tasks on page 81.Technical reference manual - RAPID overview.


3 Topic Controller3.4.4 Installed

3.4.5 Shared

ParentShared belongs to the type Automatic Loading of Modules, in the topic Controller.

Cfg nameShared

DescriptionIt is possible to install the module (and all its objects) as shared so it is reachablefrom all the tasks.

UsageIf a module should be reachable from any task, set the parameter Shared to YES.This installs the module to the system internal shared task, not visible from anyuser interface or in the configuration. All data in the module is then shared (that isthe same) for all tasks.

LimitationsCannot be combined with Task, All Tasks, All Motion Tasks, or Installed.

Allowed valuesYES or NO.Default value is No.

Additional information

Then:and if Installed:If Shared:

The module is installed shared. Module data is sharedbetween all tasks.

NoYes

The module is installed and only available from thenamed task.

YesNo

The module is loaded.NoNo

Related informationAll Tasks on page 81.Task on page 78.Installed on page 79.


3 Topic Controller3.4.5 Shared

3.4.6 All Tasks

ParentAll Tasks belongs to the typeAutomatic Loading of Modules, in the topicController.

Cfg nameAllTask

DescriptionThe All Tasks module will be loaded or installed in all the tasks available in thesystem.Note that there can be more tasks available in the system than can be seen, thatis, tasks with Type defined as STATIC or SEMISTATIC, or Hidden defined as YES.

UsageThe tasks are defined in the type Task.

LimitationsCannot be combined with Task, All Motion Tasks, or Shared.A module with All Motion Tasks set to Yes can only contain the code possible torun in any motion task in the system.

Allowed valuesYESNODefault value is No.

Additional informationIf All Tasks is set to Yes and Installed is set to Yes then the module is installed ineach task as a separate module. That is, the module data is not shared betweenthe tasks (as opposed to if the module is installed shared).

Related informationTask on page 78.Shared on page 80.The Task type on page 134.


3 Topic Controller3.4.6 All Tasks

3.4.7 All Motion Tasks

ParentAll Motion Tasks belongs to the type Automatic Loading of Modules, in the topicController.

Cfg nameAllMotionTask

DescriptionThe All Motion Tasks module will be loaded or installed in all motion tasks availablein the system.


LimitationsCannot be combined with Task, Shared, or All Tasks.A module with All Motion Tasks set to Yes can only contain the code possible torun in any motion task in the system.

Allowed valuesYESNOThe default value is NO.

Additional informationIf All Motion Tasks is set to Yes and Installed is set to Yes then the module isinstalled in each motion task as a separate module. That is, module data is notshared between the tasks (as opposed to if the module is installed shared).

Related informationTask on page 78.Shared on page 80.The Task type on page 134.


3 Topic Controller3.4.7 All Motion Tasks

3.4.8 Hidden

ParentHidden belongs to the type Automatic Loading of Modules, in the topic Controller.

Cfg nameHidden

DescriptionRAPID modules, routines and data may be hidden, which may be used to preventinexperienced end users from tampering (accidentally deleting or changing) withthe contents.Note that the hidden contents is not protected! It can easily be shown again bysetting the parameter value to NO.Note that any hidden contents will still be available when using the SetDataSearchinstruction to search RAPID data.

LimitationsThis parameter affects only modules, routines, and data that are loadedautomatically on start, that is no programs etc. that are loaded by the operatoronce the system has been started.Changes to the parameter will be effective only after a P-start.

Allowed valuesYESNODefault value is NO.


3 Topic Controller3.4.8 Hidden

3.5 Type Event Routine

3.5.1 The Event Routine type

OverviewThis section describes the type Event Routinewhich belongs to the topicController.Each parameter of this type is described in a separate information topic in thissection.

Cfg nameCAB_EXEC_HOOKS

Type descriptionThe type Event Routine contains parameters for event handling. Special systemevents, such as program stop, can be connected to a RAPID routine. When theevent occurs, the connected event routine is executed automatically.An event routine is made up of one or more instructions. The routine runs in thetask specified in parameter Task or All Tasks.The tasks available are dependent on the type Tasks.

Event routinesThe following event routines are available:

• PowerOn• Start• Step• Restart• Stop• QStop• Reset

Event routines can be started for one or many tasks. A normal task execution willnot wait for the event routines in other tasks. Tasks that are dependent on theevent routines of other tasks shall therefore be synchronized, for example, withWaitSyncTask before a normal task execution.A stopped event routine will continue from where it was stopped when pressingthe start button on the FlexPendant or when calling the start command via a systemI/O.Pressing the stop button when the Stop event routine is executing does not generatea new Stop event. However, if a problem has occured in the event routine thenpressing the stop button will force the execution to leave the event routine after10 seconds.The only way to cancel a stopped event routine from system I/O is to start theprogram from main.



3 Topic Controller3.5.1 The Event Routine type

A Stop instruction (without the optional argument -All) or a Break instruction inan event routine will stop the program execution. This means that instructions afterthe Stop or Break instruction will never be executed. See Example1 on page 86.

Event routine execution examplesThe following is an illustration of the sample code that is shown below it. Theexamples that follow show which event routines are executed for the various buttonspressed on the FlexPendant.

p10 p20

1. / 2. 3. / 4. 5. / 6.

xx1100000050

PROC main()

MoveJ p20, v100, fine, tool0;

MoveJ p10, v100, fine, tool0;

ENDPROC

Example 1The following procedure shows that the START, STOP, and RESTART eventroutines are executed when the Start and Stop buttons are pressed on theFlexPendant.

Executed event routineActionStep

-Tap PP to Main.1

STARTPress the Start button.2

STOPPress the Stop button.3

RESTARTPress the Start button.4

-p20 is reached.5

-Execution continues.6

Example 2The following procedure shows that the START, STOP, and RESTART eventroutines are executed when the Start, Stop, and Step buttons are pressed on theFlexPendant.


-Tap PP to Main.1

STARTPress the Start button.2





Continued


RESTARTPress the Step button.4

-p20 is reached.5

STOPExecution stops.6

Example 3The following procedure shows that the START, STOP, and STEP event routinesare executed when the Step and Stop buttons are pressed on the FlexPendant.


-Tap PP to Main.1

STARTPress the Step butto.n2


STEPPress the Step button.4

-p20 is reached.5

-Execution stops.6

System restartAny changes in configuration of event routines are activated after a normal restart.

Example1This example illustrates the consequences after a Stop instruction in a routine.At restart mydo will be set to 1. mydo will never be set to 0 since the executionstops after the stop instruction.The instruction TPWrite will never be executed because myexample2 hassequence number (SeqNo) 1.

MODULE example(SYSMODULE)

PROC myexample1()

SetDO mydo, 1;

Stop;

SetDO mydo, 0;

ENDPROC

PROC myexample2()

TPWrite "This is an example";

ENDPROC

ENDMODULE

CAB_EXEC_HOOKS:

-Routine "myexample1" -Shelf "RESTART"

-Routine "myexample2" -Shelf "RESTART" -SeqNo 1

Example2This example illustrates how to use the same routine for both Start and Step events.




Continued

MODULE example(SYSMODULE)

PROC myexample2()

TEST RunMode()

CASE RUN_CONT_CYCLE:

! PLAY button pressed

...

CASE RUN_INSTR_FWD:

! FORWARD STEP button pressed

...

CASE RUN_INSTR_BWD:

! BACKWARD STEP button pressed

...

ENDTEST

ENDPROC

ENDMODULE

CAB_EXEC_HOOKS:

-Routine "myexample2" -Shelf "START"

-Routine "myexample2" -Shelf "STEP"

Related informationThe Task type on page 134.Technical reference manual - RAPID overview.Technical reference manual - RAPID Instructions, Functions and Data types. Thefunction EventType can be useful.



Continued

3.5.2 Routine

ParentRoutine belongs to the type Event Routine, in the topic Controller.

Cfg nameRoutine

DescriptionRoutine specifies which routine that should be run for an event.

UsageDefine the routine to be assigned to a system event.It is advisable to use a routine in a system module.

LimitationsThe specified routine must be a procedure without any parameters.The event Reset requires a routine in a system module.

Allowed valuesA string defining a routine.


3 Topic Controller3.5.2 Routine

3.5.3 Event

ParentEvent belongs to the type Event Routine, in the topic Controller.

Cfg nameShelf

DescriptionEvent specifies which system event in the robot system the routine should run.

UsageA system event can trigger a corresponding routine to be run, see Operatingmanual - IRC5 with FlexPendant.It is advisable to keep the routines short and quick.

LimitationsThe following limitations should be considered:

• The events are not activated when executing a routine manually, for example,a service routine.

• A maximum of 20 routines may be specified for each system event and eachtask (multitasking). The same routine can be used in more than one event(e.g. the same routine can be run for both Start and Restart).

• The specified event routine cannot be executed if the task program hassemantic errors (reference errors and so on). If this is the case, the systemgenerates an error.

• Only the event routine for Start can have motion instructions. A motioninstruction in any other event routine will result in a runtime execution error.The only exception is the motion instruction StepBwdPath, which is allowedin the event routine for Restart.

Allowed valuesThe following values are allowed.

Description:Value:

The specified routine is run when the robot is restarted (warm start or coldstart) from a remote client or by power on.

Power On

Execution is started from the beginning of the program. This is when you pressthe start or step buttons after having:

• loaded a new program or a new module• ordered Start from beginning• ordered Debug/Move PP to Main• ordered Debug/Move PP to Routine• moved the program pointer in such a way that the execution order is

lost.

Start



3 Topic Controller3.5.3 Event

Description:Value:

The specified routine is run for every forward and backward step.StepCheck with RAPID function RunMode to see if it is a forward or backward step.Check with RAPID function ExecLevel to see if it is executing on trap or normallevel.

The program was stopped:• with the stop button• with a STOP instruction• stop after current instruction.

Note:A delayed stop after current cycle will not execute the routines connectedto this state.

Stop

The event is not activated at Exit instruction or stop due to execution error.

The robot was quick stopped (emergency stop).QStop

Execution is started from the position where it was stopped, or from anotherinstruction the program pointer has been moved to, without having lost theexecution order. The event is not activated after having executed one instruc-tion in step by step mode (FWD or MStep).

Restart

Close and load a new program using the FlexPendant. The event is not activ-ated after having loaded a system module or a program module.

Reset

Additional informationThe following event routines are predefined for all tasks in all systems and mustnot be removed.

Sequence no.Routine:Event:

0SYS_RESETReset

0SYS_RESETStart

0SYS_POWERONPower On

Related informationOperating manual - IRC5 with FlexPendant.


3 Topic Controller3.5.3 Event

Continued

3.5.4 Sequence Number

ParentSequence Number belongs to the type Event Routine, in the topic Controller.

Cfg nameSeqNo

DescriptionSequence Number specifies in which order the routine should be executed for aspecific event.

UsageOrder the event routines in a sequence where the first routine shall have a lowvalue and the routines that shall run last has the highest value.0 will run first.Note! If several event routines has the same sequence number, the executionorder will be unpredictable.

Allowed valuesA value between 0 and 100.Default value is 0.


3 Topic Controller3.5.4 Sequence Number

3.5.5 Task

ParentTask belongs to the type Event Routine, in the topic Controller.

Cfg nameTask

DescriptionTask specifies the name of the task that the routine will run in.

UsageThe task is defined in the type Task.

LimitationsCannot be combined with All Tasks or All Motion Tasks.

Allowed valuesNames of configured tasks of the type Task.

Additional informationAll event routines need information on which task they will run, even though onlyone task is configured in the system.

Related informationThe Task type on page 134.All Tasks on page 93.All Motion Tasks on page 94.



3.5.6 All Tasks

ParentAll Tasks belongs to the type Event Routine, in the topic Controller.

Cfg nameAllTasks

DescriptionAll Tasks defines if the routine will run in all configured tasks in the system.Note that there can be more tasks available in the system than can be seen, thatis tasks with Type defined as STATIC or SEMISTATIC, or Hidden defiined as YES.


LimitationsCannot be combined with Task or All Motion Tasks.A routine with All Tasks set to Yes can only contain code possible to run in anytask in the system.

Allowed valuesYESNOThe default value is No.

Additional informationAll event routines need information on which task they will run, even if only onetask is configured in the system.

Related informationTask on page 92.The Task type on page 134.


3 Topic Controller3.5.6 All Tasks

3.5.7 All Motion Tasks

ParentAll Motion Tasks belongs to the type Event Routine, in the topic Controller.

Cfg nameAllMotionTasks

DescriptionAll Motion Tasks defines if the routine will run in all configured motion tasks in thesystem.


LimitationsCannot be combined with Task or All Tasks.A routine with All Motion Tasks set to Yes can only contain code possible to runin any motion task in the system.

Allowed valuesYesNoThe default value is No.

Additional informationAll event routines need information on which task they will run, even if only onetask is configured in the system.

Related informationTask on page 92.The Task type on page 134.


3 Topic Controller3.5.7 All Motion Tasks

3.6 Type Mechanical Unit Group

3.6.1 The Mechanical Unit Group type

OverviewThis section describes the type Mechanical Unit Group, which belongs to the topicController. Each parameter of the type is described in a separate information topicin this section.

Cfg nameMECHANICAL_UNIT_GROUP

Type descriptionWith the option MultiMove comes the possibility to control several robots from onecontroller. Each task can control one robot and up to six positioners. The mechanicalunits that will be controlled by one task are grouped in a mechanical unit group.

Related informationUse Mechanical Unit Group on page 141.Application manual - MultiMove.


3 Topic Controller3.6.1 The Mechanical Unit Group type

3.6.2 Name

ParentName belongs to the type Mechanical Unit Group, in the topic Controller.

Cfg nameName

DescriptionThe name of the mechanical unit group.

UsageThis is the public identity of the mechanical unit group. It is used by the parameterUse Mechanical Unit Group in the type Tasks.

LimitationsMechanical Unit Group is only used if you have the option MultiMove.


Related informationUse Mechanical Unit Group on page 141.



3.6.3 Robot

ParentRobot belongs to the type Mechanical Unit Group, in the topic Controller.

Cfg nameRobot

DescriptionSpecifies the robot (with TCP), if there is any, in the mechanical unit group.

UsageRobot is set to the same value as the parameter Name for the Mechanical UnitGroup type that it represents.

LimitationsThe parameter Robot is only used if you have the option MultiMove.


Related informationName on page 96.


3 Topic Controller3.6.3 Robot

3.6.4 Mechanical Unit 1, 2, 3, 4, 5, 6

ParentMechanical Unit 1, Mechanical Unit 2, Mechanical Unit 3, Mechanical Unit 4,Mechanical Unit 5, and Mechanical Unit 6 belongs to the type Mechanical UnitGroup, in the topic Controller.

Cfg nameMechanicalUnit_1MechanicalUnit_2MechanicalUnit_3MechanicalUnit_4MechanicalUnit_5MechanicalUnit_6

DescriptionMechanical Unit 1 specifies the first mechanical unit without TCP, if there is any,in the mechanical unit group.Mechanical Unit 2 specifies the second mechanical unit without TCP, if there ismore than one, in the mechanical unit group.Mechanical Unit 3 specifies the third mechanical unit without TCP, if there are morethan two, in the mechanical unit group.Mechanical Unit 4 specifies the fourth mechanical unit without TCP, if there aremore than three, in the mechanical unit group.Mechanical Unit 5 specifies the fifth mechanical unit without TCP, if there are morethan four, in the mechanical unit group.Mechanical Unit 6 specifies the sixth mechanical unit without TCP, if there aremore than five, in the mechanical unit group.

UsageMechanical Unit is set to the same value as the parameterName for theMechanicalUnit Group type that it represents.

LimitationsThe parameters Mechanical Unit is only used if you have the option MultiMove.


Related informationName on page 96.


3 Topic Controller3.6.4 Mechanical Unit 1, 2, 3, 4, 5, 6

3.6.5 Use Motion Planner

ParentUse Motion Planner belongs to the type Mechanical Unit Group, in the topicController.

Cfg nameUseMotionPlanner

DescriptionSpecifies which motion planner shall be used for calculating the movements of themechanical units in this group.

UsageUse Motion Planner is set to the same value as the parameter Name for the MotionPlanner type that you want to use.

LimitationsThe parameter Use Motion Planner is only used if you have the option MultiMove.


Related informationThe Motion Planner type on page 520 in the topic Motion.


3 Topic Controller3.6.5 Use Motion Planner

3.7 Type ModPos Settings

3.7.1 The ModPos Settings type

OverviewThis section describes the type ModPos Settings which belongs to the topicController. Each parameter of this type is described in a separate information topicin this section.

Cfg nameHOTEDIT_MODPOS

Type descriptionIt is sometimes desirable to limit how much a robtarget position can be moved bya ModPos or HotEdit operation. The limited deviation concerns both the lineardistance and the orientation.

LimitationsThere can be only one set of parameters of the typeModPos Settings in the system.


3 Topic Controller3.7.1 The ModPos Settings type

3.7.2 Name

ParentName belongs to the type ModPos Settings, in the topic Controller.

Cfg namename

DescriptionName defines that the parameter configuration is for ModPos.

Allowed valuesmodpos




3.7.3 Limited ModPos

ParentLimited ModPos belongs to the type ModPos Settings, in the topic Controller.

Cfg nametype

DescriptionLimited ModPos defines if a ModPos change must be within a limited sphere forthe position deviation and within a limited cone for the reorientation.

UsageSet Limited ModPos to False when no limit is required, and to True when limitsshould apply.

Allowed valuesFALSE or TRUE.Default value is FALSE.


3 Topic Controller3.7.3 Limited ModPos

3.7.4 Mode

ParentMode belongs to the type ModPos Settings, in the topic Controller.

Cfg namemode

DescriptionMode defines how the limit is defined; to an absolute point or relative to the currentposition.

UsageSetting Mode to Absolute means that the limited sphere/cone is around a fixedoriginal point, i.e. position changes are accumulated and the accumulated deviationvalue is checked against the set max limits each time a change is made.Setting Mode to Relative means that the limited sphere/cone is around the currentpoint and will be moved when you modify the position.

LimitationsMode is available only if Limited ModPos is set to TRUE.Absolute is effective only on named robtargets, for example, p10, p20. * robtargetsare not visible on the tree view.

Allowed valuesAbsolute or Relative.Default value is Relative.

Related informationLimited ModPos on page 102.

ExampleIn this example, the original point P1 is moved two times, first to P2 and then toP3. In figure A, Mode is set to Absolute, and in figure B, Mode is set to Relative.The allowed move distance, R does not change in figure A. This makes it impossibleto move the point to P3, as this is beyond R.



3 Topic Controller3.7.4 Mode

In figure B however, the allowed move distance follows the last point. So from P1it is possible to move as far as R1 allows, and from P2, it is allowed to move as faras R2, etc.

en0500001454



Continued

3.7.5 Limit Trans

ParentLimit Trans belongs to the type ModPos Settings, in the topic Controller.

Cfg namelimittrans

DescriptionLimit Trans defines the maximum allowed deviation in mm from the current ororiginal position.

UsageIf Limited ModPos is set to TRUE, then Limit Trans is used by both ModPos andHotEdit, otherwise it is only used by HotEdit.

Allowed values0 - 1000 mm.Default value is 5.



3 Topic Controller3.7.5 Limit Trans

3.7.6 Limit Rot

ParentLimit Rot belongs to the type ModPos Settings, in the topic Controller.

Cfg namelimitrot

DescriptionLimit Rot defines the maximum allowed reorientation in degrees from the currentor original position.

UsageIf Limited ModPos is set to TRUE, then Limit Rot is used by both ModPos andHotEdit, otherwise it is only used by HotEdit.

Allowed values0 - 360 degrees (0 - 6.280 radians).Default value is 10 degrees (0.17 radians).

Additional informationConvert degrees to radians: radians = (degrees/360)*(2*pi)



3 Topic Controller3.7.6 Limit Rot

3.7.7 Limit External Trans

ParentLimit External Trans belongs to the type ModPos Settings, in the topic Controller.

Cfg namelimitexttrans

DescriptionLimit External Trans defines the maximum allowed deviation in mm from the currentor original position concerning external linear axes.

UsageIf LimitedModPos is set to TRUE, then Limit External Trans is used by both ModPosand HotEdit, otherwise it is only used by HotEdit.

Allowed values0 - 1000 mm.Default value is 50.



3 Topic Controller3.7.7 Limit External Trans

3.7.8 Limit External Rot

ParentLimit External Rot belongs to the type ModPos Settings, in the topic Controller.

Cfg namelimitextrot

DescriptionLimit External Rot defines the maximum allowed deviation in degrees from thecurrent or original position concerning external rotational axes.

UsageIf Limited ModPos is set to TRUE, then Limit External Rot is used by both ModPosand HotEdit, otherwise it is only used by HotEdit.

Allowed values0 - 360 degrees (0 - 6.280 radians).Default value is 10 degrees (0.17 radians).

Additional informationConvert degrees to radians: radians = (degrees/360)*(2*pi)



3 Topic Controller3.7.8 Limit External Rot

3.7.9 Change to LModPos in Auto

ParentChange to LModPos in Auto belongs to the type ModPos Settings, in the topicController.

Cfg nameifauto

DescriptionChange to LModPos in Auto defines if it is possible to force the system to changeto Limited ModPos automatically when switching from Manual to Auto. When goingback to Manual the configured value is valid.

UsageSetting Change to LModPos in Auto to No means that Limited ModPos will not beactivated when switching from Manual to Auto.Yes means that Limited ModPos will be activated when the operator's key isswitched to Auto Mode.

LimitationsChange to LModPos in Auto is only available if Name is ModPos.

Allowed valuesYes or No.Default value is No.

Related informationLimited ModPos on page 102.Name on page 101.


3 Topic Controller3.7.9 Change to LModPos in Auto

3.8 Type Operator Safety

3.8.1 The Operator Safety type

OverviewThis section describes the type Operator Safety which belongs to the topicController. Each parameter of this type is described in a separate information topicin this section.

Cfg nameMASTER_BOOL

Type descriptionThe Operator Safety type is used to define extra safety for system execution.

Related informationHow to activate hold-to-run control on page 70.Operating manual - IRC5 with FlexPendant, chapter Safety.


3 Topic Controller3.8.1 The Operator Safety type

3.8.2 Function

ParentFunction belongs to the type Operator Safety, in the topic Controller.

Cfg nameName

DescriptionFunction defines safety functions for the robot system.

Allowed values

DescriptionValue

Hold-to-run enables a functionality that requires a button to be pressed in toallow execution in Manual Reduce Speed mode. When the button is releasedthe executions are immediately stopped.

Hold-to-run

Hold-to-run is always activated in Manual Full Speed operating mode.Hold-to-run is further described in standard ISO 10218 (EN775).

Related informationHow to activate hold-to-run control on page 70.Operating manual - IRC5 with FlexPendant chapter Safety.


3 Topic Controller3.8.2 Function

3.8.3 Active

ParentActive belongs to the type Operator Safety, in the topic Controller.

Cfg nameSelect

DescriptionActive defines whether the value of Function is activated.

Allowed values

DescriptionValue

ActivatedTRUE

Not activatedFALSE

Related informationFunction on page 111.


3 Topic Controller3.8.3 Active

3.9 Type Options

3.9.1 The Options type

OverviewThis section describes the type Options, which belongs to the topic Controller.Each parameter of the type is described in a separate information topic in thissection.

Cfg namePRESENT_OPTIONS

Type descriptionOptions contains read-only names and descriptions of the installed options in thesystem.


3 Topic Controller3.9.1 The Options type

3.9.2 Name

ParentName belongs to the type Options, in the topic Controller.

Cfg namename

DescriptionShort unique ID of an option.

UsageUniquely identifies an option.

LimitationsRead-only



3.9.3 Description

ParentDescription belongs to the type Options, in the topic Controller.

Cfg namedesc

DescriptionComplete name of an option.

UsageHuman friendly identification of an option.

LimitationsRead-only


3 Topic Controller3.9.3 Description

3.10 Type Path Return Region

3.10.1 The Path Return Region type

OverviewThis section describes the type Path Return Region which belongs to the topicController. Each parameter of the type is described in a separate information topicin this section.

Cfg nameCAB_REGAIN_DIST

Type descriptionIn a return movement, the path return region specifies the distance from the currentrobot position to the last executed path. The maximum path region can be set bothfor start in manual mode and for start in automatic mode.There must be two sets of parameters defined for this type; one for automatic mode(AUTO) and one for manual mode (MAN). Both are predefined on delivery.

Return movementsA return movement must take place when the current path of the robot deviatesfrom the programmed path. For example, this is required when an uncontrolledstop has occurred or when the robot has been jogged away from its path.A return movement begins when program start is ordered and stops before theprogram continues with the instruction that was interrupted due to a stop request.

Predefined path return regionsAUTOMAN


3 Topic Controller3.10.1 The Path Return Region type

3.10.2 Mode

ParentMode belongs to the type Path Return Region, in the topic Controller.

Cfg nameName

DescriptionMode defines in which operating mode a return movement will start.

UsageBoth Auto and Man mode must be defined in the system and are configured ondelivery.

Allowed valuesAUTOMAN



3.10.3 TCP Distance

ParentTCP Distance belongs to the type Path Return Region, in the topic Controller.

Cfg nameTCP_Dist

DescriptionTCP Distance defines the maximum allowed TCP distance from the current robotposition to the last executed path.

UsageTCP Distance is used to limit the return movement if there is a risk that the robotwill collide with an object.

PrerequisitesSpecify which operating mode the return movement is valid for. This is defined inthe parameter Mode.

Allowed valuesA value between 0-2.000 meters, specifying the movement in meters.The default value is 0.05 meter for manual mode and 0.5 meter for automatic mode.

Related informationMode on page 117.Application manual - Motion coordination and supervision.


3 Topic Controller3.10.3 TCP Distance

3.10.4 TCP Rotation

ParentTCP Rotation belongs to the type Path Return Region, in the topic Controller.

Cfg nameTCP_Rot

DescriptionTCP Rotation defines the maximum allowed TCP rotation from the current robotposition to the last executed path.

UsageTCP Rotation is used to limit the return movement if there is a risk that the robotwill collide with an object.


Allowed valuesA value between 0-6.280, specifying the movement in radians.The default value is 0.2 radians for manual mode and 1.57 radians for automaticmode.

Additional informationTo convert degrees to radians, use this formula:radians = 2*pi*degrees/360



3 Topic Controller3.10.4 TCP Rotation

3.10.5 External Distance

ParentExternal Distance belongs to the type Path Return Region, in the topic Controller.

Cfg nameExt_Dist

DescriptionExternal Distance defines the maximum allowed external axes distance from thecurrent robot position to the last executed path.

UsageExternal Distance is used to limit the return movement if there is a risk that therobot will collide with an object.


Allowed valuesA value between 0-2.000, specifying the movement in meters.The default value is 0.05 meter for manual mode and 0.5 meter for automatic mode.



3 Topic Controller3.10.5 External Distance

3.10.6 External Rotation

ParentExternal Rotation belongs to the type Path Return Region, in the topic Controller.

Cfg nameExt_rot

DescriptionExternal Rotation defines the maximum allowed external axes rotation from thecurrent robot position to the last executed path.

UsageExternal Rotation is used to limit the regain movement if there is a risk that therobot will collide with an object.


Allowed valuesA value between 0-6.280, specifying the movement in radians.The default value is 0.2 radians for manual mode and 1.57 radians for automaticmode.

Additional informationTo convert degrees to radians, use this formula:radians = 2*pi*degrees/360



3 Topic Controller3.10.6 External Rotation

3.11 Type Run Mode Settings

3.11.1 The Run Mode Settings type

Overview blockThis section describes the type Run Mode Settings which belongs to the topicController. Each parameter of this type is described in a separate information topicin this section.

Cfg nameRUN_MODE_SETTINGS

Type descriptionThe typeRunMode Settings defines if the run mode should change when changingoperating mode.


3 Topic Controller3.11.1 The Run Mode Settings type

3.11.2 Name

ParentName belongs to the type Run Mode Settings, in the topic Controller.

Cfg namename

DescriptionName of the operating mode setting.

UsageThere can be only one instance with each allowed value, that is a maximum of twoinstances in the system.

Allowed values

DescriptionValue

Defines settings when switching from automatic to manualoperating mode.

AutoToManual

Defines settings when switching from manual to automaticoperating mode.

ManualToAuto



3.11.3 Switch

ParentSwitch belongs to the type Run Mode Settings, in the topic Controller.

Cfg nameSwitchTo

DescriptionSwitch defines the run mode when switching operating mode.

UsageDefines if the run mode should be changed when changing operating mode.

Allowed values

DescriptionValue

Keep current run mode.Keep

Set run mode to single cycle.Single

Set run mode to continuous.Continuous


3 Topic Controller3.11.3 Switch

3.12 Type Safety Run Chain

3.12.1 The Safety Run Chain type

OverviewThis section describes the type Safety Run Chain which belongs to the topicController. Each parameter of the type is described in a separate information topicin this section.

Cfg nameRUNCHN_BOOL

Type descriptionIt is possible to have a delayed stop that gives a smooth stop, this is called a SoftStop. The type of Soft Stop used in the system is defined in the Safety Run Chaintype.There can be more than one set of parameters defined for the type Safety RunChain.

Soft StopIn the Soft Stop, the robot stops in the same way as a normal program stop withno deviation from the programmed path. After approximately 1 second the powersupply to the motors shuts off. The stopping distance can be longer than at a hardstop (e.g. emergency stop) where the power shuts off immediately.


3 Topic Controller3.12.1 The Safety Run Chain type

3.12.2 Function

ParentFunction belongs to the type Safety Run Chain, in the topic Controller.

Cfg nameName

DescriptionFunction defines if Soft Stop is activated or deactivated.

UsageA Soft Stop is the same as a safety stop of category 1, which means that the robotwill be stopped by the servos.The robot can easily be started again after a soft stop on path and continue withthe activity where it was interrupted.

Allowed values

Description:Value:

Soft emergency stop is activated by pressing the emergency stop push buttonon the FlexPendant or the control module.

SoftES

SoftES is only used in Auto. In manual mode, SoftES will be a category 0 stopregardless of the value set in the parameter Active.

Soft automatic mode stop is intended for automatic mode during normalprogram execution. This stop is activated by safety devices such as lightcurtains, light beams, or sensitive mats.

SoftAS

Soft general stop is activated by safety devices such as light curtains, lightbeams, or sensitive mats.

SoftGS

Soft superior stop has the same function as a general stop but is intendedfor externally connected safety devices.

SoftSS

Related informationOperating manual - IRC5 with FlexPendant chapter Safety.


3 Topic Controller3.12.2 Function

3.12.3 Active

ParentActive belongs to the type Safety Run Chain, in the topic Controller.

Cfg nameSelect

DescriptionActive defines whether the Soft Stop is activated or not.

UsageIf Active is set to True, the Soft Stop is activated.

Allowed valuesTRUE or FALSE.The Soft Stops are defined with default values.

Description:Default value:Soft Stop:

DeactivatedFALSESoftES

ActivatedTRUESoftAS

ActivatedTRUESoftGS

ActivatedTRUESoftSS


3 Topic Controller3.12.3 Active

3.13 Type System Misc

3.13.1 The System Misc type

OverviewThis section describes the type SystemMisc, which belongs to the topicController.Each parameter of the type is described in a separate information topic in thissection.

Cfg nameSYS_MISC

Type descriptionSystem Misc contains parameters that are general for the controller.


3 Topic Controller3.13.1 The System Misc type

3.13.2 Name

ParentName belongs to the type System Misc, in the topic Controller.

Cfg namename

DescriptionName defines either of the two arguments for retry or simulated menus.

LimitationsThere can be only one instance with Name set to NoOfRetry, SimulateMenu, andModalPayLoadMode.

Allowed valuesNoOfRetrySimulateMenuModalPayLoadMode

Related informationNoOfRetry on page 130.SimulateMenu on page 131.ModalPayLoadMode on page 132.



3.13.3 Action values

3.13.3.1 NoOfRetry

ParentNoOfRetry is an action value for the parameter Name that belongs to the typeSystem Misc, in the topic Controller.

Cfg nameNoOfRetry

DescriptionThe action value NoOfRetry specifies that there is a limit to the number of timesthe routine with a recoverable error is called before the error is reported as fataland execution is stopped. The number of times is set by the parameter Value.

UsageCan be useful e.g. if the network is shaky and the first attempt at opening a filedoes not work.

LimitationsWorks only if an ERROR handler that takes care of the error situation is programmedwith the RETRY statement.

Additional informationChanges are activated after a normal restart.

Related informationValue on page 133.

ExampleThis example shows that it can take some time before an I/O unit is enabled. Severalattempts are needed before it is possible to set the digital output signal.

PROC A()

...

IOEnable "cell_1", 0;

SetDO cell_1_sig3, 1; !This might not work on the first attempt

...

ERROR IF ERRNO = ERR_IOENABLE THEN

RETRY;

ENDIF

ENDPROC


3 Topic Controller3.13.3.1 NoOfRetry

3.13.3.2 SimulateMenu

ParentSimulateMenu is an action value for the parameter Name that belongs to the typeSystem Misc, in the topic Controller.

Cfg nameSimulateMenu

DescriptionThe WaitTime, WaitUntil, WaitDO, and WaitDI instructions generate an alertbox in manual mode to make it possible to simulate the instruction and continueto execute the next instruction. The parameter Value defines if SimulateMenu ison or off.

UsageIt is useful to switch this parameter off if no alert boxes are desired. Set Value to0 to disable menus.

LimitationsThe parameter is only active in manual mode. There are no alert boxes in automaticmode.




3 Topic Controller3.13.3.2 SimulateMenu

3.13.3.3 ModalPayLoadMode

ParentModalPayLoadMode is an action value for the parameter Name that belongs to thetype System Misc, in the topic Controller.

Cfg nameModalPayLoadMode

DescriptionModalPayLoadMode defines whether or not ModalPayLoadMode shall be used.WhenModalPayLoadMode is used, any payload is set by theGripLoad instruction.When ModalPayLoadMode is not used, the optional argument TLoad is used forsetting payload.

UsageCan be useful, for example, if the modal instruction GripLoad is not desirable.

Allowed values

Description:Value:Name:

ModalPayLoadMode shall be used. Any payload isset by the GripLoad instruction. This is a default value.

1

ModalPayLoadMode ModalPayLoadMode shall not be used, instead theoptional argument TLoad is used. The argumentTLoad is available on all motion instructions.

0


Related informationFor more information about GripLoad and TLoad, seeTechnical referencemanual - RAPID Instructions, Functions and Data types.


3 Topic Controller3.13.3.3 ModalPayLoadMode

3.13.4 Value

ParentValue belongs to the type Type, in the topic Motion.

Cfg namevalue

DescriptionDefines the values for the action values defined in parameter Name.

Allowed values

Description:Value:Name:

Defines number of times the number of times aroutine with a recoverable error is called beforethe system is stopped.

1-1000NoOfRetry

Defines if instructions should be possible tosimulate in manual mode.

0 or 1SimulateMenu

Defines whether or not ModalPayLoadMode shallbe used. When ModalPayLoadMode is used, anypayload is set by the GripLoad instruction. WhenModalPayLoadMode is not used, the optionalargument TLoad is used for setting payload.

0 or 1ModalPayLoadMode

Related informationName on page 129.NoOfRetry on page 130.SimulateMenu on page 131.ModalPayLoadMode on page 132.


3 Topic Controller3.13.4 Value

3.14 Type Task

3.14.1 The Task type

OverviewThis section describes the type Task, which belongs to the topic Controller. Eachparameter of the type is described in a separate information topic in this section.

Cfg nameCAB_TASKS

Type descriptionEach set of parameters of the Task type represents a program task on the controller.If you have the option Multitasking, there can be up to 20 tasks. Otherwise therecan be only one.

Related informationApplication manual - Engineering tools chapter Multitasking.


3 Topic Controller3.14.1 The Task type

3.14.2 Task

ParentTask belongs to the type Tasks, in the topic Controller.

Cfg nameName

DescriptionThe name of the task.

UsageThis is the public identity of the task.

Allowed valuesA string with maximum 30 characters. The first character may not be a digit.

LimitationsEditing the task entry in the configuration editor and changing the task name willremove the old task and add a new one. This means that any program or modulein the task will dissapear after a restart with these kind of changes.



3.14.3 Task in Foreground

ParentTask in Foreground belongs to the type Tasks, in the topic Controller.

Cfg nameTask_in_forground

DescriptionUsed to set priorities between tasks.Task in Foreground contains the name of the task that should run in the foregroundof this task. This means that the task for which the parameter is set will only executeif the foreground task is idle.

UsageThe default behavior is that all tasks run at the same priority level. If you want tocustomize the priorities, the Task in Foreground parameter can be set for the tasksthat should run in the background.If Task in Foreground is set to empty string or to -1 for a task, it runs at the highestpriority, i.e. no other task can suspend its execution.

LimitationsThe parameter Task in Foreground can only be used if you have the optionMultitasking.



3 Topic Controller3.14.3 Task in Foreground

3.14.4 Type

ParentType belongs to the type Tasks, in the topic Controller.

Cfg nameType

DescriptionControls the start/stop and system restart behavior of a task.

UsageWhen creating a new task, use the Type parameter to configure how the task shouldbe started.

LimitationsA task that controls a mechanical unit must be of the type NORMAL.The parameter Type can only be used if you have the option Multitasking.

Allowed values

Description:Value:

The task reacts on START/STOP requests given from the FlexPendantor other sources.

NORMAL

The task is stopped when an emergency stop occurs.

At warm start, the task restarts at the current position.STATICThe task is not stopped by emergency stops.The task is normally not stopped by the stop button on the FlexPendant.This can be configured on the FlexPendant by the operator.

The task restarts from the beginning at all warm starts. Modules will bereloaded if the file with automatic loaded modules is updated.

SEMISTATIC

The task is not stopped by emergency stops.The task is normally not stopped by the stop button on the FlexPendant.This can be configured on the FlexPendant by the operator.

Default value is SEMISTATIC.


3 Topic Controller3.14.4 Type

3.14.5 Check Unresolved References

ParentCheck Unresolved References belongs to the type Tasks, in the topic Controller.

Cfg nameBindRef

DescriptionCheck Unresolved References determines if the system shall check for unresolvedreferences or ignore them.

UsageThis parameter should be set to “0” if the system is to accept unsolved referencesin the program while linking a module, or otherwise set to “1”.If set to “1”, a runtime error will occur on execution of an unresolved reference.

LimitationsThe parameter has no effect when using instructions Load, StartLoad, WaitLoad,or Erase. In this case the system will never check for unresolved references.

Allowed values1 or 0.Default value is 1.


3 Topic Controller3.14.5 Check Unresolved References

3.14.6 Main Entry

ParentMain Entry belongs to the type Tasks, in the topic Controller.

Cfg nameEntry

DescriptionThe name of the start routine for the task.

UsageThe task starts its execution in the routine specified by Main Entry. It should be aRAPID routine without any parameters and reachable in this task.

Allowed valuesA routine name, with maximum 32 characters.Default value is main.


3 Topic Controller3.14.6 Main Entry

3.14.7 Trustlevel

ParentTrustlevel belongs to the type Tasks, in the topic Controller.

Cfg nameTrustlevel

DescriptionTrustlevel handles the system behavior when a SEMISTATIC or STATIC task isstopped or not executable.

UsageIf a task that handles safety supervision stops, it might be dangerous to continuerunning the task that controls the robot motion. Use TrustLevel to set the behaviorof NORMAL tasks when a SEMISTATIC or STATIC task stops.

LimitationsThe parameter Trustlevel can only be used if you have the option Multitasking.

Allowed values

Description:Value:

All NORMAL tasks will be stopped. Besides that the system is set tosystem failure state (SYS_FAIL). All jogging and program start orders willbe rejected. Only a new normal restart (warm start) resets the system.This should be used when the task has some safety supervisions.

SysFail

All NORMAL tasks will be stopped. The system is forced to Motors offstate. Taking up the system to Motors on resets the system.

SysHalt

All NORMAL tasks will be stopped but are restartable. Jogging is alsopossible.

SysStop

Only the task itself will stop.NoSafety

The default value is SysFail.


3 Topic Controller3.14.7 Trustlevel

3.14.8 Use Mechanical Unit Group

ParentUse Mechanical Unit Group belongs to the type Tasks, in the topic Controller.

Cfg nameUseMechanicalUnitGroup

DescriptionDefines which mechanical unit group is used for the task.

UsageA motion task (MotionTask set to Yes) controls the mechanical units in themechanical unit group. A non-motion task (MotionTask set to No) will still be ableto read values (e.g. the TCP position) for the mechanical units in the mechanicalunit group.

LimitationsThe parameter Use Mechanical Unit Group is only used if you have the optionMultiMove.

Allowed valuesUse Mechanical Unit Group is set to the same value as the parameter Name forthe type Mechanical Unit Group.A string with maximum 32 characters.

Related informationMotionTask on page 142.Name on page 96.Application manual - MultiMove.


3 Topic Controller3.14.8 Use Mechanical Unit Group

3.14.9 MotionTask

ParentMotionTask belongs to the type Tasks, in the topic Controller.

Cfg nameMotionTask

DescriptionIndicates which task is the motion task, e.g. can be able to run RAPID moveinstructions. MotionTask must be used even though only one task is configuredin the system.

UsageSet MotionTask to YES for the task that will be used for robot move instructions.

LimitationsOnly one task in the system can be a motion task unless you have the optionMultiMove.The parameter MotionTask is only used if you have the option Multitasking.

Allowed valuesYES or NO.The default behavior is NO.The value must be set to YES for one, and only one, task.

Related informationApplication manual - MultiMove.Application manual - Engineering tools.


3 Topic Controller3.14.9 MotionTask

3.14.10 Hidden

ParentHidden belongs to the type Task in the topic Controller.

Cfg nameHidden

DescriptionRAPID tasks may be hidden, which may be used to prevent inexperienced endusers from tampering (accidentally deleting or changing) with the contents.Note that the hidden contents is not protected! It can easily be shown again bysetting the parameter value to NO.Note that any hidden contents will still be available when using the SetDataSearchinstruction to search RAPID data.

LimitationThis parameter is available when using multitasking systems only, such asMultiMove.Changes to the parameter will become effective only after performing a P-start.

Allowed valuesYES or NO.Default value is NO.


3 Topic Controller3.14.10 Hidden

3.14.11 RMQ Type

ParentRMQ Type belongs to the type Task, in the topic Controller.

Cfg nameRmqType

DescriptionUsed for the functionality RAPID Message Queue. RMQ Type defines if the queueof this RAPID task should accept messages from anyone, only other tasks on thesame controller, or from no one.

UsageRMQ Type can be used to turn off all RAPID Message Queue communication to aRAPID task. It can also be used to limit the communication so that only other RAPIDtasks on the same controller may send messages to this task.

LimitationsThe parameterRMQType is only used if you have the functionalityRAPIDMessageQueue.

Allowed values

Description:Value:

Disable the receiving of RAPID Message Queue messages in this RAPIDtask.

None

Enable the receiving of RAPID Message Queue messages from other taskson the controller.

Internal

Enable the receiving of RAPID Message Queue messages both from othertasks on the controller, from the FlexPendant and from PC applications.

Remote

The default value is None.

Related informationFor more information aboutRAPIDMessageQueue, seeApplicationmanual - Robotcommunication and I/O control, section RAPID Message Queue.


3 Topic Controller3.14.11 RMQ Type

3.14.12 RMQ Max Message Size

ParentRMQ Max Message Size belongs to the type Task, in the topic Controller.

Cfg nameRmqMaxMsgSize

DescriptionThe maximum data size, in bytes, for a RAPID Message Queue message.

UsageThe default value is 400, and there is normally no reason to change this value. Thevalue cannot be changed in RobotStudio or on the FlexPendant. The only way tochange the value is by editing the sys.cfg file.

LimitationsThe parameter RMQ Max Message Size is only used if you have the functionalityRAPID Message Queue.

Allowed valuesAn integer between 400 and 3000.Default value is 400.



3 Topic Controller3.14.12 RMQ Max Message Size

3.14.13 RMQ Max No Of Messages

ParentRMQ Max No Of Messages belongs to the type Task, in the topic Controller.

Cfg nameRmqMaxNoOfMsg

DescriptionMaximum number of RAPID Message Queue messages in the queue to this task.

UsageThe default value is 5, and there is normally no reason to change this value. Thevalue cannot be changed in RobotStudio or on the FlexPendant. The only way tochange the value is by editing the sys.cfg file.

LimitationsThe parameterRMQMaxNoOfMessages is only used if you have the functionalityRAPID Message Queue.

Allowed valuesAn integer between 1 and 10.Default value is 5.



3 Topic Controller3.14.13 RMQ Max No Of Messages

3.14.14 RMQ Mode

ParentRMQ Mode belongs to the type Task, in the topic Controller.

Cfg nameRmqMode

DescriptionUsed for functionality RAPID Message Queue. RMQ Mode defines which modethe message queue for this task will use.

UsageRMQ Mode defines the message queue handling should be based on interrupts(data types) or synchronous (all messages are handled).

LimitationsThe parameterRMQMode is only used if you have the functionalityRAPIDMessageQueue.

Allowed values

Description:Value:

A message can only be received by connecting a trap routineto a specified message type. See instruction IRMQMessage.

Interrupt

A message can only be received by executing an RMQReadWaitinstruction.

Synchronous

The default value is Interrupt.

Related informationFor more information aboutRAPIDMessageQueue, seeApplicationmanual - Robotcommunication and I/O control, section RAPID Message Queue.RAPID instructions are described in Technical reference manual - RAPIDInstructions, Functions and Data types.


3 Topic Controller3.14.14 RMQ Mode

4 Topic I/O4.1 The I/O topic

OverviewThis chapter describes the types and parameters of the I/O topic. Each parameteris described in the section for its type.

DescriptionThe I/O topic contains parameters for I/O boards and signals.The parameters are organized in the following types:

1 Access Level2 Bus3 Cross Connection4 Fieldbus Command5 Fieldbus Command Type6 Signal7 System Input8 System Output9 Unit10 Unit Type

Configuration resultsChanged I/O parameters requires a restart of the controller. Otherwise the changeswill have no effect on the system.


4 Topic I/O4.1 The I/O topic

4.2 Workflows

4.2.1 How to define I/O units

OverviewAn I/O unit is a logical software representation of a fieldbus I/O unit that is connectedto a fieldbus within the controller. I/O units allow you to control electronic devicesand read sensor data. They are used for controlling I/O signals in the robot system.

Available I/O unitsSeveral I/O units can be defined within the robot system. The types of I/O unitsavailable depend on what type of fieldbus is being used.The following I/O units are examples of available I/O units for DeviceNet:

1 Digital I/O2 Analog I/O3 AD Combi I/O4 Relay I/O5 Gateways6 Simulated I/O7 Encoder interface units

PrerequisitesBefore defining an I/O unit, you must:

1 Configure the Bus.2 Make sure the appropriateUnit Type is available, either by creating it or using

a predefined unit type.

How to define I/O unitsTo define an I/O unit:

1 In the topic I/O, choose the type Unit.2 Select the I/O unit to change, delete, or add a new one.3 Enter, delete, or change the values for the parameters.4 Save the changes.

Related informationThe Unit type on page 288.How to define the unit type on page 152.The Unit Type type on page 299.


4 Topic I/O4.2.1 How to define I/O units

4.2.2 How to list available unit types

OverviewThe I/O units are of a specific type, defined for each I/O unit.

How to list available unit typesTo list all available unit types:

1 In the topic I/O, choose the type Unit Type.2 To get detailed information about a specific unit type, select the unit type.

Related informationHow to define I/O units on page 150.How to define the unit type on page 152.


4 Topic I/O4.2.2 How to list available unit types

4.2.3 How to define the unit type

OverviewThe I/O units are of a specific type, defined for each unit. For I/O units that do nothave a unit type equivalent specified, a new unit type needs to be defined.

How to define the unit typeTo define the unit type:

1 In the topic I/O, choose the type Unit Type.2 Select the Unit Type to change, delete, or add a new one.3 Enter, delete, or change the values for the parameters.4 Save the changes.

Related informationHow to define I/O units on page 150.How to list available unit types on page 151.The Unit Type type on page 299.


4 Topic I/O4.2.3 How to define the unit type

4.2.4 How to define input and output I/O signals

OverviewAn I/O signal is the logical software representation of a:

• Inputs or outputs located on a fieldbus I/O unit that is connected to a fieldbuswithin the robot system (real I/O signal).

• An I/O signal without a representation on any fieldbus I/O unit (virtual I/Osignal).

Available input and output I/O signalsThe I/O signals can be of different types.The type of I/O signals available depends on the actual unit type. Typical I/O signaltypes on a fieldbus I/O unit are:

1 Digital inputs and outputs 24 V DC2 Digital inputs and outputs 120 V DC3 Analog inputs and outputs +-10 V4 Analog outputs 0 to +10 V

The I/O signal types possible to configure in the robot system are:• Digital input, DI• Digital output, DO• Analog input, AI• Analog output, AO• Group input, GI• Group output, GO

LimitationsMaximum 8192 user I/O signals can be defined in the robot system. This includesdigital, analog, and group I/O signals of both input and output type.

PrerequisitesBefore defining an I/O signal, that is not Virtual, you must:

1 Configure the Bus.2 Make sure the appropriate Unit Type is available, either by creating it or by

using a predefined unit type.3 Configure the Unit.4 Make sure the appropriate Access Level is available, either by creating it or

by using a predefined access level.

How to define input and output I/O signalsTo define I/O signals:

1 In the topic I/O, choose the type Signal.2 Add a new one or select an existing I/O signal to be changed or deleted.3 Restart the controller.



4 Topic I/O4.2.4 How to define input and output I/O signals

Related informationHow to define an I/O signal group on page 155.The Signal type on page 191.


4 Topic I/O4.2.4 How to define input and output I/O signals

Continued

4.2.5 How to define an I/O signal group

Signal groupDigital inputs or outputs located on a fieldbus I/O unit can be grouped and handledas one I/O signal in the robot system. The value of such an I/O signal will thus bea positive integer that is binary coded using the individual digital inputs or outputson the fieldbus I/O unit as a basis.

LimitationsWhen defining I/O signal groups, you have to consider the following limitation inthe robot system:

• Maximum 32 inputs and outputs located on a fieldbus I/O unit can be definedin an I/O signal group.

How to define an I/O signal groupTo define an I/O signal group:

1 In the I/O topic, choose the type Signal.2 Add a new one or select an existing I/O signal to be changed or deleted.3 Enter, delete, or change the values for the parameters. Set the parameter

Type of Signal to value Group Input or Group Output.The required parameters depend on the type of signal. See parameterdescriptions and examples of typical configurations in the description of thetype Signal.

4 Restart the controller.

Related informationHow to define input and output I/O signals on page 153.The Signal type on page 191.

ExampleIf an I/O signal group spans over 4 digital input I/O signals on the fieldbus I/O unit,the maximum value is 15 (24-1) and the minimum value is 0.


4 Topic I/O4.2.5 How to define an I/O signal group

4.2.6 How to define system inputs

OverviewInput I/O signals can be assigned specific system inputs. The input triggers asystem action that is handled by the system, without using the FlexPendant orother hardware devices.

PrerequisitesA digital input I/O signal with a defined signal name has to be configured in thesystem.

LimitationsThe following limitations have to be considered:

• Only one system action can be assigned to the input I/O signal. However,several input I/O signals can be assigned the same system action.

• When deleting a system action the I/O signal itself remains defined. The I/Osignal has to be deleted separately.

• System input I/O signals are only valid for the currently executed programin the system, with exceptions on the action value level. These exceptionsare described together with the corresponding action value.

• The system must be in automatic mode to react on the system signal.

How to define system inputsTo define a system input:

1 In the topic I/O, choose the type System Input.2 Select the system input to change, delete, or add a new one.3 Enter, change, or delete the values for the parameters.

To add or delete the system action values Interrupt, Load and Start, MotorsOn and Start, Start, and Start at Main you must also define the parameterArgument 1.To add or delete the system action values Interrupt and Load and Start youmust also define the parameter Argument 2.

4 Save the changes.

Rejected system inputsIf the system is in manual mode or cannot perform the defined system action dueto any other unfulfilled requirement, no error message is displayed. When a systemaction is rejected the error message is stored in the error log (ELOG).

Related informationThe System Input type on page 219.The Signal type on page 191.


4 Topic I/O4.2.6 How to define system inputs

4.3 Type Access Level

4.3.1 The Access Level type

OverviewThis section describes the Access Level type which belongs to the topic I/O. Eachparameter of this type is described in a separate information topic in this section.

Cfg nameEIO_ACCESS

Type descriptionAn I/O Access Level type is a configuration that defines the write access to I/Osignals for categories of I/O controlling clients connected to the robot controller.

UsageTo limit write access to I/O signals from clients it is necessary use an access level.The access level settings differentiates local clients (for example FlexPendant)from remote clients (for example RobotStudio).

LimitationsIt is not possible to configure different write access levels for different remoteclients, since the controller does not differentiate for example RobotStudio fromother remote clients.

Predefined access levels

Description:Access Level:

No client has write access, typically used by read only I/O signals.ReadOnlyThis access level cannot be changed.

Only allowed to write to signals from RAPID instructions and localclients (for example FlexPendant) in manual mode.

Default

This access level cannot be changed.

All clients, local and remote, have write access.All

No clients have write access, typically used for system internal I/Osignals, for example safety I/O signals.

Internal

This access level cannot be changed.

ExampleIn this example, it is only possible to modify I/O signals with this access level withRAPID and local clients in manual mode. Remote clients cannot modify these I/Osignals.

Value:Parameter:

DefaultName

Write enabledRapid

Write enabledLocal client in manual mode



4 Topic I/O4.3.1 The Access Level type

Value:Parameter:

Read onlyLocal client in auto mode

Read onlyRemote client in manual mode

Read onlyRemote client in auto mode


4 Topic I/O4.3.1 The Access Level type

Continued

4.3.2 Name

ParentThe parameter Name belongs to the type Access Level, in the topic I/O.

Cfg nameName

DescriptionThe parameter Name specifies the logical name of the access level.

UsageThe name of the access level is used as a reference to the specific access levelwhen configuring the I/O signals.

Default valueThe default value is an empty string.

Allowed valuesA string following the RAPID rules described in the manualRAPID overview, chapterBasic elements.The name must be unique among all named I/O objects in the I/O systemconfiguration.Note! Names differing only in upper and lower case are considered to be equal.


4 Topic I/O4.3.2 Name

4.3.3 Rapid

ParentThe parameter Rapid belongs to the type Access Level, in the topic I/O.

Cfg nameRapid

DescriptionThe parameter Rapid specifies the level of access granted to RAPID instructions.

UsageSpecify the level of access that should be granted to RAPID instructions whenaccessing objects associated with this access level.

Default valueThe default value is Read only.

Allowed valuesWrite enabledRead only


4 Topic I/O4.3.3 Rapid

4.3.4 Local Client in Manual Mode

ParentThe parameter Local Client in Manual Mode belongs to the type Access Level, inthe topic I/O.

Cfg nameLocalManual

DescriptionThe parameter Local Client in Manual Mode specifies the level of access grantedto local RobAPI clients in manual mode.A local client is a client using RobAPI and is connected directly to the controller,for example the FlexPendant.

UsageSpecify the level of access that should be granted to local RobAPI clients in manualmode when accessing objects associated with this access level.




4 Topic I/O4.3.4 Local Client in Manual Mode

4.3.5 Local Client in Auto Mode

ParentThe parameter Local Client in Auto Mode belongs to the type Access Level, in thetopic I/O.

Cfg nameLocalAuto

DescriptionThe parameter Local Client in Auto Mode specifies the level of access granted tolocal RobAPI clients in automatic mode.A local client is a client using RobAPI and is connected directly to the controller,for example the FlexPendant.

UsageSpecify the level of access that should be granted to local RobAPI clients inautomatic mode when accessing objects associated with this access level.




4 Topic I/O4.3.5 Local Client in Auto Mode

4.3.6 Remote Client in Manual Mode

ParentThe parameter Remote Client in Manual Mode belongs to the type Access Level,in the topic I/O.

Cfg nameRemoteManual

DescriptionThe parameterRemote Client in Manual Mode specifies the level of access grantedto remote RobAPI clients in manual mode.A remote client is a client or application using RobAPI and not being connecteddirectly to the controller, for example RobotStudio.

UsageSpecify the level of access that should be granted to remote RobAPI clients inmanual mode when accessing objects associated with this access level.




4 Topic I/O4.3.6 Remote Client in Manual Mode

4.3.7 Remote Client in Auto Mode

ParentThe parameter Remote Client in Auto Mode belongs to the type Access Level, inthe topic I/O.

Cfg nameRemoteAuto

DescriptionThe parameter Remote Client in Auto Mode specifies the level of access grantedto remote RobAPI clients in automatic mode.A remote client is a client or application using RobAPI and not being connecteddirectly to the controller, for example RobotStudio.

UsageSpecify the level of access that should be granted to remote RobAPI clients inautomatic mode when accessing objects associated with this access level.




4 Topic I/O4.3.7 Remote Client in Auto Mode

4.4 Type Bus

4.4.1 The Bus type

OverviewThis section describes the typeBus, which belongs to the topic I/O. Each parameterof this type is described in a separate information topic in this section.

Cfg nameEIO_BUS

Type descriptionAn I/O bus is a logical software representation of a fieldbus within the controller.

UsageBy specifying an I/O bus, a logical representation of the real fieldbus is created.The I/O bus configuration defines the specific parameters that will determine thebehavior for the fieldbus, like communication speed and bus recovery time.The I/O bus is used when defining the I/O units and other objects in the I/O system.

PrerequisitesBefore defining a new I/O bus the fieldbus option must be installed.The fieldbus option typically consists of software to configure I/O buses of thespecific type, and the hardware required to equip the controller with the physicalinterfaces needed for the specific fieldbus.

LimitationsThe I/O bus has the following limitations:

• The maximum number of I/O buses in the system depends on the installedfieldbus options.

• It is only possible to configure I/O buses of types for which the respectiveoption has been installed in the system.

Predefined I/O buses

Description:I/O bus:

Local is used for communication with the safety I/O boards. No extra I/Ounits can be configured to this I/O bus.

Local

Virtual1 is a virtual I/O bus that can be used for configuration of virtual I/Ounits.

Virtual1

Depending on the installed options, there can be other predefined I/O buses notdescribed in this manual.

Related informationMore information about the I/O bus configuration can be found in the manual forthe respective fieldbus option, for example Application manual - DeviceNet.



4 Topic I/O4.4.1 The Bus type

Example DeviceNetThis is a typical DeviceNet bus. Please refer to Application manual - DeviceNet formore information about DeviceNet.

Value:Parameter:

MyDeviceNetName

DeviceNetType of bus

First boardConnector ID

DeviceNet connector on board in PCI slot 4Label at Fieldbus Connector

5Recovery time

2DeviceNet master address

250 kbpsDeviceNet communication speed


4 Topic I/O4.4.1 The Bus type

Continued

4.4.2 Name

ParentName belongs to the type Bus, in the topic I/O.

Cfg nameName

DescriptionThe parameter Name specifies the name of the I/O bus.

UsageThe name of the I/O bus is used as a reference to the specific I/O bus whenconfiguring the I/O units on the I/O bus.


Allowed valuesA string following the RAPID rules described in the manual Technical referencemanual - RAPID overview, chapter Basic elements.The name must be unique among all named objects in the I/O system configuration.

Note

Names differing only in upper and lower case are considered as equal.



4.4.3 Type of Bus

ParentType of Bus belongs to the type Bus, in the topic I/O.

Cfg nameBusType

DescriptionThe parameter Type of Bus specifies the type of fieldbus this I/O bus is representing.

UsageDefining the type of I/O bus is vital to identify which fieldbus this I/O bus isrepresenting. The unique identification of the specific fieldbus is made with thecombination of the parameters Type of Bus and Connector ID.

PrerequisitesThe fieldbus option for the desired type of I/O bus must be installed.

LimitationsAll configured I/O buses in the system must have a unique combination of theparameters Type of Bus and Connector ID.

Default valueThe default value is Virtual.

Allowed valuesValues are determined by the available and installed fieldbus options.Examples of allowed values:

• Virtual (always available)• DeviceNet• Profibus• Interbus• EtherNet/IP• Profinet• DeviceNet Lean

Additional informationThe value Virtual is useful if a configuration from another robot system should betemporarily tested without having all the I/O hardware available. If Type of Bus isset to Virtual for I/O buses not available, it is possible to run the system in simulatedmode using the imported configuration.

Related informationConnector ID on page 169.


4 Topic I/O4.4.3 Type of Bus

4.4.4 Connector ID

ParentConnector ID belongs to the type Bus, in the topic I/O.

Cfg nameConnectorID

DescriptionThe parameter Connector ID specifies were the hardware is located for the specifictype of fieldbus being represented by this I/O bus configuration.

UsageConnector ID is used to connect an I/O bus to a specific hardware. If the I/O busis representing a hardware bus, for example DeviceNet, Connector ID is anenumeration of the hardware (of the same type) located in the computer module.The enumeration is made on a left to right basis, that is for the PCI bus the firstboard is the board located in the slot furthest to the left. If the hardware supportsmultiple channels (for example the dual PCI card for DeviceNet) the enumerationis made from the top to bottom.

LimitationsThe fieldbus option installed in the system must support several boards/channelsof the same type in the controller, otherwise First board/channel is the only validvalue.There can be maximum two boards in the system.Each board can have maximum two channels.


Allowed valuesThe allowed values are determined by the available and installed fieldbus options.

Description:Value:

Always availableFirst board/channel

Fieldbus specificSecond board/channel

Fieldbus specificThird channel

Fieldbus specificFourth channel

Additional informationIf the type of I/O bus is Virtual or if the installed fieldbus option supports severalboards of the same type, the value Second board and higher can be available.


4 Topic I/O4.4.4 Connector ID

4.4.5 Label at Fieldbus Connector

ParentLabel at Fieldbus Connector belongs to the type Bus, in the topic I/O.

Cfg nameConnectorLabel

DescriptionLabel at Fieldbus Connector provides a way to label the actual I/O bus.

UsageUsing Label at Fieldbus Connector is optional. It provides a label to identify thephysical I/O bus or connector that this I/O bus configuration is representing.




4 Topic I/O4.4.5 Label at Fieldbus Connector

4.4.6 Automatic Bus Restart

ParentAutomatic Bus Restart belongs to the type Bus, in the topic I/O.

Cfg nameAutomaticBusRestartDisabled

DescriptionAutomatic Bus Restart is used to enable and disable the automatically recoveryfor the I/O bus.

UsageIf Automatic Bus Restart is set to Enable and the I/O bus has stopped (for exampleended in error state) it tries to automatically recover to running state.If Automatic Bus Restart is set to Disable and the I/O bus has stopped, the I/O busmust be started manually from the FlexPendant or from RAPID.

Default valueThe default value is Enable.

Allowed valuesEnableDisable

Related informationThe I/O bus can be started manually from RAPID with the function IOBusStart ,see Technical reference manual - RAPID overview.


4 Topic I/O4.4.6 Automatic Bus Restart

4.4.7 Unit Recovery Time

ParentUnit Recovery Time belongs to the type Bus, in the topic I/O.

Cfg nameRecoveryTime

DescriptionThe parameter Unit Recovery Time defines how often the recovery of I/O unitsshall be performed on a specific I/O bus.The recovery is performed regularly by the controller, to regain contact with lostI/O units (an I/O unit in disconnected, error, or deactivated state).

Default valueThe default value is 5.

Allowed valuesAn integer value defining the time, in seconds, between two recoveries for thespecific I/O bus. The value must be a multiple of 5. Minimum value is 5.

Related informationTechnical reference manual - RAPID overview.


4 Topic I/O4.4.7 Unit Recovery Time

4.4.8 Path to Bus Configuration File

ParentPath to Bus Configuration File belongs to the type Bus, in the topic I/O.

Cfg nameCfgPath

DescriptionPath to Bus Configuration File specifies the path to a file containing detailed I/Obus configuration information necessary for some types of fieldbuses.

PrerequisitesThe target file for this parameter must be created and transferred to the controller.Creation and transfer must be done according to the requirements for the type ofI/O bus being represented by this configuration.


Allowed valuesA string following the requirements:

• Maximum 80 characters.• Must be a valid file path.

The path can be specified as HOME. This is interpreted as the path to the homedirectory of the current system.

ExampleTo target a file with the name my_pbus_cfg.bin located in the home directory ofthe current system:

HOME\my_pbus_cfg.bin


4 Topic I/O4.4.8 Path to Bus Configuration File

4.5 Type Cross Connection

4.5.1 The Cross Connection type

OverviewThis section describes the type Cross Connection which belongs to the topic I/O.Each parameter of this type is described in a separate information topic in thissection.

Cfg nameEIO_CROSS

Type descriptionA cross connection is a logical connection between I/O signals of type digital (DO,DI) or group (GO, GI), that allow one or several I/O signals to automatically affectthe state of other I/O signals.

UsageUsing cross connections is a simple way to interconnect I/O signals and let therobot system handle I/O activity without having to execute any RAPID code.Cross connecting I/O signals is a good alternative if there is an input I/O signal inthe process that, when activated, automatically activates one or several output I/Osignals.It is also possible to construct more complex conditions by combining up to fivedifferent actor I/O signals with operators. The actor I/O signals can also be inverted.

LimitationsThe maximum number of cross connections handled by the robot system is 300.Cross connections must not form a chain that is deeper than 20 levels. A chain isformed when cross connections are interlinked so that an I/O signal that is part ofa resultant expression in one cross connection is also part of the actor expressionof another cross connection, and so on. The depth of such chain is the number oftransitions from the first actor I/O signal to the last resultant I/O signal.Cross connections must not form closed chains since that would cause infiniteevaluation and oscillation. A closed chain appears when cross connections areinterlinked so that the chain of cross connections forms a circle.Ambiguous resultant I/O signals are not allowed since the outcome would dependon the order of evaluation (which cannot be controlled). Ambiguous resultant I/Osignals occur when the same I/O signal is resultant in several cross connections.The expressions are evaluated from left to right, that is, the priorities of the logicaloperator OR and the logical operator AND are the same. For clarity, our advise isto avoid mixing the logical operator OR and the logical operator AND in the sameexpression.The resultant I/O signal in a cross connection must not have an overlapping unitmap with any inverted actor I/O signals defined in the cross connection. Using I/O



4 Topic I/O4.5.1 The Cross Connection type

signals with overlapping unit map in a cross connection can cause infinity signalsetting loops.

Related informationFor more information about Logical Cross Connections, see Applicationmanual - Robot communication and I/O control.Unit Mapping on page 199Invert Physical Value on page 207


4 Topic I/O4.5.1 The Cross Connection type

Continued

4.5.2 Resultant

ParentResultant belongs to the type Cross Connection, in the topic I/O.

Cfg nameRes

DescriptionThe parameter Resultant specifies the digital or group I/O signal to which the resultof the condition formed by the actor I/O signals will be stored.Whenever the outcome of the condition formed by the actor I/O signals is alteredthe Resultant I/O signal will take the same value as that outcome.

UsageSpecify the I/O signal that will be effected by the outcome of the condition formedby the actor I/O signals.


Allowed valuesA string defining a digital I/O signal or group I/O signal that is defined in the robotsystem.


4 Topic I/O4.5.2 Resultant

4.5.3 Actor 1

ParentActor 1 belongs to the type Cross Connection, in the topic I/O.

Cfg nameAct1

DescriptionThe parameter Actor 1 specifies the first digital or group I/O signal that forms theactor expression of the cross connection.Whenever the value of the I/O signal referred to by Actor 1 is altered, the logicalcondition formed by the cross connection will be evaluated and the value of theI/O signal referred to by Resultant will be updated (if needed).

UsageSpecify the first of the digital or group I/O signals that forms the condition that willcontrol the value of the I/O signal referred to by Resultant.With the Logical Cross Connections, the Actor 1 parameter can be part of a morecomplex statement formed by combining it with other parameters such as InvertActor 1, Operator 1, and Actor 2.


Allowed valuesA string defining a digital I/O signal or group I/O signal defined in the robot system.

Related informationResultant on page 176.


4 Topic I/O4.5.3 Actor 1

4.5.4 Invert Actor 1, Invert Actor 2, Invert Actor 3, Invert Actor 4, Invert Actor 5

ParentInvert Actor 1, Invert Actor 2, Invert Actor 3, Invert Actor 4, and Invert Actor 5 belongto the type Cross Connection, in the topic I/O.

Cfg nameAct1_invert, Act2_invert, Act3_invert, Act4_invert, Act5_invert

DescriptionThe parameter Invert Actor 1 specifies whether the inverted value of the I/O signalreferred to by parameter Actor 1 will be used in the evaluation instead of the actualI/O signal value.The parameter Invert Actor 2 specifies whether the inverted value of the I/O signalreferred to by parameter Actor 2 will be used in the evaluation instead of the actualI/O signal value.The parameter Invert Actor 3 specifies whether the inverted value of the I/O signalreferred to by parameter Actor 3 will be used in the evaluation instead of the actualI/O signal value.The parameter Invert Actor 4 specifies whether the inverted value of the I/O signalreferred to by parameter Actor 4 will be used in the evaluation instead of the actualI/O signal value.The parameter Invert Actor 5 specifies whether the inverted value of the I/O signalreferred to by parameter Actor 5 will be used in the evaluation instead of the actualI/O signal value.

UsageThe Invert Actor 1 parameter can be used when forming complex cross connectionexpressions by specifying if the inverted value of Actor 1 should be used.The Invert Actor 2 parameter can be used when forming complex cross connectionexpressions by specifying if the inverted value of Actor 2 should be used.The Invert Actor 3 parameter can be used when forming complex cross connectionexpressions by specifying if the inverted value of Actor 3 should be used.The Invert Actor 4 parameter can be used when forming complex cross connectionexpressions by specifying if the inverted value of Actor 4 should be used.The Invert Actor 5 parameter can be used when forming complex cross connectionexpressions by specifying if the inverted value of Actor 5 should be used.

Default valueThe default value is No.

Allowed valuesYesNo



4 Topic I/O4.5.4 Invert Actor 1, Invert Actor 2, Invert Actor 3, Invert Actor 4, Invert Actor 5

Related informationActor 1 on page 177.


4 Topic I/O4.5.4 Invert Actor 1, Invert Actor 2, Invert Actor 3, Invert Actor 4, Invert Actor 5

Continued

4.5.5 Operator 1, Operator 2, Operator 3, Operator 4

ParentOperator 1, Operator 2, Operator 3, and Operator 4 belong to the type CrossConnection, in the topic I/O.

Cfg nameOper1, Oper2, Oper3, Oper4

DescriptionThe parameter Operator 1 specifies the logical operation to be performed betweenthe I/O signals referred to by parameter Actor 1 and Actor 2.The parameter Operator 2 specifies the logical operation to be performed betweenthe I/O signals referred to by parameter Actor 2 and Actor 3.The parameter Operator 3 specifies the logical operation to be performed betweenthe I/O signals referred to by parameter Actor 3 and Actor 4.The parameter Operator 4 specifies the logical operation to be performed betweenthe I/O signals referred to by parameter Actor 4 and Actor 5.

UsageIf only one actor I/O signal is used, Operator 1 is left out.If no more than two actor I/O signals are used, then Operator 2 is left out.If no more than three actor I/O signals are used, then Operator 3 is left out.If no more than four actor I/O signals are used, then Operator 4 is left out.

PrerequisitesBy specifying Operator 1 it is explicitly demanded that the parameter Actor 2 mustalso be specified.By specifying Operator 2 it is explicitly demanded that the parameter Actor 3 mustalso be specified.By specifying Operator 3 it is explicitly demanded that the parameter Actor 4 mustalso be specified.By specifying Operator 4 it is explicitly demanded that the parameter Actor 5 mustalso be specified.


Allowed valuesANDOR

Related informationActor 1 on page 177.Actor 2, Actor 3, Actor 4, Actor 5 on page 181.


4 Topic I/O4.5.5 Operator 1, Operator 2, Operator 3, Operator 4

4.5.6 Actor 2, Actor 3, Actor 4, Actor 5

ParentActor 2, Actor 3, Actor 4, and Actor 5 belongs to the type Cross Connection, in thetopic I/O.

Cfg nameAct2, Act3, Act4, Act5

DescriptionThe parameter Actor 2 specifies the second digital or group I/O signal that formsthe actor expression of the cross connection.The parameter Actor 3 specifies the third digital or group I/O signal that forms theactor expression of the cross connection.The parameter Actor 4 specifies the fourth digital or group I/O signal that formsthe actor expression of the cross connection.The parameter Actor 5 specifies the fifth digital or group I/O signal that forms theactor expression of the cross connection.Whenever the value of the I/O signal referred to by an Actor parameter is altered,the logical condition formed by the cross connection will be evaluated and thevalue of the I/O signal referred to by Resultant will be updated (if needed).

UsageSpecify the second of the digital or group I/O signal that forms the condition thatwill control the value of the I/O signal referred to by Resultant. If only one actorsignal is used, then Actor 2, Actor 3, Actor 4, and Actor 5 is left out.

PrerequisitesActor 2 will be ignored unless the parameter Operator 1 is specified.Actor 3 will be ignored unless the parameter Operator 2 is specified.Actor 4 will be ignored unless the parameter Operator 3 is specified.Actor 5 will be ignored unless the parameter Operator 4 is specified.


Allowed valuesA string defining a digital I/O signal or group I/O signal defined in the robot system.

Related informationResultant on page 176.Operator 1, Operator 2, Operator 3, Operator 4 on page 180.


4 Topic I/O4.5.6 Actor 2, Actor 3, Actor 4, Actor 5

4.6 Type Fieldbus Command

4.6.1 The Fieldbus Command type

OverviewThis section describes the type Fieldbus Command, which belongs to the topicI/O. Each parameter of this type is described in a separate information topic in thissection.

Cfg nameEIO_COMMAND

Type descriptionA Fieldbus Command is a start command for a specific I/O unit on a fieldbus.

UsageThe Fieldbus Command type is used to send commands to specific I/O units onthe fieldbus.This is done:

• At start.• When connecting the I/O unit after a power fail.• When activating the I/O unit from RobotStudio or the FlexPendant.

Several I/O units of the same type, for example all DeviceNet d350 units, can receivecommands via the type Fieldbus Command Type. To address one specific I/O unit,use the type Fieldbus Command.

LimitationsThe Fieldbus Command has the following limitations:

• Maximum 300 fieldbus commands can be defined in the robot system

Related informationThe Fieldbus Command Type type on page 186.

Example

Value:Parameter:

My_d350Assigned to unit

LinkAddrType of Fieldbus Command

5Value


4 Topic I/O4.6.1 The Fieldbus Command type

4.6.2 Assigned to Unit

ParentAssigned to Unit belongs to the type Fieldbus Command, in the topic I/O.

Cfg nameUnit

DescriptionThe parameter Assigned to Unit specifies the name of the I/O unit to which thisfieldbus command is associated.


Allowed valuesA string defining the name of a defined Unit.

Note

Names differing only in upper and lower case are considered to be equal.

Related informationThe Unit type on page 288.


4 Topic I/O4.6.2 Assigned to Unit

4.6.3 Type of Fieldbus Command

ParentType of Fieldbus Command belongs to the type Fieldbus Command, in the topicI/O.

Cfg nameCommandType

DescriptionThe parameter Type of Fieldbus Command is a reference to a fieldbus commandtype that describes this fieldbus command.


Allowed valuesA string defining the name of a defined Fieldbus Command Type.

Note

Names that differ only in upper and lower case are considered to be equal.



4 Topic I/O4.6.3 Type of Fieldbus Command

4.6.4 Value

ParentValue belongs to the type Fieldbus Command, in the topic I/O.

Cfg nameValue

DescriptionThe parameter Value specifies the value of the command for the I/O unit specified.

UsageThe controller sends commands to the fieldbus at start. Use the type FieldbusCommand to address specific I/O units on the fieldbus and the type FieldbusCommand Type to address all I/O units of a specific type.





4 Topic I/O4.6.4 Value

4.7 Type Fieldbus Command Type

4.7.1 The Fieldbus Command Type type

OverviewThis section describes the type Fieldbus Command Type, which belongs to thetopic I/O. Each parameter of this type is described in a separate information topicin this section.

Cfg nameEIO_COMMAND_TYPE

Type descriptionA Fieldbus Command Type is a start command for a specific type of I/O unit on afieldbus.

UsageThe type Fieldbus Command Type is used at start to send commands to a specifictype of I/O unit on the fieldbus, for example all DeviceNet I/O units of the type d350.

LimitationsThe Fieldbus Command Type has the following limitations:

• Maximum 200 fieldbus command types can be defined in the robot system.• Maximum 100 fieldbus command types can be defined on one (1) I/O unit.

Additional informationThe type Fieldbus Command Type has lower priority than the type FieldbusCommand.

Related informationThe Fieldbus Command type on page 182.

Example

Value:Parameter:

LinkAddrName

d350Type of unit

1Default value

1Download order

6,20 64 24 01 30 01,C6,1Path

Set Attribute SingleService


4 Topic I/O4.7.1 The Fieldbus Command Type type

4.7.2 Name

ParentName belongs to the type Fieldbus Command Type, in the topic I/O.

Cfg nameName

DescriptionThe parameter Name specifies the logical name of the fieldbus command type.

UsageThe name of the fieldbus command type is used as a reference to the specificfieldbus command type when configuring the fieldbus commands.


Allowed valuesA string following the RAPID rules described in the manual Technical referencemanual - RAPID overview, chapter Basic elements.



4.7.3 Type of Unit

ParentType of Unit belongs to the type Fieldbus Command Type, in the topic I/O.

Cfg nameUnitType

DescriptionThe parameter Type of Unit specifies which type of fieldbus Unit Type this FieldbusCommand Type is associated with.


Allowed valuesA string defining the name of a defined Unit Type.Note! Names differing only in upper and lower case are considered to be equal.

Related informationThe Unit Type type on page 299.


4 Topic I/O4.7.3 Type of Unit

4.7.4 Default Value

ParentDefault Value belongs to the type Fieldbus Command Type, in the topic I/O.

Cfg nameDefValue

DescriptionThe parameter Default Value specifies the default value for commands based onthis Fieldbus Command Type.

UsageIf the parameter Value is not defined for a Fieldbus Command of this FieldbusCommand Type, then this default value will be used.





4 Topic I/O4.7.4 Default Value

4.7.5 Download Order

ParentDownload Order belongs to the type Fieldbus Command Type, in the topic I/O.

Cfg nameOrderNr

DescriptionThe parameter Download Order specifies the sequence number in which fieldbuscommands of this Fieldbus Command Type shall be downloaded to an I/O unit thathas more than one fieldbus command assigned to it.

UsageUse Download Order to control the order in which the fieldbus commands aredownloaded (and executed) on an I/O unit.Lower download orders are downloaded before higher download orders.


Allowed values0 - 100.


4 Topic I/O4.7.5 Download Order

4.8 Type Signal

4.8.1 The Signal type

OverviewThis section describes the type Signal, which belongs to the topic I/O. Eachparameter of this type is described in a separate information topic in this section.

Cfg nameEIO_SIGNAL

Type descriptionAn I/O signal is the logical software representation of:

• Inputs or outputs located on a fieldbus I/O unit that is connected to a fieldbuswithin the robot system (real I/O signal).

• An I/O signal without a representation on any fieldbus I/O unit (virtual I/Osignal).

UsageBy specifying an I/O signal, a logical representation of the real or virtual I/O signalis created. The I/O signal configuration defines the specific system parameters forthe I/O signal that will control the behavior of the I/O signal.Many of the parameters depend on the type of the I/O signal, therefore it isrecommended that the parameter Type of Signal is assigned first.

PrerequisitesBefore defining a new I/O signal it is necessary to make sure that the appropriateUnit and Access Level are available (either by creating them or using a predefinedUnit respectively Access Level).

LimitationsThe I/O signal has the following limitations:

• Maximum 8192 user I/O signals can be defined in the robot system.• Maximum 1024 digital input signals can be defined on one (1) I/O unit.• Maximum 1024 digital output signals can be defined on one (1) I/O unit.

Predefined signalsThere are a number of predefined I/O signals in the robot controller. These aredescribed in Operating manual - IRC5 with FlexPendant.Depending on options installed there can also be other predefined I/O signals.

Example digital inputThe following is a typical example of a digital input I/O signal (DI).

ValueParameter

ObjectAtPlaceName



4 Topic I/O4.8.1 The Signal type

ValueParameter

Digital InputType of Signal

board10Assigned to Unit

X4:4Signal Identification Label

11Unit Mapping

Category

DefaultAccess Level

0Default Value

0Filter Time Passive

0Filter Time Active

NoInvert Physical Value

Example analog outputThe following is a typical example of an analog output I/O signal (AO).

ValueParameter

SpeedName

Analog OutputType of Signal


X6:4Signal Identification Label

16-31Unit Mapping

Category

DefaultAccess Level

0Default Value

NoStore Signal Value at Power Fail

Twos complementAnalog Encoding Type

21474.8Maximum Logical Value

10Maximum Physical Value

10Maximum Physical Value Limit

32767Maximum Bit Value

-21474.8Minimum Logical Value

-10Minimum Physical Value

-10Minimum Physical Value Limit

-32767Minimum Bit Value

Keep current value (no change)Signal Value in System Failure State

Example group inputThe following is a typical example of a group input I/O signal (GI).

ValueParameter

StatusGroupName




Continued

ValueParameter

Group InputType of Signal


X2:1-X2:8Signal Identification Label

0-7Unit Mapping

Category

DefaultAccess Level

0Default Value


Example virtual digital inputThe following is a typical example of a virtual digital input I/O signal (DI).

ValueParameter

StatusDigitalName

Digital InputType of Signal

Assigned to Unit

Signal Identification Label

Category

DefaultAccess Level

0Default Value


0Filter Time Active


Example virtual analog outputThe following is a typical example of an virtual analog output I/O signal (AO).

ValueParameter

StatusAnalogName

Analog OutputType of Signal

Assigned to Unit


Category

DefaultAccess Level

0Default Value

Keep Current Value (no change)Signal Value at System Failure and Power Fail

NoStore Signal Value at Power Fail

Twos complementAnalog Encoding Type

10Maximum Logical Value

10Maximum Physical Value




Continued

ValueParameter

10Maximum Physical Value Limit

0Maximum Bit Value

-10Minimum Logical Value

-10Minimum Physical Value

-10Minimum Physical Value Limit

0Minimum Bit Value

Example virtual group inputThe following is a typical example of a virtual group input I/O signal (GI).

ValueParameter

StatusGroupName

Group InputType of Signal

Assigned to Unit


Category

DefaultAccess Level

0Default Value


0Filter Time Active

Related informationThe Unit type on page 288.The Access Level type on page 157.Operating manual - IRC5 with FlexPendant.



Continued

4.8.2 Name

ParentName belongs to the type Signal, in the topic I/O.

Cfg nameName

DescriptionThe parameter Name specifies the name of the I/O signal.

UsageThe name of the I/O signal is used as a reference to the specific I/O signal when:

• Accessing the I/O signal (that is reading or writing its value) in RAPID.• Configuring cross connections.• Configuring system inputs and system outputs.


Allowed valuesA string following the RAPID rules described in the manual Technical referencemanual - RAPID overview, chapter Basic elements.The name must be unique among all named objects in the I/O system configuration.Note! Names differing only in upper and lower case are considered to be equal.

Related informationThe Cross Connection type on page 174.The System Input type on page 219.The System Output type on page 259.



4.8.3 Type of Signal

ParentType of Signal belongs to the type Signal, in the topic I/O.

Cfg nameSignalType

DescriptionType of Signal specifies the signal's representation, behavior, and direction.

UsageEach I/O signal must be classified as one of the predefined types. The type of I/Osignal will determine the behavior of the I/O signal as well as how it will berepresented and interpreted.As the behavior of the I/O signal depends upon its type, the settings of otherparameters will vary, therefore it is recommended that the Type of Signal parameteris assigned before any other parameter for the I/O signal.


Allowed valuesDigital InputDigital OutputAnalog InputAnalog OutputGroup InputGroup Output


4 Topic I/O4.8.3 Type of Signal

4.8.4 Assigned to Unit

ParentAssigned to Unit belongs to the type Signal, in the topic I/O.

Cfg nameUnit

DescriptionThe parameterAssigned to Unit specifies which I/O unit the I/O signal is connectedto (if any).

LimitationsAn I/O signal that is not mapped against an I/O unit (that is Assigned to Unit is notdefined) will be considered as virtual.


Allowed valuesA string, either:

• Empty (unspecified), that is a virtual I/O signal, or• Defining the name of a defined Unit.

Note


Related informationThe Unit type on page 288.


4 Topic I/O4.8.4 Assigned to Unit

4.8.5 Signal Identification Label

ParentSignal Identification Label belongs to the type Signal, in the topic I/O.

Cfg nameSignalLabel

DescriptionThe parameter Signal Identification Label provides a free-text label to an I/O signal.

UsageSignal Identification Label is optional for use in providing a label for the physicalcontact or cable that this I/O signal configuration represents.Assign an easy-to-understand name (free text) to the I/O signal to make it easy tophysically identify. For example, map the I/O signal to a physical identification suchas a cable marking or an outlet label.


Allowed valuesA string of maximum 80 characters.

ExampleConn. X4, Pin 1


4 Topic I/O4.8.5 Signal Identification Label

4.8.6 Unit Mapping

ParentUnit Mapping belongs to the type Signal, in the topic I/O.

Cfg nameUnitMap

DescriptionThe parameter Unit Mapping specifies which bit(s) in the I/O memory map of theassigned I/O unit the I/O signal is mapped to.

UsageAll I/O signals except virtual I/O signals must be mapped.

LimitationsAn I/O signal must be completely mapped to bits on the same I/O unit. For example,it is not possible to map a group signal to bits on different I/O units.


Allowed valuesA string with maximum 80 characters.The string should contain the mapping order of the individual bits of the I/O signal,using the following syntax:

• Refer to a bit in the I/O memory map by the index of the bit, the bits areindexed from 0 (zero) and upwards.

• If the I/O signal is mapped to several continuous bits, these can be given asa range: <first bit in range> - <last bit in range>

• If the I/O signal is mapped to several discontinuous bits and/or ranges, theseshould separated by commas: <bit/range>, <bit/range>, <bit/range>

Additional informationI/O signals can be mapped to bits in the range 0 to 511 unless the physicalcharacteristics of the I/O unit to which the I/O signal is assigned, adds furtherconstraints on this range.Overlapping of unit maps is not allowed. That is, the Unit Mapping must not referto the same bit more than once.Mapping more than one I/O signal against the same bit(s) in the I/O memory mapcan cause unpredictable start values for these I/O signals, since their order ofevaluation cannot be controlled. For example, if an inverted group output signalis mapped to the same bits as some digital output signals, the status of these bitswill depend on the order in which the I/O signals are dealt with.We recommend not to map several I/O signals to the same bit.



4 Topic I/O4.8.6 Unit Mapping

The size of the I/O signal (that is, the number of bits in Unit Mapping) is restricted.The restriction depends on the type of I/O signal. Following are the restrictions:

• Digital signals must be mapped to exactly one bit.• Analog signals must be mapped between 2 and 32 bits.1

• Group signals must be mapped between 1 and 32 bits.21A virtual analog I/O signal is mapped to 23 bits.2A virtual group I/O signal is mapped to 23 bits.

ExampleExamples of valid mapping of a digital signal (1 bit):

• 0• 13

Examples of valid mapping of an analog or group signal (2-32 bits):• 4, 6-7• 16-31• 8-15, 0-7

Example of invalid mapping (bit 7 is overlapped):• 0-7, 15-7


4 Topic I/O4.8.6 Unit Mapping

Continued

4.8.7 Category

ParentCategory belongs to the type Signal, in the topic I/O.

Cfg nameCategory

DescriptionThe parameter Category provides a free-text categorizing to an I/O signal.

UsageCategory is optional to use for categorizing the I/O signals so that tools (for examplesoftware tools) can filter and sort signals based on these categories.

LimitationsI/O signals defined as Safety or Internal are hidden for the user in RobotStudioand FlexPendant.


Allowed valuesA string of maximum 16 characters.

Additional informationThe category of all safety-related I/O signals (internally loaded by the system) areset to Safety.


4 Topic I/O4.8.7 Category

4.8.8 Access Level

ParentAccess Level belongs to the type Signal, in the topic I/O.

Cfg nameAccess

DescriptionThe parameter Access Level specifies which clients have write access to the I/Osignal.

UsageAccess Level defines the write access of the I/O signal for different categories ofI/O controlling applications, such as RobotStudio and RAPID programs.

Default valueThe default value is Default.

Allowed valuesA string corresponding to the name of a defined Access Level type.Note! Names differing only in upper and lower case are considered to be equal.

Related informationThe Access Level type on page 157.


4 Topic I/O4.8.8 Access Level

4.8.9 Default Value

ParentThe parameter Default Value belongs to the type Signal, in the topic I/O.

Cfg nameDefault

DescriptionThe parameter Default Value specifies the I/O signal value to be used at start.

UsageThe default value:

• is used for initializing the I/O signal at start if the I/O signal is neither storednor a resultant in a cross connection.

• is used for the evaluation of cross connections whenever the I/O unit to whichthis I/O signal is assigned is disconnected.

• is not used after a system failure if the value of Signal Value at System Failureand Power Fail is set to Keep current value.

LimitationsThis parameter has lower priority than the Store Signal Value at Power Failparameter.

Allowed valuesDepending on the type of I/O signal, the following values are allowed:

Allowed valueType of I/O signal

0 or 1Digital

Any value in the range Minimum Logical Value to Maximum LogicalValue.

Analog

Any value in the range 0 to 2size-1 (size = number of bits in the UnitMapping parameter).1

Group

1Exact values can be given only in the range 0 to 106. Above 106, the value isrounded to six digits


Related informationStore Signal Value at Power Fail on page 204.Signal Value at System Failure and Power Fail on page 218.Minimum Logical Value on page 214.Maximum Logical Value on page 209.Unit Mapping on page 199.


4 Topic I/O4.8.9 Default Value

4.8.10 Store Signal Value at Power Fail

ParentStore Signal Value at Power Fail belongs to the type Signal, in the topic I/O.

Cfg nameStore

DescriptionThe parameter Store Signal Value at Power Fail specifies if the I/O signal shouldbe set to the value stored in the permanent memory pool or not at start.

UsageSetting this parameter will cause the system to initialize the I/O signal with the lastknown value at start, that is the value that was stored in the permanent memorypool at the previous power down.

PrerequisitesThis parameter is applicable on output signals only, that is Type of Signal must beset to an output signal type or this parameter will be ignored.


Allowed valuesYesNo

Additional informationThis parameter has higher priority than the Default Value parameter.

Related informationDefault Value on page 203.Type of Signal on page 196.


4 Topic I/O4.8.10 Store Signal Value at Power Fail

4.8.11 Filter Time Passive

ParentFilter Time Passive belongs to the type Signal, in the topic I/O.

Cfg nameFiltPas

DescriptionThe parameter Filter Time Passive specifies the filter time for detection of negativeflanks (that is I/O signal physical value goes from active to passive).

UsageThe passive filter time filters I/O signals from noise that could otherwise beinterpreted as a pulse of the I/O signal.The passive filter time specifies the period in ms (milliseconds) that the physicalvalue of the I/O signal must remain passive before the I/O signal will be consideredpassive and the logical I/O signal is changed to passive, that is if the time periodthat the physical value is passive is shorter than Filter Time Passive, the logicalsignal is not changed.

PrerequisitesThis parameter is applicable on digital input and group input I/O signals only, thatis Type of Signalmust be set to one of these types or this parameter will be ignored.


Allowed values

Description:Value:

No filter0

Filter time in ms10-32000

Additional informationNote that many I/O units have built-in hardware for filtering I/O signals. This filtertime is then added to the value of Filter Time Passive.

Related informationType of Signal on page 196.Filter Time Active on page 206.


4 Topic I/O4.8.11 Filter Time Passive

4.8.12 Filter Time Active

ParentFilter Time Active belongs to the type Signal, in the topic I/O.

Cfg nameFiltAct

DescriptionThe parameter Filter Time Active specifies the filter time for detection of positiveflanks (that is I/O signal physical value goes from passive to active).

UsageThe active filter time filters I/O signals from noise that could otherwise be interpretedas a pulse of the I/O signal.The active filter time specifies the period in ms (milliseconds) that the physicalvalue of the I/O signal must remain active before the I/O signal will be consideredactive and the logical I/O signal is changed to active, that is if the time period thatthe physical value is active is shorter than Filter Time Active, the logical I/O signalis not changed.

PrerequisitesThis parameter is applicable on digital input and group input I/O signals only, thatis Type of Signalmust be set to one of these types or this parameter will be ignored.


Allowed values

Description:Value:

No filter0

Filter time in ms10 - 32000

Additional informationNote that many I/O units have built-in hardware for filtering I/O signals. This filtertime is then added to the value of Filter Time Active.

Related informationType of Signal on page 196.Filter Time Passive on page 205.


4 Topic I/O4.8.12 Filter Time Active

4.8.13 Invert Physical Value

ParentInvert Physical Value belongs to the type Signal, in the topic I/O.

Cfg nameInvert

DescriptionThe parameter Invert Physical Value specifies whether the physical representationshould be the inverted of the logical representation.

UsageUse this parameter to apply an inversion between the physical value of the I/Osignal and its logical representation in the system.How to invert the I/O signal depends on the direction of the I/O signal (see Typeof Signal):

• The logical value of an input I/O signal will be the inversion of its physicalvalue

• The physical value of an output I/O signal will be the inversion of its logicalvalue.

Inverting a group I/O signal will make each individual bit in the group inverted.

PrerequisitesThis parameter is only applicable on digital or group I/O signals, that is Type ofSignal must be set to one of these types or this parameter will be ignored.


Allowed valuesYesNo

Related informationType of Signal on page 196.


4 Topic I/O4.8.13 Invert Physical Value

4.8.14 Analog Encoding Type

ParentAnalog Encoding Type belongs to the type Signal, in the topic I/O.

Cfg nameEncType

DescriptionThe parameter Analog Encoding Type specifies how the value of an analog I/Osignal is interpreted.

UsageUse this parameter to specify if the physical representation of an analog I/O signalshould be interpreted as a signed (twos complement) or unsigned value.

PrerequisitesThis parameter is only applicable on analog I/O signals, that is Type of Signal mustbe set to an analog signal type or this parameter will be ignored.

Default valueThe default value is Twos complement.

Allowed values

Description:Value:

If the physical analog range for a specific I/O signal is symmetric around0, for example -32768 to +32767, the I/O signal is most likely coded asTwos complement.

Twos comple-ment

Unsigned is used for I/O signals ranging from 0 and upwards.Unsigned



4 Topic I/O4.8.14 Analog Encoding Type

4.8.15 Maximum Logical Value

ParentMaximum Logical Value belongs to the type Signal, in the topic I/O.

Cfg nameMaxLog

DescriptionThe parameter Maximum Logical Value specifies the logical value that willcorrespond to the Maximum Physical Value.

UsageThe logical values offer a way to access the I/O signals (for example through RAPIDprograms) by using logical quantities rather than physical.By setting up the extremes (minimum and maximum values) of the logical andphysical values the system will be able to calculate scale and offset factors fortransforming I/O signal values between the different quantities.

PrerequisitesThis parameter is only applicable to analog I/O signals, that is Type of Signal mustbe set to an analog signal type or this parameter will be ignored.

LimitationsThe value must be greater than the value of the Minimum Logical Value.


Allowed values-3.4 x 1038 to 3.4 x 1038

If both Minimum Logical Value and Maximum Logical Value are set to zero (0), thelogical values will be directly mapped against the physical values:

• minimum logical value = minimum physical value• maximum logical value = maximum physical value

Hence there is no scaling or offset factor between the logical and physicalrepresentation of the value of an I/O signal.

Additional informationThe logical value is a representation of a signal that makes it possible to handlethe signal in quantities known from the real world feature it corresponds to ratherthan the physical value used to control it. For example it would be more natural toset the speed of a moving axis in mm/s (the logical value) rather than the amountof voltage needed to attain that speed (the physical value).



4 Topic I/O4.8.15 Maximum Logical Value

Related informationMinimum Logical Value on page 214.Maximum Physical Value on page 211.Minimum Physical Value on page 215.Type of Signal on page 196.


4 Topic I/O4.8.15 Maximum Logical Value

Continued

4.8.16 Maximum Physical Value

ParentMaximum Physical Value belongs to the type Signal, in the topic I/O.

Cfg nameMaxPhys

DescriptionThe parameter Maximum Physical Value specifies the physical value that willcorrespond to the Maximum Bit Value.

UsageThe physical value directly corresponds to the value of the I/O signal that thissystem parameter corresponds to, for example the amount of voltage given by asensor or the current feed into a manipulator.By setting up the extremes (minimum and maximum values) of the bit and physicalvalues the system will be able to calculate scale and offset factors for transformingsignal values between the bit and physical quantities.

PrerequisitesThis parameter is only applicable to analog I/O signals, that is Type of Signal mustbe set to one of the analog signal types or this parameter will be ignored.

LimitationsThe value must be greater than the value of the Minimum Physical Value.



If both Minimum Physical Value and Maximum Physical Value are set to zero (0),the physical values will be directly mapped against the bit values:

• minimum physical value = minimum bit value• maximum physical value = maximum bit value

Hence there is no scaling or offset factor between the physical and bitrepresentation of the value of an I/O signal.

Related informationMinimum Physical Value on page 215.Maximum Logical Value on page 209.Maximum Bit Value on page 213.Minimum Bit Value on page 217.Type of Signal on page 196.


4 Topic I/O4.8.16 Maximum Physical Value

4.8.17 Maximum Physical Value Limit

ParentMaximum Physical Value Limit belongs to the type Signal, in the topic I/O.

Cfg nameMaxPhysLimit

DescriptionThe parameter Maximum Physical Value Limit specifies the maximum allowedphysical value, acting as a working range limiter.

UsageThe Maximum Physical Value Limit limits the allowed maximum physical value,for example if a bit or logical value is given that would exceed this limit, the physicalvalue is automatically adjusted to Maximum Physical Value Limit.


LimitationsThe value must be greater than the value of the Minimum Physical Value Limit.



If both Minimum Physical Value Limit and Maximum Physical Value Limit are setto zero (0), the physical value limits will be directly mapped against the physicalvalues:

• minimum physical value limit = minimum physical value• maximum physical value limit = maximum physical value

Related informationMinimum Physical Value on page 215.Maximum Physical Value on page 211.Type of Signal on page 196.


4 Topic I/O4.8.17 Maximum Physical Value Limit

4.8.18 Maximum Bit Value

ParentMaximum Bit Value belongs to the type Signal, in the topic I/O.

Cfg nameMaxBitVal

DescriptionThe parameter Maximum Bit Value specifies the bit value that will correspond tothe Maximum Logical Value.

UsageThe bit value is the I/O signal’s representation when transmitted on the fieldbus.The bit value is used when calculating the physical and logical values.


LimitationsThe value must be greater than the value of the Minimum Bit Value.


Allowed values-2,147,483,648 to 2,147,483,647If both Minimum Bit Value and Maximum Bit Value are set to zero (0) then the bitvalues will be calculated based on the selected Analog Encoding Type.If Analog Encoding Type is set to Twos complement:

• maximum bit value = 2(no of bits in Unit Mapping)-1-1• minimum bit value = 2(no of bits in Unit Mapping)-1

If Analog Encoding Type is set to Unsigned:• maximum bit value = 2(no of bits in Unit Mapping)-1• minimum bit value = 0

Related informationMinimum Bit Value on page 217.Maximum Logical Value on page 209.Maximum Physical Value on page 211.Analog Encoding Type on page 208.Type of Signal on page 196.


4 Topic I/O4.8.18 Maximum Bit Value

4.8.19 Minimum Logical Value

ParentMinimum Logical Value belongs to the type Signal, in the topic I/O.

Cfg nameMinLog

DescriptionThe parameter Minimum Logical Value specifies the logical value that willcorrespond to the Minimum Physical Value.

UsageSee Maximum Logical Value.

PrerequisitesThis parameter is only applicable to analog I/O signals, that is Type of Signal mustbe set to an analog I/O signal type or this parameter will be ignored.

LimitationsThe value must be less than the value of the Maximum Logical Value.


Allowed valuesSee Maximum Logical Value.

Related informationMaximum Logical Value on page 209.Minimum Physical Value on page 215.Type of Signal on page 196.


4 Topic I/O4.8.19 Minimum Logical Value

4.8.20 Minimum Physical Value

ParentMinimum Physical Value belongs to the type Signal, in the topic I/O.

Cfg nameMinPhys

DescriptionThe parameter Minimum Physical Value specifies the physical value that willcorrespond to the Minimum Logical Value.

UsageSee Maximum Physical Value.

PrerequisitesThis parameter is only applicable to analog I/O signals, that is Type of Signal mustbe set to one of the analog I/O signal types or this parameter will be ignored.

LimitationsThe value must be less than the value of the Maximum Physical Value.


Allowed valuesSee Maximum Physical Value.

Related informationMaximum Physical Value on page 211.Type of Signal on page 196.


4 Topic I/O4.8.20 Minimum Physical Value

4.8.21 Minimum Physical Value Limit

ParentMinimum Physical Value Limit belongs to the type Signal, in the topic I/O.

Cfg nameMinPhysLimit

DescriptionThe parameter Minimum Physical Value Limit specifies the minimum allowedphysical value, hence it acts as a working range limiter.

UsageSee Maximum Physical Value Limit.


LimitationsThe value must be less than the value of the Maximum Physical Value Limit.


Allowed valuesSee Maximum Physical Value Limit.

Related informationMaximum Physical Value Limit on page 212.Type of Signal on page 196.


4 Topic I/O4.8.21 Minimum Physical Value Limit

4.8.22 Minimum Bit Value

ParentMinimum Bit Value belongs to the type Signal, in the topic I/O.

Cfg nameMinBitVal

DescriptionThe parameter Minimum Bit Value specifies the bit value that will correspond tothe Minimum Logical Value.

UsageSee Maximum Bit Value.


LimitationsThe value must be less than the value of the Maximum Bit Value.


Allowed valuesSee Maximum Bit Value.

Related informationMaximum Bit Value on page 213.Type of Signal on page 196.


4 Topic I/O4.8.22 Minimum Bit Value

4.8.23 Signal Value at System Failure and Power Fail

ParentSignal Value at System Failure and Power Fail belongs to the type Signal, in thetopic I/O.

Cfg nameSysfailReset

DescriptionThe parameter Signal Value at System Failure and Power Fail specifies whetherthis output I/O signal should keep its current value or take the I/O signal's defaultvalue in case of system failure or at a power fail.

UsageIf an I/O signal is required to assume a specific value when the power to the robotcontroller is shut down then it can be useful to use this parameter.

PrerequisitesThis parameter is only applicable to output I/O signals, that is Type of Signal mustbe set to an output signal type or this parameter will be ignored.

Default valueThe default value is Keep current value (no change).

Allowed valuesKeep current value (no change)Set the default value



4 Topic I/O4.8.23 Signal Value at System Failure and Power Fail

4.9 Type System Input

4.9.1 The System Input type

OverviewThis section describes the type System Input which belongs to the topic I/O. Eachparameter of this type is described in a separate information topic in this section.

Cfg nameSYSSIG_IN

Type descriptionInput I/O signals can be assigned specific system inputs, for exampel Start orMotors on. The input triggers a system action that is handled by the system, withoutusing the FlexPendant or other hardware devices.It is possible to use a PLC to trigger the system inputs.

Rejected system inputsIf the system is in manual mode or cannot perform the action due to any otherunfulfilled requirement, no error messages are displayed. When a system actionis rejected the error messages are stored in the error log.


• Only one system action can be assigned to the input I/O signal. However,several input I/O signals can be assigned the same system action.

• When deleting a system action the input I/O signal itself remains defined.The I/O signal has to be deleted separately.

• System input I/O signals are only valid for the Main task, with exceptions onthe action value level. These are described together with the correspondingaction value.

Additional informationMost system inputs are 0 to 1 level sensitive. The pulse length has to exceed 50ms or according to the configured filter settings for I/O signals. The System Inputsignal SimMode is both 0 to 1 and 1 to 0 level sensitive.

Related informationHow to define system inputs on page 156.Filter Time Passive on page 205.Filter Time Active on page 206.


4 Topic I/O4.9.1 The System Input type

4.9.2 Signal Name

ParentSignal Name belongs to the type System Inputs in the topic I/O.

Cfg nameSignal

DescriptionSignal Name is the name of the configured digital input I/O signal to use. It connectsthe system input with a configured digital input I/O signal.

PrerequisiteA digital input I/O signal with a defined name has to be configured in the system.

Allowed valuesAvailable configured digital input I/O signal names.

Related informationThe type The Signal type on page 191.How to define system inputs on page 156.


4 Topic I/O4.9.2 Signal Name

4.9.3 Action

ParentAction belongs to the type System Inputs, in the topic I/O.

Cfg nameAction

DescriptionInput signals can be assigned to specific system status. Status defines the systemaction to be triggered by the signal. The system status is handled by the systemwithout an input from the user.

Allowed valuesThe following values are allowed and described on the following pages:

• Backup on page 222.• Disable Backup on page 224.• Interrupt on page 225.• Limit Speed on page 227.• Load on page 229.• Load and Start on page 231.• Motors Off on page 233.• Motors On on page 234.• Motors On and Start on page 236.• Reset Emergency Stop on page 237.• Reset Execution Error Signal on page 239.• Start on page 240.• Start at Main on page 242.• Stop on page 244.• Quick Stop on page 245.• Soft Stop on page 246.• Stop at End of Cycle on page 247.• Stop at End of Instruction on page 248.• System Restart on page 249.• SimMode on page 250.

Related informationHow to define system inputs on page 156.


4 Topic I/O4.9.3 Action

4.9.4 Action Values

4.9.4.1 Backup

ParentBackup is an action value for the parameter Status that belongs to the type SystemInput, in the topic I/O.

Cfg nameBackup

DescriptionThe action value Backup starts a backup and saves the backup according to theparameter arguments.

ArgumentsWhen the parameterAction is set to Backup, the argumentsArgument 1, Argument3, Argument 4, and Argument 5 must also be used.

Allowed valueParameter

Specify a name for the backup. If no name is specified, the name is setto be the system name.

Argument 1

Specify a path for the backup. Always define the whole path, for example,BACKUP:sysinBackup or /hd0a/BACKUP/sysinBackup.

Argument 3

UniqueName means that the backup gets a unique name. If the namealready exists, a higher number is added at the end of the name. Overwritemeans that a backup with the same name is overwritten.

Argument 4

AddDate means that the backup gets the date in the name automatically.Argument 5The date is in YYYYMMDD format and is put at the end of the name butbefore any sequence number.

PrerequisitesThe following prerequisites have to be considered:

• A digital signal input with a defined signal name has to be configured in thesystem.

• The parameter Argument 3 has to be defined with the backup path.• The parameter Argument 4 has to indicate if the backup shall have a unique

name or if an existing backup shall first be deleted.• The parameter Argument 5 has to indicate if the backup shall have the date

in the name.

LimitationsThe backup order is ignored with a warning if a backup is already in progress.

Additional informationThe system output Backup Error tells if the backup was successful or not.The system output Backup in progress tells if the backup process is active or not.



4 Topic I/O4.9.4.1 Backup

The ordered Backup will take the program control during the operation.

Related informationAction on page 221.Argument 1 on page 251.Argument 3 on page 254.Argument 4 on page 255.Argument 5 on page 256Backup Error on page 263.Backup in progress on page 264.


4 Topic I/O4.9.4.1 Backup

Continued

4.9.4.2 Disable Backup

ParentDisable Backup is an action value for the parameterAction that belongs to the typeSystem Input in the topic I/O.

Cfg nameDisableBackup

DescriptionThe action value Disable Backup will prevent starting a backup as long as thesignal is set.


LimitationsIf a backup is prevented, it will not be started when the signal gets low.If a backup is ongoing when the signal is set, the backup will continue until it hasfinished.


4 Topic I/O4.9.4.2 Disable Backup

4.9.4.3 Interrupt

ParentInterrupt is an action value for the parameterAction that belongs to the type SystemInput in the topic I/O.

Cfg nameInterrupt

DescriptionThe action value Interrupt executes a routine and after running the routine theexecution will resume to the same instruction as before. If neccessary, a regainmovement is always performed before the interrupt routine executes.Interrupt can be used by a PLC to let the robot go to a service position.

ArgumentsWhen the parameter Action is set to Interrupt, the parameters Argument1 andArgument2 must also be used.

Allowed value:Parameter:

The name of the routine to be executed.Argument1

The task in which the routine defined in Argument1 should be executed.Argument2


• A digital input I/O signal with a defined signal name has to be configured inthe system.

• The program execution has to be stopped.• The parameter Argument 1 has to be defined with the name of the routine

to be executed, for example routine 1.• If the option MultiMove is installed, the parameter Argument 2 has to be

defined with a task in which the routine should execute.

LimitationsThe parameter has the following limitations:

• The system has to be in automatic mode.• You cannot use this action value if the Stop, Stop at end of Cycle, or Stop at

end of Instruction actions are set.• The Interrupt action is not valid during program execution.



4 Topic I/O4.9.4.3 Interrupt

Additional informationWhen the execution is stopped, the robot still remembers the point to which it issupposed to go. To prevent the robot going to this position when the Interruptroutine starts and delay it until after the Interrupt, the following RAPID sequencecan be used in the Interrupt routine:

PROC A()

StopMove\Quick; !Prevent current move instruction to continue

StorePath; !For later use

currpos:=CRobT(); !Save current position

-----

----- ! Place the code for the routine to run here.

-----

MoveJ currpos,v600,fine,toolx; !Move back to programmed position

RestoPath; !Restore StorePath

StartMove; !Restore StopMove

ENDPROC

After the StartMove instruction, the stopped movement will continue to move toits fine point. When the routine A has been executed, the normal program can berestarted.

Signal sequenceThe signal sequence for Interrupt is:

xx0400000949

A: Interrupt (IN)B: Cycle On (OUT)

Related informationAction on page 221.Argument 1 on page 251.Argument 2 on page 253.


4 Topic I/O4.9.4.3 Interrupt

Continued

4.9.4.4 Limit Speed

ParentLimit Speed is an action value for the parameter Action that belongs to the typeSystem Input in the topic I/O.

Cfg nameLimitSpeed

DescriptionThe action value LimitSpeed shall be set when the speed of one or all motion taskis to be reduced. The reduction of the speed is considered to be completed whenthe System Output Signal LimitSpeed is set to 1.The speed limitation is set up with RAPID instructions SpeedLimAxis andSpeedLimCheckPoint (see RAPID reference manual for further details) or themanual mode default values will be used.

ArgumentsWhen the parameter Action is set to LimitSpeed, the parameter Argument6 mustbe used to specify a motion task.

PrerequisitesA digital input I/O signal with a defined signal name has to be available, not usedby any other resource.

Signal sequence

en1200000680



4 Topic I/O4.9.4.4 Limit Speed

Additional informationA system output signal (also called LimitSpeed) can be configured to reflect thestatus of the the System Input Signal LimitSpeed.



Continued

4.9.4.5 Load

ParentLoad is an action value for the parameter Action that belongs to the type SystemInput in the topic I/O.

Cfg nameLoad

DescriptionThe action value Load loads a RAPID program (files of type .mod, .prg, and .pgf)from a mass storage device. The program starts from the beginning.Note! The previously loaded files (of type .prg or .pgf) will be unloaded.Load can be used by a PLC to load a program, instead of using the FlexPendant.The program pointer is set to the main entry routine after the module has beenloaded. Program pointers in other tasks are not affected.

ArgumentsWhen the parameter Action is set to Load, the parameters Argument1 andArgument2 must also be used.


The name of the program file to load, including the file format (.mod, .prgor .pgf). Always define the path to the file, e.g. HOME:ModuleA.mod

Argument 1

The task in which the program defined in Argument 1 should be loaded.Argument 2



• The program control has to be available, that is not used by any otherresource.

• The parameter Argument 1 has to be defined with the program file name.• If the optionMultiMove is installed, the parameterArgument 2must be defined

with a task for which the program or module should be loaded.

LimitationsThis action value has the following limitations:

• The controller has to be in automatic mode.• Load is not valid during program execution.• If the current program has been changed, the changes will not be saved

before the load.



4 Topic I/O4.9.4.5 Load

Additional informationIf the System Input should be used to load modules in many tasks, it is necessaryto use a mechanism so that all modules are not loaded at once. The reset routineneeds to be used, see section The Event Routine type on page 84. This routine iscalled once the module is loaded. This routine can then trigger the call for loadingthe next module by setting an I/O signal (for example SetDO \SDelay := 0.2,

do_module_loaded, 1;). By doing this a chain of calls is made to load all wantedmodules.



4 Topic I/O4.9.4.5 Load

Continued

4.9.4.6 Load and Start

ParentLoad and Start is an action value for the parameter Action that belongs to the typeSystem Input in the topic I/O.

Cfg nameLoadStart

DescriptionThe action value Load and Start loads a RAPID program (files of type .mod, .prg,and .pgf) from a mass storage device. The program starts from the beginning.

Note

The previously loaded files (of type .prg or .pgf) will be unloaded.Load and Start can be used by a PLC to load and start a program, instead of usingthe FlexPendant.The Program Pointer is set to the main entry routine after the module has beenloaded. Program pointers in other tasks are not affected.

ArgumentsWhen the parameter Action is set to Load and Start, the parameters Argument1and Argument2 must also be used.


The name of the program file to load, including the file format (.mod, .prgor .pgf). Always define the path to the file, for exampleHOME:ModuleA.mod

Argument1

The task in which the program defined in Argument 1 should be loaded.Argument2



• The controller has to be in Motors On state and the program control has tobe available, that is not used by any other resource.

• The parameter Argument 1 has to be defined with an existing program filename.

• If the optionMultiMove is installed, the parameterArgument 2must be definedwith a task for which the program or module should be loaded.


• The controller has to be in automatic mode.



4 Topic I/O4.9.4.6 Load and Start

• You cannot use this action if the Stop, Stop at end of Cycle, or Stop at endof Instruction actions are set.

• Load and Start action is not valid during program execution.• The run mode will always be set to Cyclic.• If the controller is in Motors Off state, only the load is performed.• If the current program has been changed, the changes will not be saved

before the load.

Additional informationThe signal sequence for Load Start is:

xx0400000949

A: Load and Start (IN)B: Cycle On (OUT)



4 Topic I/O4.9.4.6 Load and Start

Continued

4.9.4.7 Motors Off

ParentMotors Off is an action value for the parameter Action that belongs to the typeSystem Input in the topic I/O.

Cfg nameMotorOff

DescriptionThe action value Motors Off sets the controller in the Motors Off state. If a programis executing, it is stopped before changing state.Motors Off can be used by a PLC to set the controller in Motors Off state.



• We recommend stopping the program execution before using the actionMotors Off to secure a controlled stop.

Additional informationThe signal sequence for Motors Off is:

xx0400000949

A: Motors Off (IN)B: Motors Off (OUT)



4 Topic I/O4.9.4.7 Motors Off

4.9.4.8 Motors On

ParentMotors On is an action value for the parameter Action that belongs to the typeSystem Input in the topic I/O.

Cfg nameMotorOn

DescriptionThe action value Motors On sets the controller in the Motors On state.This action can be used by a PLC to set the controller in Motors On state.



• The safety chain has to be closed. To check if the safety chain is closed, usethe parameter Run Chain OK of the type System Output.

LimitationsThe action value has the following limitations:

• The controller has to be in automatic mode.• The controller cannot be in the Motors On state if the system input I/O signal

action Motors Off is high.• The Motors On action is not valid during program execution.

Additional informationThe signal sequences for Motors On is:

xx0400000949

A: Motors On (IN)B: Motors On (OUT)

Related informationMotors Off on page 233.Run Chain OK on page 280.



4 Topic I/O4.9.4.8 Motors On

Operating manual - IRC5 with FlexPendant, chapter Handling inputs and outputs,I/O.



Continued

4.9.4.9 Motors On and Start

ParentMotors On and Start is an action value for the parameter Action that belongs tothe type System Input in the topic I/O.

Cfg nameMotOnStart

DescriptionThe action value Motors On and Start sets the controller in the Motors On stateand starts the RAPID program from the current instruction, continuous or cycleexecution.Motor On and Start can be used by a PLC to set Motors On in one single step andstart a RAPID program, instead of using the FlexPendant and the control panel.The Program Pointer needs to be set in all tasks before starting the program. Theaction will be rejected if the program pointer is missing in any task.

ArgumentsWhen the parameterAction is set toMotors On and Start, the parameterArgument1must also be used, specifying continuous or cycle. The default value is continuous.



• The parameter Argument 1 has to be defined with the run mode.

LimitationsThe action value has the following limitations:

• The controller has to be in automatic mode.• You cannot use this action value if the Stop, Stop at end of Cycle, Stop at

end of Instruction, or Motors Off actions are set.• The Motors On and Start action is not valid during program execution.

Related informationArgument 1 on page 251.Action on page 221.Operating manual - IRC5 with FlexPendant.


4 Topic I/O4.9.4.9 Motors On and Start

4.9.4.10 Reset Emergency Stop

ParentReset Emergency Stop is an action value for the parameter Action that belongs tothe type System Input in the topic I/O.

Cfg nameResetEStop

DescriptionThe action value Reset Emergency Stop confirms the reset of an emergency stop.When an emergency stop has occurred, it must first be restored mechanically andthe reset has to be confirmed. The controller can then be set to the Motors Onstate.It is possible to use a PLC to confirm the reset of the emergency stop instead ofusing the Motors On button.



• The safety chain must be closed by restoring the emergency stopmechanically.

LimitationsThe controller has to be in automatic mode.

Additional informationTo reset an emergency stop, set the signal sequences according to the image.

xx0400000948

A: Reset Emergency Stop (IN), OrderB: Emergency Stop (OUT), Response



4 Topic I/O4.9.4.10 Reset Emergency Stop

C: Run Chain OK (OUT), Response


4 Topic I/O4.9.4.10 Reset Emergency Stop

Continued

4.9.4.11 Reset Execution Error Signal

ParentReset Execution Error Signal is an action value for the parameter Action thatbelongs to the type System Input in the topic I/O.

Cfg nameResetError

DescriptionThe action value Reset Execution Error Signal resets the system output signalaction Execution Error.This action can be used by a PLC to reset the error signal.

PrerequisiteA digital input I/O signal with a defined signal name has to be configured in thesystem.

Related informationExecution Error on page 267.


4 Topic I/O4.9.4.11 Reset Execution Error Signal

4.9.4.12 Start

ParentStart is an action value for the parameter Action that belongs to the type SystemInput in the topic I/O.

Cfg nameStart

DescriptionThe action value Start starts a RAPID program from the current instruction,continuous or cycle run mode.Start can be used by a PLC to start the program execution.The Program Pointer needs to be set in all tasks before starting the program. Theaction will be rejected if the program pointer is missing in any task.

ArgumentsWhen the parameter Action is set to Start, the parameter Argument1 must also beused, specifying continuous or cycle. The default value is continuous.






• The controller has to be in automatic mode.• You cannot use this action if the Stop, Stop at end of Cycle, or Stop at end

of Instruction actions are set.• The Start action is not valid during program execution.



4 Topic I/O4.9.4.12 Start

Additional informationThe signal sequence for Start is:

xx0400000949

A: Start (IN)B: Cycle On (OUT)

Related informationArgument 1 on page 251.Action on page 221.


4 Topic I/O4.9.4.12 Start

Continued

4.9.4.13 Start at Main

ParentStart at Main is an action value for the parameter Action that belongs to the typeSystem Input in the topic I/O.

Cfg nameStartMain

DescriptionThe action value Start at Main starts a RAPID program from the beginning,continuous or cycle run.Start at Main can be used by a PLC to start the program execution from thebeginning.

ArgumentsWhen the parameter Action is set to Start at Main, the parameter Argument1 mustalso be used, specifying continuous or cycle. The default value is continuous.






• The controller has to be in automatic mode.• You cannot use this action if the Stop, Stop at end of Cycle, or Stop at end

of Instruction actions are set.• Start at Main action is not valid during program execution.



4 Topic I/O4.9.4.13 Start at Main

Additional informationThe signal sequence for Start at Main is:

xx0400000949

A: Start at Main (IN)B: Cycle On (OUT)

Related informationArgument 1 on page 251.Action on page 221.


4 Topic I/O4.9.4.13 Start at Main

Continued

4.9.4.14 Stop

ParentStop is an action value for the parameter Action that belongs to the type SystemInput in the topic I/O.

Cfg nameStop

DescriptionThe action value Stop stops the RAPID program execution. All robot movementswill be stopped on the path with no deviation. This stop is the slowest stop andwill take a couple of hundred milliseconds extra since the demand is to stop exactlyon the programmed path. The extra delay is due to a deceleration ramp that needsto be recalculated to be able to stop on the path.A program cannot be started when this signal is high. This stop is similar to anormal program stop using the stop button on the FlexPendant.Stop can be used by a PLC to stop the program execution.


Additional informationThe signal sequence for Stop is:

1

0

1

0

A

B

xx0400000950

A: Stop (IN)B: Cycle On (OUT)


4 Topic I/O4.9.4.14 Stop

4.9.4.15 Quick Stop

ParentQuick Stop is an action value for the parameter Action that belongs to the typeSystem Input, in the topic I/O.

Cfg nameQuickStop

DescriptionThe action value Quick Stop stops the RAPID program execution quickly, like acontrolled category 1 emergency/safety stop. This stop is performed by rampingdown motion as fast as possible using optimum motor performance. The differentaxes are still coordinated to trying to keep the robot on path even if the robot mayslide off with some millimeter. Note; this kind of stop is more stressing for themechanics than normal stop or SoftStop.Note! Emergency stops should not be used for normal program stops as thiscauses extra, unnecessary wear on the robot. Quick Stop can preferably be usedfor safety equipment, such as gates.



4 Topic I/O4.9.4.15 Quick Stop

4.9.4.16 Soft Stop

ParentSoft Stop is an action value for the parameter Action that belongs to the typeSystem Input, in the topic I/O.

Cfg nameSoftStop

DescriptionThe action value Soft Stop the RAPID program execution much like an ordinaryprogram stop, but slightly faster. The stop is performed by ramping down motionin a controlled and coordinated way, to keep the robot on the programmed pathwith minor deviation.The recalculations of the deceleration ramp is done in a lower level in the softwareso the robot will stop faster than a regular Stop. It will still be a stop on the pathbut since the calculations are done at a lower level it will not be as exact as aregular Stop. There could be a difference of a mm from the path.This kind of stop is more "soft" to the mechanics than QuickStop.



4 Topic I/O4.9.4.16 Soft Stop

4.9.4.17 Stop at End of Cycle

ParentStop at End of Cycle is an action value for the parameter Action that belongs tothe type System Input in the topic I/O.

Cfg nameStopCycle

DescriptionThe action value Stop at End of Cycle stops the RAPID program when the completeprogram is executed, i.e. when the last instruction in the main routine has beencompleted. A program cannot be started when this signal is high.Stop at End of Cycle can be used by a PLC to stop the program execution whenthe complete program has been executed.


Additional informationThe signal sequence for Stop at End of Cycle is:

xx0400000951

A: Stop at end of Cycle (IN)B: Cycle On (OUT)


4 Topic I/O4.9.4.17 Stop at End of Cycle

4.9.4.18 Stop at End of Instruction

ParentStop at End of Instruction is an action value for the parameter Action that belongsto the type System Input in the topic I/O.

Cfg nameStopInstr

DescriptionThe action value Stop at End of Instruction stops program execution after thecurrent instruction is completed. A program cannot start when this signal is high.Stop at end of Instruction can be used by a PLC to stop the program executionwhen the current instruction is completed.


Additional informationIf using Stop at End of Instruction in combination with an instruction that is waitingfor an I/O signal or an instruction, for example WaitSyncTask, WaitDI, orSyncMoveOn, then the waiting instruction may not be finished. We recommendusing system input Stop together with Stop at End of Instruction to prevent theprogram from hanging.

Related informationStop on page 244.

ExampleIf a WaitTime instruction is executed, it can take a while before the execution isstopped.


4 Topic I/O4.9.4.18 Stop at End of Instruction

4.9.4.19 System Restart

ParentSystem Restart is an action value for the parameter Action that belongs to the typeSystem Input in the topic I/O.

Cfg nameSysReset

DescriptionThe action value System Restart performs a controller restart, similar to poweroff/on.This action can be used by a PLC to restart the controller.



• We recommend stopping all RAPID programs before using the action.


4 Topic I/O4.9.4.19 System Restart

4.9.4.20 SimMode

ParentSimMode is an action value for the parameter Action that belongs to the typeSystem Input in the topic I/O.

Cfg nameSimMode

DescriptionThe action value SimMode shall be set when the simulation mode shall be entered.

ArgumentsWhen the parameter Action is set to SimMode, the Argument1 must also be used.

Allowed valueParameter

LOADArgument1

When Argument1 is set to LOAD, the robot shall run without payload when thesignal is set.

PrerequisitesA digital input I/O signal with a defined signal name has to be available, that is, notused by any other resource.

Signal sequence

en1100000964

Additional informationA system output signal (also called SimMode) can be configured that reflects thestatus of the system state SimMode.


4 Topic I/O4.9.4.20 SimMode

4.9.5 Argument 1

ParentArgument 1 belongs to the type System Inputs, in the topic I/O.

Cfg nameArg1

DescriptionArgument 1 is an argument required to perform the system actions Interrupt, Loadand Start, Motors On and Start, Start, Start at Main, Load, or Backup. If theparameter Action has one of the action values listed above then Argument 1 mustalso be set.

Allowed valuesThe following values are allowed:

Cfg value:Allowed value:System action:

The name of the routine to be ex-ecuted.

Interrupt

The name of the program file to load,including the file format (.mod, .prg or.pgf). Always define the path to the file,for example HOME:ModuleA.mod

Load and Start

The name of the program file to load,including the file format (.mod, .prg or.pgf). Always define the path to the file,for example HOME:ModuleA.mod

Load

CONT (continuous) or CYCLE(cycle)

Run mode continuous or cycle, defaultvalue is continuous.

Motors On and Start



Start



Start at Main

The name of the backup. No name willindicate that the system name shall beused.

Backup

Related informationAction on page 221.Interrupt on page 225.Load and Start on page 231.Motors On and Start on page 236.Start on page 240.Start at Main on page 242.Load on page 229.Backup on page 222.



4 Topic I/O4.9.5 Argument 1

Argument 2 on page 253.Argument 3 on page 254.Argument 4 on page 255.



Continued

4.9.6 Argument 2

ParentArgument 2 belongs to the type System Input, in the topic I/O.

Cfg nameArg2

DescriptionArgument 2 is an argument required to perform the system actions Load and Start,Interrupt and Load, that is when the parameter Action is set to Load and Start,Interrupt or Load, Argument 2 must be set too.

UsageArgument 2 is used to define a task.

PrerequisitesAction must be set to Load and Start, Interrupt, or Load.

LimitationsArgument 2 is only used with the option MultiMove.

Allowed values

Allowed valueSystem action

The task in which the program defined in Argument 1 should beloaded.

Load and Start

The task in which the module or program defined in Argument 1should be loaded.

Interrupt

The task in which the program defined in Argument 1 should beloaded.

Load

If MultiMove is not installed, then Argument 2 must be set to T_ROB1.

Related informationAction on page 221.Load and Start on page 231.Interrupt on page 225.Load on page 229.Argument 1 on page 251.



4.9.7 Argument 3


Cfg nameArg3

DescriptionArgument 3 is an argument required to perform the system action Backup, that is,when the parameter Action is configured to Backup.

UsageArgument 3 is used to define the path for a backup.

PrerequisitesAction must be set to Backup.

Allowed values


The path of the backup.Backup

Related informationAction on page 221.Backup on page 222.



4.9.8 Argument 4


Cfg nameArg4

DescriptionArgument 4 is an argument required to perform the system action Backup, that is,when the parameter Action is configured to Backup.

UsageArgument 4 is used to define if the backup shall have a uniqe name or if a backupwith the same name shall be deleted first.


Allowed values


Unique Name or Overwritten. Default value is Unique Name.Backup




4.9.9 Argument 5


Cfg nameArg5

DescriptionArgument 5 is a required argument for the system action Backup, that is, when theparameter Action is configured to Backup.

UsageArgument 5 is used to define if the backup shall have date added in the name ofthe backup. If UniqueName is set as Argument 4, the sequence number will comeafter the date.


Allowed values


AddDate or NoDate. Default value is NoDate.Backup




4.9.10 Argument 6


Cfg nameArg6

DescriptionArgument6 is an argument required to perform the system action LimitSpeed, thatis, when the parameter Action is configured to LimitSpeed.

UsageArgument6 is used to define if the speed reduction shall be for a specified motiontask or all motion tasks.

PrerequisitesAction must be set to LimitSpeed.

Allowed values


A robot from the type Robot in the topic Motion.LimitSpeed



4.9.11 System Input Actions

OverviewOverview showing all System Input Actions and how they are allowed to be usedin different type of system modes and states.

Duringa

Backupopera-tion

An Ex-ternalClienthasWriteAccess(Ex. Ro-botStu-dio)

TheControl-ler Sys-tem isin Sys-temFail-urestateNote 6

AutoModeMotorsOn Pro-gramExecu-tion

AutoModeMotorsOn

AutoModeMotorsOff

ManualRe-

ducedSpeedModeMotorsOn Pro-gramExecu-tion

ManualFull

SpeedModeMotorsOn Pro-gramExecu-tion

XXXXXXBackup

XXXXXXXDisable-Backup Note 1

XInterrupt

XXLoad

XNote 5LoadStart

Note 2Note 2XXMotOnStart

XXXXXXMotorOff

XXXMotorOn

XXXXXQuickStop

XXNote 3XXNote 3ResetError

XXXXXResetEstop

XXXXXXSimMode

XXXXXSoftStop

XStart

XStartMain

XXXXXStop

XXXXXStopCycle

XXXXXStopInstr

XXXXXXXSysResetNote 4

Note 1: Do not affect the ongoing BackupNote 2: Motor On onlyNote 3: Execution error triggered during program executionNote 4: Ongoing Backup will be deletedNote 5: Only load of the program module is performedNote 6: The cause of the System Failure can have impact on the function for thegiven System Input Actions


4 Topic I/O4.9.11 System Input Actions

4.10 Type System Output

4.10.1 The System Output type

OverviewThis section describes the type SystemOutputwhich belongs to the topic I/O. Eachparameter of this type is described in a separate information topic in this section.

Cfg nameSYSSIG_OUT

Type descriptionOutput I/O signals can be assigned for a specific system action. These I/O signalsare set automatically by the system without user input when the system actionoccurs.The system output I/O signals can be both digital and analog.

PrerequisitesAn I/O signal must be configured in the system. The signal name must be a stringof maximum 32 characters.


• Several output I/O signals can be assigned the same system action, butseveral system actions may not be assigned to the same I/O signal.

• When deleting a system action the I/O signal itself remains defined. The I/Osignal must be deleted separately.

• The predefined system output for the Motors On lamp cannot be edited.

Predefined system outputsMotors On is predefined in the robot system. This output is linked to the MotorsOn lamp on the controller.

Additional informationThe actions are valid for both manual and automatic mode unless stated otherwisein the value descriptions.

Related informationThe Signal type on page 191.


4 Topic I/O4.10.1 The System Output type

4.10.2 Status

ParentStatus belongs to the type System Output, in the topic I/O.

Cfg nameStatus

DescriptionOutput signals can be assigned to specific system actions. Status defines thesystem status that triggered the signal. The system actions are handled by thesystem without an input from the user.

Allowed valuesThe following values are allowed and are described on the following pages:

• Auto On on page 262.• Backup Error on page 263.• Backup in progress on page 264.• Cycle On on page 265.• Emergency Stop on page 266.• Execution Error on page 267.• Limit Speed on page 268.• Mechanical Unit Active on page 269.• Mechanical Unit Not Moving on page 270.• Motors Off on page 271.• Motors On on page 272.• Motors Off State on page 273.• Motors On State on page 274.• Motion Supervision On on page 275.• Motion Supervision Triggered on page 276.• Path Return Region Error on page 277.• Power Fail Error on page 278.• Production Execution Error on page 279.• Run Chain OK on page 280.• Simulated I/O on page 281.• TaskExecuting on page 282.• TCP Speed on page 283.• TCP Speed Reference on page 284.• SimMode on page 285.


4 Topic I/O4.10.2 Status

4.10.3 Signal

ParentSignal belongs to the type System Output, in the topic I/O.

Cfg nameSignal

DescriptionSignal is the name of the configured digital output I/O signal to use. It connectsthe system output with a configured digital output I/O signal.

PrerequisitesA digital output I/O signal with a defined name has to be configured in the system.

Allowed valuesAvailable configured digital output I/O signal names.



4 Topic I/O4.10.3 Signal

4.10.4 Status values

4.10.4.1 Auto On

ParentAuto On is a value for the parameter Status that belongs to the type SystemOutputin the topic I/O.

Cfg nameAutoOn

DescriptionIf Status has the value Auto On, the I/O signal is set when the controller is inautomatic mode.



4 Topic I/O4.10.4.1 Auto On

4.10.4.2 Backup Error

ParentBackup Error is a value for the parameter Status and belongs to the type SystemOutput, in the topic I/O.

Cfg nameBackupError

DescriptionIf Status has the value Backup Error, the signal is set when the system detects thebackup failure. The failure can be detected during the backup or after a powerfailure if the backup has been interrupted by this. The signal is cleared when a newbackup is started.

Additional informationThe output signal reflects the overall system backup error state independent ofthe application starting the backup, that is, RobotStudio, FlexPendant, and systeminput signal Backup.



4 Topic I/O4.10.4.2 Backup Error

4.10.4.3 Backup in progress

ParentBackup in progress is a value for the parameter Status and belongs to the typeSystem Output, in the topic I/O.

Cfg nameBackupInProgress

DescriptionIf Status has the value Backup in progress, the signal is set when a backup isstarted and cleared when the backup is complete with or without errors.

Additional informationThis output signal reflects the overall system backup state independent of theapplication starting the backup, that is, RobotStudio, FlexPendant, and systeminput signal Backup.



4 Topic I/O4.10.4.3 Backup in progress

4.10.4.4 Cycle On

ParentCycle On is a value for the parameter Status that belongs to the type SystemOutputin the topic I/O.

Cfg nameCycleOn

DescriptionIf Status has the value Cycle On, the I/O signal is set when the robot program isexecuting.During path recovery operations, the I/O signal is set.

Additional informationCycle On is also active for Service and Event Routine execution.The signal sequence for Cycle On is:

xx0800000460

A: Cycle OnB: ExecutionC: No interrupt handled, Trap ignored


4 Topic I/O4.10.4.4 Cycle On

4.10.4.5 Emergency Stop

ParentEmergency Stop is a value for the parameter Status that belongs to the type SystemOutput in the topic I/O.

Cfg nameEmStop

DescriptionIf Status has the value Emergency Stop, the I/O signal is set when the controlleris in the Emergency Stop state.

Additional informationThe signal sequence for Emergency Stop is:

xx0400000948

A: Reset Emergency Stop (IN), OrderB: Emergency Stop (OUT), ResponseC: Run Chain OK (OUT), Response


4 Topic I/O4.10.4.5 Emergency Stop

4.10.4.6 Execution Error

ParentExecution Error is a value for the parameter Status that belongs to the type SystemOutput in the topic I/O.

Cfg nameError

DescriptionIf Status has the value Execution Error, the I/O signal is set high because the robotprogram execution has been stopped due to a program error during execution.The execution error state occurs when there is no error recovery, that is if there isno error handler that takes care of the current error.If Argument 2 is specified with a task name, the I/O signal will only react onexecution errors for that task.The I/O signal stays set high until any of the following events occur for the task:

• Program start.• Program restart.• Reset of program pointer.• System signal Reset Execution Error set high (resets all tasks).

IfArgument 2 is not specified with a task name, the I/O signal will react on executionerrors in any task. In this case, the I/O signal stays high until any of the eventslisted above occur for any of the tasks.The signal state is not kept after power fail (warm start).

Related informationReset Execution Error Signal on page 239.Argument 2 on page 287.


4 Topic I/O4.10.4.6 Execution Error

4.10.4.7 Limit Speed

ParentLimit Speed is a value for the parameter Status that belongs to the type SystemOutput in the topic I/O.

Cfg nameLimitSpeed

DescriptionIf Status has the value LimitSpeed, the I/O signal is set when the specified motiontask is running with reduced speed trigged by the System Input Signal LimitSpeed.

ArgumentsWhen the parameter Status is set to LimitSpeed, the parameter Argument mustbe used to specify a motion task.

PrerequisitesA digital output I/O signal with a defined singal name has to be available, not usedby any other resource.

Additional informationIf the specified motion task is running with reduced speed, the system output willbe set.



4.10.4.8 Mechanical Unit Active

ParentMechanical Unit Active is a value for the parameter Status that belongs to the typeSystem Output in the topic I/O.

Cfg nameMechUnit Active

DescriptionIf Status has the value Mechanical Unit Active, the I/O signal is set when theconfigured mechanical unit is active.

ArgumentsWhen the parameter Status is set to Mechanical Unit Active, the parameterArgument must also be used, specifying which mechanical unit the I/O signal isreflecting. The default value is ROB_1.

Note

The drop-down list in the FlexPendant or RobotStudio configuration tool showsonly TCP robots. Use ABC... to add any other mechanical unit.

Additional informationIf the configured mechanical unit is active, the system output will be set.If the mechanical unit is configured to be active, the system output will already beset at start.It is possible to deactivate a mechanical unit on the FlexPendant or via RAPID.

Related informationArgument on page 286.


4 Topic I/O4.10.4.8 Mechanical Unit Active

4.10.4.9 Mechanical Unit Not Moving

ParentMechanical Unit Not Moving is a value for the parameter Status that belongs tothe type System Output, in the topic I/O.

Cfg nameMechUnitNotMoving

DescriptionIf Status has the value MechUnitNotMoving, the I/O signal is set high when theconfigured mechanical unit is not moving. The I/O signal is only triggered by statechanges, that is auto and manual mode. Using the parameterMech.Unit Not MovingDetection Level will also set the output when all axes of the Mechanical Units witha defined Level running in the same motion group are moving slower than its Level.

ArgumentsWhen the parameter Status is set to Mechanical Unit Not Moving, the parameterArgument defines which mechanical unit the I/O signal is reflecting. The argumentdefines the name of a mechanical unit.If Argument is not defined (no value) then the I/O signal will reflect the state of thesystem. The I/O signal will be set low when the first mechanical unit starts to moveand will be set high when the last mechanical units stops to move.The default value is empty.NOTE! The drop-down list in the FlexPendant or RobotStudio configuration toolshows only TCP robots. Use ABC... to add any other mechanical unit.

Additional informationIn situations where units (for example, a TCP robot and an additional axis) aresynchronized in the same movement instruction or by move instructions with sameID in different tasks, the I/O signals will for all units have the same value, that isthe I/O signals will not be set until all synchronized units are stopped.The state of the I/O signal is changed during regain movement. This can make theI/O signal toggle for example when stepping over logical instructions.This system output should not be used for safety functions since it is not a safetyI/O signal according to ISO 10218-1 and ISO 13849-1:1999. For safety functionsthe options Electronic Position Switches or SafeMove can be used.

Related informationArgument on page 286.The Mechanical Unit type on page 508, in topic Motion.Mech.Unit Not Moving Detection Level on page621, in the topicMotion, typeRobot.Mech.Unit Not Moving Detection Level on page654, in the topicMotion, type Single.


4 Topic I/O4.10.4.9 Mechanical Unit Not Moving

4.10.4.10 Motors Off

ParentMotors Off is a value for the parameter Status that belongs to the type SystemOutput in the topic I/O.

Cfg nameMotorOff

DescriptionIf Status has the value Motors Off, the I/O signal is set when the controller is in theMotors Off state.

Additional informationWhen the controller is in Motors Off state and a safety chain is not closed, theoutput I/O signal pulses.If only Motors Off state is requested, the action value Motors Off State is preferred.

Related informationMotors Off State on page 273.Run Chain OK on page 280.


4 Topic I/O4.10.4.10 Motors Off

4.10.4.11 Motors On

ParentMotors On is a value for the parameter Status that belongs to the type SystemOutput in the topic I/O.

Cfg nameMotorOn

DescriptionIf Status has the value Motors On, the I/O signal is set when the controller is in theMotors On state.

Additional informationIf the controller is in guard stop, the output starts pulsing with a frequency of 1sec. If the controller is not calibrated or the revolution counter is not updated, theoutput will pulsate even faster in manual mode.Motors On can be used to detect if the controller is in Motors On and whether thecontroller is synchronized or not.

Related informationMotors On State on page 274.



4.10.4.12 Motors Off State

ParentMotors Off State is a value for the parameter Status that belongs to the type SystemOutput in the topic I/O.

Cfg nameMotOffState

DescriptionIf Status has the value Motors Off State, the I/O signal is set when the controlleris in the Motors Off state.


4 Topic I/O4.10.4.12 Motors Off State

4.10.4.13 Motors On State

ParentMotors On State is a value for the parameter Status that belongs to the type SystemOutput in the topic I/O.

Cfg nameMotOnState

DescriptionIf Status has the value Motors On State, the I/O signal is set when the controlleris in the Motors On state.


4 Topic I/O4.10.4.13 Motors On State

4.10.4.14 Motion Supervision On

ParentMotion Supervision On is a value for the parameter Status that belongs to the typeSystem Output in the topic I/O.

Cfg nameMotSupOn

DescriptionIfStatus has the valueMotion SupervisionOn, the I/O signal is set when the collisiondetection function is active.

PrerequisitesWhen the parameter Status is set to Motion Supervision On, the parameterArgument must also be used, specifying which robot the supervision is used for.The default value is ROB_1.The option Collision Detection must be installed.

Additional informationMotion Supervision On is only valid when the robot is moving.

Related informationApplication manual - Motion coordination and supervision.


4 Topic I/O4.10.4.14 Motion Supervision On

4.10.4.15 Motion Supervision Triggered

ParentMotion Supervision Triggered is a value for the parameter Status that belongs tothe type System Output in the topic I/O.

Cfg nameMotSupTrigg

DescriptionIf Status has the value Motion Supervision Triggered, the I/O signal is set whenthe collision detection function has been triggered.

PrerequisitesIf the parameter Argument specifies a robot, the I/O signal will only show if collisiondetection has been triggered for that robot. If the parameter Argument is not used,the I/O signal will show if collision detection has been triggered for any robot.The option Collision Detection must be installed.

Additional informationThe I/O signal is reset by one of the following actions:

• The program is restarted.• The program pointer is manually moved to Main.• The error message is acknowledged.



4 Topic I/O4.10.4.15 Motion Supervision Triggered

4.10.4.16 Path Return Region Error

ParentPath Return Region Error is a value for the parameter Status that belongs to thetype System Output in the topic I/O.

Cfg nameRegainDistError

DescriptionIf Status has the value Path Return Region Error, the I/O signal is set when anattempt to start the robot program has been made but failed since the robot wastoo far from the programmed path.

PrerequisitesIf the parameter Argument specifies a robot, the I/O signal will only show if thatrobot is too far from the programmed path. If the parameter Argument is not used,the I/O signal will show if any robot is too far from the programmed path.

Additional informationThe value Path Return Region Error is set if the current movement is interruptedand then:

• The robot is jogged too far from the programed path and then restarted.• An emergency stop has occurred and the robot has slid too far away from

its programmed path and then restarted.The I/O signal is reset by one of the following actions:

• The program is restarted after the robot has been jogged into the regainzone.

• The program pointer is manually moved to Main.• The program pointer is manually moved and the program is restarted.

The distances of the zones can be configured in the type Return Region in thetopic Controller.

Related informationThe Path Return Region type on page 116, in the topic Controller.


4 Topic I/O4.10.4.16 Path Return Region Error

4.10.4.17 Power Fail Error

ParentPower Fail Error is a value for the parameter Status that belongs to the type SystemOutput in the topic I/O.

Cfg namePFError

DescriptionIf Status has the value Power Fail Error, the I/O signal is set when a program cannotcontinue from its current position after a power failure.

Additional informationThe program will not restart after the value Power Fail Error is set. Usually, theprogram can be started, but it will always start from the beginning.


4 Topic I/O4.10.4.17 Power Fail Error

4.10.4.18 Production Execution Error

ParentProduction Execution Error is a value for the parameter Status that belongs to thetype System Output, in the topic I/O.

Cfg nameProdExecError

DescriptionIf Status has the value Production Execution Error, the I/O signal is set high if thesystem is in automatic mode and when at least one normal task is running andone of the following occurs:

• A program execution error in any normal task.• A collision*• A system error: SysFail, SysHalt, or SysStop.

The I/O signal is reset by:• Program start.• Program restart.

The I/O signal value is not kept after a warm start.*) Note! This is not a replacement for Motion Supervision Triggered.

Additional informationUsing Production Execution Error does not effect the functionality in the optionCollision Detection, nor can it replace the option Collision Detection.

Related informationExecution Error on page 267.Motion Supervision Triggered on page 276.System errors are described in parameter Trustlevel on page 140.The instruction SystemStopAction, see Technical reference manual - RAPIDInstructions, Functions and Data types.


4 Topic I/O4.10.4.18 Production Execution Error

4.10.4.19 Run Chain OK

ParentRun Chain OK is a value for the parameter Status that belongs to the type SystemOutput in the topic I/O.

Cfg nameRunchOk

DescriptionIf Status has the value Run Chain OK, the I/O signal is set when the safety chainis closed. The safety chain must be closed to be able to go to Motors On.

Additional informationSignal sequence:

xx0400000948

A: Reset Emergency Stop (IN), OrderB: Emergency Stop (OUT), ResponseC: Run Chain OK (OUT), Response

ExampleIn Manual mode the safety chain is opened and Run Chain OK is not set.


4 Topic I/O4.10.4.19 Run Chain OK

4.10.4.20 Simulated I/O

ParentSimulated I/O is a value for the parameter Status that belongs to the type SystemOutput in the topic I/O.

Cfg nameBlocked I/O

DescriptionIf Status has the value Simulated I/O, the I/O signal is set when at least one I/Osignal at any I/O unit is in simulated mode.

Additional informationI/O signals can be set to simulated mode during testing, using the FlexPendant.



4 Topic I/O4.10.4.20 Simulated I/O

4.10.4.21 TaskExecuting

ParentTaskExecuting is a value for the parameter Status that belongs to the type SystemOutput in the topic I/O.

Cfg nameTaskExecuting

DescriptionIf Status has the value TaskExecuting, the I/O signal is set when the configuredtask is executing.During path recovery operations, the I/O signal is not set.

PrerequisitesThe parameter Argument 2 has to be defined with a task name.

LimitationsThe parameter Argument 2 can be configured only with the name of a NORMALtask.


4 Topic I/O4.10.4.21 TaskExecuting

4.10.4.22 TCP Speed

ParentTCP Speed is a value for the parameter Status that belongs to the type SystemOutput in the topic I/O.

Cfg nameTCPSpeed

DescriptionIf Status has the value TCP Speed, the I/O signal is an analog signal that reflectsthe speed of the robot's TCP.

PrerequisitesWhen the parameter Status is set to TCP Speed, the parameter Argument mustalso be used, specifying which robot the speed refers to. The default value isROB_1.

Additional informationThe logical value of the I/O signal is specified in m/s, for example a speed of 2000mm/s corresponds to the logical value 2 m/s. The scaling factor for the physicalvalue is specified in the parameters of the corresponding I/O signal.The analog output is set approximately 40 ms before the actual TCP speed occurs.This prediction time is constant during acceleration and deceleration.NOTE! TheEvenPreset Time parameter affects the time interval between the settingup of the analog output and the occurance of the TCP speed. For example, if EventPreset Time is set to 0.2 (200 ms), the analog output is set 240 ms before theoccurance of the TCP speed.

Related informationMaximum Logical Value on page 209.Maximum Physical Value on page 211.


4 Topic I/O4.10.4.22 TCP Speed

4.10.4.23 TCP Speed Reference

ParentTCP Speed Reference is a value for the parameter Status that belongs to the typeSystem Output in the topic I/O.

Cfg nameTCPSpeedRef

DescriptionIf Status has the value TCP Speed Reference, the I/O signal is an analog signaldescribing the programmed speed of the robot's TCP.

PrerequisitesWhen the parameterStatus is set to TCPSpeedReference, the parameterArgumentmust also be used, specifying which robot the programmed speed refers to. Thedefault value is ROB_1.

Additional informationTCP Speed Reference works in the same way as TCP Speed but uses theprogrammed speed.Note:TCP Speed can differ from TCP Speed Reference, for example at accelerationor if the override speed has been changed.

Related informationTCP Speed on page 283.


4 Topic I/O4.10.4.23 TCP Speed Reference

4.10.4.24 SimMode

ParentSimMode is a value for the parameter Status that belongs to the type SystemOutput in the topic I/O.

Cfg nameSimMode

DescriptionIf status has the value SimMode, the I/O signal is set when the state SimMode isset. The signal is cleared when the state SimMode is cleared.

Arguments/PrerequisitesWhen the parameter Status is set to SimMode, the parameter Argument 3 mustalso be used, specifying the type of SimMode. Currently only Load is available asSimMode.

Additional informationAfter a warm start, the system output signal SimMode will also reflect the stateSimMode.

Related informationSimMode on page 250.


4 Topic I/O4.10.4.24 SimMode

4.10.5 Argument

ParentArgument belongs to the type System Outputs, in the topic I/O.

Cfg nameArg1

DescriptionArgument is an argument required to perform the system actions TCP Speed, TCPSpeed Reference, or Motion Supervision On, that is when the parameter Actionhas one of the action values listed above, Argument must be set too.

Allowed valuesIf the parameter Status has the value TCP Speed, TCP Speed Reference, or MotionSupervision On, the allowed value for Argument is a robot from the type Robot inthe topic Motion. Default value is ROB_1.If the parameter Status has the value Path Return Region Error or MotionSupervision Triggered, the allowed value for Argument is a robot from the typeRobot in the topic Motion. If no robot is specified, the I/O signal reacts on any robot.If the parameter Status has the value Mechanical Unit Active, the allowed valuefor Argument is a mechanical unit of the type Mechanical Unit in the topic Motion.Default value is ROB_1.If the parameter Status has the value Mechanical Unit Not Moving, the allowedvalue for Argument is a mechanical unit of the type Mechanical Unit in the topicMotion or empty. Default value is empty.

Related informationAction value TCP Speed on page 283.Action value TCP Speed Reference on page 284.Action value Motion Supervision On on page 275.Action value Mechanical Unit Active on page 269.Action value Mechanical Unit Not Moving on page 270.The Robot type on page 597 in the topic Motion.The Mechanical Unit type on page 508 in the topic Motion.


4 Topic I/O4.10.5 Argument

4.10.6 Argument 2

ParentArgument 2 belongs to the type System Outputs, in the topic I/O.

Cfg nameArg2

DescriptionArgument 2 is an argument required to perform system action TaskExecuting orExecution Error, that is when the parameter Status has the value TaskExecutingor Execution Error, Argument 2 must be used to specify the task name.

Allowed valuesIf the parameterStatus has the value TaskExecuting or Execution Error, the allowedvalue is a task name from the type Task in the topic Controller.

Related informationTaskExecuting on page 282.Execution Error on page 267.



4.11 Type Unit

4.11.1 The Unit type

OverviewThis section describes the typeUnit, which belongs to the topic I/O. Each parameterof this type is described in a separate information topic in this section.

Cfg nameEIO_UNIT

Type descriptionAn I/O unit is a logical software representation of a fieldbus I/O unit that is connectedto a fieldbus within the controller. I/O units allow you to control electronic devicesand read sensor data. They are used for controlling I/O signals in the robot system.

UsageBy specifying an I/O unit, a logical representation of the real I/O unit is created.The I/O unit configuration defines the specific parameters that will control thebehavior of the I/O unit.The Unit is used when defining the I/O signals and other objects in the I/O system.

PrerequisitesBefore defining a new I/O unit:

1 Configure the Bus and2 Make sure that the appropriate Unit Type is available (either by creating it or

using a predefined unit type).

LimitationsThe I/O unit has the following limitations:

• Maximum number of I/O units in the system is 40 (not including I/O units onthe I/O bus Local).

• Maximum number of I/O units on one I/O bus is 20.• The type of I/O unit and the I/O bus referred to by parameters Type of Unit

and Connected to Bus must not be in conflict with each other, that is the bustypes of the referenced unit type and the referenced I/O bus must be identicalunless the bus type of the I/O bus is Virtual.

Predefined unitsThe following I/O units are predefined and located on the Local I/O bus:

• PANEL• DRV_1• DRV_2• DRV_3• DRV_4



4 Topic I/O4.11.1 The Unit type

Depending on installed options, there can be other predefined I/O units notdescribed in this manual.

Related informationType of Unit on page 291.Connected to Bus on page 292.The Bus type on page 165.The Unit Type type on page 299.For more information on safety signals, see Operating manual - IRC5 withFlexPendant.

Example

Value:Parameter:

board10Name

d327Type of Unit

MyDeviceNetConnected to Bus

U137, placed in process cabinet C5Unit Identification Label

1 - Error when lostUnit Trust Level

EnabledUnit Startup State

NoStore Unit State at Power Fail

10DeviceNet Address


4 Topic I/O4.11.1 The Unit type

Continued

4.11.2 Name

ParentName belongs to the type Unit, in the topic I/O.

Cfg nameName

DescriptionThe parameter Name specifies the name of the I/O unit.

UsageThe name of the I/O unit is used as a reference to the specific I/O unit whenconfiguring the I/O signals and fieldbus commands on the I/O unit.


Allowed valuesA string following the RAPID rules, as described in Technical referencemanual - RAPID overview, chapter Basic elements.The name must be unique among all named objects in the I/O system configuration.Note! Names differing only in upper and lower case are considered to be equal.



4.11.3 Type of Unit

ParentType of Unit belongs to the type Unit, in the topic I/O.

Cfg nameUnitType

DescriptionThe parameter Type of Unit specifies the type of the I/O unit.

UsageInstead of specifying all properties of an I/O unit within the I/O unit itself, a referenceto a specific fieldbus unit type is made. The referred Unit Type contains allcharacteristics that are common for all I/O units of that type.

LimitationsThe Bus type of the Unit Type referred to by this parameter must not be in conflictwith the I/O bus referred to by the parameter Connected to Bus.


Allowed valuesA string defining the name of a defined Unit Type.

Note


Related informationConnected to Bus on page 292.The Unit Type type on page 299.


4 Topic I/O4.11.3 Type of Unit

4.11.4 Connected to Bus

ParentConnected to Bus belongs to the type Unit, in the topic I/O.

Cfg nameBus

DescriptionThe parameter Connected to Bus specifies which I/O bus this I/O unit is physicallyconnected to.

LimitationsThe bus type of the I/O bus referred to by this parameter must not be in conflictwith the I/O bus referred to by the parameter Type of Unit.


Allowed valuesA string defining the name of a defined Bus.

Note


Related informationType of Unit on page 291.The Bus type on page 165.


4 Topic I/O4.11.4 Connected to Bus

4.11.5 Unit Identification Label

ParentUnit Identification Label belongs to the type Unit, in the topic I/O.

Cfg nameUnitLabel

DescriptionThe parameter Unit Identification Label provides a way to label the actual I/O unit.

UsageThe parameter Unit Identification Label is an optional way to provide a label thatwill help the operator to identify the I/O unit physically.




4 Topic I/O4.11.5 Unit Identification Label

4.11.6 Unit Trustlevel

ParentUnit Trustlevel belongs to the type Unit, in the topic I/O.

Cfg nameTrustLevel

DescriptionThe parameterUnit Trustlevel specifies the system behavior (event reporting andcontroller state) and program state if communication with the I/O unit is lost orreestablished.The Unit Trustlevel only effects physical I/O units controlled by a fieldbus masterin the controller. An internal slave I/O unit is not controlled by a fieldbus master inthe controller and is therefore not affected by the Unit Trustlevel setting.

UsageA state change message is reported every time an activated I/O unit is connected,that is communication with the I/O unit is reestablished, unless Unit Trustlevel isset to Loss accepted.A state change message is reported every time an activated I/O unit is lost, that iscommunication with the I/O unit is lost, unless Unit Trustlevel is set to Lossaccepted.If an I/O unit with Unit Trustlevel set to Required is missing at start, then thecontroller will go to system failure controller state.An I/O unit with Unit Trustlevel set to Required cannot be deactivated from clients,for example RobotStudio or FlexPendant.

Default valueThe default value is Error when lost.

Allowed valuesThe value specifies system behavior when the I/O unit’s physical state changes:

Description:Cfg value:Value:

Loss of I/O unit causes report of error event andstop. Reconnection and warm start required.

0Required

Loss of I/O unit causes report of error event. Pro-gram execution stops when the lost I/O unit isaccessed. Reconnection of I/O unit and programrestart is required.

1Error when lost

No report of error event when the I/O unit is lost.Error and stop when an I/O signal on the I/O unitis accessed (from RAPID).

2Loss accepted

Same as Required but stop on path when the I/Ounit is lost (Quickstop).

3Stop when lost



4 Topic I/O4.11.6 Unit Trustlevel

Additional informationThe table below shows the robot system behavior depending on the Unit Trustlevelvalue and the I/O unit’s logical state, when the I/O unit’s physical state changes.

Program state:Controller state:Event report at I/Ounit state change:

I/O unit logicalstate:

Unit Trustlevelvalue:

StoppedSystem failureYesActivatedRequired

No change1No ChangeYesActivatedError when lost

No change1No ChangeNoActivatedLoss accepted

StoppedSystem stopYesActivatedStop when lost

N/AN/AN/ADeactivatedRequired2

No changeNo ChangeNoDeactivatedAll levels butRequired

1 Execution stops when the I/O unit or any I/O signal on the I/O unit is accessed.2 It is not possible to deactivate any I/O unit with Unit Trustlevel set to Required.


4 Topic I/O4.11.6 Unit Trustlevel

Continued

4.11.7 Unit Startup State

ParentUnit Startup State belongs to the type Unit, in the topic I/O.

Cfg nameDisabled

DescriptionThe parameter Unit Startup State specifies if the I/O system should try to contactthis I/O unit at start.

LimitationsUnit Startup State has lower priority than Store Unit State at Power Fail.

UsageIf Unit Startup State for this I/O unit is set to Activated, the system tries to establishcontact at system start. A fault report is generated if no connection is establishedunless the Unit Trustlevel for the I/O unit is set to Loss accepted.If the robot is used in a tool changing application, we recommended setting UnitStartup State to Deactivated and using RAPID instructions IOEnable andIODisable to check connections and activate connected units at system start.

Note

When Unit Startup State is Deactivated on an I/O unit with Unit Trustlevel set toRequired the controller will be forced to enter the SysFail state. An event reportis sent.When Unit Startup State is Deactivated on an I/O unit with Unit Trustlevel set toStop When Lost the program state will be in Stopped state. However, it is alwayspossible to start a program, for example, from a PLC via system signals.

Default valueThe default value is Enabled.

Allowed valuesEnabledDisabled

Related informationStore Unit State at Power Fail on page 297.Unit Trustlevel on page 294.Technical reference manual - RAPID Instructions, Functions and Data types.


4 Topic I/O4.11.7 Unit Startup State

4.11.8 Store Unit State at Power Fail

ParentStore Unit State at Power Fail belongs to the type Unit, in the topic I/O.

Cfg nameStoreLogicalState

DescriptionThe parameter Store Unit State at Power Fail specifies if this I/O unit should assumethe deactivated or activated state it had before power down.

UsageIf Store Unit State at Power Fail is enabled (Yes), the I/O unit assumes the state ithad before power down.If the robot is used in a tool changing application, we recommend setting StoreUnit State at Power Fail to No and using RAPID instructions IOenable andIOdisable to check the state at system start.

Additional informationIf Store Unit State at Power Fail is enabled, it has a higher priority than Unit StartupState.


Allowed valuesYesNo

Related informationUnit Startup State on page 296.Technical reference manual - RAPID Instructions, Functions and Data types.


4 Topic I/O4.11.8 Store Unit State at Power Fail

4.11.9 Regain Communication Reset

ParentRegain Communication Reset belongs to the type Unit, in the topic I/O.

Cfg nameRegainCommunicationReset

DescriptionRegain Communication Reset defines if the I/O unit should reset the I/O signalvalues to the default values when it regains communication. That is, when an I/Ounit goes from the disconnected or error state to the running state.

UsageIf both Regain Communication Reset and Store Signal Value at Power Fail areused and the system powers down, then Store Signal Value at Power Fail hashigher priority when the system starts.

Default valueThe default value is Disabled.

Allowed valuesEnabledDisabled

Related informationDefault Value on page 203, in the type Signal.Store Signal Value at Power Fail on page 204, in the type Signal.


4 Topic I/O4.11.9 Regain Communication Reset

4.12 Type Unit Type

4.12.1 The Unit Type type

OverviewThis section describes the type Unit Type, which belongs to the topic I/O. Eachparameter of this type is described in a separate information topic in this section.

Cfg nameEIO_UNIT_TYPE

Type descriptionA Unit Type is a software description in the I/O system of a specific physical I/Ounit that can be connected to a fieldbus in the controller.

LimitationsThe following limitations must be considered:

• Maximum number of Unit Type instances in the system is 100.• The maximum input data size and output data size for a Unit Type handled

by the controller is 128 bytes each.

UsageThe Unit Type is used when detecting I/O units and Fieldbus Command Types inthe I/O system.

Predefined unit typesThe following Unit Type instances are predefined in the controller:

Description:Unit Type:

Simulated I/O unit located on the Virtual I/O bus with input datasize of 128 bytes and output data size of 128 bytes.

Virtual

I/O unit located on the Local I/O bus with input data size of 4bytes and output data size of 4 bytes.

LOCAL_GENERIC

Related informationHow to define the unit type on page 152.

ExampleThis is an example of a Unit Type with a DeviceNet bus from ABB Robotics.

Value:Parameter:

d327Name

DeviceNetType of Bus

ABB RoboticsVendor Name

Combi UnitProduct Name

75Vendor ID



4 Topic I/O4.12.1 The Unit Type type

Value:Parameter:

2Product Code

100Device Type

5Major Revision

0Minor Revision

10Production Inhibit Time

EnabledExplicit Messaging

EnabledQuick Connect

Polled connectionConnection 1 Type

50Connection 1 Interval

6Connection 1 Output Size

2Connection 1 Input Size


4 Topic I/O4.12.1 The Unit Type type

Continued

4.12.2 Name

ParentName belongs to the type Unit Type, in the topic I/O.

Cfg nameName

DescriptionThe parameter Name specifies the name of the unit type.

UsageThe name of the unit type is used as a reference to the specific unit type when:

• Configuring I/O units.• Configuring cross connections.


Allowed valuesA string following the RAPID rules described in Technical referencemanual - RAPIDoverview, chapter Basic elements.The name must be unique among all named objects in the I/O system configuration.

Note




4.12.3 Type of Bus

ParentType of Bus belongs to the type Unit Type, in the topic I/O.

Cfg nameBusType

DescriptionThe parameter Type of Bus specifies the type of fieldbus this unit type isrepresenting.

UsageDefining the type of bus is vital for identifying which fieldbus this unit type isrepresenting.

PrerequisitesThe fieldbus option for the desired type of bus must be installed in the controller.

Default valueThe default value is Virtual.

Allowed valuesValues are determined by the available and installed fieldbus options.Examples of allowed values:

• Virtual (always available)• DeviceNet• Profibus• Interbus• EtherNet/IP• Profinet• DeviceNet Lean


4 Topic I/O4.12.3 Type of Bus

4.12.4 Vendor Name

ParentVendor Name belongs to the type Unit Type, in the topic I/O.

Cfg nameVendorName

DescriptionThe parameter Vendor Name specifies the name of the I/O unit vendor.

UsageThis parameter is optional and only used as information.

Default valueThe default value is Unknown.



4 Topic I/O4.12.4 Vendor Name

4.12.5 Product Name

ParentProduct Name belongs to the type Unit Type, in the topic I/O.

Cfg nameProductName

DescriptionThe parameter Product Name specifies the name of the product for this unit type.

UsageThis parameter is optional and only used as information.

Default valueThe default value is Unknown.



4 Topic I/O4.12.5 Product Name

4.12.6 Internal Slave

ParentInternal Slave belongs to the type Unit Type, in the topic I/O.

Cfg nameInternalSlave

DescriptionInternal Slave specifies whether or not an I/O unit with this unit type is an internalslave.This parameter specifies the type of the slave device. The built-in slave moduleon a master/slave card is defined as an internal slave. All other slave devices aredefined with this parameter set to No.

UsageA slave device is either internal or not. The controller module has built-in slavemodules that are defined as internal slaves. Internal Slave is a general parameteravailable for all fieldbus unit types.Internal Slave is a general system parameter for fieldbuses.If the unit type should be used as an internal slave, set the parameter to Yes. If theparameter is set to Yes, only the necessary parameters for the internal slave areshown.

PrerequisitesAt least one fieldbus option must be installed.


Allowed valuesYesNo

Additional informationFor more information about this parameter, see the application manual for thefieldbus option.


4 Topic I/O4.12.6 Internal Slave

5 Topic Man-machine Communication5.1 The Man-machine Communication topic

OverviewThis chapter describes the types and parameters of the Man-machineCommunication topic.

DescriptionThe Man-machine Communication topic contains parameters for, among otherthings, creating customized lists for instructions and I/O signals, simplifyingeveryday work.The parameters are organized in the following types:

1 Automatically Switch Jog Unit2 Backup Settings3 Most Common Instruction - List 14 Most Common Instruction - List 25 Most Common Instruction - List 36 Most Common I/O Signal7 Production permission8 Warning at Start

The types forMost Common Instructions are identical and therefore only describedin one section, but valid for all three types.


5 Topic Man-machine Communication5.1 The Man-machine Communication topic

5.2 Type Automatically Switch Jog Unit

5.2.1 The Automatically Switch Jog Unit type

OverviewThis section describes the type Automatically Switch Jog Unit which belongs tothe topic Man-machine Communication. Each parameter of this type is describedin a separate information topic in this section.

Cfg nameAUTO_SWITCH_OF_JOG_UNIT

Type descriptionThe type Automatically Switch Jog Unit is used to automatically activate amechanical unit when switching to a program editor on the FlexPendant, that usesthe mechanical unit.The default setting is that a mechanical unit is not activated automatically whenswitching to a program editor using an deactivated mechanical unit.

LimitationsThere can be only one set of parameters of the type Automatically Switch Jog Unitin the system.


5 Topic Man-machine Communication5.2.1 The Automatically Switch Jog Unit type

5.2.2 Enable switch jog unit

ParentEnabled belongs to the type Automatically Switch Jog Unit, in the topicMan-machine Communication.

Cfg nameenabled

DescriptionEnabled defines if a mechanical unit should be activated automatically whenswitching program editor.

UsageSet Enabled to TRUE to automatically activate the mechanical unit when switchingto a program editor that uses the mechanical unit.

Allowed valuesTRUE or FALSE. Default value is FALSE.


5 Topic Man-machine Communication5.2.2 Enable switch jog unit

5.3 Type Backup Settings

5.3.1 The Backup Settings type

OverviewThis section describes the type Backup Settings which belongs to the topicMan-machine Communication. Each parameter of this type is described in aseparate information topic in this section.

Cfg nameBACKUP

Type descriptionThe Backup Settings shall be configured when the FlexPendant backup applicationshall suggest a specific name or path for the backup, or when the user shall beprevented from changing these settings in the FlexPendant backup application.

LimitationsOnly one set of parameters of the type Backup Settings can be configured in thesystem.


5 Topic Man-machine Communication5.3.1 The Backup Settings type

5.3.2 Name

ParentName belongs to the type Backup Settings, in the topic Man-machineCommunication.

Cfg nameBackup_name

DescriptionName defines the suggested name for the backups created from the FlexPendant.

UsageThe name of the backup.

Allowed valuesA string defining the name.

Additional informationThe suggested name is not defined only by this parameter. If Unique Name is setto Yes and if a backup already exists with the same name, an increasing numberis added to the end of the name.If the Name parameter is undefined, the default backup nameSystemName_Backup_Date (for example, SystemX_Backup_20100101) issuggested.

Related informationUnique name on page 313.


5 Topic Man-machine Communication5.3.2 Name

5.3.3 Path

ParentPath belongs to the typeBackupSettings, in the topicMan-machineCommunication.

Cfg nameBackup_path

DescriptionPath defines the suggested path for the backups created from the FlexPendant.

UsageThe path for the backup.

Allowed valuesA string defining the path.

Additional informationIf the Path parameter is undefined, the default backup path /hd0a/BACKUP issuggested.

Example 1The environment variable BACKUP: can be used.BACKUP:SysInBackup


5 Topic Man-machine Communication5.3.3 Path

5.3.4 Unique name

ParentUnique name belongs to the type Backup Settings, in the topic Man-machineCommunication.

Cfg nameUnique_name

DescriptionUnique name defines if the backup shall be overwritten or get a unique name if italready exists a backup with name Name.

UsageA unique name is suggested if the value ofUnique name is set to Yes. An increasingnumber is added at the end of the name if a backup with the same name alreadyexists. The user will get the option to overwrite the old backup if the value of Uniquename is set to No and if a backup with the same name already exists.



5 Topic Man-machine Communication5.3.4 Unique name

5.3.5 Disable name change

ParentDisable name change belongs to the type Backup Settings, in the topicMan-machine Communication.

Cfg nameDisable_name_change

DescriptionDisable name change prevents the users from changing the name and the pathfrom the FlexPendant backup application.

UsageSetting the value of the Disable name change parameter to Yes prevents the usersfrom changing the suggested name and path in the FlexPendant backup application.

Allowed valuesYes or No.The default value is No.


5 Topic Man-machine Communication5.3.5 Disable name change

5.4 Type Most Common Instruction

5.4.1 The Most Common Instruction types

OverviewThis section describes the types Most Common Instruction - List 1,Most CommonInstruction - List 2, and Most Common Instruction - List 3 which belongs to topicMan-machine Communication. Each parameter of this type is described in aseparate information topic in this section.

Cfg namesMMC_MC1MMC_MC2MMC_MC3

Type descriptionThe system contains lists of instructions to use when programming the robot. Thereare also three lists available to adapt to personal requirements. These are calledMost Common Instruction - List 1, Most Common Instruction - List 2, and MostCommon Instruction - List 3.The three lists are set up of a number of parameters equal between the lists.Therefore the parameters are described together in this manual.

Required parametersOnly the system parameter Name requires a value.

Related informationInstructions and their optional arguments and syntax are described in Technicalreference manual - RAPID Instructions, Functions and Data types.

Example: Instruction without argumentTo create a MoveJ instruction without arguments, only the parameter Name isrequired if Name is set to MoveJ, exactly as spelled in RAPID.

Value:Parameter:

MoveJName

Parameter Number

Alternative Number

Instruction Name

Only for Motion Task



5 Topic Man-machine Communication5.4.1 The Most Common Instruction types

Example: Instruction with argumentTo create a MoveL instruction with the option Time set to the alternative T for motiontasks, use the following values.

Value:Parameter:

MoveL /TName

5Parameter Number

2Alternative Number

MoveLInstruction Name

YesOnly for Motion Task

By setting Name to MoveL/T, the button label in the picklist will clearly state to theuser that this is a MoveL instruction, using the Time option. The parameter numberwe use is 5, see table below, and we use alternative 2 for [\T]. Since Name is notset to only MoveL, we must use Instruction Name to specify to the system that itis a MoveL instruction. Only for Motion Task states that it will only be available formotion tasks.The syntax for the MoveL instruction is:

Value:Parameter Number:

MoveL<instr>

[\Conc]1

ToPoint2

[\ID]3

Speed4

[\V] or [ \T]5

Zone6

[\Z]7

[\Inpos]8

Tool9

[\WObj]10

[\Corr]11


5 Topic Man-machine Communication5.4.1 The Most Common Instruction types

Continued

5.4.2 Name

ParentName belongs to the types Most Common Instruction - List 1, Most CommonInstruction - List 2, and Most Common Instruction - List 3 in the topic Man-machineCommunication.

Cfg namename

DescriptionName defines the name to be visible on the button in the picklist.

UsageIf Name is set to an instruction or procedure spelled exactly as in RAPID, no otherparameters require a value. But, if Name contains more information, asrecommended when using instructions with arguments, then the parameterInstruction Name specifies the actual instruction syntax.

Allowed valuesThe instruction name, a string with maximum 32 characters, e.g. "MoveJ".

Note

Do not use a backslash (\) in the name! Names using a backslash will causeerrors, unlike when programming in RAPID.

If an additional switch or argument is used, it is recommended to include this inthe name for clarity and append the name with a slash (/) and the argument, e.g."ArcL/On". Furthermore if an optional argument is included in the name then theparameter Instruction Name must be set to the instruction.

Related informationTechnical reference manual - RAPID Instructions, Functions and Data types.Instruction Name on page 320.

Examples

Description:Value:

The instruction MoveJ.MoveJ

The instruction ArcL with the argument On.ArcL/On



5.4.3 Parameter Number

ParentParameter Number belongs to the types Most Common Instruction - List 1, MostCommon Instruction - List 2, and Most Common Instruction - List 3 in the topicMan-machine Communication.

Cfg nameparam_nr

DescriptionParameter Number specifies which argument should be used for instructions withoptional arguments.

UsageIf an instruction with optional arguments is used, then Parameter Number specifieswhich of the arguments should be used. The instructions with parameter numbersare described in Technical reference manual - RAPID Instructions, Functions andData types.If left blank, no optional argument is used.

Allowed valuesA positive integer value, starting from 0.

Additional informationIf Parameter Number is used, then Alternative Number must also be used.

Related informationInstruction Name on page 320.Alternative Number on page 319.Technical reference manual - RAPID Instructions, Functions and Data types.


5 Topic Man-machine Communication5.4.3 Parameter Number

5.4.4 Alternative Number

ParentAlternative Number belongs to the types Most Common Instruction - List 1, MostCommon Instruction - List 2, and Most Common Instruction - List 3 in the topicMan-machine Communication.

Cfg namealt_nr

DescriptionAlternative Number defines which of the optional argument's alternatives to beused for the instruction.

UsageIf the instruction has optional arguments, then Alternative Number specifies whichof the alternatives to use. The Parameter Number specifies which argument to beused.

PrerequisitesThe parameter Parameter Number must be used.

Allowed valuesThe following values are allowed (depending on the number of alternatives availablefor the instruction):

Description:Value:

no alternative is used0

the first alternative is used1

the nth alternative is usedn...

Related informationInstruction Name on page 320.Parameter Number on page 318.Technical reference manual - RAPID Instructions, Functions and Data types.


5 Topic Man-machine Communication5.4.4 Alternative Number

5.4.5 Instruction Name

ParentInstruction Name belongs to the types Most Common Instruction - List 1, MostCommon Instruction - List 2, and Most Common Instruction - List 3 in the topicMan-machine Communication.

Cfg nameinstr_name

DescriptionInstruction Name defines which instruction to use if the parameter Name containsmore information than only the instruction.

UsageIf the instruction contains optional arguments, it is recommended to mark this inthe parameter Name. Then Instruction Name is used to specify the instruction, asspelled in RAPID.

Allowed valuesThe instruction name, a string with maximum 32 characters, as spelled in RAPID.

Related informationName on page 317.Parameter Number on page 318.Alternative Number on page 319.Technical reference manual - RAPID Instructions, Functions and Data types.


5 Topic Man-machine Communication5.4.5 Instruction Name

5.4.6 Only for Motion Task

ParentOnly for Motion Task belongs to the types Most Common Instruction - List 1, MostCommon Instruction - List 2, and Most Common Instruction - List 3 in the topicMan-machine Communication.

Cfg nameonly_mec_task

DescriptionOnly for Motion Task defines if the instruction only should be visible in MotionTasks, i.e. should control the robot movement, e.g. MoveJ.

UsageSet Only for Motion Task to True if the instruction only should be visible to MotionTasks.

Allowed valuesTrue or False.

Related informationTechnical reference manual - RAPID Instructions, Functions and Data types.


5 Topic Man-machine Communication5.4.6 Only for Motion Task

5.5 Type Most Common I/O Signal

5.5.1 The Most Common I/O Signal type

OverviewThis section describes the type Most Common I/O Signal which belongs to thetopic Man-machine Communication. Each parameter of this type is described in aseparate information topic in this section.

Cfg nameIO_MOST_COMMON

Type descriptionIt is possible to have hundreds of I/O signals in the system. To simplify workingwith them it is possible to group them to a list of the mostly used signals. This listis defined by the type Most Common I/O Signal.

PrerequisitesA signal must be configured in the system for the signal name.

ExampleThis is a typical example of an often used I/O to be included in the list.

Value:Parameter:

MySignalDI1Signal Name

DISignal Type


5 Topic Man-machine Communication5.5.1 The Most Common I/O Signal type

5.5.2 Signal Name

ParentSignal Name belongs to the typeMost Common I/O Signal, in the topicMan-machineCommunication.

Cfg namename

DescriptionThe Signal Name is the I/O signal to be part of the Most Common List.

PrerequisitesA signal must be configured in the system.

Allowed valuesA signal configured in the system, a name with a maximum of 16 characters.



5 Topic Man-machine Communication5.5.2 Signal Name

5.5.3 Signal Type

ParentSignal Type belongs to the typeMost Common I/O Signal, in the topicMan-machineCommunication.

Cfg nametype

DescriptionSignal Type defines the type of signal to be used in the common list.

Allowed valuesThe following values are allowed.

Description:Value:

Digital InputDI

Digital OutputDO

Analog InputAI

Analog OutputAO

Group InputGI

Group OutputGO


5 Topic Man-machine Communication5.5.3 Signal Type

5.6 Type Production Permission

5.6.1 The Production Permission type

OverviewThis section describes the type Production Permission which belongs to the topicMan-Machine Communication. Each parameter of this type is described in aseparate information topic in this section.

Cfg namePROD_PERMISSION

Type descriptionDifferent types of operating restrictions and other features may be connected tospecific operating modes. Such connections are specified in the ProductionPermission type.


5 Topic Man-machine Communication5.6.1 The Production Permission type

5.6.2 Name

ParentName belongs to the type Production Permission in the topic Man-MachineCommunication.

Cfg namename

DescriptionThe parameter Name specifies the name of the permission.

UsageThe name of the permission is used as a reference to a specific permission whenconfiguring the system.

Allowed valuesRUN Mode.



5.6.3 Permission

ParentPermission belongs to the type Production Permission in the topic Man-MachineCommunication.

Cfg namepermission

DescriptionThe parameterPermission specifies whether switching to Cycle_mode while runningin the Auto mode should be allowed or not.While running in the Auto Mode, it is normally possible to choose betweenCycle_mode and Continuous_mode. In certain circumstances, this is not desired:always when running in the Auto Mode, the Continuous_mode must be active.The parameter type restricts or permits switching to Cycle_mode while in the Automode.If the name is set to RUN Mode, the permission may be set to Restricted in Auto,and it will not be possible to switch from Continuous_mode to Cycle_mode whilein the Auto Mode.

Allowed values

DescriptionValue

This setting enables the system to be switched to Cycle_modeor Continuous_mode while running in the Auto Mode.

Changeable in Auto

This setting prohibits the system to be switched to Cycle_modewhile running in the Auto Mode. Only Continuous_mode is pos-sible.

Restricted in Auto

Default value is Changeable in Auto.


5 Topic Man-machine Communication5.6.3 Permission

5.7 Type Warning at Start

5.7.1 The Warning at Start type

OverviewThis section describes the type Warning at Start which belongs to the topicMan-machine Communication. Each parameter of this type is described in aseparate information topic in this section.

Cfg nameWARN_AT_START

Type descriptionIf Warning at Start is used, then if the program pointer (PP) and the cursor are noton the same instruction when starting a program then a dialog box is displayed.The program pointer must be moved to the cursor, or the cursor moved to theprogram pointer, before the program can be started.The default setting is that a warning is not displayed. Then the cursor isautomatically set to the program pointer and the program is started.The system must be restarted for changes to take effect.

LimitationsThere can be only one instance of the type Warning at Start in the system. Thename of the instance must not be changed.The type Warning at Start can only be changed via configuration files.


5 Topic Man-machine Communication5.7.1 The Warning at Start type

5.7.2 Cursor PP Diff Warning

ParentCursor PP Diff Warning belongs to the type Warning at Start, in the topicMan-machine Communication.

Cfg nameWarn

DescriptionCursor PP Diff Warning defines if a warning should be displayed if the user triesto start a program when program pointer and cursor are not on the same row.

UsageSet Cursor PP Diff Warning to 1 if the warning should be displayed.If the operator taps Cursor PP Diff Warningthen the cursor is moved to the rowwhere the program pointer is and the program can be started.

Allowed values0 or 1. Default value is 0.


5 Topic Man-machine Communication5.7.2 Cursor PP Diff Warning

5.7.3 Show PP to Cursor Button

ParentShow PP to Cursor Button belongs to the type Warning at Start, in the topicMan-machine Communication.

Cfg nameVisible

DescriptionShow PP to Cursor Button defines if the button labelled Cursor should be visiblein the warning displayed if the user tries to start a program when program pointerand cursor are not on the same row.

UsageSet Show PP to Cursor Button to 1 if the button should be visible.If the operator taps Cursor then the program pointer is moved to the row wherethe cursor is and the program can be started.

PrerequisitesThe cursor button will only available if the operator has UAS grantUAS_RAPID_DEBUG..

Allowed values0 or 1. Default value is 0.


5 Topic Man-machine Communication5.7.3 Show PP to Cursor Button

6 Topic Motion6.1 The Motion topic

OverviewThis chapter describes the types and parameters of the Motion topic. Eachparameter is described in the section for its type.The topic Motion is extensive, with some 40 types. This manual revision coversthe most commonly used parameters and types.

DescriptionMotion contains parameters associated with motion control in the robot and externalequipment. The topic includes configuring the calibration offset and the workingspace limits.The described parameters are organized in the following types:

1 Acceleration Data2 Arm3 Arm Check Point4 Arm Load5 Brake6 Control Parameters7 Drive Module8 Drive System9 Drive Unit10 Force Master11 Force Master Control12 Friction Compensation13 Jog Parameters14 Joint15 Lag Control Master 016 Linked M Process17 Mains18 Measurement Channel19 Mechanical Unit20 Motion Planner21 Motion Supervision22 Motion System23 Motor24 Motor Calibration25 Motor Type26 Path Sensor Synchronization27 Process




28 Relay29 Robot30 Robot Serial Number31 SG Process32 Single33 Single Type34 Stress Duty Cycle35 Supervision36 Supervision Type37 Transmission38 Uncalibrated Control Master 0

Configuration resultsChanged motion parameters requires a restart of the controller. Otherwise thechanges will not have any effect on the system.An exception to the rule is the motion supervision parameters which do not requirea restart. See the type Motion Supervision section for more information.



Continued

6.2 Workflows

6.2.1 How to define base frame

The robot and the base frameNormally, the base frame of the robot coincides with the world frame. However,the base frame can be moved relative to the world frame.

CAUTION

The programmed positions are always related to the world frame. Therefore, allpositions are also moved, as seen from the robot.

How to define the base frameTo define the base frame:

1 In the Motion topic, choose the type Robot.2 Select the robot to define the base frame for.3 Edit the parameters defining the base frame:

• Base Frame x• Base Frame y• Base Frame z• Base Frame q1• Base Frame q2• Base Frame q3• Base Frame q4• Base Frame Moved by

For detailed information about each parameter, see the descriptions in theRobot type section.

4 Save the changes.



6 Topic Motion6.2.1 How to define base frame

Additional informationThe illustration shows some examples of frame definitions.

en0300000423

Related informationThe Robot type on page 597.


6 Topic Motion6.2.1 How to define base frame

Continued

6.2.2 How to restrict the work area for articulated robots

Robot work areaThe work area for an articulated robot is restricted by limiting the working rangefor the axes. The work area can also be restricted using hardware stops.To restrict the robot work area for articulated robots:

1 In the Motion topic, choose the type Arm.2 Select the arm to edit.3 Edit the parameters Upper Joint Bound and Lower Joint Bound to set the

respective limit of the work area for this joint in radians.4 Save the changes.

Related informationUpper Joint Bound on page 358.Lower Joint Bound on page 359.How to restrict the work area for parallel arm robots on page 336.


6 Topic Motion6.2.2 How to restrict the work area for articulated robots

6.2.3 How to restrict the work area for parallel arm robots

Robot work areaThe work area for a parallel arm robot is restricted by defining a cube in which theTCP0 is allowed to move.

en0500001489

Lower work area x, y, zP1

Upper work area x, y, zP2

The coordinates are defined in the base coordinate system and the work area ischecked with respect to the predefined tool, tool0. It is not possible to check theposition with respect to another tool.To restrict the robot work area for parallel arm robots:

1 In the Motion topic, choose the type Robot.2 Edit the parameters Upper Work Area and Lower Work Area for the

coordinates x, y, and z.3 Save the changes.

Note

The system parameters that define the work area for parallel robot are valid onlyfor IRB 340 and IRB 360 robots.

Related informationUpper Work Area x, y, z on page 610.Lower Work Area x, y, z on page 611.How to restrict the work area for articulated robots on page 335.


6 Topic Motion6.2.3 How to restrict the work area for parallel arm robots

6.2.4 How to define arm check point

Arm check pointIf an extra load, such as a transformer or a welding-bar roller, is attached to arm3, a point on this equipment can be defined as a check point. The robot will thenmonitor the speed of this point so that it does not exceed 250 mm/s in manualreduced speed mode.

en0300000425

Arm check pointP1

z-axis for arm 3z3

x-axis for arm 3x3

LimitationsThe value for the Use Check Point parameter must be identical to the name usedfor the arm check point.

Bound check pointThe check point can also be restricted to stay outside a defined cube, when therobot is moving. The cube is defined by six coordinates, three upper and threelower, see illustration, all being related to the robot base coordinate system. Thusthe defined cube will work as a stationary world zone, where the inside of the cubeis the forbidden area for the arm check point.

en0500001489

Lower check point bound x, y, zP1

Upper check point bound x, y, zP2



6 Topic Motion6.2.4 How to define arm check point

How to define arm check pointTo define the arm check point:

1 In the Motion topic, choose the type Arm Check Point.2 Edit the parameters for the check point.

For detailed information, see the descriptions in the Arm Check Point typesection.

3 Make a note of the Name parameter value to use later.4 Save the changes.5 In the topic Motion, choose the type Arm.6 First select arm 3 to connect the check point to the arm. Then edit the

parameter Use Check Point. The value has to be identical to the name usedfor the arm check point (step 2-3 above).For detailed information about the parameters, see sections Arm type andArm Check Point type.

7 Save the changes.8 To restrict the check point, choose the type Robot in the topic Motion.9 Edit the parametersUpper Check Point Bound and Lower Check Point Bound

for the six coordinates.For detailed information about the parameters, see section Robot type.

10 Save the changes.

Related informationThe Arm type on page 355.The Arm Check Point type on page 375.Upper Check Point Bound x, y, z on page 612.Lower Check Point Bound x, y, z on page 613.The Product manual for the robot.


6 Topic Motion6.2.4 How to define arm check point

Continued

6.2.5 How to define arm loads

Arm loadArm load is used for defining loads from equipment mounted on robot arms. If armload is not defined when equipment is mounted on robot arms, the performanceof the robot is negatively affected.For more information about arm loads, see the type Arm Load.

PrerequisitesThe mass, the mass center, and the moment of inertia of the load have to bemeasured or calculated before defining the arm load.

Arms for relating arm load toArm loads can be related to all the robot arms. For the arms 1, 2, and 3, see thefollowing illustration. Generally all loads are defined according to its jointintersection. The load for arm 4 is an exception and is defined according to thejoint intersection for axis 3 in the sync position. The load for track motion is definedaccording to the robot base frame.

en0300000424

If more than one load is mounted on the same arm, the total weight and the centerof gravity for the loads have to be calculated.

How to define an arm loadTo define an arm load:

1 In the topic Motion, choose the type Arm Load.2 Select the arm load to define.3 Enter or change the parameters of the arm load and save your changes.

For detailed information about each parameter, see the descriptions in thetype Arm Load.

4 In the topic Motion, choose the type Arm and select the arm that the load ismounted on.

5 For the selected arm, choose the Use Arm Load parameter and select thename of the arm load in the list of defined loads.

6 Save the changes.



6 Topic Motion6.2.5 How to define arm loads

Related informationThe Arm Load type on page 378.The Arm type on page 355.


6 Topic Motion6.2.5 How to define arm loads

Continued

6.2.6 How to optimize drive system parameters

The drive system parametersThe drive system can be configured so that it corresponds to the robot's installation.The parameters related to the drive system are organized in two types.

... use the parameters of the typeTo optimize the...

Mainstolerance for the mains power supply

Cablecable type and length

Default and optimal valuesAll drive system parameters have nominal values after installation. For improvingthe robot's performance, these parameters can be adjusted according to the robot'sactual installation.

CAUTION

Parameter settings outside the range of the robot's installation may negativelyaffect the robot's performance.

How to optimize the mains toleranceTo optimize the tolerance for the mains power supply:

1 In the topic Motion, choose the type Mains.2 Edit the Mains ToleranceMin parameter according to the robot's installation.

For detailed information about each parameter, see the descriptions in thetype Mains.

3 Save the changes.

Example to show how the mains tolerance can affect the robot performanceThe systems with 220-230V single phase mains can be optimized using the mainstolerance. For example, for the IRB140T 6kg robot with the default settings 220Vmains and mains tolerance min -0.15, the max speed for the corresponding jointsbecome as shown in the following table.

Max speedmains tolerance min = 0.0

Max speedDefault settings

Joint

250 deg/s229 deg/s1

250 deg/s228 deg/s2

260 deg/s245 deg/s3

360 deg/s348 deg/s4

360 deg/s360 deg/s5

450 deg/s450 deg/s6



6 Topic Motion6.2.6 How to optimize drive system parameters

Setting the mains tolerance min to 0.0 means to have a mains of 220V single phase.At 230V this is equivalent to 230V -4.3%. For more detailed performance data, seethe respective robot product specification.

CAUTION

Changing the mains tolerance min can create a situation where the system stopsdue to a too low DC-bus voltage, rectifier saturation, or some other error code.In this case the tolerance must be increased.

Related informationThe Mains type on page 498.


6 Topic Motion6.2.6 How to optimize drive system parameters

Continued

6.2.7 How to tune motion supervision

Motion supervisionMotion supervision is functionality for collision detection with the option Collisiondetection.

How to tune the motion supervisionTo tune the motion supervision:

1 In the Motion topic, choose the type Motion Supervision.2 Decide which robot to tune the supervision for.3 Edit the parameters for motion supervision. For detailed information about

each parameter, see the descriptions in the type Motion Supervision.4 Save the changes.

Related informationThe Motion Supervision type on page 547.Application manual - Motion coordination and supervision.


6 Topic Motion6.2.7 How to tune motion supervision

6.2.8 How to define transmission gear ratio for independent joints

Transmission gear ratioAn independent joint can rotate in one direction for a long time, resetting themeasurement system regularly. A small round-off in the transmission gear ratiocan build up to large errors over time. The transmission gear ratio must thereforebe given as an exact fraction (e.g. 10/3 instead of 3.3333).Define the transmission gear ratio by setting Transmission Gear High to thenumerator and Transmission Gear Low to the denominator.

LimitationsThe parameters Transmission Gear High and Transmission Gear Low are onlyuseful if you have the RobotWare option Independent Axes.When a joint is not in independent mode, it uses the parameter Transmission GearRatio instead of Transmission Gear High and Transmission Gear Low.

How to calculate transmission gear ratioIf the proportions for the transmission gear ratio are complex, count the cogs toget the exact ratio.

xx0300000285

In the illustration, the total transmission gear ratio is:

xx0300000272

N1, N2, n1 and n2 represent the number of cogs on each gearwheel.



6 Topic Motion6.2.8 How to define transmission gear ratio for independent joints

To get an exact representation of the transmission gear ratio:1 In the Motion topic, choose the type Transmission.2 Decide which for joint to define the transmission gear ratio.3 Set the parameter Transmission Gear High to the value N1 x N2.4 Set the parameter Transmission Gear Low to the value n1 x n2.

Related informationThe Transmission type on page 690.Application manual - Motion functions and events.


6 Topic Motion6.2.8 How to define transmission gear ratio for independent joints

Continued

6.2.9 How to define external torque

External torqueWhen external equipment, for example a cable or a coiled hose, affects any jointsignificantly, the external torque should be defined using the following formula:T = A + |k × (0 - θ0)|T = external torque [Nm]A = constant torque [Nm]k = scale factor for position dependent torque [Nm]θ0= joint position when position dependent torque is zero [rad]

xx0800000265

zero anglez

joint positiony

If the estimated value of a significant external torque is too low, there can beunnecessary path deviations and the manipulator might be damaged. If theestimated value is too high, the performance of the manipulator is reduced due torestrictive acceleration limits.

How to define external torqueTo define external torque:

1 In the Motion topic, choose the type Arm.2 Select the arm to edit.3 Set the desired values for the parameters External Const Torque, External

Proportional Torque, and External Torque Zero Angle.4 Save the changes.

Related informationThe Arm type on page 355.External Const Torque on page 368.External Proportional Torque on page 370.External Torque Zero Angle on page 371.



6 Topic Motion6.2.9 How to define external torque

ExampleA coiled hose is mounted and affects joint 6 as follows:0 Nm at 0 degrees.5 Nm at 200 degrees.This external torque can be defined using the following formula: A = 0, θ0 = 0, k =5 / (200 × (pi / 180))


6 Topic Motion6.2.9 How to define external torque

Continued

6.2.10 How to define supervision level

Supervision levelIt is possible to change the default supervision levels if a system needs to be moreor less tolerant to external disturbances. A higher tune factor than 1.0 gives a moretolerant robot system, and vice versa. E.g. increasing the tune factor from 1.0 to2.0, doubles the allowed supervision levels, which makes the robot system moretolerant to external disturbances.

Note

Increasing the tune factors can reduce the lifetime of the robot.

How to define the supervision levelTo define the supervision level:

1 In the Motion topic, choose the type Arm.2 Select the arm to change.3 For the selected arm, set the desired values of the parameters Jam

Supervision Trim Factor, Load Supervision Trim Factor, Speed SupervisionTrim Factor, and Position Supervision Trim Factor.

4 Save the changes.

Related informationThe Arm type on page 355.Jam Supervision Trim Factor on page 364.Load Supervision Trim Factor on page 365.Speed Supervision Trim Factor on page 366.Position Supervision Trim Factor on page 367.


6 Topic Motion6.2.10 How to define supervision level

6.3 Type Acceleration Data

6.3.1 The Acceleration Data type

OverviewThis section describes the type Acceleration Data, which belongs to the topicMotion. Each parameter of the type is described in a separate information topic inthis section.

Cfg nameACC_DATA

Type descriptionThe type Acceleration Data is used to specify some acceleration characteristicsfor axes without any dynamic model. This is the case for certain additional axes.For axes that have a dynamic model, Acceleration Data must still be specified evenif a more complex model is normally used for the acceleration characteristics.


6 Topic Motion6.3.1 The Acceleration Data type

6.3.2 Name

ParentName belongs to the type Acceleration Data, in the topic Motion.

Cfg namename

DescriptionThe name of the set of Acceleration Data.

UsageName is used to reference a set of Acceleration Data from the parameter UseAcceleration Data in the type Arm.



6 Topic Motion6.3.2 Name

6.3.3 Nominal Acceleration

ParentNominal Acceleration belongs to the type Acceleration Data, in the topic Motion.

Cfg namewc_acc

DescriptionWorst case motor acceleration.

UsageSetNominal Acceleration to a value of the acceleration the axis can always perform(even when gravity and friction are unfavorable).Nominal Acceleration is always used by axes without any dynamic model. For axeswith dynamic model, it is only used in independent mode.

Allowed valuesA numeric value between 0 and 1000, in rad/s2 (or m/s2) on the arm side.


6 Topic Motion6.3.3 Nominal Acceleration

6.3.4 Nominal Deceleration

ParentNominal Deceleration belongs to the type Acceleration Data, in the topic Motion.

Cfg namewc_dec

DescriptionWorst case motor deceleration.

UsageSetNominal Deceleration to a value of the deceleration the axis can always perform(even when gravity and friction are unfavorable).Nominal Deceleration is always used by axes without any dynamic model. For axeswith dynamic model, it is only used in independent mode.

Allowed valuesA numeric value between 0 and 1000, in rad/s2 (or m/s2) on the arm side.


6 Topic Motion6.3.4 Nominal Deceleration

6.3.5 Acceleration Derivate Ratio

ParentAcceleration Derivate Ratio belongs to the type Acceleration Data, in the topicMotion.

Cfg namewc_dacc_ratio

DescriptionAcceleration Derivate Ratio defines how fast the acceleration can build up, i.e. anindication of the derivative of the acceleration.

UsageIf the derivative of the acceleration is not limiting the acceleration, set AccelerationDerivate Ratio to 1. If the acceleration must be increased at a slower rate, setAcceleration Derivate Ratio to a ratio of the maximum acceleration derivative (e.g.0.5 to increase the acceleration half as fast as possible).

LimitationsAcceleration Derivate Ratio is not used during independent joint motion.

Allowed valuesA numeric value between 0.1 and 1. The value has no unit, but is a ratio of themaximum acceleration derivative.The default value is 1.


6 Topic Motion6.3.5 Acceleration Derivate Ratio

6.3.6 Deceleration Derivate Ratio

ParentDeceleration Derivate Ratio belongs to the type Acceleration Data, in the topicMotion.

Cfg namewc_ddec_ratio

DescriptionDeceleration Derivate Ratio defines how fast the deceleration can build up, i.e. anindication of the derivative of the deceleration.

UsageIf the derivative of the deceleration is not limiting the deceleration, set DecelerationDerivate Ratio to 1. If the deceleration must be increased at a slower rate, setDeceleration Derivate Ratio to a ratio of the maximum deceleration derivative (e.g.0.5 to increase the deceleration half as fast as possible).

LimitationsDeceleration Derivate Ratio is not used during independent joint motion.

Allowed valuesA numeric value between 0.1 and 1. The value has no unit, but is a ratio of themaximum deceleration derivative.The default value is 1.


6 Topic Motion6.3.6 Deceleration Derivate Ratio

6.4 Type Arm

6.4.1 The Arm type

OverviewThis section describes the type Arm, which belongs to the topic Motion. Eachparameter of this type is described in a separate information topic in this section.

Cfg nameARM

Type descriptionThe Arm type contains a number of parameters that defines the characteristics foran arm. There is one set of parameters of the type Arm for each joint.

Related informationHow to define supervision level on page 348.How to define external torque on page 346.


6 Topic Motion6.4.1 The Arm type

6.4.2 Name

ParentName belongs to the type Arm, in the topic Motion.

Cfg nameName

DescriptionName defines the name of the set of parameters for type Arm.




6.4.3 Independent Joint

ParentIndependent Joint belongs to the type Arm, in the topic Motion.

Cfg nameindependent_joint_on

DescriptionIndependent Joint is a flag for each axis that indicates whether the axis can bechanged to independent mode.

UsageNormally, all external axes and robot axis 6 allow independent mode. To preventone of these axes moving independently, set Independent Joint to Off for that axis.

LimitationsIndependent Joint is only useful if you have the RobotWare option IndependentAxes.

Allowed valuesOn or Off.

Related informationApplication manual - Motion functions and events.


6 Topic Motion6.4.3 Independent Joint

6.4.4 Upper Joint Bound

ParentUpper Joint Bound belongs to the type Arm, in the topic Motion.

Cfg nameupper_joint_bound

DescriptionUpper Joint Bound defines the upper limit of the working area for this joint.

UsageUpper Joint Bound can be used to limit the working area (in radians) of the joint.Note that it is not possible to use a value that is larger than the maximal allowedlimit for the specific joint. Trying this will cause the system to use the maximalallowed value instead.

LimitationsThis parameter is valid only for articulated robots.

Allowed valuesA value between -1,256,637 and 1,256,637 radians.

Related informationLower Joint Bound on page 359.How to restrict the work area for articulated robots on page 335.


6 Topic Motion6.4.4 Upper Joint Bound

6.4.5 Lower Joint Bound

ParentLower Joint Bound belongs to the type Arm, in the topic Motion.

Cfg namelower_joint_bound

DescriptionLower Joint Bound defines the lower limit of the working area for this joint.

UsageLower Joint Bound can be used to limit the working area (in radians) of the joint.Note that it is not possible to use a value that is smaller than the minimal allowedlimit for the specific joint. Trying this will cause the system to use the minimalallowed value instead.

LimitationsThis parameter is valid only for articulated robots.

Allowed valuesA value between -1,256,637 and 1,256,637 radians.

Related informationUpper Joint Bound on page 358.How to restrict the work area for articulated robots on page 335.


6 Topic Motion6.4.5 Lower Joint Bound

6.4.6 Independent Upper Joint Bound

ParentIndependent Upper Joint Bound belongs to the type Arm, in the topic Motion.

Cfg nameind_upper_joint_bound

DescriptionDefines the upper limit of the working area for the joint when operating inindependent mode.

UsageIndependent Upper Joint Bound is used together with Independent Lower JointBound to limit the work area for a joint that is in independent mode.

LimitationsIndependent Upper Joint Bound is only useful if you have the option IndependentAxes.

Allowed valuesAny number (in radians).



6 Topic Motion6.4.6 Independent Upper Joint Bound

6.4.7 Independent Lower Joint Bound

ParentIndependent Lower Joint Bound belongs to the type Arm, in the topic Motion.

Cfg nameind_lower_joint_bound

DescriptionDefines the lower limit of the working area for the joint when operating inindependent mode.

UsageIndependent Lower Joint Bound is used together with Independent Upper JointBound to limit the work area for a joint that is in independent mode.

LimitationsIndependent Lower Joint Bound is only useful if you have the option IndependentAxes.

Allowed valuesAny number (in radians).



6 Topic Motion6.4.7 Independent Lower Joint Bound

6.4.8 Calibration Position

ParentCalibration Position belongs to the type Arm, in the topic Motion.

Cfg namecal_position

DescriptionCalibration Position defines the position of the axis when it was fine calibrated.

UsageIf this value is to be updated, i.e. a fine calibration is to be performed, useCalibrationpendulum to achieve the correct kinematic position of the axis and then finecalibrate the axis. It is then necessary to subsequently fine calibrate axes of higherorder.

Allowed valuesA value between -1000 and 1000, specifying the position in radians.

Related informationProduct Manual for the manipulator.Operating manual - Calibration Pendulum.


6 Topic Motion6.4.8 Calibration Position

6.4.9 Performance Quota

ParentPerformance Quota belongs to the type Arm, in the topic Motion.

Cfg nameperformance_quota

DescriptionPerformance Quota can be used to reduce the acceleration for the joint.

UsageSetting Performance Quota value to 1.0 gives normal performance, but if lessacceleration is desired, a lower value can be entered.

Allowed valuesA number between 0.45 and 1.0.


6 Topic Motion6.4.9 Performance Quota

6.4.10 Jam Supervision Trim Factor

ParentJam Supervision Trim Factor belongs to the type Arm, in the topic Motion.

Cfg namesupervision_jam_time_factor

DescriptionJam Supervision Trim Factor defines the tune factor for jam supervision.

UsageThe tune factor influences the maximum time allowed at zero speed with maximumtorque.


Related informationHow to define supervision level on page 348


6 Topic Motion6.4.10 Jam Supervision Trim Factor

6.4.11 Load Supervision Trim Factor

ParentLoad Supervision Trim Factor belongs to the type Arm, in the topic Motion.

Cfg namesupervision_load_factor

DescriptionLoad Supervision Trim Factor defines the tune factor for load supervision.

UsageThe factor influences the maximum time allowed at non-zero speed with maximumtorque.


Related informationHow to define supervision level on page 348.


6 Topic Motion6.4.11 Load Supervision Trim Factor

6.4.12 Speed Supervision Trim Factor

ParentSpeed Supervision Trim Factor belongs to the type Arm, in the topic Motion.

Cfg namesupervision_speed_factor

DescriptionSpeed Supervision Trim Factor defines the tune factor for speed supervision.

UsageThe factor influences the maximum allowed speed error.




6 Topic Motion6.4.12 Speed Supervision Trim Factor

6.4.13 Position Supervision Trim Factor

ParentPosition Supervision Trim Factor belongs to the type Arm, in the topic Motion.

Cfg namesupervision_pos_factor

DescriptionPosition Supervision Trim Factor defines the tune factor for position supervision.

UsageThe factor influences the maximum allowed position error.




6 Topic Motion6.4.13 Position Supervision Trim Factor

6.4.14 External Const Torque

ParentExternal Const Torque belongs to the type Arm, in the topic Motion.

Cfg nameext_const_torque

DescriptionExternal Const Torque defines the external constant torque.

UsageThe value of External Const Torque is used in the formula for calculation of externaltorque.

Allowed valuesA value between 0 and 100,000, specifying the constant torque in Nm.

Related informationHow to define external torque on page 346.


6 Topic Motion6.4.14 External Const Torque

6.4.15 Use Arm Load

ParentUse Arm Load belongs to the type Arm, in the topic Motion.

Cfg nameuse_customer_arm_load

DescriptionUse Arm Load defines the name of the arm load that is used for this arm.

UsageThe arm load is set in the type Arm Load.

Allowed valuesA string with maximum 32 characters, defining an Arm Load type.

Related informationThe Arm Load type on page 378.


6 Topic Motion6.4.15 Use Arm Load

6.4.16 External Proportional Torque

ParentExternal Proportional Torque belongs to the type Arm, in the topic Motion.

Cfg nameext_prop_torque

DescriptionExternal Proportional Torque defines the scale factor for position-dependent torque.

UsageThe value of External Proportional Torque is used in the formula for calculation ofexternal torque.

Allowed valuesA value between -100,000 and 100,000, specifying the scale factor in Nm/rad.



6 Topic Motion6.4.16 External Proportional Torque

6.4.17 External Torque Zero Angle

ParentExternal Torque Zero Angle belongs to the type Arm, in the topic Motion.

Cfg nameext_prop_zero_angle

DescriptionExternal Torque Zero Angle defines the joint position when position-dependenttorque is zero.

UsageThe value of External Torque Zero Angle is used in the formula for calculation ofexternal torque.

Allowed valuesA value between -100,000 and 100,000, specifying the position in radians.



6 Topic Motion6.4.17 External Torque Zero Angle

6.4.18 Load Id Acceleration Ratio

ParentLoad Id Acceleration Ratio belongs to the type Arm, in the topic Motion.

Cfg nameload_id_acc_ratio

DescriptionLoad Id Acceleration Ratio can be used to reduce the acceleration of the jointduring load identification.

UsageReducing the acceleration of the joint during load identification can be useful if thetorque supervision is triggered when identifying payloads with large inertia. If thishappens, try to reduce the value of Load Id Acceleration Ratio until the problemdisappears.



6 Topic Motion6.4.18 Load Id Acceleration Ratio

6.4.19 Angle Acceleration Ratio

ParentAngle Acceleration Ratio belongs to the type Arm, in the topic Motion.

Cfg nameangle_acc_ratio

DescriptionAngle Acceleration Ratio defines the maximum angle acceleration ratio for themotor sensor.

UsageThis parameter should only be changed by ABB.

Allowed valuesA value between 0.02 and 1.0. Default value is 1.0.


6 Topic Motion6.4.19 Angle Acceleration Ratio

6.4.20 Deactivate Cyclic Brake Check for axis

ParentDeactivate Cyclic Brake Check for axis belongs to the typeArm, in the topicMotion.

Cfg namedeactivate_cyclic_brake_check_arm

DescriptionDeactivate Cyclic Brake Check for axis defines if the arm should be excluded fromthe SafeMove function Cyclic Brake Check.

UsageIf an axis should be excluded from Cyclic Brake Check, set the parameterDeactivateCyclic Brake Check for axis to On.The axis must also be deactivated in the configuration of Cyclic Brake Check. SeeApplication manual - SafeMove.

Allowed valuesOn or Off.On means that the Cyclic Brake Check is deactivated for the axis.Default value is Off.

Related informationApplication manual - SafeMove.


6 Topic Motion6.4.20 Deactivate Cyclic Brake Check for axis

6.5 Type Arm Check Point

6.5.1 The Arm Check Point type

OverviewThis section describes the typeArmCheck Point, which belongs to the topicMotion.Each parameter of this type is described in a separate information topic.

Cfg nameARM_CHECK_POINT

Type descriptionIf an extra load, such as a transformer or a welding-bar roller, is attached to arm3, a point on this equipment can be defined as a check point. The robot will thenmonitor the speed of this point so that it does not exceed 250 mm/s in manualreduced speed mode.

Related informationHow to define arm check point on page 337.


6 Topic Motion6.5.1 The Arm Check Point type

6.5.2 Name

ParentName belongs to the type Arm Check Point, in the topic Motion.

Cfg namename

DescriptionName defines the name of the arm check point. A check point can be used to letthe robot monitor the speed of that specified point





6.5.3 Position x, y, z

ParentPosition x, Position y, and Position z belongs to the type Arm Check Point, in thetopic Motion.

Cfg namesposition_xposition_yposition_z

DescriptionPosition x defines the x-coordinate of the position of the check point, specified onthe basis of the current frame of the arm (in meters).Position y defines the y-coordinate of the position of the check point, specified onthe basis of the current frame of the arm (in meters).Position z defines the z-coordinate of the position of the check point, specified onthe basis of the current frame of the arm (in meters).

Allowed valuesA value between -3 to 3, specifying the position in meters.



6 Topic Motion6.5.3 Position x, y, z

6.6 Type Arm Load

6.6.1 The Arm Load type

OverviewThis section describes the type Arm Load, which belongs to the topicMotion. Eachparameter of the type is described in a separate information topic in this section.

Cfg nameARM_LOAD

Type descriptionArm Load is used for defining loads from equipment mounted on robot arms. If thearm load is not defined when equipment is mounted on the robot arm, theperformance of the robot is negatively affected.The Arm configuration defines which Arm Load to use for the arm.

Predefined arm loadsThere are four predefined arm loads in the robot controller. They are r1_load_1,r1_load_2, r1_load_3, and r1_load_4. For track motion, the predefined arm load inthe robot controller is t1_load_1. The predefined arm loads must be adjusted tomatch the load and selected for the arm that it belongs to before use.

Related informationHow to define arm loads on page 339.


6 Topic Motion6.6.1 The Arm Load type

6.6.2 Name

ParentName belongs to the type Arm Load, in the topic Motion.

Cfg namename

DescriptionName specifies the name of the arm load setting it belongs to.

Allowed valuesA string with maximum 32 characters, specifying the name.




6.6.3 Mass

ParentMass belongs to the type Arm Load, in the topic Motion.

Cfg namemass

DescriptionMass specifies the mass of the equipment mounted on a robot arm.

Allowed valuesA value between 0 and 500, specifying the weight in kg.



6 Topic Motion6.6.3 Mass

6.6.4 Mass Center x, y, z

ParentMass Center x, Mass Center y, and Mass Center z belongs to the type Arm Load,in the topic Motion.

Cfg namesmass_centre_xmass_centre_ymass_centre_z

DescriptionMass Center x specifies the x-coordinate of the mass center for an arm load in thearm frame.Mass Center y specifies the y-coordinate of the mass center for an arm load in thearm frame.Mass Center z specifies the z-coordinate of the mass center for an arm load in thearm frame.

Allowed valuesA value between -3 and + 3, specifying the coordinate in meters.



6 Topic Motion6.6.4 Mass Center x, y, z

6.6.5 Inertia x, y, z

ParentInertia x, Inertia y, and Inertia z belongs to the type Arm Load, in the topic Motion.

Cfg namesinertia_xinertia_yinertia_z

DescriptionInertia x defines the x-component of the arm load's moment of inertia relative tothe load's mass center around the arm's coordinate axes.Inertia y defines the y-component of the arm load's moment of inertia relative tothe load's mass center around the arm's coordinate axes.Inertia z defines the z-component of the arm load's moment of inertia relative tothe load's mass center around the arm's coordinate axes.

Allowed valuesA value between 0 and 100, specifying the moment of inertia in kgm2.



6 Topic Motion6.6.5 Inertia x, y, z

6.7 Type Brake

6.7.1 The Brake type

OverviewThis section describes the type Brake which belongs to the topic Motion.

Cfg nameBRAKE

Type descriptionThe type Brake is used to specify brake parameters for a specific joint.

Related informationThe Joint type on page 454.


6 Topic Motion6.7.1 The Brake type

6.7.2 Name

ParentName belongs to the type Brake, in the topic Motion.

Cfg namename

DescriptionName defines the name of the brake.




6.7.3 Control Off Speed Limit

ParentControl Off Speed Limit belongs to the type Brake, in the topic Motion.

Cfg namecontrol_off_speed_limit

DescriptionControl Off Speed Limit defines the speed for selection of delay time.

UsageThe value for Control Off Speed Limit should not be modified.

Allowed valuesA value between 0 and 1.Default value is 0.02.


6 Topic Motion6.7.3 Control Off Speed Limit

6.7.4 Control Off Delay

ParentControl Off Delay belongs to the type Brake, in the topic Motion.

Cfg namecontrol_off_delay_time

DescriptionControl Off Delay specifies the time of normal control before the motor torque isset to zero.

UsageControl Off Delay is used when the joint is at zero speed when the brake algorithmis activated. The controller must be active to avoid the joint to fall by gravity beforethe mechanical brake is engaged.Time must be longer than the time for mechanical brake to engage.

Allowed valuesA value between 0 and 30 seconds.Default value is 0.010 seconds.


6 Topic Motion6.7.4 Control Off Delay

6.7.5 Brake Control On Delay

ParentBrake Control On Delay belongs to the type Brake, in the topic Motion.

Cfg namebrake_control_on_delay_time

DescriptionBrake Control On Delay specifies the time of normal control before the motor torqueis set to zero.

UsageBrake Control On Delay is used if the joint is moving when the brake algorithm isactivated. The controller must be active to avoid oscillations when the mechanicalbrake is engaged.The time must be longer than the time for mechanical brake to engage. Normallyset to same value as parameter Control Off Delay.

Allowed valuesA value between 0 and 30 seconds.Default value is 0.

Related informationControl Off Delay on page 386.


6 Topic Motion6.7.5 Brake Control On Delay

6.7.6 Brake Control Min Delay

ParentBrake Control Min Delay belongs to the type Brake, in the topic Motion.

Cfg namebrake_control_on_min_delay_time

DescriptionBrake Control Min Delay defines the minimum delay time.

UsageBrake Control Min Delay should not be changed.

Allowed valuesA value between 0 and 5 seconds.Default value is 0.010.


6 Topic Motion6.7.6 Brake Control Min Delay

6.7.7 Absolute Brake Torque

ParentAbsolute Brake Torque belongs to the type Brake, in the topic Motion.

Cfg nameabsolute_brake_torque

DescriptionAbsolute Brake Torque defines the brake torque to be used for a simulated electricalbrake.

UsageAbsolute Brake Torque should not be changed.

Allowed valuesA value between 0 and 100,000 Nm.Default value is 0.


6 Topic Motion6.7.7 Absolute Brake Torque

6.7.8 Brake Ramp Speed Limit

ParentBrake Ramp Speed Limit belongs to the type Brake, in the topic Motion.

Cfg namebrake_ramp_speed_limit

DescriptionBrake Ramp Speed Limit is the point of torque reduction for simulated electricalbrake.

UsageBrake Ramp Speed Limit should not be changed.

Allowed valuesA value between 0 and 1.Default value is 1 (equal to 100%).


6 Topic Motion6.7.8 Brake Ramp Speed Limit

6.7.9 Max Brake Time

ParentMax Brake Time belongs to the type Brake, in the topic Motion.

Cfg namemax_brake_time

DescriptionAn time-out occurs if a large additional axis use the motor to brake duringemergency stop and the stop time exceeds the default value of 5 seconds. Thetime-out results in stopping all the drive units and the brake torque from the motorsare set to zero torque. A warning messageis generated. By increasing the MaxBrake Time, the servo motors help the axes to retardate down to zero speed duringthe whole brake sequence.

UsageMeasure or calculate the maximum brake time for the axis (including safety margin).If the default value of 5 seconds is exceeded, change the parameter to appropriatevalue.

Allowed valuesMin 1 sMax 60 s

Default valueThe default value is 5 s.


6 Topic Motion6.7.9 Max Brake Time

6.8 Type Control Parameters

6.8.1 The Control Parameters type

OverviewThis section describes the type Control Parameters, which belongs to the topicMotion. Each parameter of this type is described in a separate information topicin this section.

Cfg nameCONTROL_PARAMETERS

Type descriptionEach set of parameters of the type Control Parameters belongs to a joint (robotjoint or additional axis).The parameters inControl Parameters define what compensations should be madefor the friction in the joint.

LimitationChanging the parameter values in Control Parameters is only useful if you havethe RobotWare option Advanced Shape Tuning.The type Control Parameters is only used by robot models IRB 1400 and IRB 1410.All other robot models use the type Friction Compensation instead. The parametersare the same however.

Related informationApplication manual - Motion performance, chapter Advanced Shape Tuning.


6 Topic Motion6.8.1 The Control Parameters type

6.8.2 Name

ParentName belongs to the type Control Parameters, in the topic Motion.

Cfg namename

DescriptionName defines the name to use for the control parameters.

LimitationsName is only useful if you have the RobotWare option Advanced Shape Tuning.




6.8.3 Friction FFW On

ParentFriction FFW On belongs to the type Control Parameters, in the topic Motion.

Cfg namefriction_ffw_on

DescriptionFriction FFW On determines if the RobotWare option Advanced Shape Tuning isactive or not.

UsageSet Friction FFW On to Yes if you want to use Advanced Shape Tuning.

LimitationsFriction FFW On is useful only if you have the RobotWare option Advanced ShapeTuning.


Related informationApplication manual - Motion performance.


6 Topic Motion6.8.3 Friction FFW On

6.8.4 Friction FFW Level

ParentFriction FFW Level belongs to the type Control Parameters, in the topic Motion.

Cfg namefriction_ffw_level

DescriptionFriction FFW Level is set to the level of friction in the robot axis. By setting a valuethat closely corresponds to the real friction, and using the RobotWare optionAdvanced Shape Tuning, the friction effects can be compensated.

UsageFriction effects can cause path deviations when performing advanced shapes. Bycompensating for the friction with the correct friction level value, these effects canbe minimized.Permanent adjustments of the friction level can be made with Friction FFW Level.The friction level can also be temporarily tuned with RAPID commands.

LimitationsFriction FFW Level is only useful if you have the RobotWare option AdvancedShape Tuning.

Allowed valuesA decimal number between 0 and 15 (in Nm).



6 Topic Motion6.8.4 Friction FFW Level

6.8.5 Friction FFW Ramp

ParentFriction FFW Ramp belongs to the type Control Parameters, in the topic Motion.

Cfg namefriction_ffw_ramp

DescriptionFriction FFW Ramp is set to the speed of the robot axis when the friction hasreached the constant friction level defined in Friction FFW Level. See illustrationbelow.

UsageFriction effects can cause path deviations when performing advanced shapes.Friction FFW Ramp is used when compensating for these friction effects.Permanent adjustments of the friction ramp can be made with Friction FFWRamp.The friction ramp can also be temporarily tuned with RAPID commands.

LimitationsFriction FFW Ramp is only useful if you have the RobotWare option AdvancedShape Tuning.

Allowed valuesA number between 0.001 and 10 (in radians/second).


Illustration

en0300000278


6 Topic Motion6.8.5 Friction FFW Ramp

6.9 Type Drive Module

6.9.1 The Drive Module type

OverviewThis section describes the type Drive Module, which belongs to the topic Motion.Each parameter of the type is described in a separate information topic in thissection.

Cfg nameDRIVE_MODULE

Type descriptionThe type Drive Module is used to identify and specify each drive module used inthe robot system. There is one set of parameters of the type Drive Module for eachdrive module in the robot system.

LimitationsIf the robot system does not use MultiMove, there is only one drive module, andtherefore only set of parameters of the type Drive Module.


6 Topic Motion6.9.1 The Drive Module type

6.9.2 Name

ParentName belongs to the type Drive Module, in the topic Motion.

Cfg namename

DescriptionDefines the unique name of the drive module.




6.9.3 Number

ParentNumber belongs to the type Drive Module, in the topic Motion.

Cfg namenumber

DescriptionDefines the identifying number of the drive module.

UsageThe drive module number is used to identify the drive module by other systemparameters.

Allowed valuesAn integer between 1 and 4.


6 Topic Motion6.9.3 Number

6.10 Type Drive System

6.10.1 The Drive System type

OverviewThis section describes the type Drive System, which belongs to the topic Motion.Each parameter of the type is described in a separate information topic in thissection.

Cfg nameDRIVE_SYSTEM

Type descriptionThe type Drive System is used to identify and specify each drive system used inthe robot system.


6 Topic Motion6.10.1 The Drive System type

6.10.2 Name

ParentName belongs to the type Drive System, in the topic Motion.

Cfg namename

DescriptionDefines the name for the drive system.




6.10.3 Use DC-Link

ParentUse DC-Link belongs to the type Drive System, in the topic Motion.

Cfg nameuse_dc_link

DescriptionUse DC-Link determines which dc-link (rectifier) unit should be used.



6 Topic Motion6.10.3 Use DC-Link

6.10.4 Use Drive Unit

ParentUse Drive Unit belongs to the type Drive System, in the topic Motion.

Cfg nameuse_drive_unit

DescriptionUse Drive Unit determines which drive unit should be used.


Related informationThe Drive Unit type on page 405.Application manual - Additional axes and stand alone controller.


6 Topic Motion6.10.4 Use Drive Unit

6.10.5 Current Vector On

ParentCurrent Vector On belongs to the type Drive System, in the topic Motion.

Cfg namecurrent_vector_on

DescriptionCurrent Vector On defines if the vector control is active.

UsageCurrent Vector On controls an activation switch. It is used to prevent that an axiswith uncommutated motor runs away at start.The parameter is reset by the service routine COMMUTATION, or manually viaRobotStudio or FlexPendant.

Allowed valuesYesNoDefault value is No.

Related informationApplication manual - Additional axes and stand alone controller, section Tuning.


6 Topic Motion6.10.5 Current Vector On

6.11 Type Drive Unit

6.11.1 The Drive Unit type

OverviewThis section describes the typeDrive Unit, which belongs to the topicMotion. Eachparameter of the type is described in a separate information topic in this section.

Cfg nameDRIVE_UNIT

Type descriptionThe type Drive Unit is used to identify and specify each drive unit used in the robotsystem.

Additional informationThe Drive System type on page 400.


6 Topic Motion6.11.1 The Drive Unit type

6.11.2 Name

ParentName belongs to the type Drive Unit, in the topic Motion.

Cfg namename

DescriptionDefines the name for the drive unit.




6.11.3 Drive Unit Position

ParentDrive Unit Position belongs to the type Drive Unit, in the topic Motion.

Cfg nameunit_position

DescriptionDrive Unit Position defines the logical position on the Drive Unit network, startingwith 1, then 2, 3, and so on.

Allowed valuesA value between 1 and 5.


6 Topic Motion6.11.3 Drive Unit Position

6.12 Type Force Master

6.12.1 The Force Master type

OverviewThis section describes the type Force Master, which belongs to the topic Motion.Each parameter of the type is described in a separate information topic in thissection.

Cfg nameFORCE_MASTER

Type descriptionForce Master is used to define how a servo gun behaves during the two faces ofthe gun closing:

• when approaching the point where position regulation is replaced by forcecontrol

• during force control.Values for position, torque, force, etc. are specified for calibration and gun closing.

LimitationsForce Master can only be used for servo tools.

Non-editable parametersThe following parameters are visible but not editable in the software configurationtools:

• Force Detection Speed• Max Pos Err Closing

As a consequence, the above parameters are not described in the manual.

Related informationApplication manual - Servo motor control.


6 Topic Motion6.12.1 The Force Master type

6.12.2 Name

ParentName belongs to the type Force Master, in the topic Motion.

Cfg namename

DescriptionThe name of the Force Master.

UsageName is used to reference a Force Master from the parameter Use Force Masterin the type SG Process.




6.12.3 Use Force Master Control

ParentUse Force Master Control belongs to the type Force Master, in the topic Motion.

Cfg nameuse_force_master_control

DescriptionUse Force Master Control determines which Force Master Control should be used.

UsageUse Force Master Control is a reference to the parameter Name in the type ForceMaster Control.

PrerequisitesA Force Master Control must be configured before Use Force Master Control canrefer to it.

LimitationsUse Force Master Control can only be used for servo tools.


Related informationThe Force Master Control type on page 422.


6 Topic Motion6.12.3 Use Force Master Control

6.12.4 References Bandwidth

ParentReferences Bandwidth belongs to the type Force Master, in the topic Motion.

Cfg namebandwidth_ramping

DescriptionThe frequency limit for the low pass filter for reference values. During positionregulation, when approaching the plate thickness, position and speed values willbe filtered in this low pass filter to avoid sharp step functions.

UsageA high value on References Bandwidth will make little use of the low pass filter.If the servo tool is vibrating due to irregular movements, References Bandwidthcan be set to a lower value. A low value will make the servo tool movements slower.

LimitationsReferences Bandwidth can only be used for servo tools.

Allowed valuesA numeric value between 1 and 124 (Hz).The default value is 25 Hz.


6 Topic Motion6.12.4 References Bandwidth

6.12.5 Use Ramp Time

ParentUse Ramp Time belongs to the type Force Master, in the topic Motion.

Cfg nameramp_time_switch

DescriptionDetermines if the ramping of the tip force should use a constant time or a constantgradient.

UsageIf the tip force should be ramped up to its ordered value during the time specifiedin Ramp Time, set Use Ramp Time to Yes. The ramp rate will then vary to makethe ramp time constant.If the tip force should be increased at a constant rate, specified in Ramp whenIncreasing Force, set Use Ramp Time to No. The ramp time will then vary to makethe ramp rate constant.

LimitationsUse Ramp Time can only be used for servo tools.



6 Topic Motion6.12.5 Use Ramp Time

6.12.6 Ramp when Increasing Force

ParentRampwhen Increasing Force belongs to the type ForceMaster, in the topicMotion.

Cfg nameramp_torque_ref_closing

DescriptionRamp when Increasing Force decides how fast the torque is ramped up to theordered torque after contact position is reached at a close gun command.

UsageA higher value of Ramp when Increasing Force will make the tip force build upfaster.

PrerequisitesRamp when Increasing Force is only used if Use Ramp Time is set to No.

LimitationsRamp when Increasing Force can only be used for servo tools.

Allowed valuesA value between 1 and 10000, specifying the torque increase in Nm/s.The default value is 100 Nm/s.


6 Topic Motion6.12.6 Ramp when Increasing Force

6.12.7 Ramp Time

ParentRamp Time belongs to the type Force Control, in the topic Motion.

Cfg nameramp_time

DescriptionRamp Time decides how fast the torque is ramped up to the ordered torque aftercontact position is reached at a close gun command.

UsageA lower value of Ramp Time will make the tip force build up faster.

PrerequisitesRamp Time is only used if Use Ramp Time is set to Yes.

LimitationsRamp Time can only be used for servo tools.

Allowed valuesA numeric value between 0.001 and 1 (seconds).The default value is 0.07 s.


6 Topic Motion6.12.7 Ramp Time

6.12.8 Collision LP Bandwidth

ParentCollision LP Bandwidth belongs to the type Force Master, in the topic Motion.

Cfg namebandwidth_lp

DescriptionFrequency limit for the low pass filter used for tip wear calibration. Position andspeed reference values will be filtered in this low pass filter to avoid sharp stepfunctions.

UsageThe only reason for changing Collision LP Bandwidth is if repetitive tip wearcalibrations give varying results. A lower value for the low pass filter can stabilizethe servo tool during the calibration.

LimitationsCollision LP Bandwidth can only be used for servo tools.

Allowed valuesA numeric value between 0 and 124 (Hz).The default value is 25 Hz.


6 Topic Motion6.12.8 Collision LP Bandwidth

6.12.9 Collision Alarm Torque

ParentCollision Alarm Torquebelongs to the typeForce Master, in the topic Motion.

Cfg namealarm_torque

DescriptionCollision Alarm Torque determines how hard the tool tips will be pressed togetherduring the first gun closing of new tips calibrations and tool change calibrations.

UsageCollision Alarm Torque is used for the first gun closing of new tips calibrations andtool change calibrations. This affects the position calibration.The best way to determine the collision position (where the tool tips meet) is tokeep closing the gun until the motor torque reaches the value specified in CollisionAlarm Torque. The distance the gun then has moved beyond the collision positionis defined by the parameter Collision Delta Position.

LimitationsCollision Alarm Torque can only be used for servo tools.

Allowed valuesA value between 0 and 50 (Nm).The default value is 1.5 Nm.


6 Topic Motion6.12.9 Collision Alarm Torque

6.12.10 Collision Speed

ParentCollision Speed belongs to the type Force Master, in the topic Motion.

Cfg namecol_speed

DescriptionCollision Speed determines the servo gun speed during the first gun closing ofnew tips calibrations and tool change calibrations. These calibrations affect theposition calibration.

UsageThe only reason for changing Collision Speed is if repetitive tip wear calibrationsgive varying results. A lower speed can improve the repeatability.

LimitationsCollision Speed can only be used for servo tools.

Allowed valuesA value between 0 and 5 (m/s).The default value is 0.02 m/s.


6 Topic Motion6.12.10 Collision Speed

6.12.11 Collision Delta Position

ParentCollision Delta Position belongs to the type Force Master, in the topic Motion.

Cfg namedistance_to_contact_position

DescriptionCollision Delta Position defines the distance the servo tool has gone beyond thecontact position when the motor torque has reached the value specified in CollisionAlarm Torque.

UsageCollision Delta Position is used for the first gun closing of new tips calibrationsand tool change calibrations. This affects the position calibration.The best way to determine the collision position (where the tool tips meet) is tokeep closing the gun until the motor torque reach the value specified in CollisionAlarm Torque. The distance the gun then has moved beyond the collision positionis defined in Collision Delta Position.Changing the value of Collision Delta Position can remove a constant calibrationerror, but does not affect if repetitive tip wear calibrations give varying results.

LimitationsCollision Delta Position can only be used for servo tools.

Allowed valuesA value between 0 and 1 (m).The default value is 0.0019 m.


6 Topic Motion6.12.11 Collision Delta Position

6.12.12 Force Detection Bandwidth

ParentForce Detection Bandwidth belongs to the type Force Master, in the topic Motion.

Cfg nameforce_ready_detection_bandwidth

DescriptionDefines the bandwidth for the force detection filter.

UsageThe force detection filter is used to filter the speed of the servo tool. The filteredspeed is used to detect if the ordered force has been reached.

LimitationsForce Detection Bandwidth can only be used for servo tools.

Allowed valuesA value between 1 and 124 Hz.


6 Topic Motion6.12.12 Force Detection Bandwidth

6.12.13 Delay Ramp

ParentDelay Ramp belongs to the type Force Master, in the topic Motion.

Cfg namedelay_ramp

DescriptionDelays the starting of torque ramp when force control is started.

UsageDelay Ramp can be used to give the servo gun some time to stabilize before theforce control starts. A higher value of Delay Ramp can result in better accuracy ofthe squeeze force but will increase the cycle time.

LimitationsDelay Ramp can only be used for servo tools.

Allowed valuesA numeric value between 0 and 1 (seconds).


6 Topic Motion6.12.13 Delay Ramp

6.12.14 Ramp to Real Contact

ParentRamp to Real Contact belongs to the type Force Master, in the topic Motion.

Cfg nameramp_to_real_contact

DescriptionDetermines if the feedback position should be used instead of reference positionwhen deciding the contact position.

UsageSettingRamp to Real Contact to Yes will make the detection of the contact position(where the force control starts) more exact and improve the accuracy of the squeezeforce, but increase the cycle time.

LimitationsRamp to Real Contact can only be used for servo tools.



6 Topic Motion6.12.14 Ramp to Real Contact

6.13 Type Force Master Control

6.13.1 The Force Master Control type

OverviewThis section describes the type Force Master Control, which belongs to the topicMotion. Each parameter of the type is described in a separate information topic inthis section.

Cfg nameFORCE_MASTER_CONTROL

Type descriptionForce Master Control is used to prevent a servo tool from closing with too high aspeed.If a servo tool is not completely closed when the force control starts, it can gaintoo much speed, which can cause damages when contact is reached. This canhappen if the programmed thickness is too high, or if the servo tool tips are notproperly calibrated.If the tool is ordered to close with a higher force, it might tolerate a higher speedat impact. The speed limit can be defined as a function of the closing torque, whichis a function of the ordered tip force. The loop gain used for regulating the speedwhen it exceeds the limit is also specified.Up to 6 points can be defined for speed limit and speed loop gain.

Speed loop gain:Speed limit:Ordered closing torque:

Kv 1Speed Limit 1torque 1






Speed limit 1 and Kv 1 are valid for all torque values lower than torque 1. Thehighest defined speed limit and loop gain are valid for all torque values higher thanthe highest defined torque. For torque values between defined points, linearinterpolation is used.If only one point is defined, that speed limit and speed loop gain is valid for alltorque values.

LimitationsForce Master Control can only be used if you have servo tools.




6 Topic Motion6.13.1 The Force Master Control type

ExampleIn this example, four points are used to define the speed limit and speed loop gain.Any values given for point 5 and 6 are ignored.The parameters in the type Force Master Control are set to the following values:

Value:Parameter:

4No. of speed limits

2torque 1

4torque 2

7torque 3

9torque 4

200Speed Limit 1

400Speed Limit 2

500Speed Limit 3

600Speed Limit 4

0.3Kv 1

0.4Kv 2

0.7Kv 3

0.8Kv 4

The results of this configuration are the following graphs for speed limit and speedloop gain:

xx0400000882

Torque (Nm)A

Speed limit (rad/s on motor)B

Speed loop gain (Nms/rad)C


6 Topic Motion6.13.1 The Force Master Control type

Continued

6.13.2 Name

ParentName belongs to the type Force Master Control, in the topic Motion.

Cfg namename

DescriptionThe name of the Force Master Control.

UsageName is used to reference a Force Master Control from the parameter Use ForceMaster in the type Force Master.




6.13.3 No. of Speed Limits

ParentNo. of Speed Limits belongs to the type Force Master Control, in the topic Motion.

Cfg nameno_of_posts

DescriptionNo. of Speed Limits defines the number of torque values you want to define forspeed limit and speed loop gain, i.e. the number of points in the speed limit graph(see Example on page 423).

UsageDefine the speed limit and speed loop gain you want for a number of torque values.Set No. of Speed Limits to the number of torque values you want to specify.

LimitationsNo. of Speed Limits can only be used if you have servo tools.

Allowed valuesAn integer between 1 and 6.The default value is 1.



6 Topic Motion6.13.3 No. of Speed Limits

6.13.4 Torque 1

ParentTorque 1 belongs to the type Force Master Control, in the topic Motion.

Cfg nametorque_1

DescriptionTorque 1 defines the ordered closing torque for the first point in the speed limitgraph (see Example on page 423).

UsageDefine the speed limit and speed loop gain you want for some torque values. SetTorque 1 to the torque value of the first point you want to specify.

LimitationsTorque 1 is used for servo tools and can only be used if you have the option ServoTool Control.

Allowed valuesA number between -1000 and 1000 in Nm.The default value is 1 Nm.



6 Topic Motion6.13.4 Torque 1

6.13.5 Torque 2


Cfg nametorque_2

DescriptionTorque 2 defines the ordered closing torque for the second point (if more than one)in the speed limit graph (see Example on page 423).

UsageDefine the speed limit and speed loop gain you want for some torque values. SetTorque 2 to the torque value of the second point you want to specify.

PrerequisitesNo. of Speed Limits must be set to 2 or higher, otherwise the value of Torque 2 isnot used.

LimitationsTorque 2 can only be used if you have servo tools.


Related informationNo. of Speed Limits on page 425.Application manual - Servo motor control.



6.13.6 Torque 3


Cfg nametorque_3

DescriptionTorque 3 defines the ordered closing torque for the third point (if more than two)in the speed limit graph (see Example on page 423).

UsageDefine the speed limit and speed loop gain you want for some torque values. SetTorque 3 to the torque value of the third point you want to specify.







6.13.7 Torque 4


Cfg nametorque_4

DescriptionTorque 4 defines the ordered closing torque for the fourth point (if more than three)in the speed limit graph (see Example on page 423).

UsageDefine the speed limit and speed loop gain you want for some torque values. SetTorque 4 to the torque value of the fourth point you want to specify.







6.13.8 Torque 5


Cfg nametorque_5

DescriptionTorque 5 defines the ordered closing torque for the fifth point (if more than four)in the speed limit graph (see Example on page 423).

UsageDefine the speed limit and speed loop gain you want for some torque values. SetTorque 5 to the torque value of the fifth point you want to specify.







6.13.9 Torque 6


Cfg nametorque_6

DescriptionTorque 6 defines the ordered closing torque for the sixth point (if all six points areused) in the speed limit graph (see Example on page 423).

UsageDefine the speed limit and speed loop gain you want for some torque values. SetTorque 6 to the torque value of the sixth point you want to specify.

PrerequisitesNo. of Speed Limits must be set to 6, otherwise the value of Torque 6 is not used.






6.13.10 Speed Limit 1

ParentSpeed Limit 1 belongs to the type Force Master Control, in the topic Motion.

Cfg namespeed_lim_1

DescriptionSpeed Limit 1 defines the maximum allowed speed for the torque specified intorque 1.

UsageSet Speed Limit 1 to the speed limit for the first point you want to specify in thespeed limit graph (see Example on page 423).

LimitationsSpeed Limit 1 can only be used if you have servo tools.

Allowed valuesA number between 0.001 and 100000 in rad/s on the motor side.The default value is 300.

Related informationTorque 1 on page 426.Application manual - Servo motor control.


6 Topic Motion6.13.10 Speed Limit 1



Cfg namespeed_lim_2


UsageSet Speed Limit 2 to the speed limit for the second point (if more than one) youwant to specify in the speed limit graph (see Example on page 423).

PrerequisitesNo. of Speed Limits must be set to 2 or higher, otherwise the value of Speed Limit2 is not used.



Related informationTorque 2 on page 427.No. of Speed Limits on page 425.Application manual - Servo motor control.





Cfg namespeed_lim_3


UsageSet Speed Limit 3 to the speed limit for the third point (if more than two) you wantto specify in the speed limit graph (see Example on page 423).









Cfg namespeed_lim_4


UsageSet Speed Limit 4 to the speed limit for the fourth point (if more than three) youwant to specify in the speed limit graph (see Example on page 423).









Cfg namespeed_lim_5


UsageSet Speed Limit 5 to the speed limit for the fifth point (if more than four) you wantto specify in the speed limit graph (see Example on page 423).



Related informationTorque 5 on page 430.No. of Speed Limits on page 425.





Cfg namespeed_lim_6


PrerequisitesNo. of Speed Limits must be set to 6, otherwise the value of Speed Limit 6 is notused.

UsageSet Speed Limit 6 to the speed limit for the sixth point (if all six points are used)you want to specify in the speed limit graph (see Example on page 423).






6.13.16 Kv 1

ParentKv 1 belongs to the type Force Master Control, in the topic Motion.

Cfg nameKv_1

DescriptionKv 1 defines the proportional gain in the speed loop for the torque specified intorque 1. This gain determines how fast the speed is regulated when the speedlimit is exceeded.

UsageSet Kv 1 to the proportional gain you want for the first point in the speed limit graph(see Example on page 423).

LimitationsKv 1 can only be used if you have servo tools.

Allowed valuesA number between 0.001 and 100.The default value is 0.5.

Related informationTorque 1 on page 426.Application manual - Servo motor control.


6 Topic Motion6.13.16 Kv 1

6.13.17 Kv 2


Cfg nameKv_2


UsageSet Kv 2 to the proportional gain you want for the second point (if more than one)in the speed limit graph (see Example on page 423).

PrerequisitesNo. of Speed Limits must be set to 2 or higher, otherwise the value of Kv 2 is notused.






6.13.18 Kv 3


Cfg nameKv_3


UsageSet Kv 3 to the proportional gain you want for the third point (if more than two) inthe speed limit graph (see Example on page 423).







6.13.19 Kv 4


Cfg nameKv_4


UsageSet Kv 4 to the proportional gain you want for the fourth point (if more than three)in the speed limit graph (see Example on page 423).







6.13.20 Kv 5


Cfg nameKv_5


UsageSet Kv 5 to the proportional gain you want for the fifth point (if more than four) inthe speed limit graph (see Example on page 423).







6.13.21 Kv 6


Cfg nameKv_6


UsageSet Kv 6 to the proportional gain you want for the sixth point (if all six points areused) in the speed limit graph (see Example on page 423).

PrerequisitesNo. of Speed Limits must be set to 6, otherwise the value of Kv 6 is not used.






6.14 Type Friction Compensation

6.14.1 The Friction Compensation type

OverviewThis section describes the type Friction Compensation, which belongs to the topicMotion. Each parameter of this type is described in a separate information topicin this section.

Cfg nameCFRIC_BLOCK

Type descriptionEach set of parameters of the type Friction Compensation belongs to a joint (robotjoint or additional axis).The parameters in Friction Compensation define what compensations should bemade for the friction in the joint.

LimitationChanging the parameter values in Friction Compensation is only useful if you havethe RobotWare option Advanced Shape Tuning.The type Friction Compensation equivalent to the type Control Parameters. Thetype Control Parameters is used by robot models IRB 1400 and IRB 1410, all otherrobot models use the type Friction Compensation. The parameters are the samehowever.

Related informationApplication manual - Motion performance, chapter Advanced Shape Tuning.


6 Topic Motion6.14.1 The Friction Compensation type

6.14.2 Name

ParentName belongs to the type Friction Compensation, in the topic Motion.

Cfg namename

DescriptionName defines the name of the friction compensation.

LimitationsName is only useful if you have the RobotWare option Advanced Shape Tuning.




6.14.3 Friction FFW On

ParentFriction FFW On belongs to the type Friction Compensation, in the topic Motion.

Cfg namefriction_ff_on

DescriptionFriction FFW On determines if the RobotWare option Advanced Shape Tuning isactive or not.

UsageSet Friction FFW On to Yes if you want to use Advanced Shape Tuning.

LimitationsFriction FFW On is useful only if you have the RobotWare option Advanced ShapeTuning.




6 Topic Motion6.14.3 Friction FFW On

6.14.4 Friction FFW Level

ParentFriction FFW Level belongs to the type Friction Compensation , in the topicMotion.

Cfg namefriction_ffw_level

DescriptionFriction FFW Level is set to the level of friction in the robot axis. By setting a valuethat closely corresponds to the real friction, and using the RobotWare optionAdvanced Shape Tuning, the friction effects can be compensated.

UsageFriction effects can cause path deviations when performing advanced shapes. Bycompensating for the friction with the correct friction level value, these effects canbe minimized.Permanent adjustments to the friction level can be made with Friction FFW Level.The friction level can also be temporarily tuned with RAPID commands. For moreinformation, see Application manual - Motion performance.

LimitationsFriction FFW Level is only useful if you have the RobotWare option AdvancedShape Tuning.

Allowed valuesA decimal number between 0 and 15 (in Nm).



6 Topic Motion6.14.4 Friction FFW Level

6.14.5 Friction FFW Ramp

ParentFriction FFWRamp belongs to the type Friction Compensation, in the topic Motion.

Cfg namefriction_ffw_ramp

DescriptionFriction FFW Ramp is set to the speed of the robot axis when the friction hasreached the constant friction level defined in Friction ffw level. See illustrationbelow.

UsageFriction effects can cause path deviations when performing advanced shapes.Friction FFW Ramp is used when compensating for these friction effects.Permanent adjustments to the friction ramp can be made with Friction FFWRamp.The friction ramp can also be temporarily tuned with RAPID commands. For moreinformation, see Application manual - Motion performance.

LimitationsFriction FFW Ramp is only useful if you have the RobotWare option AdvancedShape Tuning.

Allowed valuesA number between 0.001 and 10 (in radians/second).


Illustration

en0300000278


6 Topic Motion6.14.5 Friction FFW Ramp

6.15 Type Jog Parameters

6.15.1 The Jog Parameters type

OverviewThis section describes the type Jog Parameters, which belongs to the topicMotion.Each parameter of this type is described in a separate information topic.

Cfg nameJOG_PARAMETERS

Type descriptionThe Jog Parameters type contains parameters that define the step size in thedifferent jogging modes when using incremental jogging with user-defined step.

Incremental movementIncremental movement is used to adjust the position of the robot exactly. Eachtime the joystick is moved, the robot moves one step (one increment).


6 Topic Motion6.15.1 The Jog Parameters type

6.15.2 Name

ParentName belongs to the type Jog Parameters, in the topic Motion.

Cfg nameName

DescriptionName defines the name of the Jog parameters data.




6.15.3 Configurable Linear Step Size

ParentConfigurable Linear Step Size belongs to the type Jog Parameters, in the topicMotion.

Cfg namelinear_step_size

DescriptionConfigurable Linear Step Size defines the step size for user-defined incrementallinear jogging.

UsageLinear jogging step size is set in meters.

Allowed values0 - 0.005 meters.


6 Topic Motion6.15.3 Configurable Linear Step Size

6.15.4 Configurable Reorient Step Size

ParentConfigurable Reorient Step Size belongs to the type Jog Parameters, in the topicMotion.

Cfg namereorient_step_size

DescriptionConfigurable Reorient Step Size defines the step size for user-defined incrementalreorient jogging.

UsageReorient jogging step size is set in radians.Convert degrees to radians: radians = (degrees/360)*(2*pi)

Allowed values0 - 0.009 radians.


6 Topic Motion6.15.4 Configurable Reorient Step Size

6.15.5 Configurable Joint Step Size

ParentConfigurable Joint Step Size belongs to the type Jog Parameters, in the topicMotion.

Cfg namejoint_step_size

DescriptionConfigurable Joint Step Size defines the step size for user-defined incrementalaxes jogging.

UsageAxes jogging step size is set in radians.Convert degrees to radians: radians = (degrees/360)*(2*pi)

Allowed values0 - 0.0025 radians.


6 Topic Motion6.15.5 Configurable Joint Step Size

6.16 Type Joint

6.16.1 The Joint type

OverviewThis section describes the type Joint which belongs to the topic Motion. Eachparameter is described in a separate information topic in this section.

Cfg nameJOINT

Type descriptionThe Joint type contains parameters that define a joint.

Related informationThe Arm type on page 355.The Measurement Channel type on page 502.


6 Topic Motion6.16.1 The Joint type

6.16.2 Name

ParentName belongs to the type Joint, in the topic Motion.

Cfg namename

DescriptionName defines the unique name to use for this joint.




6.16.3 Logical Axis

ParentLogical Axis belongs to the type Joint, in the topic Motion.

Cfg namelogical_axis

DescriptionLogical Axis defines the axis number as seen by a RAPID program.

UsageThe value of Logical Axis is used by RAPID programs to identify individual axesin mechanical units.Two mechanical units can have the same value set for Logical Axis, but then theycannot be activated at the same time by a RAPID program.Robots from ABB normally use the values 1-6, while additional axes use 7-12.


Related informationApplication manual - Additional axes and stand alone controller.


6 Topic Motion6.16.3 Logical Axis

6.16.4 Use Drive System

ParentUse Drive System belongs to the type Joint, in the topic Motion.

Cfg nameuse_drive_system

DescriptionUse Drive System determines which drive system should be used.


Related informationThe Drive System type on page 400.


6 Topic Motion6.16.4 Use Drive System

6.16.5 Use Process

ParentUse Process belongs to the type Joint, in the topic Motion.

Cfg nameuse_process

DescriptionUse Process defines which process to use for this joint.

UsageUse Process points to a process ID defined by the parameter Name in the typeProcess.The process can be used to define the joints behavior for either ElectronicallyLinked Motors or Spot Servo.

PrerequisitesThe additional axes must be configured before setting Use Process.

LimitationsUse Process is only used for additional axes.Use Process is only useful if you have either of the RobotWare base functionalityElectronically Linked Motors or option Spot Servo.

Allowed valuesA string.

Related informationName on page 590.Application manual - Servo motor control.


6 Topic Motion6.16.5 Use Process

6.16.6 Lock Joint in Ipol

ParentLock Joint in Ipol belongs to the type Joint, in the topic Motion.

Cfg namelock_joint_in_ipol

DescriptionA flag that locks the axis so it is not used in the path interpolation.

UsageWhen setting Lock Joint in Ipol to Yes, this axis will not be used for pathinterpolation.When using Electronically Linked Motors, this parameter must be set to Yes forthe follower axis.

PrerequisitesThe additional axes must be configured before setting Lock Joint in Ipol.

LimitationsLock Joint in Ipol is only used for additional axes.




6 Topic Motion6.16.6 Lock Joint in Ipol

6.16.7 Follower to Joint

ParentFollower to Joint belongs to the type Joint, in the topic Motion.

Cfg namefollower_to_joint

DescriptionWhen using Electronically Linked Motors, Follower to Joint defines which masteraxis this axis should follow.

UsageWhen using Electronically Linked Motors, the follower axis has the Follower toJoint set to the name of the master axis.

PrerequisitesThe additional axes must be configured before setting Follower to Joint.

LimitationsFollower to Joint is only used for external axes.




6 Topic Motion6.16.7 Follower to Joint

6.17 Type Lag Control Master 0

6.17.1 The Lag Control Master 0 type

OverviewThis section describes the type Lag Control Master 0, which belongs to the topicMotion. Each parameter of the type is described in a separate information topic inthis section.

Cfg nameLCM0

Type descriptionThe type Lag Control Master 0 is normally used for control of axes without anydynamic model. This is the case for some additional axes.For axes that have a dynamic model, Lag Control Master 0 is only used inexceptional cases.


6 Topic Motion6.17.1 The Lag Control Master 0 type

6.17.2 Name

ParentName belongs to the type Lag Control Master 0, in the topic Motion.

Cfg namename

DescriptionThe name of the Lag Control Master 0.

UsageName is used to reference a Lag Control Master 0 from the parameter NormalControl Master in the type Joint.




6.17.3 Kp, Gain Position Loop

ParentKp, Gain Position Loop belongs to the type Lag Control Master 0, in the topicMotion.

Cfg nameKp

DescriptionProportional gain in the position control loop.

UsageThe higher the value ofKp, Gain Position Loop, the better tracking and disturbancerejection.If the position control overshoots, decrease Kp, Gain Position Loop.

Allowed valuesA numeric value between 0 and 1000 (1/s).


6 Topic Motion6.17.3 Kp, Gain Position Loop

6.17.4 Kv, Gain Speed Loop

ParentKv, Gain Speed Loop belongs to the type Lag Control Master, in the topic Motion.

Cfg nameKv

DescriptionProportional gain in the speed regulation loop.

UsageThe higher the value of Kv, Gain Speed Loop, the better tracking and disturbancerejection.If the level of oscillation or noise is too high, decrease Kv, Gain Speed Loop.

Allowed valuesA numeric value between 0 and 100 (Nms/rad).


6 Topic Motion6.17.4 Kv, Gain Speed Loop

6.17.5 Ti Integration Time Speed Loop

ParentTi Integration Time Speed Loop belongs to the type Lag Control Master 0, in thetopic Motion.

Cfg nameTi

DescriptionIntegration time in the speed regulation loop.

UsageThe lower the value of Ti Integration Time Speed Loop, the better tracking anddisturbance rejection.If the level of oscillation or noise is too high, increase Ti Integration Time SpeedLoop.

Allowed valuesA numeric value between 0 and 10 (seconds).The default value is 10 seconds.


6 Topic Motion6.17.5 Ti Integration Time Speed Loop

6.17.6 Forced Control Active

ParentForced Control Active belongs to the type Lag Control Master 0, in the topicMotion.

Cfg nameuse_inpos_forced_control

DescriptionDetermines whether forced control is active for this joint.

UsageThe Forced Control Active parameter can be used if the last part of the movementbefore a fine point is too slow. The function changes the parameters Forced Factorfor Kp and Forced Factor for Ki in the last part of the movement.Note! Wrongly used Forced Control Active (too high force factors) might impairthe movement with oscillations.If Forced Control Active is set to Yes, Affects forced ctrl in type Supervision shouldnormally also be set to Yes for this joint.


Related informationForced Factor for Kp on page 467.Forced Factor for Ki on page 468.Affects Forced Control on page 673, in the type Supervision.Application manual - Additional axes and stand alone controller.


6 Topic Motion6.17.6 Forced Control Active

6.17.7 Forced Factor for Kp

ParentForced Factor for Kp belongs to the type Lag Control Master 0, in the topic Motion.

Cfg nameKp_forced_factor

DescriptionThe forced factor for Kp, if forced gain control is active.

UsageForced Factor for Kp defines the gain increase factor.A typical value is 2.

Allowed valuesA numeric value between 1 and 4.


6 Topic Motion6.17.7 Forced Factor for Kp

6.17.8 Forced Factor for Ki

ParentForced Factor for Ki belongs to the type Lag Control Master 0, in the topic Motion.

Cfg nameKi_forced_factor

DescriptionThe forced factor for Ki, if forced gain control is active.

UsageForced Factor for Ki defines the gain increase factor.Ki equals Kv/Ti, integral gain.A typical value is 2.



6 Topic Motion6.17.8 Forced Factor for Ki

6.17.9 Raise Time for Kp

ParentRaise Time for Kp belongs to the type Lag Control Master, in the topic Motion.

Cfg nameKp_raise_time

DescriptionDefines the raise time for forced Kp.

UsageTo avoid transient effects, Kp must be increased slowly over a period of time. Thisperiod is defined by Raise Time for Kp.A typical value is 0.2.

Allowed valuesA numeric value between 0.002 and 0.5 seconds.


6 Topic Motion6.17.9 Raise Time for Kp

6.17.10 Notch Filter Active

ParentNotch Filter Active belongs to the type Lag Control Master 0, in the topic Motion.

Cfg namenotch_filter_active

DescriptionDefines if the notch filter is activated or not.

UsageNotch filters are used only in certain arc welding applications.Notch Filter Active can be used to avoid interference between the additional axisand the weaving frequency that can cause vibrations in the additional axis.




6 Topic Motion6.17.10 Notch Filter Active

6.17.11 Notch Filter Frequency

ParentNotch Filter Frequency belongs to the type Lag Control Master 0, in the topicMotion.

Cfg namenotch_filter_frequency

DescriptionDefines the frequency of speed variation for the notch filter.

UsageNotch Filter Frequency is used when Notch Auto Mode is set to No.NOTE! It is always recommended to use Notch Auto Mode (set to Yes) if the notchfunction is needed.A typical value is 2 * Weld speed/Weave length.

LimitationsThis parameter is only used when Notch Auto Mode is set to No.

Allowed valuesA numeric value between 1 and 100 (Hz).

Related informationNotch Auto Mode on page 473.


6 Topic Motion6.17.11 Notch Filter Frequency

6.17.12 Notch Filter Width

ParentNotch Filter Width belongs to the type Lag Control Master 0, in the topic Motion.

Cfg namenotch_filter_width

DescriptionDefines the width of the notch filter.

UsageA higher value increases the width but can also have a negative effect on theperformance (response) of the additional axis. Recommended value is 0.2.

Allowed valuesA numeric value between 0.01 and 0.4.


6 Topic Motion6.17.12 Notch Filter Width

6.17.13 Notch Auto Mode

ParentNotch Auto Mode belongs to the type Lag Control Master 0, in the topic Motion.

Cfg namenotch_auto_mode

DescriptionDefines if the notch filter frequency will adjust automatically to the weave frequency.

UsageIfNotch Auto Mode is set to Yes, the notch filter frequency will automatically adjustto the weave frequency according to the formula:Notch Filter Frequency = 2 * Weldspeed/Weave length.It is recommended to always set Notch Auto Mode to Yes if a notch filter functionis needed.



6 Topic Motion6.17.13 Notch Auto Mode

6.17.14 Auto No Weave Frequency

ParentAuto No Weave Frequency belongs to the type Lag Control Master 0, in the topicMotion.

Cfg namenotch_auto_no_weave_freq

DescriptionDefines the default frequency for the auto mode notch filter.

UsageThe default value should only be changed by advanced programmers.

Allowed valuesA numeric value between 1 and 100 Hz.



6 Topic Motion6.17.14 Auto No Weave Frequency

6.17.15 Auto Min Frequency

ParentAuto Min Frequency belongs to the type Lag Control Master 0, in the topic Motion.

Cfg namenotch_auto_min_frequency

DescriptionMinimum frequency for the on line notch filter.

UsageAuto Min Frequency defines the minimum notch filter frequency when Notch AutoMode is set to Yes.The default value should only be changed by advanced programmers.

LimitationsThis parameter is only used when Notch Auto Mode is set to Yes.

Allowed valuesA numeric value between 1 and 100 Hz.



6 Topic Motion6.17.15 Auto Min Frequency

6.17.16 Auto Max Relative Change

ParentAuto Max Relative Change belongs to the type Lag Control Master 0, in the topicMotion.

Cfg namenotch_auto_max_rel_change

DescriptionA factor that sets the maximum instant change in the notch filter when Notch AutoMode is set to Yes.

UsageIf the instant change of the notch filter should be limited to 10%, set Auto MaxRelative Change to 0.1.The default value should only be changed by advanced programmers.

LimitationsThis parameter is used only when Notch Auto Mode is set to Yes.




6 Topic Motion6.17.16 Auto Max Relative Change

6.17.17 FFW Mode

ParentFFW Mode belongs to the type Lag Control Master 0, in the topic Motion.

Cfg nameffw_mode

DescriptionFFW Mode defines the control type to use, i.e. if feed forward should be used.

UsageTo regulate the position, you can:

• use only the desired position as reference.• in addition to the position, use feed forward of the current speed value.• in addition to the position, use feed forward of the current speed and torque

values.

Allowed valuesFFW Mode can have the following values:

Description:Name:Value:

The controller is driven by the position error (lag). Because a relativelylarge lag is needed to move the axis, the position error can be large.

No0

The controller receives information about the desired speed of theaxis. As a result, the position lag is greatly reduced compared to theNo configuration. For this reason, Spd is the recommended configur-ation.

Spd1

The controller uses the desired speed and acceleration of the axis tocalculate the desired motor torque.

Trq2

This requires knowledge of the mass moment of inertia of the axis,which must be supplied by the user. For this reason this configurationis more difficult to tune. It is only recommended for experienced users.

The default value is 0. Recommended value is 1.



6 Topic Motion6.17.17 FFW Mode

6.17.18 Bandwidth

ParentBandwidth belongs to the type Lag Control Master 0, in the topic Motion.

Cfg namebandwidth

DescriptionDefines the controller bandwidth when FFW Mode is set to 1 or 2.

UsageA high bandwidth value gives faster control but increases risk of vibrations andovershoot.The default value is recommended, but can be reduced if undesired vibrationsoccur.

Allowed valuesA value between 3 and 40. Default value is 25.

Related informationFFW Mode on page 477.


6 Topic Motion6.17.18 Bandwidth

6.17.19 Df

ParentDf belongs to the type Lag Control Master 0, in the topic Motion.

Cfg nameresonance_frequency

DescriptionReduces oscillations.

UsageDf can be used to damp oscillations of the axis due to mechanical resonance.Initially Df should be left at its default value. It can be adjusted once the othercontroller parameters have been fixed (Kv Gain Speed Loop, Kp Gain PositionSpeed Loop, Ti Integration Time Speed Loop, and Inertia).Df is only used when FFW Mode is set to 2.

Allowed valuesA value between 2 and 100. Default value is 100.

Related informationFFW Mode on page 477.Kp, Gain Position Loop on page 463.Kv, Gain Speed Loop on page 464.Ti Integration Time Speed Loop on page 465.Inertia on page 482.


6 Topic Motion6.17.19 Df

6.17.20 Dw

ParentDw belongs to the type Lag Control Master 0, in the topic Motion.

Cfg nameresonance_damping

DescriptionCan reduce oscillations further when Df is set.

UsageThe default value of Dw is recommended.

Allowed valuesA value between 0.002 to 1. Default value is 0.01.

Related informationDf on page 479.


6 Topic Motion6.17.20 Dw

6.17.21 Delay

ParentDelay belongs to the type Lag Control Master 0, in the topic Motion.

Cfg namedelay_time

DescriptionReduces overshoot.

UsageDelay can be used when Df is set, to reduce overshoot but it impairs the axiscoordination when increased.The default value of Delay should normally not be changed.


Related informationDf on page 479.Dw on page 480.


6 Topic Motion6.17.21 Delay

6.17.22 Inertia

ParentInertia belongs to the type Lag Control Master 0, in the topic Motion.

Cfg nameinertia

DescriptionDefines the additional axis’ inertia (if rotation) or mass (if translation).

UsageInertia is used for calculating the torque when FFW Mode is set to 2.

Allowed valuesA value between 0.0 and 10,000.

Related informationFFW Mode on page 477.


6 Topic Motion6.17.22 Inertia

6.17.23 K Soft Max Factor

ParentK Soft Max Factor belongs to the type Lag Control Master 0, in the topic Motion.

Cfg namesoft_servo_K_max_factor

DescriptionDetermines the value of the product Kp Gain Position Loop * Kv Gain Speed Loopwhen the soft servo is used with softness 0%.

UsageK Soft Max Factor should be in the range 0.1 - 2.0 (default 1.0). When the soft servois activated with 0% softness, the control parameters Kp Gain Position Loop (Kp)and Kv Gain Speed Loop (Kv) will be tuned such that Kp*Kv = (Kp*Kv)normal*KSoft Max Factor, where (Kp*Kv)normal is the product of Kp and Kv during normaloperation.


Related informationKp, Gain Position Loop on page 463.Kv, Gain Speed Loop on page 464.


6 Topic Motion6.17.23 K Soft Max Factor

6.17.24 K Soft Min Factor

ParentK Soft Min Factor belongs to the type Lag Control Master 0, in the topic Motion.

Cfg namesoft_servo_K_min_factor

DescriptionDetermines the value of the product Kp Gain Position Loop * Kv Gain Speed Loopif the soft servo is used with softness 100%.

UsageK Soft Min Factor should be in the range 0.001 - 0.1 (default 0.01). When the softservo is activated with 100% softness, the control parameters Kp Gain PositionLoop (Kp) and Kv Gain Speed Loop (Kv) are tuned such that Kp*Kv =(Kp*Kv)normal*K Soft Min Factor.




6 Topic Motion6.17.24 K Soft Min Factor

6.17.25 Kp/Kv Ratio Factor

ParentKp/Kv Ratio Factor belongs to the type Lag Control Master 0, in the topic Motion.

Cfg namesoft_servo_Kp_Kv_ratio_factor

DescriptionDefines the factor used to tune the Kp Gain Position Loop/Kv Gain Speed Loopratio.

UsageKp/Kv Ratio Factor is used to alter the Kp Gain Position Loop/Kv Gain Speed Loopratio during soft servo. Kp/Kv Ratio Factor should be in the range 0.1 - 1.0 (default1.0). In soft servo mode, Kp and Kv are tuned such that Kp/Kv = (Kp/Kv)normal *Kp/Kv Ratio Factor.

Allowed valuesA value between 0.1 and 1.0.



6 Topic Motion6.17.25 Kp/Kv Ratio Factor

6.17.26 Ramp Time

ParentRamp Time belongs to the type Lag Control Master 0, in the topic Motion.

Cfg namesoft_servo_t_ramp

DescriptionDefines the default Soft Servo ramp time.

UsageRamp Time is used to define the default time for activation of the soft servo.




6.18 Type Linked M Process

6.18.1 The Linked M Process type

OverviewThis section describes the type Linked M Process, which belongs to the topicMotion. Each parameter of the type is described in a separate information topic inthis section.

Cfg nameLINKED_M_PROCESS

Type descriptionA Linked M Process contains information about alignments between the masteraxis and the follower axis for Electronically Linked Motors.

Related informationApplication manual - Servo motor control, chapter Electronically Linked Motors.


6 Topic Motion6.18.1 The Linked M Process type

6.18.2 Name

ParentName belongs to the type Linked M Process, in the topic Motion.

Cfg namename

DescriptionName defines the identity of the linked motor process.

UsageThe Name is used when referencing the linked motor process.The linked motor process defines the behavior of a joint for Electronically LinkedMotors.




6.18.3 Offset Adjust. Delay Time

ParentOffset Adjust. Delay Time belongs to the type LinkedMProcess, in the topicMotion.

Cfg nameoffset_adj_delay_time

DescriptionOffset Adjust. Delay Time defines the time delay from control on until the followeraxis starts to follow its master axis.

UsageWhen using Electronically Linked Motors, you might want to give the master axissome time to stabilize before the follower axis starts following.

Allowed valuesA value between 0 and 2, specifying the delay in seconds.Default value: 0.2


6 Topic Motion6.18.3 Offset Adjust. Delay Time

6.18.4 Max Follower Offset

ParentMax Follower Offset belongs to the type Linked M Process, in the topic Motion.

Cfg namemax_offset

DescriptionMax Follower Offset defines the maximum allowed difference in position betweenthe master and the follower axis.

UsageIf the follower offset exceeds the Max Follower Offset, emergency stop is activatedand automatic offset adjustment is prohibited.

Allowed valuesA value between 0 and 5, specifying the maximum offset in radians (for rotationalaxes) or meters (for linear axes) on the arm side.Default value: 0.05.


6 Topic Motion6.18.4 Max Follower Offset

6.18.5 Max Offset Speed

ParentMax Offset Speed belongs to the type Linked M Process, in the topic Motion.

Cfg namemax_offset_speed

DescriptionMax Offset Speed defines the maximum allowed difference in speed between themaster and the follower axis.

UsageIf the speed difference exceeds the Max Offset Speed, emergency stop is activatedand automatic offset adjustment is prohibited.

Allowed valuesA value between 0 and 1000, specifying the maximum difference in rad/s (forrotational axes) or m/s (for linear axes) on the arm side.Default value: 0.05.


6 Topic Motion6.18.5 Max Offset Speed

6.18.6 Offset Speed Ratio

ParentOffset Speed Ratio belongs to the type Linked M Process, in the topic Motion.

Cfg nameoffset_speed_ratio

DescriptionOffset Speed Ratio defines how large a part of the Max Offset Speed can be usedto compensate for position error.

UsageOffset Speed Ratio multiplied by Max Offset Speed is the highest speed by whichthe position offset is reduced.

Allowed valuesA value between 0 and 1. The value has no unit since it is a multiplication factor.Default value: 0.33.

Related informationMax Offset Speed on page 491.


6 Topic Motion6.18.6 Offset Speed Ratio

6.18.7 Ramp Time

ParentRamp Time belongs to the type Linked M Process, in the topic Motion.

Cfg nameramp_time

DescriptionRamp Time defines the acceleration up to Max Offset Speed.

UsageThe proportion constant for position regulation is ramped from zero up to its finalvalue (Master Follower kp) during Ramp Time.

Allowed valuesA value between 0.01 and 10, specifying the time in seconds.Default value: 0.05

Related informationMaster Follower Kp on page 494.Max Offset Speed on page 491.



6.18.8 Master Follower Kp

ParentMaster Follower Kp belongs to the type Linked M Process, in the topic Motion.

Cfg namekp_offset

DescriptionMaster Follower Kp is the proportion constant for position regulation.

UsageMaster Follower Kp determines how fast the position error is compensated. If thevalue is too low, the compensation will be slow. If the value is to large, thecompensation will be unstable.

Allowed valuesA value between 0 and 5 (unit is 1/s).Default value: 0.05.


6 Topic Motion6.18.8 Master Follower Kp

6.18.9 Torque follower

ParentTorque follower belongs to the type Linked M Process, in the topic Motion.

Cfg nametorque_follower

DescriptionTorque follower specifies whether the follower should share torque with masteraxis rather than regulating to the exact corresponding position.

UsageTorque follower turns on or off the torque follower functionality. If the value is Yesthe follower axis will share torque with master axis.



6 Topic Motion6.18.9 Torque follower

6.18.10 Torque distribution

ParentTorque distribution belongs to the type Linked M Process, in the topic Motion.

Cfg nametorque_distribution

DescriptionTorque distribution is a quota defining how much of the total torque should beapplied by the follower axis.

UsageTorque distribution can be used to distribute torque between master and followeraxis. Normally when running equal motors and drives the value should be 0.5corresponding to share torque equal between master and follower.This parameter will have no effect if Torque follower is set to No.

Allowed valuesA value between 0 and 1.Default value is 0.5.

ExampleIf Torque distribution is set to 0.3, the torque is distributed with 30% on the followerand 70% on the master.


6 Topic Motion6.18.10 Torque distribution

6.18.11 Follower axis pos. acc. reduction

ParentFollower axis pos. acc. reduction belongs to the type Linked M Process, in thetopic Motion.

Cfg namefollower_axis_pos_accuracy_reduction

DescriptionFollower axis pos. acc. reduction can be used to reduce torque on master andfollower axis if the torque is from position error between the axes.

UsageFollower axis pos. acc. reduction can be used if mechanical structure is extremelystiff or if to large position error between the axes causes to high torques. By settingthis parameter to a higher value, the position accuracy of the follower axis will bereduced and that will lower the part of the total torque which comes from positionerror.A too high value of this can cause instability.Normal value is 10-30.This parameter will have no effect if Torque follower is set to No.

Allowed valuesA value between 0 and 100.Default value: 0.


6 Topic Motion6.18.11 Follower axis pos. acc. reduction

6.19 Type Mains

6.19.1 The Mains type

OverviewThis section describes the type Mains, which belongs to the topic Motion. Eachparameter of the type is described in a separate information topic in this section.

Cfg nameMAINS

Type descriptionThe typeMains defines the drive system's mains power tolerance. The parametersof the Mains type have nominal values.The parameters of the type Mains can be used to improve the robot's performanceby adjusting them according to the robot's actual installation.

CAUTION

Parameter settings outside the range of the robot's installation may negativelyaffect the robot's performance.

Related informationHow to optimize drive system parameters on page 341.Mains Tolerance Min on page 500Mains Tolerance Max on page 501.


6 Topic Motion6.19.1 The Mains type

6.19.2 Name

ParentName belongs to the type Mains, in the topic Motion.

Cfg namename

DescriptionName specifies the name of the mains tolerance setting it belongs to.

Allowed valuesA string with maximum 32 characters, specifying the name.

Related informationHow to optimize drive system parameters on page 341.



6.19.3 Mains Tolerance Min

ParentMains Tolerance Min belongs to the type Mains, in the topic Motion.

Cfg nameu_tolerance_min

DescriptionMains Tolerance Min specifies the minimum value of the mains tolerance as apercentage. The value is set to -15% on delivery. If the minimum tolerance is lessthan 15%, the cycle time can be improved by changing the parameter.For more information, see How to optimize drive system parameters on page 341.

Allowed valuesA value between -1 and +1 (equals -100% and 100%).The default value is -0.15 (equals -15%).For single phase 220V systems the default value is specified as 220V -15%. If 230Vmains is used and the tolerance is 230V -15% then set the parameter manually to-0.11 (220V -11% is approximately 230V -15%).



6 Topic Motion6.19.3 Mains Tolerance Min

6.19.4 Mains Tolerance Max

ParentMains Tolerance Max belongs to the type Mains, in the topic Motion.

Cfg nameu_tolerance_max

DescriptionMains Tolerance Max specifies the maximum value of the mains tolerance. Itsdefault value is 0.1 (10%). This value normally should not be increased since theequipment is rated for this maximum mains tolerance and might be damaged if thevoltage is increased.For 220V single phase systems the default value is 0.10 (10%). If 230 V mains isused and the tolerance should be 230 V + 10% then set the parameter manuallyto 0.15 (220 V + 15% is the same as 230 V + 10%).

Allowed valuesThe default value is 0.1.



6 Topic Motion6.19.4 Mains Tolerance Max

6.20 Type Measurement Channel

6.20.1 The Measurement Channel type

OverviewThis section describes the type Measurement Channel which belongs to the topicMotion. Each parameter of this type is described in a separate information topicin this section.

Cfg nameMEASUREMENT_CHANNEL

Type descriptionThe type Measurement Channel describes which channel is used to sendmeasurement data from the axis computer to the controller.

Non-editable parametersThe following parameters are visible but not editable in the software configurationtools:

• Max Normalized Input Level• Min Normalized Input Level

As a consequence, the above parameters are not described in the manual.


6 Topic Motion6.20.1 The Measurement Channel type

6.20.2 Name

ParentName belongs to the type Measurement Channel, in the topic Motion.

Cfg namename

DescriptionName defines the axis computer's channel name.




6.20.3 Use Measurement Board Type

ParentUse Measurement Board Type belongs to the type Measurement Channel, in thetopic Motion.

Cfg nameuse_measurement_board_type

DescriptionUse Measurement Board Type defines which type of measurement board is used.

UsageThe type Measurement Board Type defines the measurement board data.



6 Topic Motion6.20.3 Use Measurement Board Type

6.20.4 Disconnect at Deactivate

ParentDisconnect at Deactivate belongs to the type Measurement Channel, in the topicMotion.

Cfg namedisconnect_at_deactivate

DescriptionDisconnect at Deactivate defines if the channel should be deactivated when themechanical unit is deactivated.

UsageSet Disconnect at Deactivate to Yes to avoid error reports when the resolver isdisconnected, for instance when switching between tools.

Allowed valuesYes or No.Default value is No


6 Topic Motion6.20.4 Disconnect at Deactivate

6.20.5 Measurement Link

ParentMeasurement Link belongs to the type Measurement Channel, in the topic Motion.

Cfg namemeasurement_link

DescriptionAn axis resolver is connected to a Serial Measurement Board (SMB). The SMBcommunicates with the axis computer via a serial measurement link.Measurement Link defines the number of the measurement link.

UsageThere are two contacts on the axis computer marked Measurement link 1 andMeasurement link 2.An ABB robot is normally connected to link 1.

Allowed values1 or 2.Default value is 1.


6 Topic Motion6.20.5 Measurement Link

6.20.6 Board Position

ParentBoard Position belongs to the type Measurement Channel, in the topic Motion.

Cfg nameboard_position

DescriptionBoard Position defines the position number of the board used for the measurementsystem.

UsageThe value of Board Position defines the physical position of the board on themeasurement link. Board position one is closest to the axis computer.

Allowed valuesAn integer value between 1 and 2.Default value is 1.


6 Topic Motion6.20.6 Board Position

6.21 Type Mechanical Unit

6.21.1 The Mechanical Unit type

OverviewThis section describes the typeMechanical Unitwhich belongs to the topicMotion.Each parameter of this type is described in a separate information topic in thissection.

Cfg nameMECHANICAL_UNIT

Type descriptionTheMechanical Unit type describes the common parameters for a mechanical unit.There is one set of parameters for each mechanical unit.This type is only possible to edit for additional axes, not for robots delivered fromABB.

Non-editable parametersThe following parameter is visible but not editable in the software configurationtools:

• Use Run EnableAs a consequence, the above parameter is not described in the manual.



6 Topic Motion6.21.1 The Mechanical Unit type

6.21.2 Name

ParentName belongs to the type Mechanical Unit, in the topic Motion.

Cfg namename

DescriptionName defines the name for the mechanical unit.




6.21.3 Use Activation Relay

ParentUse Activation Relay belongs to the type Mechanical Unit, in the topic Motion.

Cfg nameuse_activation_relay

DescriptionUse Activation Relay defines the Id name for the activation relay.

UsageUse Activation Relay points out a relay that will be activated or deactivated whenthe mechanical unit is activated or deactivated.More information can be found in Technical referencemanual - RAPID Instructions,Functions and Data types under the instructions ActUnit/DeactUnit.




6 Topic Motion6.21.3 Use Activation Relay

6.21.4 Use Brake Relay

ParentUse Brake Relay belongs to the type Mechanical Unit, in the topic Motion.

Cfg nameuse_brake_relay

DescriptionUse Brake Relay defines the Id name for the brake relay.

UsageUse Brake Relay points out what brake relay will be activated or deactivated whenthe mechanical unit goes to state control on or control off.



6 Topic Motion6.21.4 Use Brake Relay

6.21.5 Use Connection Relay

ParentUse Connection Relay belongs to the type Mechanical Unit, in the topic Motion.

Cfg nameuse_connection_relay

DescriptionUse Connection Relay defines the Id name for the connection relay.

UsageUseConnection Relay points out a relay that must be activated when the mechanicalunit is activated.



6 Topic Motion6.21.5 Use Connection Relay

6.21.6 Use Robot

ParentUse Robot belongs to the type Mechanical Unit, in the topic Motion.

Cfg nameuse_robot

DescriptionUse Robot defines which robot is part of the mechanical unit.

UsageThe robot is defined in the type Robot.


Related informationName on page 598, of the type Robot.


6 Topic Motion6.21.6 Use Robot

6.21.7 Use Single 1, 2, 3, 4, 5, 6

ParentUse Single 1, Use Single 2, Use Single 3, Use Single 4, Use Single 5, and UseSingle 6 belongs to the type Mechanical Unit, in the topic Motion.

Cfg namesuse_single_0use_single_1use_single_2use_single_3use_single_4use_single_5

DescriptionUse Single defines which singles are part of the mechanical unit.

UsageThe mechanical unit can have six singles, Use Single 1, Use Single 2, Use Single3, Use Single 4, Use Single 5, and Use Single 6. The singles are defined in the typeSingle.

Allowed valuesEach single value is a string with maximum 32 characters.

Related informationName on page 648, in the type Single.


6 Topic Motion6.21.7 Use Single 1, 2, 3, 4, 5, 6

6.21.8 Allow Move of User Frame

ParentAllowMove of User Frame belongs to the type Mechanical Unit, in the topic Motion.

Cfg nameallow_move_of_user_frame

DescriptionAllow Move of User Frame defines if a robot or single is allowed to move a userframe.

UsageA user frame can be moved by a robot or a single that is part of the mechanicalunit. Set Allow Move of User Frame to Yes to allow a robot or single to move auser frame.Note that the definition of the work object must allow it to be moved, see wobjdata(ufprog and ufmec) in Technical referencemanual - RAPID Instructions, Functionsand Data types.


Related informationTechnical reference manual - RAPID Instructions, Functions and Data types


6 Topic Motion6.21.8 Allow Move of User Frame

6.21.9 Activate at Start Up

ParentActivate at Start Up belongs to the type Mechanical Unit, in the topic Motion.

Cfg nameactivate_at_start_up

DescriptionActivate at Start Up defines if the mechanical unit should be activated at start.

UsageSet the value to No to activate the mechanical unit at start.

Allowed valuesYesNo


6 Topic Motion6.21.9 Activate at Start Up

6.21.10 Deactivation Forbidden

ParentDeactivation Forbidden belongs to the type Mechanical Unit, in the topic Motion.

Cfg namedeactivation_forbidden

DescriptionDeactivation Forbidden defines if the mechanical unit is allowed to be deactivated.

UsageSet Deactivation Forbidden to No if the mechanical unit should be allowed to bedeactivated.Robots from ABB always has the value set to Yes. They should not be deactivated.The value No is used only for additional axes that should be possible to deactivate.



6 Topic Motion6.21.10 Deactivation Forbidden

6.21.11 Deactivate PTC superv. at disconnect

ParentDeactivate PTC superv. at disconnect belongs to the type Mechanical Unit, in thetopic Motion.

Cfg namedeactivate_ptc_at_disconnect

DescriptionWhen set to Yes, the PTC supervision is disabled when the mechanical unit isdisconnected and enabled again when it is activated.

UsageThe PTC supervision is used to detect high motor temperatures for mechanicalunits. If a unit is physically disconnected while the PTC supervision is active, anerror will occur.When using Servo Tool Change, it must be possible to disconnect the servo tool.By setting Deactivate PTC superv. at disconnect to Yes, the servo tool can bedeactivated and removed without an error. When the new tool is connected andactivated, PTC supervision is activated again.

PrerequisitesSetting Deactivate PTC superv. at disconnect to Yes is only useful if an additionalaxis is disconnected without turning off the robot system. This can only be doneif you have the options Servo Tool Control and Servo Tool Change.

LimitationsIf Deactivate PTC superv. at disconnect is set to Yes and the mechanical unit isdeactivated, the PTC supervision is disabled for all additional axes in the system(but not for the robot).



6 Topic Motion6.21.11 Deactivate PTC superv. at disconnect

6.21.12 Activate from any motion task

ParentActivate from any motion task belongs to the type Mechanical Unit, in the topicMotion.

Cfg nameallow_activation_from_any_motion_task

DescriptionIfActivate from anymotion task is set to Yes, the mechanical unit can be deactivatedby one task and then activated by another motion task. The mechanical unit is thencontrolled by the task that has activated it.

UsageIf Activate from any motion task is set to Yes, a mechanical unit, for example aservo gun, can be used by two robots in a MultiMove system.

ExampleA servo gun is held by robot 1 and controlled by the task T_ROB1. It is deactivatedand disconnected from robot 1. The servo gun is then connected to robot 2 andactivated by the task T_ROB2.

LimitationsThe parameter Deactivation Forbidden must be set to No for this mechanical unit.Activate from any motion task can only be used for a mechanical unit that can bedeactivated, that is not for a robot.Activate from any motion task is only useful for a MultiMove system.The mechanical unit must still belong to a mechanical unit group, see TypeMechanical Unit Group on page 95. This configuration determines which task thatwill control the mechanical unit at start.


Allowed valuesYesNo

Additional informationIf the program pointer is moved to main, the mechanical unit regains itsconfiguration from the system parameters, that is it is activated by its original task.Make sure the program is not restarted from main with the mechanical unit mountedon another robot than configured in the system parameters.


6 Topic Motion6.21.12 Activate from any motion task

6.22 Type Motion Planner

6.22.1 The Motion Planner type

OverviewThis section describes the type Motion Planner, which belongs to the topic Motion.Each parameter of the type is described in a separate information topic in thissection.

Note

When several task programs are run in synchronized mode, the movements ofall their mechanical unit groups are calculated by the same motion planner. It isthen the first set of parameters of the type Motion Planner that is used.

Cfg nameMOTION_PLANNER

Type descriptionA motion planner is a process on the controller that calculates how mechanicalunits shall move. A controller that handles more than one robot also has more thanone motion planner. Each mechanical unit group has its own motion planner.

LimitationsUnless the option MultiMove is installed, there can only be one motion plannerconfiguration.

Related informationApplication manual - MultiMove.


6 Topic Motion6.22.1 The Motion Planner type

6.22.2 Name

ParentName belongs to the type Motion Planner, in the topic Motion.

Cfg namename

DescriptionThe name of the motion planner.

UsageThis is the public identity of the motion planner. It is used by the parameter UseMotion Planner in the type Mechanical Unit Group.

Allowed valuesA string with maximum 32 characters. The name must not be changed!

Related informationThe Mechanical Unit Group type on page 95 in the topic Controller.



6.22.3 Brake on Time

ParentBrake on Time belongs to the type Motion Planner, in the topic Motion.

Cfg namebrake_on_timeout

DescriptionBrake on Time is used to delay the use of brakes when the robot is waiting to move.It defines the time from when the robot stops to when the mechanical brakes areactivated.

Note

The brake on time value should be kept high to maintain the reliability of theservo at high level.

Allowed valuesA value between 0.3 to 3,600,000, specifying the time in seconds.


6 Topic Motion6.22.3 Brake on Time

6.22.4 Dynamic Resolution

ParentDynamic Resolution belongs to the type Motion Planner, in the topic Motion.

Cfg namedynamic_resolution

LimitationDynamic Resolution is optimized for the system at delivery. It should normally notbe changed.

Allowed valuesA predefined value, specified in seconds.


6 Topic Motion6.22.4 Dynamic Resolution

6.22.5 Path Resolution

ParentPath Resolution belongs to the type Motion Planner, in the topic Motion.

Cfg namepath_resolution

DescriptionThe parameter corresponds in some sense to the distance between two points inthe path. Increasing path resolution means increasing the distance, which leadsto a decrease in the resolution of the path!Increasing path resolution is a way to deal with robot installations that have externalaxes with long deceleration times due to high CPU load. In such applications thewarning "50082 Deceleration limit" can be reported, simultaneously generating aquick-stop. Increasing the path resolution solves the problem.

PrerequisitesIt is important to set the path resolution value as low as possible in order to achievea high path resolution at high speed. Keeping the path resolution low can also giveshorter cycle times if the cycle contains many stop points and the move instructionsfollowing these stop points have low speeds.

UsagePath Resolution might require tuning when:

• The acceleration value of an additional axis (and the robot) is decreasedusing the first parameter of the RAPID instruction AccSet.

• The acceleration derivative is decreased using the second parameter of theRAPID instruction AccSet.

• The speed is increased.• The distances between closely programmed positions are decreased.• The number of simultaneously controlled axes are increased.• Using coordinated interpolation.• Using Weldguide.• Using the option Conveyor Tracking.• Using RAPID controlled path correction.• Using multitasking with computationally demanding RAPID programs.• Reorienting with a small or no TCP movement.

Allowed valuesA value between 0.1667 to 6.00, specifying the resolution in seconds.

Additional informationThere is also a RAPID instruction named PathResol which affects the resolutionof the path.



6 Topic Motion6.22.5 Path Resolution

Related informationTechnical reference manual - RAPID overview.Application manual - Motion coordination and supervision.


6 Topic Motion6.22.5 Path Resolution

Continued

6.22.6 Queue Time

ParentQueue Time belongs to the type Motion Planner, in the topic Motion.

Cfg namestd_servo_queue_time

DescriptionIncreasing Queue Time makes the system more tolerant to uneven CPU loads.

Note

The real queue time is a multiple of a sample time related to dynamic resolution.If the parameter value is not an even multiple of the dynamic resolution, thecontroller will automatically use a queue time as close as possible to the givenvalue.

Allowed valuesA value between 0.004032 to 0.290304, specifying the time in seconds.

Additional informationA drawback with increasing the queue time is that the robot reacts more slowlywhen jogging and when stopping a program execution. However, the emergencybrake is not affected. The accuracy of a sensor process, e.g. WeldGuide andConveyor tracking, may also be affected.


6 Topic Motion6.22.6 Queue Time

6.22.7 Teach Mode Max Speed

ParentTeach Mode Max Speed belongs to the type Motion Planner, in the topic Motion.

Cfg nameteach_mode_max_speed

DescriptionTeach Mode Max Speed can be used to set the maximum TCP-speed in manualmode to less than the default value 0.25 m/s.When the value of this parameter is reduced, the maximum joint speed in teachmode will also be reduced.If the value is set to 0.2 m/s, all maximum joint speeds in teach mode will be reducedby 0.2/0.25=0.8, i.e. 80% of the previous values.

Allowed valuesA value between 0.010 to 0.250, specifying the speed in meter per seconds.The default value is 0.25 m/s.


6 Topic Motion6.22.7 Teach Mode Max Speed

6.22.8 Process Update Time

ParentProcess Update Time belongs to the type Motion Planner, in the topic Motion.

Cfg nameprocess_linearization_time

DescriptionProcess Update Time determines how often the process path information iscalculated. This information is used for path following in Conveyor tracking,WeldGuide and Rapid Weave, for example.

UsageDecreasing the process update time improves accuracy but also increases CPUload. Increasing the parameter decreases the CPU load.

LimitationsWhen running programs in which the manipulator is moving at high speed, theparameter value should be kept small in order to get the best performance. Whenthe manipulator is moving slowly, the process update time is not critical.

Allowed valuesA value between 0.012096 to 1.93536, specifying the time in seconds.


6 Topic Motion6.22.8 Process Update Time

6.22.9 Prefetch Time

ParentPrefetch Time belongs to the type Motion Planner, in the topic Motion.

Cfg nameipol_prefetch_time

DescriptionPrefetch Time affects the point in time at which the controller starts to plan for themotion through a corner zone. If the planning time is too short, the corner zonebecomes a fine point. This generates a warning called“ 50024 Corner path failure”.

UsageIf the planning time is too short because of high CPU load, increasing the parametervalue may solve the problem. However, it will not solve the problem when it iscaused by too many corner zones placed very close together or by incorrect useof instructions, e.g. a corner zone followed by a WaitDI instruction. Normally,Prefetch Time should only be increased when the corner zone is really needed inthe application. When it is not really needed, change the corner zone to a fine point.

LimitationsThere is a drawback when increasing the parameter. The difference between theposition of the executed RAPID instruction and the current position of themanipulator will increase. This means that after pressing stop during programexecution, the program counter on the teach pendant unit may show an instructionthat has not yet affected the manipulator. When starting again, the manipulatorcontinues along the original path.

Allowed valuesA value between 0 to 10, specifying the time in seconds.


6 Topic Motion6.22.9 Prefetch Time

6.22.10 Event Preset Time

ParentEvent Preset Time belongs to the type Motion Planner, in the topic Motion.

Cfg nameevent_preset_time

DescriptionEvent Preset Time is used to delay the robot to make it possible to activate/controlexternal equipment in advance. This is to compensate for the internal delay of theequipment.

UsageAdjustment for the internal delay of the equipment can be made with the instructionTriggEquip. This takes advantage of the delay between the RAPID commandsand the robot movement. In this way an output signal can be set up to about 100ms in advance. If the delay of the equipment is longer than 100 ms, then EventPreset Time must be used to increase the delay of the robot movement.Configure Event Preset Time to the longest equipment delay time needed (if morethan 100ms).

Allowed valuesA value between 0 and 0.5, specifying the time in seconds.

Additional informationRemember that when using Event Preset Time, the start of the robot is delayedand the performance of WeldGuide, conveyors, spot welding, and so on will bedecreased.

ExampleIf you use Fixed Position Event with the following RAPID instructions, you shouldconfigure Event Preset Time to 0.2 seconds (the maximum delay required byTriggEquip)

TriggEquip gunon, 10, 0.2 \DOp:=gun, 1;

TriggL p1, v500, gunon, z50, gun1;



6 Topic Motion6.22.10 Event Preset Time

6.22.11 CPU Load Equalization

ParentCPU Load Equalization belongs to the type Motion Planner, in the topic Motion.

Cfg namecpu_load_equalization

DescriptionCPU Load Equalization affects the CPU load in terms of peak load versus averageload.

UsageWhen there is a CPU load problem, indicated for example by error message “50082Deceleration limit”, one solution could be to useCPU Load Equalization to distributethe CPU load over time in some other way. Sometimes a higher peak load can beacceptable, as long as it occurs at a favorable moment in time. Try changing CPUequalization both upwards and downwards to find the optimal value.

Allowed valuesAn integer value between 1 and 10.


6 Topic Motion6.22.11 CPU Load Equalization

6.22.12 Restrict placing of circlepoints

ParentRestrict placing of circlepoints belongs to the type Motion Planner, in the topicMotion.

Cfg namerestricted_circlepoint

DescriptionRestrict placing of circlepoints adds a supervision that the circle path not turnsaround more than 240 degrees and that the circle point is placed in the middle partof the circle path.

UsageIf the program is started on a MoveC instruction and the robot is standing betweenthe circle point and the end point then there is a risk that the robot will perform thecircle backwards. That is, move to the circle point and complete the circle to theend point in the opposite direction than programmed. This could be dangerous.The circle path will be better defined if the circle point is near the midth of the path,for example, use the instructions CirPathMode\CirPointOri orSingArea\Wrist.To minimize the risk set Restrict placing of circlepoints to Yes. Then the robot willstop with an error message if the TCP is not within the safe limits.

Allowed valuesYes or No.Default value is Yes.NOTE! The default value is set to No when loading a system created in RW 5.10or older releases.

Additional informationThe following reasons will stop the robot if Restrict placing of circlepoints is set toYes.

• Circle point is too close to start point.• Circle point is too close to end point.• Circle is too large, that is more than 240 degrees.

If a circle point is modified (modpos) then the planned path is recalculated so thatwhen restarting the program the robot will follow the new path if the conditions forrestricted placing of circlepoints are fulfilled, regardless of if the function is activatedor not.




6 Topic Motion6.22.12 Restrict placing of circlepoints

ExampleThe example shows a planned path from P10 to P20 in anti clockwise direction(A). If the robot is standing between P10 and P20 when execution is started thenthe robot might want to use the other direction (B). If Restrict placing of circlepathis set to Yes then an error message is displayed that the TCP is not within safelimits.

xx0800000185


6 Topic Motion6.22.12 Restrict placing of circlepoints

Continued

6.22.13 Use Motion Supervision

ParentUse Motion Supervision belongs to the type Motion Planner, in the topic Motion.

Cfg nameuse_motion_sup

DescriptionUse Motion Supervision defines which set of motion supervision parameters to beused for this motion planner.

UsageMotion supervision is used to activate, deactivate or adjust the collision detectionfunctionality. For detailed information about collision detection, see the Applicationmanual - Motion coordination and supervision, chapter Collision Detection.


Related informationThe Motion Supervision type on page 547.Application manual - Motion coordination and supervision.


6 Topic Motion6.22.13 Use Motion Supervision

6.22.14 Motion Supervision Permanent Off

ParentMotion Supervision Permanent Off belongs to the type Motion Planner, in the topicMotion.

Cfg namemotion_sup_permanent_off

DescriptionMotion Supervision Permanent Off is used to turn off all motion supervision to saveCPU power.

Allowed valuesYesNo


6 Topic Motion6.22.14 Motion Supervision Permanent Off

6.22.15 Motion Supervision Max Level

ParentMotion Supervision Max Level belongs to the type Motion Planner, in the topicMotion.

Cfg namemotion_sup_max_level

DescriptionThe maximum allowed supervision level, both for program execution and jogging.

UsageMotion SupervisionMax Level stops the operator from tuning the supervision levelto values that are too high.The supervision level for program execution is a combination of the parameterPath Collision Detection Level and a tuning value set with the RAPID instructionMotionSup. Motion Supervision Max Level is a maximum limit for this combinedvalue.

LimitationsChanging this parameter only affects the system if the option Collision Detectionis installed.

Allowed valuesAn integer in the interval 10 to 500 (percent).The default value is 300.

Related informationPath Collision Detection Level on page 551.Application manual - Motion coordination and supervision.

ExampleMotion Supervision Max Level is set to 300.Path Collision Detection Level is set to 250.A RAPID program uses the instruction MotionSup to tune the supervision levelwith 200%.Normally this would lead to a supervision level of 500% (2.5 * 2 = 5), but sinceMotion Supervision Max Level is 300, the supervision level will not exceed 300%.


6 Topic Motion6.22.15 Motion Supervision Max Level

6.22.16 Remove Corner Path Warning

ParentRemove Corner Path Warning belongs to the type Motion Planner, in the topicMotion.

Cfg nameremove_corner_path_warning

DescriptionRemove Corner Path Warning is used to disable the corner path failure warnings.Corner warnings will still be executed as fine points but the warning will not beshown in the event log.

UsageThe warning "50024 Corner Path Failure" occurs when RAPID program executiondoes not provide a new Move instruction while the robot is entering a corner zone.This may be due to a programming oversight or an explicit desire of theprogrammer.

Allowed valuesYesNo


6 Topic Motion6.22.16 Remove Corner Path Warning

6.22.17 Time Event Supervision

ParentTime Event Supervision belongs to the type Motion Planner, in the topic Motion.

Cfg namerequire_event_accuracy

DescriptionTime Event Supervision is used to detect if a programmed event can be accuratelypositioned or not. If not, the system will stop and display a warning.

UsageIf the event cannot be accurately positioned, suggested program modifications areto either lower the programmed speed or to increase the distance between thestart of the segment and the desired event position.

Allowed valuesYes or No


6 Topic Motion6.22.17 Time Event Supervision

6.22.18 High Interpolation Priority

ParentHigh Interpolation Priority belongs to the type Motion Planner, in the topic Motion.

Cfg namehigh_interpolation_priority

DescriptionHigh Interpolation Priority is used to allow the system to temporarily increase thepriority of the path planning in critical situations.

UsageWhen the warning "50082 Deceleration limit" occurs at installations, this parametercan be useful. The parameters Path Resolution and CPU Load Equalization mightalso be useful in this situation.

Note

Using High Interpolation Priority might affect the performance of the application,e.g. spot welding or sealing. Thus it is very important to verify the processperformance after the parameter has been set.


Related informationPath Resolution on page 524.CPU Load Equalization on page 531.


6 Topic Motion6.22.18 High Interpolation Priority

6.22.19 Speed Control Warning

ParentSpeed Control Warning belongs to the type Motion Planner, in the topic Motion.

Cfg namespeed_control_warning

DescriptionBy setting Speed Control Warning to Yes, a warning will be given when the robotmoves slower than the programmed speed.

UsageWhen several robots (and other mechanical units) are in synchronized movementmode, in a MultiMove application, all simultaneous move instruction finish at thesame time. This means that if one robot has a longer path or a slower programmedspeed than another robot, the speed of the second robot is decreased.If a robot is working with an application where the speed is important (e.g. arcwelding or gluing), Speed Control Warning can be used to give a warning whenthe actual speed is slower than the programmed speed.

LimitationsThis parameter is only useful when using the RobotWare option MultiMove.The speed is only supervised for robot TCP speed. No warning is given for thespeed of additional axes.


Additional informationWhen several tasks are in synchronized movement mode, all these tasks areplanned by the same Motion Planner (the first Motion Planner of those involved inthe synchronization). If this Motion Planner has Speed Control Warning set to Yes,all the synchronized robot speeds are supervised. If it has Speed Control Warningset to No, no robot speeds are supervised.


6 Topic Motion6.22.19 Speed Control Warning

6.22.20 Speed Control Percent

ParentSpeed Control Percent belongs to the type Motion Planner, in the topic Motion.

Cfg namespeed_control_percent

DescriptionIf Speed Control Warning is set to Yes, a warning will be issued when the actualspeed is slower than this percentage of the programmed speed.

UsageIf a robot is working with an application where the speed is important (e.g. arcwelding or gluing), Speed Control Percent defines the slowest speed (in percentof programmed speed) that is acceptable.

LimitationsThis parameter is only useful when using the RobotWare option MultiMove.The speed is only supervised for robot TCP speed. No warning is given for thespeed of additional axes.

Allowed valuesA number between 0 and 100 (in percent of programmed speed).


6 Topic Motion6.22.20 Speed Control Percent

6.22.21 Use spline parameters

ParentUse spline parameters belongs to the type Motion Planner, in the topic Motion.

Cfg nameuse_spline_parameters

DescriptionUse spline parameters defines the value of the spline parameters.

UsageUse spline parameters defines how long the robot waits when starting from afinepoint, that is, how many positions will be calculated in advance by the motionplanner. Default value is default mp1 for the first robot.Using 3steps mp1 will give a shorter time when starting from a finepoint. But therobot may stop with the 50024 warning (Corner zone executed as finepoint) on thefirst move.

Allowed valuesFollowing are the allowed values:

• default mp1• 3steps mp1• 4steps mp1• 5steps mp1• default mp2• 3steps mp2• 4steps mp2• 5steps mp2

NOTE! mp1 stands for motion planner 1, that is, robot 1. mp2 stands for motionplanner 2, that is, robot 2.

LimitationsThe parameter is valid only for IRB 360.


6 Topic Motion6.22.21 Use spline parameters

6.22.22 Use additional interp. object batch

ParentUse additional interp. object batch belongs to the type Motion Planner, in the topicMotion.

Cfg nameextended_dec_dist

DescriptionUse additional interp. object batch is used to increase the number of interpolationobjects available in the system. The value 0 means the default number ofinterpolation objects is available. Increasing the parameter value by one impliesallocating one additional batch of interpolation objects.

UsageThe parameter is useful if AccSet is used with very low values or a very slowexternal axis is used in the system. Typically the value is increased after the error50426 (Out of interpolation objects) is triggered.

Note

The additional interpolation objects use system memory and it is therefore notrecommended to add extra safety margin on the number of batches allocated.

Allowed valuesA value between 0 and 2 specifying the number of additional batches of interpolationobjects that are available in the system.


6 Topic Motion6.22.22 Use additional interp. object batch

6.22.23 Bandwidth of path pose filter

ParentBandwidth of path pose filter belongs to the type Motion Planner, in the topicMotion.

Cfg nameweave_path_pose_filter_bandwidth

DescriptionBandwidth of path pose filter is used to set the cut off frequency for a low passfilter that filters the path pose used for weaving. The path pose is constantlycalculated from the actual path and the tool Z direction. When this pose changestoo rapidly, the robot might jerk slightly or trigger the error message 50375,Dynamicload too high. The Bandwidth of path pose filter is used to smoothen these changesin the pose.

UsageSetting this value to a lower value creates a smoother change of the path pose. Ifa rapid change of pose is needed, a higher value can be set as long as it does notcreate jerky movements.

Allowed valuesA value between 0.01 and 20, specifying the cut off frequency in Hz.The default value is 1 Hz.

Related informationTechnical reference manual - RAPID Instructions, Functions and Data types,instruction CorrCon.


6 Topic Motion6.22.23 Bandwidth of path pose filter

6.22.24 Circle Speed Priority

ParentCircle Speed Priority belongs to the type Motion Planner, in the topic Motion.

Cfg namecircle_speed_priority

DescriptionThe circle speed is prioritized and can be increased.

UsageA higher speed is typically achieved for small circles up to a radius of approximately10 mm.


Additional informationSetting the parameter to Yes can increase the achievable speed in small circlesbut the increased speed may have a negative effect on the path accuracy.


6 Topic Motion6.22.24 Circle Speed Priority

6.22.25 Number of Internal Event Objects

ParentNumber of Internal Event Objects belongs to the type Motion Planner, in the topicMotion.

Cfg namenumber_of_event_objects

DescriptionNumber of Internal Event Objects defines the number of internal event objects forthe motion planner.

UsageThe Number of Internal Event Objects is used to allocate internal event objects.The objects are used in different situations, e.g. when running the Trigg

instructions in RAPID. When using intensive TriggLIOs the controller can getlack of internal event objects, in such event this parameter can be used to solvethe problem and increase the number of internal objects.

Allowed valuesA value between 0 and 500.Default value is 100.

Related informationRAPID Instructions, Functions and Data types - TriggLIOs


6 Topic Motion6.22.25 Number of Internal Event Objects

6.23 Type Motion Supervision

6.23.1 The Motion Supervision type

OverviewThis section describes the type Motion Supervision, which belongs to the topicMotion. Each parameter of this type is described in a separate information topicin this section.

Cfg nameMOTION_SUP

Type descriptionMotion supervision is used to activate, deactivate or adjust the collision detectionfunctionality. For detailed information about collision detection, see the Applicationmanual - Motion coordination and supervision, chapter Collision Detection.

No controller restart requiredMost of the motion supervision parameters do not require a restart of the controllerwhen modified.

LimitationsThe type Motion supervision is mainly used to configure the installed optionCollision detection. For a system without this option, changing the values for mostof the parameters does not affect the system.

Related informationHow to tune motion supervision on page 343.Application manual - Motion coordination and supervision.


6 Topic Motion6.23.1 The Motion Supervision type

6.23.2 Name

ParentName belongs to the type Motion Supervision, in the topic Motion.

Cfg namename

DescriptionName defines the name of the motion supervision setup.

LimitationThis parameter cannot be changed.

Related informationHow to tune motion supervision on page 343.



6.23.3 Path Collision Detection

ParentPath Collision Detection belongs to the typeMotion Supervision, in the topicMotion.

Cfg namepath_col_detect_on

DescriptionPath Collision Detection turns the collision detection on or off for program execution.

UsageSetting Path Collision Detection to On turns on the collision detection, Off turnsoff the collision detection.




6 Topic Motion6.23.3 Path Collision Detection

6.23.4 Jog Collision Detection

ParentJog Collision Detection belongs to the typeMotion Supervision, in the topicMotion.

Cfg namejog_col_detect_on

DescriptionJog collision Detection turns the collision detection on or off for jogging.

LimitationChanging this parameter only affects the system if the option Collision detectionis installed.

Allowed valuesOn or Off



6 Topic Motion6.23.4 Jog Collision Detection

6.23.5 Path Collision Detection Level

ParentPath Collision Detection Level belongs to the type Motion Supervision, in the topicMotion.

Cfg namepath_col_detect_level

DescriptionPath Collision Detection Level modifies the supervision level for the collisiondetection for program execution by a specified percentage value.

UsageThe supervision level for collision detection in program execution is specified asa percentage. A large value makes the function less sensitive. The default valueis 100%. For detailed information, see theApplicationmanual - Motion coordinationand supervision.

LimitationChanging this parameter only affects the system if the option Collision detectionis installed.

Allowed valuesA value in the interval 1 to 500, specifying the supervision level in %.The default value is 100%.



6 Topic Motion6.23.5 Path Collision Detection Level

6.23.6 Jog Collision Detection Level

ParentJog Collision Detection Level belongs to the type Motion Supervision, in the topicMotion.

Cfg namejog_col_detect_level

DescriptionJog Collision Detection Level modifies the supervision level for the collisiondetection for jogging by a specified percentage value.

UsageThe supervision level for collision detection in jogging is specified as a percentage,where a large value makes the function less sensitive. The default value is 100%.For detailed information, see the Application manual - Motion coordination andsupervision.

LimitationsChanging this parameter only affects the system if the option Collision detectionis installed.

Allowed valuesA value in the interval 1 to 500, specifying the supervision level in %.The default level is 100%.



6 Topic Motion6.23.6 Jog Collision Detection Level

6.23.7 Collision Detection Memory

ParentCollision Detection Memory belongs to the type Motion Supervision, in the topicMotion.

Cfg namecollision_detection_memory

DescriptionCollision Detection Memory defines how much the robot moves back on the pathafter a collision.The parameter requires a restart of the controller when modified.

UsageThe robot movement back on the path after a collision is specified in seconds. Ifthe robot was moving quickly before the collision, it will move further back than ifthe speed was lower. For detailed information, see the Application manual - Motioncoordination and supervision.

Allowed valuesA value in the interval 0.025 to 0.5, specifying the movement in seconds.



6 Topic Motion6.23.7 Collision Detection Memory

6.23.8 Manipulator supervision

ParentManipulator supervision belongs to the typeMotion Supervision, in the topicMotion.

Cfg namemanipulator_supervision_on

DescriptionManipulator supervision turns the supervision for the loose arm detection on oroff for IRB340 and IRB 360.

UsageSet Manipulator supervision to On to turn supervision on. The supervision level isset with parameter Manipulator supervision level. A loose arm will stop the robotand cause an error message.

LimitationsChanging this parameter affects the system only if the option Collision detectionis installed.For the changes to take effect, a warmstart is required.The Manipulator supervision parameter is used only by IRB 340 and IRB 360.

Allowed valuesOn or Off.The default value is Off.



6 Topic Motion6.23.8 Manipulator supervision

6.23.9 Manipulator supervision level

ParentManipulator supervision level belongs to the type Motion Supervision, in the topicMotion.

Cfg namemanipulator_supervision_level

DescriptionManipulator supervision level modifies the supervision level for the loose armdetection for the manipulators IRB 340 and IRB 360.

UsageThe supervision level for loose arms is specified as a percentage, where a largevalue makes the function less sensitive. The default value is 100%.The supervision function is turned On or Off with parameterManipulator supervision.

LimitationsChanging this parameter only affects the system if the option Collision detectionis installed.For the changes to take effect, a warmstart is required.The parameter Manipulator supervision level is used only by IRB 340 and IRB 360.

Allowed valuesA value in the interval 1 to 500, specifying the supervision level in %.The default value is 100%.



6 Topic Motion6.23.9 Manipulator supervision level

6.24 Type Motion System

6.24.1 The Motion System type

OverviewThis section describes the type Motion System, which belongs to the topic Motion.Each parameter of this type is described in a separate information topic in thissection.

Cfg nameMOTION_SYSTEM

Type descriptionMotion System includes parameters that are common for the entire system.

Non-editable parametersThe following parameter is visible but not editable in the software configurationtools:

• Sensor Memory ModeAs a consequence, the above parameter is not described in the manual.


6 Topic Motion6.24.1 The Motion System type

6.24.2 Name

ParentName belongs to the type Motion System, in the topic Motion.

Cfg namename

DescriptionName specifies the name of the Motion System type.




6.24.3 Min Temperature Cabinet

ParentMin Temperature Cabinet belongs to the type Motion System, in the topic Motion.

Cfg namemin_temp_ambient_cabinet

DescriptionMin Temperature Cabinet defines the minimum ambient temperature where thecabinet is situated.

Allowed valuesA value between -100 to 100 C, specifying the temperature in degrees Celsius.


6 Topic Motion6.24.3 Min Temperature Cabinet

6.24.4 Max Temperature Cabinet

ParentMax Temperature Cabinet belongs to the type Motion System, in the topic Motion.

Cfg namemax_temp_ambient_cabinet

DescriptionMax Temperature Cabinet defines the maximum ambient temperature where thecabinet is situated.


Additional informationThis parameter does not have to be changed if the controller is equipped with anextra fan for the cabinet.


6 Topic Motion6.24.4 Max Temperature Cabinet

6.24.5 Min Temperature Robot

ParentMin Temperature Robot belongs to the type Motion System, in the topic Motion.

Cfg namemin_temp_ambient_robot

DescriptionMin Temperature Robot defines the minimum ambient temperature where the robotis situated.



6 Topic Motion6.24.5 Min Temperature Robot

6.24.6 Max Temperature Robot

ParentMax Temperature Robot belongs to the type Motion System, in the topic Motion.

Cfg namemax_temp_ambient_robot

DescriptionMax Temperature Robot defines the maximum ambient temperature where therobot is situated.



6 Topic Motion6.24.6 Max Temperature Robot

6.25 Type Motor

6.25.1 The Motor type

OverviewThis section describes the Motor type which belongs to the topic Motion. Eachparameter is described in a separate information topic in this section.

Cfg nameMOTOR

Type descriptionThe type Motor describes the motor used for each axis. There is one configurationof the type Motor for each axis.Note that only external axes are visible, the robot's axes motors are configured ondelivery and should not be changed.


6 Topic Motion6.25.1 The Motor type

6.25.2 Name

ParentName belongs to the type Motor, in the topic Motion.

Cfg namename

DescriptionName defines the name of the motor.




6.25.3 Use Motor Type

ParentUse Motor Type belongs to the type Motor, in the topic Motion.

Cfg nameuse_motor_type

DescriptionUse Motor Type defines which type of motor is used for this type.

UsageThe type Motor Type defines the motor data.


Related informationThe type Motor Type on page 573.


6 Topic Motion6.25.3 Use Motor Type

6.25.4 Use Motor Calibration

ParentUse Motor Calibration belongs to the type Motor, in the topic Motion.

Cfg nameuse_motor_calib

DescriptionUse Motor Calibration defines which type of motor calibration to be used.

UsageThe type Motor Calibration defines the motor's calibration data.


Related informationThe Motor Calibration type on page 566.


6 Topic Motion6.25.4 Use Motor Calibration

6.26 Type Motor Calibration

6.26.1 The Motor Calibration type

OverviewThis section describes the type Motor Calibration, which belongs to the topicMotion. Each parameter of the type is described in a separate information topic inthis section.

Cfg nameMOTOR_CALIB

Type descriptionWith the parameters in the Motor Calibration type, you can calibrate the robot'smotors by entering the calibration values.Motor calibration configuration is normally done during robot calibration. However,if the values are known, they can be specified directly.

LimitationsIf calibration or commutator offset parameters are set, the corresponding offsetvalid parameters have to be set to YES, otherwise the offset parameter will not beused.


6 Topic Motion6.26.1 The Motor Calibration type

6.26.2 Name

ParentName belongs to the type Motor Calibration, in the topic Motion.

Cfg namename

DescriptionName specifies the name of the motor calibration setting it belongs to.

UsageName is used to reference the Motor Calibration from the parameter Use MotorCalibration in the type Motor.




6.26.3 Commutator Offset

ParentCommutator Offset belongs to the type Motor Calibration, in the topic Motion.

Cfg namecom_offset

DescriptionCommutator Offset defines the position of the motor (resolver) when the rotor isin the predefined commutation position relative to the stator.

UsageABB motors normally uses Commutation Offset value 1.57080.

Allowed valuesA value between -6.283186 and 6.283186, specifying the offset in radians.


6 Topic Motion6.26.3 Commutator Offset

6.26.4 Commutator Offset Valid

ParentCommutator Offset Valid belongs to the typeMotor Calibration, in the topicMotion.

Cfg namevalid_com_offset

DescriptionCommutator Offset Valid specifies whether the commutator offset is defined ornot.


Related informationCommutator Offset on page 568.


6 Topic Motion6.26.4 Commutator Offset Valid

6.26.5 Calibration Offset

ParentCalibration Offset belongs to the type Motor Calibration, in the topic Motion.

Cfg namecal_offset

DescriptionCalibration Offset defines the position of the motor (resolver) when the arm is inthe calibration (zero) position.

Allowed valuesA value between -6.283186 and 6.283186, specifying the offset in radians.


6 Topic Motion6.26.5 Calibration Offset

6.26.6 Calibration Offset Valid

ParentCalibration Offset Valid belongs to the type Motor Calibration, in the topic Motion.

Cfg namevalid_cal_offset

DescriptionCalibration Offset Valid specifies whether the calibration offset is defined or not.


Related informationCalibration Offset on page 570.


6 Topic Motion6.26.6 Calibration Offset Valid

6.26.7 Calibration Sensor Position

ParentCalibration Sensor Position belongs to the type Motor Calibration, in the topicMotion.

Cfg namecal_sensor_position

DescriptionCalibration Sensor Position defines the calibration sensor position on the arm side.

UsageThe value is set in degrees.

Allowed valuesA value between -180 and 180 degrees.Default value is 0 degrees.


6 Topic Motion6.26.7 Calibration Sensor Position

6.27 Type Motor Type

6.27.1 The type Motor Type

OverviewThis section describes the type Motor Type, which belongs to the topic Motion.Each parameter of the type is described in a separate information topic in thissection.

Cfg nameMOTOR_TYPE

Type descriptionThe type Motor Type is used to describe characteristics for the motor.

LimitationsThe parameter values for Motor Type can only be changed for additional axismotors. The values can be observed for robot motors, but cannot be changed.


6 Topic Motion6.27.1 The type Motor Type

6.27.2 Name

ParentName belongs to the type Motor Type, in the topic Motion.

Cfg namename

DescriptionThe name of the Motor Type.

UsageName is used to reference a motor type from the parameter Use Motor Type in thetype Motor.




6.27.3 Pole Pairs

ParentPole Pairs belongs to the type Motor Type, in the topic Motion.

Cfg namepole_pairs

DescriptionDefines the number of pole pairs for the motor type.

UsageSet Pole Pairs to the number of pole pairs (i.e. number of poles divided with 2) thatthe motor has.

LimitationsPole Pairs can only be changed for additional axis motors. The values can beobserved for robot motors, but cannot be changed.



6 Topic Motion6.27.3 Pole Pairs

6.27.4 Stall Torque

ParentStall Torque belongs to the type Motor Type, in the topic Motion.

Cfg nametorque_0

DescriptionThe continuous stall torque, i.e. the torque the motor can produce at no speed andduring an infinite time.

UsageSet Stall Torque to the stall torque (T0) specified by the motor manufacturer.

LimitationsStall Torque can only be changed for additional axis motors. The values can beobserved for robot motors, but cannot be changed.

Allowed valuesA numeric value between 0 and 100000 (Nm).


6 Topic Motion6.27.4 Stall Torque

6.27.5 ke Phase to Phase

Parentke Phase to Phase belongs to the type Motor Type, in the topic Motion.

Cfg nameke

DescriptionNominal voltage constant.

Usageke Phase to Phase is the induced voltage (phase to phase) that corresponds tothe speed 1 rad/s.

Limitationske Phase to Phase can only be changed for additional axis motors. The values canbe observed for robot motors, but cannot be changed.

Allowed valuesA numeric value between 0 and 10 (Vs/rad).

Additional informationSome motor manufacturers specify the value kt instead of ke. ke can then becalculated according to the formula:ke = kt / ÷3


6 Topic Motion6.27.5 ke Phase to Phase

6.27.6 Max Current

ParentMax Current belongs to the type Motor Type, in the topic Motion.

Cfg namei_max

DescriptionMax current without irreversible magnetization.

UsageSet Max Current to the root-mean-square of the maximum current the motor canwithstand without irreversible demagnetization.

LimitationsMax Current can only be changed for additional axis motors. The values can beobserved for robot motors, but cannot be changed.

Allowed valuesA numeric value between 0 and 100 (A rms).


6 Topic Motion6.27.6 Max Current

6.27.7 Phase Resistance

ParentPhase Resistance belongs to the type Motor Type, in the topic Motion.

Cfg namer_stator_20

DescriptionNominal winding resistance per phase at 20 degrees Celsius.

UsageSet Phase Resistance to the stator phase resistance (R20) specified by the motormanufacturer.

LimitationsPhase Resistance can only be changed for additional axis motors. The values canbe observed for robot motors, but cannot be changed.

Allowed valuesA numeric value between 0 and 100 (ohm).


6 Topic Motion6.27.7 Phase Resistance

6.27.8 Phase Inductance

ParentPhase Inductance belongs to the type Motor Type, in the topic Motion.

Cfg namel_stator

DescriptionNominal winding inductance per phase at zero current.

UsageSet Phase Inductance to the stator phase inductance (L0) specified by the motormanufacturer.

LimitationsPhase Inductance can only be changed for additional axis motors. The values canbe observed for robot motors, but cannot be changed.

Allowed valuesA numeric value between 0 and 100 (H).


6 Topic Motion6.27.8 Phase Inductance

6.28 Type Path Sensor Synchronization

6.28.1 The Path Sensor Synchronization type

ParentThis section describes the type Path Sensor Synchronization which belongs to thetopic Motion. Each parameter of this type is described in a separate informationtopic in this section.

Cfg namePATH_SENSOR_SYNC

Type descriptionThe type Path Sensor Synchronization define settings for sensor synchronization.The parameters of this type are used to set limits for the movements of a robotthat is synchronized with an external device. Limits can be set for allowed deviationbetween calculated and actual position, and minimum/maximum TCP speed.

LimitationsPath Sensor Synchronization can only be used if you have the option Sensorsynchronization installed.

Related informationApplication manual - Motion coordination and supervision, chapter Sensorsynchronization.


6 Topic Motion6.28.1 The Path Sensor Synchronization type

6.28.2 Name

ParentName belongs to the type Path Sensor Synchronization, in the topic Motion.

Cfg namename

DescriptionName defines the name for the path sensor synchronization.




6.28.3 Max Advance Distance

ParentMax Advance Distance belongs to the type Path Sensor Synchronization, in thetopic Motion.

Cfg namemax_adv_dist_for_decel

DescriptionMax Advance Distance defines the maximum allowed advance distance betweenthe sensor’s interpolated position and its actual position.The interpolated position of the sensor axis corresponds to the robot’s positionalong its path when the robot is synchronized with the sensor.

en0400001243

UsageIf the interpolated position of the sensor axis is ahead of the actual position, acollision may occur. For example, if the robot enter a press based on the informationthat the press is open, but the press is actually still closed, the robot may moveinto the closed press. This can be avoided by using Max Advance Distance. If MaxAdvance Distance is exceeded, motion and execution is stopped.

LimitationsMax Advance Distance can only be used if you have the option Sensorsynchronization installed.

Allowed valuesA value between 0.01 and 5.0 (meters of movement on the external device that isconnected to the sensor).Default value is 0.1.


6 Topic Motion6.28.3 Max Advance Distance

6.28.4 Max Delay Distance

ParentMax Delay Distance belongs to the type Path Sensor Synchronization, in the topicMotion.

Cfg namemax_delay_dist_for_decel

DescriptionMaxDelay Distance defines the maximum allowed delay distance between sensor’sinterpolated position and its actual position.The interpolated position of the sensor axis corresponds to the robot’s positionalong its path when the robot is synchronized with the sensor.

en0400001244

UsageIf the interpolated position of the sensor axis is behind the actual position, a collisionmay occur. A robot that is moving in an area where the external device will be laterin the cycle can collide with the external device because of the incorrect timing.This can be avoided by using Max Delay Distance. If Max Delay Distance isexceeded, motion and execution is stopped.Max Delay Distance can be disabled by setting its value to 0.

LimitationsMax Delay Distance can only be used if you have the optionSensor synchronizationinstalled.



6 Topic Motion6.28.4 Max Delay Distance

Allowed valuesA numeric value between 0.0 and 5.0 (meters of movement on the external devicethat is connected to the sensor).Default value is 0, which means that the supervision of the delay distance is notused.


6 Topic Motion6.28.4 Max Delay Distance

Continued

6.28.5 Max Synchronization Speed

ParentMax Synchronization Speed belongs to the type Path Sensor Synchronization, inthe topic Motion.

Cfg namemax_sync_speed

DescriptionMax Synchronization Speed defines the maximum allowed robot TCP speed duringsynchronization with an external device.

UsageIf the external device (that the robot is synchronized with) moves so fast that therobot should exceed Max Synchronization Speed, the robot speed will be limitedto Max Synchronization Speed. The robot will slip behind, and the interpolatedsensor position will be delayed compared to the actual sensor position, until theMax Delay Distance is reached.

LimitationsMax Synchronization Speed can only be used if you have the option Sensorsynchronization installed.

Allowed valuesA numeric value between 1.0 and 10.0 (m/s).Default value is 4.0.


6 Topic Motion6.28.5 Max Synchronization Speed

6.28.6 Min Synchronization Speed

ParentMin Synchronization Speed belongs to the type Path Sensor Synchronization, inthe topic Motion.

Cfg namemin_sync_speed

DescriptionMin Synchronization Speed defines the minimum allowed robot TCP speed duringsynchronization with an external device.

UsageIf the external device (that the robot is synchronized with) stops, the robot speedwill maintain the Max Synchronization Speed. The robot will move ahead, and theinterpolated sensor position will be in advance compared to the actual sensorposition, until the Max Advance Distance is reached.

LimitationsMin Synchronization Speed can only be used if you have the option Sensorsynchronization installed.

Allowed valuesA value between 0.0 and 2.0 (m/s).Default value is 0.1.


6 Topic Motion6.28.6 Min Synchronization Speed

6.28.7 Synchronization Type

ParentSynchronization Type belongs to the type Path Sensor Synchronization, in thetopic Motion.

Cfg namesync_type

DescriptionSynchronization Type defines what type of synchronization to be used.

LimitationsSynchronization Type can only be used if you have the option Sensorsynchronization installed.

Allowed values

Description:Value:

Synchronization based on distance, actual sensor positionin corvec.

MINIMAL_DIST

Synchronization based on nominal sensor speed, actualsensor position in corvec.

NOM_SPEED_SENS

Synchronization based on nominal sensor speed, calculatedsensor position in corvec.

NOM_SPEED_CALC

Synchronization based on distance, calculated sensor positionin corvec.

MIN_DIST_CALC

When robot and sensor speed is lower than 0.2 m/sec.LOW_SPEED_SYNC

To synchronize two robots through DeviceNet bus.ROBOT_TO_ROBOT

To synchronize robot with press moved by electric motor.ROBOT_TO_PRESS

To synchronize robot with hydraulic press.ROBOT_TO_HPRESS

To synchronize with injection moulding machine.SYNC_TO_IMM


6 Topic Motion6.28.7 Synchronization Type

6.29 Type Process

6.29.1 The Process type

OverviewThis section describes the type Process, which belongs to the topic Motion. Eachparameter of the type is described in a separate information topic in this section.

Cfg namePROCESS

Type descriptionA process can be called from the parameter Use Process in the type Joint. Theparameters in the type Process point out a process in the type Linked M Processor SG Process that will be used for that joint.

Related informationUse Process on page 458.The Linked M Process type on page 487.


6 Topic Motion6.29.1 The Process type

6.29.2 Name

ParentName belongs to the type Process, in the topic Motion.

Cfg namename

DescriptionName defines the identity of the process.

UsageThe Name of the process is used by a joint to call the process.The process calls a linked motor process (type Linked M Process) or a servo gunprocess (type SG Process).

LimitationsThis parameter is useful only if you have either of the RobotWare base functionalityElectronically Linked Motors or option Spot Servo.




6.29.3 Use SG Process

ParentUse SG Process belongs to the type Process, in the topic Motion.

Cfg nameuse_sg_process

DescriptionUse SG Process defines which SG Process to use.

UsageUse SG Process refers to a process ID defined by the parameter Name in the typeSG Process.SG Process is used to define a servo tool’s behavior.

LimitationsSG Process can only be used for servo tools.



6 Topic Motion6.29.3 Use SG Process

6.29.4 Use Linked Motor Process

ParentUse Linked Motor Process belongs to the type Process, in the topic Motion.

Cfg nameuse_linked_m_proc

DescriptionUse Linked Motor Process defines which linked motor process to use.

UsageUse Linked Motor Process points to a process ID defined by the parameter Namein the type Linked M Process.The linked motor process is used to define a joint's behavior for ElectronicallyLinked Motors.



6 Topic Motion6.29.4 Use Linked Motor Process

6.30 Type Relay

6.30.1 The Relay type

OverviewThis section describes the type Relay which belongs to the topic Motion. Eachparameter of this type is described in a separate information topic in this section.

Cfg nameRELAY

Type descriptionThe type Relay defines the characteristics of the relays that are used for themechanical units, e.g. brake relays and run relays.All relays for a robot supplied from ABB are defined on delivery. This means thatadding or editing parameters of the Relay type is only necessary when additionalaxes are installed.



6 Topic Motion6.30.1 The Relay type

6.30.2 Name

ParentName belongs to the type Relay, in the topic Motion.

Cfg namename

DescriptionThe name of the Relay.

UsageName is used to refer a Relay from the parametersUse Activation Relay,Use BrakeRelay, and Use Connection Relay in the type Mechanical Unit.




6.30.3 Output Signal

ParentOutput Signal belongs to the type Relay in the topic Motion.

Cfg nameOut_signal

DescriptionOutput Signal defines the logical name of the output signal to the relay.

UsageCharacteristics of relays for manipulators need to be defined when additional axesare installed.The value of Output Signal must be identical to the name of the signal, includingupper and lower case letters.

PrerequisitesThe logical signal name must be defined in the type Signal in the topic I/O.




6 Topic Motion6.30.3 Output Signal

6.30.4 Input Signal

ParentInput Signal belongs to the type Relay in the topic Motion.

Cfg namein_signal

DescriptionInput Signal defines the logical name of the input signal to the relay.

UsageCharacteristics of relays for manipulators need to be defined when additional axesare installed.The value of Input Signal must be identical to the name of the signal, includingupper and lower case letters.

PrerequisitesThe logical signal name must be defined in the type Signal in the topic I/O.The signal must be defined as "safety" and "INTERNAL".




6 Topic Motion6.30.4 Input Signal

6.31 Type Robot

6.31.1 The Robot type

OverviewThis section describes the type Robot which belongs to the topic Motion. Eachparameter of this type is described in a separate information topic in this section.

Cfg nameROBOT

Type descriptionThe type Robot contains a number of parameters that are common for a robot inthe robot system. The robot is a mechanical unit with more than one joint.Parameters of this type are used to define which joints the robot consists of andthe base frame of the robot.


6 Topic Motion6.31.1 The Robot type

6.31.2 Name

ParentName belongs to the type Robot, in the topic Motion.

Cfg namename

DescriptionName defines the name of the robot.

LimitationsThis parameter cannot be changed.



6.31.3 Use Robot Type

ParentUse Robot Type belongs to the type Robot, in the topic Motion.

Cfg nameuse_robot_type

DescriptionUse Robot Type defines what robot type is used. The parameter containsinformation about robot reach (m) and handling capacity (kg).



6 Topic Motion6.31.3 Use Robot Type

6.31.4 Use Old SMB

ParentUse Old SMB belongs to the type Robot, in the topic Motion.

Cfg nameuse_old_smb

DescriptionTo adapt earlier robot systems, running earlier SMB board versions without flashmemory, to later software versions, the parameter Use Old SMB is to be set toYes.

UsageEarlier systems, in this context, is any robot system delivered with an SMB boardof any of these revisions:

• DSQC 313, all revisions• DSQC 520, revision 5 and earlier• DSQC 562, revision 2 and earlier



6 Topic Motion6.31.4 Use Old SMB

6.31.5 Use Robot Calibration

ParentUse Robot Calibration belongs to the type Robot, in the topic Motion.

Cfg namesuse_robot_calib

DescriptionUse Robot Calibration defines if Absolute Accuracy is active for the robot.

UsageSetUse Robot Calibration to "r1_calib" to activate Absolute Accuracy for the robot.In a MultiMove system, set the value for robot 2 to "r2_calib", robot 3 to "r3_calib"and robot 4 to "r4_calib".

Allowed values

DescriptionValue(robot 4)

Value(robot 3)

Value(robot 2)

Value(robot 1)

Absolute Accuracy is activated for therobot.

r4_calibr3_calibr2_calibr1_calib

Absolute Accuracy is deactivated for therobot.

r4_uncalibr3_uncalibr2_uncalibr1_uncalib

Absolute Accuracy is deactivated for therobot.

not_used_un-calib

not_used_un-calib

not_used_un-calib

not_used_un-calib

Should only be used if no other value isselectable.

Related informationAbsolute Accuracy is described in Application manual - Motion performance.


6 Topic Motion6.31.5 Use Robot Calibration

6.31.6 Use Joint 1, 2, 3, 4, 5, 6

ParentUse Joint 1, Use Joint 2, Use Joint 3, Use Joint 4 , Use Joint 5, and Use Joint 6belong to the type Robot, in the topic Motion.

Cfg namesuse_joint_0use_joint_1use_joint_2use_joint_3use_joint_4use_joint_5

DescriptionUse joint 1 defines which joint data to use as the robot's first joint.Use joint 2 defines which joint data to use as the robot's second joint.Use joint 3 defines which joint data to use as the robot's third joint.Use joint 4 defines which joint data to use as the robot's fourth joint.Use joint 5 defines which joint data to use as the robot's fifth joint.Use joint 6 defines which joint data to use as the robot's sixth joint.

UsageThe joints are defined in the type Joint.

Allowed valuesA string with maximum 32 characters, specifying an already defined joint.



6 Topic Motion6.31.6 Use Joint 1, 2, 3, 4, 5, 6

6.31.7 Base Frame x, y, z

ParentBase Frame x, Base Frame y, and Base Frame z belongs to the type Robot, in thetopic Motion.

Cfg namesbase_frame_pos_xbase_frame_pos_ybase_frame_pos_z

DescriptionBase Frame x defines the x-direction of the base frame position in relation to theworld frame (in meters).Base Frame y defines the y-direction of the base frame position in relation to theworld frame (in meters).Base Frame z defines the z-direction of the base frame position in relation to theworld frame (in meters).

Allowed valuesA value between -1000 to 1000, specifying the relation in meters.

Related informationHow to define base frame on page 333.


6 Topic Motion6.31.7 Base Frame x, y, z

6.31.8 Base Frame q1, q2, q3, q4

ParentBase Frame q1, Base Frame q2, Base Frame q3, and Base Frame q4 belongs tothe type Robot, in the topic Motion.

Cfg namebase_frame_orient_u0base_frame_orient_u1base_frame_orient_u2base_frame_orient_u3

DescriptionBase Frame q1 defines the first quaternion (q1) of the base frame orientation inrelation to the world frame.Base Frame q2 defines the second quaternion (q2) of the base frame orientationin relation to the world frame.Base Frame q3 defines the third quaternion (q3) of the base frame orientation inrelation to the world frame.Base Frame q4 defines the fourth quaternion (q4) of the base frame orientation inrelation to the world frame.

Allowed valuesA value between -1 to 1 specifying the orientation.



6 Topic Motion6.31.8 Base Frame q1, q2, q3, q4

6.31.9 Base Frame Moved by

ParentBase Frame Moved by belongs to the type Robot, in the topic Motion.

Cfg namebase_frame_coordinated

DescriptionBase Frame Moved by defines the name of robot or single that moves the baseframe of the robot.




6 Topic Motion6.31.9 Base Frame Moved by

6.31.10 Gravity Alpha

ParentGravity Alpha belongs to the type Robot, in the topic Motion.

Cfg namegravity_alpha

DescriptionGravity Alpha defines the orientation of gravity with respect to the base frame.

UsageThe Gravity Alpha is a positive rotation direction around the X-axis in the baseframe. The value is set in radians.

PrerequisitesThe Gravity Alpha parameter is used for robots on track when the 7 axes highperformancemotion parameter is set. This parameter is not used for all robot types.If the robot does not support Gravity Alpha, use Gravity Beta along with therecalibration of axis 1 to define the rotation of the robot around the X-axis.To define the rotation of the robot around the X-axis with help of Gravity Beta:

1 Install the robot.2 Move axis 1 to one of the two positions where the rotational axis for joint 2

is parallel to the floor.3 Note the axis 1 angle for this position (normally +/- 90 degrees). This is

needed in Step 6.4 Fine calibrate axis 1 to set this position as the new zero position.5 Update Gravity Beta to the correct tilting angle of the installation. If the robot

is tilted forward around axis 2 in the new calibration position, the beta valueshould be positive. If the robot is tilted backward around axis 2 in the newcalibration position, the beta value should be negative.

6 Update the working range of the robot since the zero position for axis 1 ischanged. Otherwise, axis 1 may run into its mechanical stops. If the calibrationposition is positive, reduce the Upper Joint Bound angle by the angle asmeasured during the calibration. If the calibration position is positive, reducethe Lower Joint Bound angle by the angle as measured during the calibration.

7 Restart the controller.

Allowed valuesA value between -6.283186 and 6.283186 radians.Default value is 0.

Related information7 axes high performance motion on page 617.Upper Joint Bound on page 358.



6 Topic Motion6.31.10 Gravity Alpha

Lower Joint Bound on page 359.Gravity Beta on page 608.


6 Topic Motion6.31.10 Gravity Alpha

Continued

6.31.11 Gravity Beta

ParentGravity Beta belongs to the type Robot, in the topic Motion.

Cfg namegravity_beta

DescriptionGravity Beta defines the orientation of gravity with respect to the base frame.

UsageThe gravity beta is a positive rotation direction around the Y-axis in the base frame.The value is set in radians.

Allowed valuesA value between -6.283186 and 6.283186 radians.Default value is 0.


6 Topic Motion6.31.11 Gravity Beta

6.31.12 Gamma Rotation

ParentGamma Rotation belongs to the type Robot, in the topic Motion.

Cfg namegamma_rotation

DescriptionGamma Rotation defines the orientation of the robot’s foot on the travel carriage.

UsageThe gamma rotation is a positive rotation direction around the Z-axis of the baseframe of the travel carriage (track motion). The value is set in radians.

PrerequisitesThe Gamma Rotation parameter is useful only for robots on track when the 7 axeshigh performance motion parameter is set. This parameter is not used for all robottypes.

Allowed valuesA value between -6.283186 and 6.283186 radians.Default values is 0.

Related information7 axes high performance motion on page 617.


6 Topic Motion6.31.12 Gamma Rotation

6.31.13 Upper Work Area x, y, z

ParentUpper Work Area x, Upper Work Area y, and Upper Work Area z belong to the typeRobot, in the topic Motion

Cfg namesupper_work_area_xupper_work_area_yupper_work_area_z

DescriptionUpper work area x defines the x-coordinate of the upper bound of the work areafor the robot.Upper work area y defines the y-coordinate of the upper bound of the work areafor the robot.Upper work area z defines the z-coordinate of the upper bound of the work areafor the robot.

LimitationsThis parameter is valid only for parallel arm robots.

Allowed valuesA numeric value higher than the respective Lower Work Area value in meters.

Related informationHow to restrict the work area for parallel arm robots on page 336.Lower Work Area x, y, z on page 611.How to define base frame on page 333.


6 Topic Motion6.31.13 Upper Work Area x, y, z

6.31.14 Lower Work Area x, y, z

ParentLower Work Area x, Lower Work Area y, and Lower Work Area z belong to the typeRobot, in the topic Motion.

Cfg nameslower_work_area_xlower_work_area_ylower_work_area_z

DescriptionLower work area x defines the x-coordinate of the lower bound of the work areafor the robot.Lower work area y defines the y-coordinate of the lower bound of the work areafor the robot.Lower work area z defines the z-coordinate of the lower bound of the work areafor the robot.

LimitationsThis parameter is valid only for parallel arm robots.

Allowed valuesA numeric value lower than the respective Upper Work Area value in meters.

Related informationHow to restrict the work area for parallel arm robots on page 336.Upper Work Area x, y, z on page 610.How to define base frame on page 333.


6 Topic Motion6.31.14 Lower Work Area x, y, z

6.31.15 Upper Check Point Bound x, y, z

ParentUpper Check Point Bound x, Upper Check Point Bound y, and Upper Check PointBound z belongs to the type Robot, in the topic Motion.

Cfg namesupper_arm_cp_bound_xupper_arm_cp_bound_yupper_arm_cp_bound_z

DescriptionUpper Check Point Bound x defines the cartesian x-coordinate upper check pointbound on arm check point.Upper Check Point Bound y defines the cartesian y-coordinate upper check pointbound on arm check point.Upper Check Point Bound z defines the cartesian z-coordinate upper check pointbound on arm check point.

UsageThe arm check point can be bound to restrict the movement area.

Allowed valuesA numeric value higher than the respective coordinate Lower Check Point Boundin meters.

Related informationHow to define arm check point on page 337.Lower Check Point Bound x, y, z on page 613.


6 Topic Motion6.31.15 Upper Check Point Bound x, y, z

6.31.16 Lower Check Point Bound x, y, z

ParentLower Check Point Bound x, Lower Check Point Bound y, and Lower Check PointBound z belongs to the type Robot, in the topic Motion.

Cfg nameslower_arm_cp_bound_xlower_arm_cp_bound_ylower_arm_cp_bound_z

DescriptionLower Check Point Bound x defines the cartesian x-coordinate lower check pointbound on arm check point.Lower Check Point Bound y defines the cartesian y-coordinate lower check pointbound on arm check point.Lower Check Point Bound z defines the cartesian z-coordinate lower check pointbound on arm check point.

UsageThe arm check point can be bound to restrict the movement area.

Allowed valuesA numeric value lower than the respective coordinate Upper Check Point Boundin meters.

Related informationHow to define arm check point on page 337.Upper Check Point Bound x, y, z on page 612.


6 Topic Motion6.31.16 Lower Check Point Bound x, y, z

6.31.17 Use Six Axes Corvec

ParentUse Six Axes Corvec belongs to the type Robot, in the topic Motion.

Cfg nameuse_six_axis_corvec

DescriptionDefines if the position adjustment is made on six axes.

UsageSet Use Six Axes Corvec to Yes if the position adjustment should be made on onsix axes. In this case, the orientation of the tool is exact. Otherwise the correctionis only made on axis 1, 2, and 3 and the orientation accuracy is lower.Using Six Axes Corvec takes a little more CPU time and should not be used if notneeded.

LimitationsUse Six Axes Corvec can only be used if Conveyor tracking option is installed.Use Six Axes Corvec has no effect on coordinated tracks.Use Six Axes Corvec is only possible to use on six axes robots.


Related informationApplication manual - Conveyor tracking.


6 Topic Motion6.31.17 Use Six Axes Corvec

6.31.18 Track Conveyor with Robot

ParentTrack Conveyor with Robot belongs to the type Robot, in the topic Motion.

Cfg nametrack_convey_with_robot

DescriptionDefines if the robot should track the conveyor.

UsageSet Track Conveyor with Robot to Yes if the robot should track the conveyor withoutusing the track axis, even if robot is coordinated with track. Default value is No.

LimitationsTrack Conveyor with Robot can only be used with option Conveyor trackinginstalled.




6 Topic Motion6.31.18 Track Conveyor with Robot

6.31.19 Max External Pos Adjustment

ParentMax External Pos Adjustment belongs to the type Robot, in the topic Motion.

Cfg namemax_external_pos_adjustment

DescriptionMax External Pos Adjustment defines the maximum position adjustment allowedin conveyor direction while tracking a conveyor. The unit is meter.

UsageIf error 50163 occurs, the value of this parameter can be increased for the robotswith heavy load and high conveyor speed. Before increasing the parameter value,verify that the parametersAdjustment speed and Adjustment accel (type Conveyorsystems in the topic Process) are correctly defined.If the value of this parameter is increased, the value of the parameters Start rampand Stop ramp parameters should also be increased to 20 or 30 (type Conveyorsystems in the topic Process).

Allowed valuesThe minimum value is 0.1 and the maximum value 0.8.The default value is 0.2.


6 Topic Motion6.31.19 Max External Pos Adjustment

6.31.20 7 axes high performance motion

Parent7 axes high performance motion belongs to the type Robot, in the topic Motion.

Cfg nameseven_axes_hp_motion

Description7 axes high performance motion defines the name of the single that moves therobot.

UsageThis parameter should only be set if a "high performance track motion"-additionalpackage is present in your mediapool.

Allowed valuesA string with maximum 32 characters, specifying the unit name.


6 Topic Motion6.31.20 7 axes high performance motion

6.31.21 Time to Inposition

ParentTime to Inposition belongs to the type Robot, in the topic Motion.

Cfg nametime_to_inpos

DescriptionTime to Inposition defines the delay time between the last position reference andthe inposition event when reaching a fine point.

LimitationsTime to Inposition is only used by the option Conveyor tracking.

Allowed valuesA value between 0 and 2.0 seconds.Default value is 0.08 seconds. This should not be changed!



6 Topic Motion6.31.21 Time to Inposition

6.31.22 Orientation Supervision Off

ParentOrientation Supervision Off belongs to the type Robot, in the topic Motion.

Cfg nameori_superv_off

DescriptionThe Orientation Supervision Off system parameter defines whether the orientationsupervision is Off or On. The parameter is valid only for IRB 340 and IRB 360.

UsageThe orientation supervision is normally On and hence the value of the OrientationSupervision Off system parameter is noramlly No. If the orientation supervision istriggered in a system and if the system was working in a previous release ofRobotWare, the supervision can be switched off by setting the value of OrientationSupervision Off system parameter to Yes.Note! Switching off the orientation supervision can cause an incorrect behavior inthe tool orientation of the robot. The supervision is triggered due to an error in theRAPID program and the first action to be taken is to correct the error rather thanswitching off the orientation supervision.



6 Topic Motion6.31.22 Orientation Supervision Off

6.31.23 Conveyor Tool Change Mode

ParentConveyor Tool Change Mode belongs to the type Robot, in the topic Motion.

Cfg nameconveyor_tool_change_mode

DescriptionConveyor Tool Change Mode defines the tool change mode during conveyortracking when changing the tool in zone with same conveyor.

UsageWhen changing the tool in big zone, high conveyor speed torque disturbance mayappear with mode 0 (default value), especially with Corvec correction level 2 or 3.Mode 1: This mode will ramp out servo corrections then ramp in servo correctionsagain during the tool change zone. The torque disturbances are reduced but theaccuracy of tracking is bad until the ramp of servo correction is finished. This cancreate problems for IRB 360 with very short distances when doing double picks.Mode 2: In this mode the path is recalculated keeping the same tool until fine pointor change of conveyor or stop tracking. This mode should be used only for pickand place applications where the tool direction is constant.Mode 3: In this mode the last conveyor position before the tool change zone isused to calculate the corner position.

Allowed valuesA value between 0 and 3.The default value is 0.


6 Topic Motion6.31.23 Conveyor Tool Change Mode

6.31.24 Mech.Unit Not Moving Detection Level

ParentMech.Unit Not Moving Detection Level belongs to the type Robot, in the topicMotion.

Cfg namenot_moving_speed_level

DescriptionMech.Unit Not Moving Detection Level defines the detection level for the axes ofa Robot for the system output Mechanical Unit Not Moving.

UsageNormally the output of Mechanical Unit Not Movingwill be set only when the Robotis stopped. The output will also be set if the Detection Level speed of all axes ofthe Robot are lower than the defined level.If the Detection Level is set both for a Robot and a Single running in the samemotion group, all the axes of the Robot and the Single must move slower than itslevel to set the output.Note that, the Mechanical Units without a defined Detection Level can run fastwhen the output is set. Hence all Units with a defined Detection Level move slowerthan its Level.

Allowed valuesA value between 0 and 1.0.01 = 1% of motor max speed, disabled if 0.The default value is 0.

Related informationMechanical Unit Not Moving on page 270, in the topic I/O, type System Output.Mech.Unit Not Moving Detection Level on page654, in the topicMotion, type Single.


6 Topic Motion6.31.24 Mech.Unit Not Moving Detection Level

6.32 Type Robot Serial Number

6.32.1 The Robot Serial Number type

OverviewThis section describes the type Robot Serial Number, which belongs to the topicMotion. Each parameter of this type is described in a separate information topicin this section.

Cfg nameROBOT_SERIAL_NUMBER

Type descriptionThe type Robot Serial Number contains parameters that define the robot’s serialnumber.

Related informationThe Robot type on page 597.


6 Topic Motion6.32.1 The Robot Serial Number type

6.32.2 Name

ParentName belongs to the type Robot Serial Number, in the topic Motion.

Cfg namename

DescriptionName specifies the name of the robot that the serial number belongs to.




6.32.3 Robot Serial Number High Part

ParentRobot Serial Number High Part belongs to the type Robot Serial Number, in thetopic Motion.

Cfg namerobot_serial_number_high_part

DescriptionRobot Serial Number High Part defines the high part of the robot’s serial number.

UsageThe high part is the first four characters of the serial number.The serial number can be found on the robot’s identification plate.

Allowed valuesA string with maximum four characters.Default value is 0000.


6 Topic Motion6.32.3 Robot Serial Number High Part

6.32.4 Robot Serial Number Low Part

ParentRobot Serial Number Low Part belongs to the type Robot Serial Number, in thetopic Motion.

Cfg namerobot_serial_number_low_part

DescriptionRobot Serial Number Low Part defines the low part of the robot’s serial number.

UsageThe low integer part of the serial number.The serial number can be found on the robot’s identification plate.

Allowed valuesAn integer value with maximum nine digits.Default value is 0.


6 Topic Motion6.32.4 Robot Serial Number Low Part

6.33 Type SG Process

6.33.1 The SG Process type

OverviewThis section describes the type SG Process, which belongs to the topic Motion.Each parameter of the type is described in a separate information topic in thissection.

Cfg nameSG_PROCESS

Type descriptionThe type SG Process contains parameters to configure the behavior of a servogun (or other servo tool). There are parameters for adjusting the timing, force andthickness when closing and opening a servo gun. It is also possible to specify howthe tip wear calibration will be performed. The relation between tip force and motortorque is configured as shown below.

LimitationsSG Process can only be used if you have servo tools.

Force-torque relationTip Force 1-10 and Motor Torque 1-10 are used to define the motor torque themotor should apply when a gun closing is ordered with a certain tip force. Due tofriction, the relation between force and torque is not always linear.Between 2 and 10 points can be used to define the motor torque as a function ofthe tip force. The number of points used is defined in Number of Stored Forces.

Resulting motor torque:Ordered closing tip force:

Motor Torque 1Tip Force 1










When calculating the force-torque function, the origin (force=0, torque=0) isconsidered to be an extra point in the diagram. For tip force values between points,



6 Topic Motion6.33.1 The SG Process type

linear interpolation is used. For tip force values higher than the highest defined tipforce, extrapolation from the last two points is used.

ExampleIn this example, four points are used to define the relation between tip force andmotor torque. Any values given for point 5 to 10 are ignored.These parameters and values are configured:

Value:Parameter:

4Number of Stored Forces

50Tip Force 1

200Tip Force 2

500Tip Force 3

1800Tip Force 4

3Motor Torque 1

7Motor Torque 2

10Motor Torque 3

15Motor Torque 4

The results of this configuration is the following graph for motor torque as functionof tip force:

xx0400000938

Tip force (N)A

Motor torque (Nm)B


6 Topic Motion6.33.1 The SG Process type

Continued

6.33.2 Name

ParentName belongs to the type SG Process, in the topic Motion.

Cfg namename

DescriptionThe name of the SG Process.

UsageName is used to reference a SG Process from the parameter Use SG Process inthe type Process.




6.33.3 Use Force Master

ParentUse Force Master belongs to the type SG Process, in the topic Motion.

Cfg nameuse_force_master

DescriptionUse Force Master determines which Force Master should be used.

UsageUse Force Master is a reference to the parameter Name in the type Force Master.

PrerequisitesA Force Master must be configured before Use Force Master can refer to it.

LimitationsUse Force Master can only be used for servo tools.


Related informationThe Force Master type on page 408.


6 Topic Motion6.33.3 Use Force Master

6.33.4 Sync Check Off

ParentSync Check Off belongs to the type SG Process, in the topic Motion.

Cfg namesync_check_off

DescriptionDefines if the servo tool synchronization check is turned off.

UsageSet Sync Check Off to Yes to disable the servo tool synchronization check. Thiscan be useful to do to manage the servo tool before having done the servicecalibration.

LimitationsSync Check Off can only be used for servo tools.



ExampleTo turn off the synchronization check, use this RAPID code:

STTune SERVOGUN, 1, SyncCheckOff;

To turn on the synchronization check again:STTuneReset SERVOGUN;


6 Topic Motion6.33.4 Sync Check Off

6.33.5 Close Time Adjust.

ParentClose Time Adjust. belongs to the type SG Process, in the topic Motion.

Cfg namemin_close_time_adjust

DescriptionAdjustment of the ordered minimum close time of the gun.

UsageIf the servo gun is ordered to start closing before the robot is in position, the tipsmight touch the work piece too early. By setting Close Time Adjust. to a positivevalue, this can be avoided.If there is a waiting period when the robot is in position but before the servo gunis closing, the cycle time can be reduced by settingClose Time Adjust. to a negativevalue.Close Time Adjust.may be used to delay the closing slightly when the synchronizedpre closing is used for welding.

LimitationsClose Time Adjust. can only be used if you have servo tools.

Allowed valuesNumerical value between -100 and 100 (seconds).


6 Topic Motion6.33.5 Close Time Adjust.

6.33.6 Close Position Adjust.

ParentClose Position Adjust. belongs to the type SG Process, in the topic Motion.

Cfg nameclose_position_adjust

DescriptionAdjustment of the ordered position when closing the gun to a position and force.When the tool tips reach the position (plate thickness) ordered by the closeinstruction, the force control starts. This tool tip position can be adjusted with ClosePosition Adjust. to make the force control start earlier.

UsageTo make sure the tool tips do not touch the work piece before the force controlstarts, Close Position Adjust. can be used to leave some space between the tooltips and the work object.

LimitationsClose Position Adjust. can only be used if you have servo tools.

Allowed valuesNumeric value between 0 and 0.005 (meters).


6 Topic Motion6.33.6 Close Position Adjust.

6.33.7 Force Ready Delay

ParentForce Ready Delay belongs to the type SG Process, in the topic Motion.

Cfg namepre_sync_delay_time

DescriptionForce Ready Delay is used to delay the close ready event. This will make the servogun wait some extra time when the closing is finished and the ordered force isachieved.

UsageForce Ready Delay can be used if the servo gun needs some extra time for theforce to be stabilized.

LimitationsForce Ready Delay can only be used if you have servo tools.

Allowed valuesA numeric value between 0 and 30 (seconds).


6 Topic Motion6.33.7 Force Ready Delay

6.33.8 Max Force Control Motor Torque

ParentMax Force Control Motor Torque belongs to the type SG Process, in the topicMotion.

Cfg namemax_motor_torque

DescriptionMax allowed motor torque for force control. Commanded force will be reduced, ifthe required motor torque is higher than this value.

UsageMax Force Control Motor Torque is used to protect the gun from mechanicaloverload.

LimitationsMax Force Control Motor Torque can only be used if you have servo tools.

Allowed valuesA numeric value between 0 and 100 (Nm).The default value is 7 Nm.


6 Topic Motion6.33.8 Max Force Control Motor Torque

6.33.9 Post-synchronization Time

ParentPost-synchronization Time belongs to the type SG Process, in the topic Motion.

Cfg namepost_sync_time

DescriptionPost-synchronization Time is used to anticipate the open ready event. The openinstruction will be considered ready before the servo gun is completely open.

UsagePost-synchronization Time can be used to save cycle time. The waiting timebetween the opening of the servo gun and the execution of the next instructioncan be reduced.The synchronization may fail if Post-synchronization Time is set too high.

LimitationsPost-synchronization Time can only be used if you have servo tools.

Allowed valuesA numeric value between 0 and 0.5 (seconds).


6 Topic Motion6.33.9 Post-synchronization Time

6.33.10 Calibration Mode

ParentCalibration Mode belongs to the type SG Process, in the topic Motion.

Cfg namecalib_mode

DescriptionNumber of tip wear calibration points, i.e. the number of times the servo gun closesduring a tip wear calibration.

UsageIf the flexibility of a servo gun is not linearly dependent of the force, more than twomeasurement points may be necessary. This will improve the plate thicknessdetection.

LimitationsCalibration Mode can only be used if you have servo tools.



6 Topic Motion6.33.10 Calibration Mode

6.33.11 Calibration Force High

ParentCalibration Force High belongs to the type SG Process, in the topic Motion.

Cfg namecalib_force_high

DescriptionThe force used for the last closing when calibrating the tip wear of a servo gun.Calibration Force High affects the gun stiffness calibration.

UsageSet Calibration Force High to a value close to the highest force you intend to usethe servo gun for. This way it will be well calibrated for forces of that size.

LimitationsCalibration Force High can only be used if you have servo tools.

Allowed valuesA numeric value between 0 and 12000 (N).The default value is 3500 N.

Additional informationThe force of the first gun closing in a tip wear calibration is specified in CalibrationForce Low. If more than two measurement points are used, the force of thesemeasurement points are evenly distributed between Calibration Force Low andCalibration Force High.


6 Topic Motion6.33.11 Calibration Force High

6.33.12 Calibration Force Low

ParentCalibration Force Low belongs to the type SG Process, in the topic Motion.

Cfg namecalib_force_low

DescriptionThe force used for:

• the second gun closing of a new tips calibration• the second gun closing of a tool change calibration• the first gun closing of a tip wear calibration.

Calibration Force Low affects the gun position calibration.

UsageIt is recommended to set Calibration Force Low to a value close to the lowest forceyou intend to use the servo gun for, but not a higher value than half the value ofCalibration Force High.

LimitationsCalibration Force Low can only be used if you have servo tools.

Allowed valuesA numeric value between 0 and 12000 (N).The default value is 1500 N.


6 Topic Motion6.33.12 Calibration Force Low

6.33.13 Calibration Time

ParentCalibration Time belongs to the type SG Process, in the topic Motion.

Cfg namecalib_time

DescriptionThe time that the servo gun waits in closed position during calibration.

UsageIf the servo gun needs more time to stabilize, Calibration Time can be increased.This can improve the gun position calibration.In order to make the calibrations faster, Calibration Time can be decreased.

LimitationsCalibration Time can only be used if you have servo tools.

Allowed valuesA numeric value between 0 and 30 (seconds).The default value is 0.5 seconds.


6 Topic Motion6.33.13 Calibration Time

6.33.14 Number of Stored Forces

ParentNumber of Stored Forces belongs to the type SG Process, in the topic Motion.

Cfg nameno_of_active_db_posts

DescriptionUsed to define the relation between tip force and motor torque for a servo gun.Number of Stored Forces defines for how many tip force values you want to definethe motor torque, i.e. the number of points in the force-torque graph (seeForce-torque relation on page 626).

UsageMeasure the tip force and motor torque for a number of points. Set Number ofStored Forces to the number of points you want to specify.

LimitationsNumber of Stored Forces can only be used if you have servo tools.



6 Topic Motion6.33.14 Number of Stored Forces

6.33.15 Tip Force 1, 2, 3, 4, 5, 6, 7, 8, 9, 10

ParentTip Force 1, Tip Force 2, Tip Force 3, Tip Force 4, Tip Force 5, Tip Force 6, TipForce 7, Tip Force 8, Tip Force 9, and Tip Force 10 belongs to the typeSGProcess,in the topic Motion.

Cfg namesqueeze_force_1squeeze_force_2squeeze_force_3squeeze_force_4squeeze_force_5squeeze_force_6squeeze_force_7squeeze_force_8squeeze_force_9squeeze_force_10

DescriptionUsed to define the relation between tip force and motor torque for a servo gun (seeForce-torque relation on page 626).Tip Force 1 defines the ordered closing force for the first point in the force-torquegraph.Tip Force 2 defines the ordered closing force for the second point in the force-torquegraph.Tip Force 3 defines the ordered closing force for the third point in the force-torquegraph.Tip Force 4 defines the ordered closing force for the fourth point in the force-torquegraph.Tip Force 5 defines the ordered closing force for the fifth point in the force-torquegraph.Tip Force 6 defines the ordered closing force for the sixth point in the force-torquegraph.Tip Force 7 defines the ordered closing force for the seventh point in theforce-torque graph.Tip Force 8 defines the ordered closing force for the eighth point in the force-torquegraph.Tip Force 9 defines the ordered closing force for the ninth point in the force-torquegraph.Tip Force 10 defines the ordered closing force for the tenth point in the force-torquegraph.



6 Topic Motion6.33.15 Tip Force 1, 2, 3, 4, 5, 6, 7, 8, 9, 10

UsageMeasure the tip force and the motor torque for some different values.Set Tip Force 1 to the tip force value of the first point you want to specify, andMotor Torque 1 to the corresponding motor torque.Set Tip Force 2 to the tip force value of the second point you want to specify, andMotor Torque 2 to the corresponding motor torque.Set Tip Force 3 to the tip force value of the third point you want to specify, andMotor Torque 3 to the corresponding motor torque.Set Tip Force 4 to the tip force value of the fourth point you want to specify, andMotor Torque 4 to the corresponding motor torque.Set Tip Force 5 to the tip force value of the fifth point you want to specify, andMotor Torque 5 to the corresponding motor torque.Set Tip Force 61 to the tip force value of the sixth point you want to specify, andMotor Torque 6 to the corresponding motor torque.Set Tip Force 7 to the tip force value of the seventh point you want to specify, andMotor Torque 7 to the corresponding motor torque.Set Tip Force 8 to the tip force value of the eighth point you want to specify, andMotor Torque 8 to the corresponding motor torque.Set Tip Force 9 to the tip force value of the ninth point you want to specify, andMotor Torque 9 to the corresponding motor torque.Set Tip Force 10 to the tip force value of the tenth point you want to specify, andMotor Torque 10 to the corresponding motor torque.

LimitationsTip Force can only be used for servo tools.

Allowed valuesA numeric value between 0 and 20000 (N).


6 Topic Motion6.33.15 Tip Force 1, 2, 3, 4, 5, 6, 7, 8, 9, 10

Continued

6.33.16 Motor Torque 1, 2, 3, 4, 5, 6, 7, 8, 9, 10

ParentMotor Torque 1, Motor Torque 2, Motor Torque 3, Motor Torque 4, Motor Torque5, Motor Torque 6, Motor Torque 7, Motor Torque 8, Motor Torque 9, and MotorTorque 10 belongs to the type SG Process, in the topic Motion.

Cfg namesqueeze_torque_1squeeze_torque_2squeeze_torque_3squeeze_torque_4squeeze_torque_5squeeze_torque_6squeeze_torque_7squeeze_torque_8squeeze_torque_9squeeze_torque_10

DescriptionUsed to define the relation between tip force and motor torque for a servo gun (seeForce-torque relation on page 626).Motor Torque 1 defines the motor torque for the first point in the force-torque graph.Motor Torque 2 defines the motor torque for the second point in the force-torquegraph.Motor Torque 3 defines the motor torque for the third point in the force-torquegraph.Motor Torque 4 defines the motor torque for the fourth point in the force-torquegraph.Motor Torque 5 defines the motor torque for the fifth point in the force-torque graph.Motor Torque 6 defines the motor torque for the sixth point in the force-torquegraph.Motor Torque 7 defines the motor torque for the seventh point in the force-torquegraph.Motor Torque 8 defines the motor torque for the eighth point in the force-torquegraph.Motor Torque 9 defines the motor torque for the ninth point in the force-torquegraph.Motor Torque 10 defines the motor torque for the tenth point in the force-torquegraph.

UsageMeasure the tip force and the motor torque for some different values



6 Topic Motion6.33.16 Motor Torque 1, 2, 3, 4, 5, 6, 7, 8, 9, 10

Set Motor Torque 1 to the motor torque value of the first point you want to specify,and Tip Force 1 to the corresponding tip force.Set Motor Torque 2 to the motor torque value of the second point you want tospecify, and Tip Force 2 to the corresponding tip force.Set Motor Torque 3 to the motor torque value of the third point you want to specify,and Tip Force 3 to the corresponding tip force.SetMotor Torque 4 to the motor torque value of the fourth point you want to specify,and Tip Force 4 to the corresponding tip force.Set Motor Torque 5 to the motor torque value of the fifth point you want to specify,and Tip Force 5 to the corresponding tip force.Set Motor Torque 6 to the motor torque value of the sixth point you want to specify,and Tip Force 6 to the corresponding tip force.Set Motor Torque 7 to the motor torque value of the seventh point you want tospecify, and Tip Force 7 to the corresponding tip force.SetMotor Torque 8 to the motor torque value of the eighth point you want to specify,and Tip Force 8 to the corresponding tip force.SetMotor Torque 9 to the motor torque value of the ninth point you want to specify,and Tip Force 91 to the corresponding tip force.SetMotor Torque 10 to the motor torque value of the tenth point you want to specify,and Tip Force 10 to the corresponding tip force.

LimitationsMotor Torque can only be used for servo tools.

Allowed valuesA numeric value between -100 and 100 (Nm).


6 Topic Motion6.33.16 Motor Torque 1, 2, 3, 4, 5, 6, 7, 8, 9, 10

Continued

6.33.17 Squeeze Position 1, 2, 3, 4, 5, 6, 7, 8, 9, 10

ParentSqueeze Position 1 to Squeeze Position 10 belongs to the type SG Process, in thetopic Motion.

Cfg namesqueeze_pos_1squeeze_pos_2squeeze_pos_3squeeze_pos_4squeeze_pos_5squeeze_pos_6squeeze_pos_7squeeze_pos_8squeeze_pos_9squeeze_pos_10

DescriptionUsed to define the joint position for a servo gun in relation to a given tip force andmotor torque (see Force-torque relation on page 626).Squeeze Position defines the joint position for the servo gun in the force-torquegraph.

UsageSqueeze Position is used to control the servo gun when a change of force is orderedduring welding.

LimitationsSqueeze Position can only be used for servo tools.

Allowed valuesA numeric value typically between -0.02 and 0.02 (meters).The default value is 0.


6 Topic Motion6.33.17 Squeeze Position 1, 2, 3, 4, 5, 6, 7, 8, 9, 10

6.33.18 Soft Stop Timeout

ParentSoft Stop Timeout belongs to the type SG Process, in the topic Motion.

Cfg namesoft_stop_timeout

DescriptionIf a soft stop occurs during constant force, Soft Stop Timeout defines how long theforce will be maintained. The force will be reduced after this time-out, or whenopening is commanded.

UsageIf you want the gun to remain closed a short period after a soft stop, set Soft StopTimeout to the desired time-out value.Setting Soft Stop Timeout to 0 will make the gun release its force immediatelywhen a soft stop occurs.

LimitationsSoft Stop Timeout can only be used if you have servo tools.

Allowed valuesA numeric value between 0 and 1.2 (seconds).The default value is 0.3 seconds.


6 Topic Motion6.33.18 Soft Stop Timeout

6.34 Type Single

6.34.1 The Single type

OverviewThis section describes the type Single, which belongs to the topic Motion. Eachparameter of this type is described in a separate information topic in this section.

Cfg nameSINGLE

Type descriptionThe type Single contains a number of parameters that are common for a single inthe robot system. The single is a mechanical unit with one joint. Parameters of thistype are used to define which joint the single consist of and the base frame of thesingle.


6 Topic Motion6.34.1 The Single type

6.34.2 Name

ParentName belongs to the type Single, in the topic Motion.

Cfg namename

DescriptionName defines the name of the single.




6.34.3 Use Single Type

ParentUse Single Type belongs to the type Single, in the topic Motion.

Cfg nameuse_single_type

DescriptionUse Single Type defines what single type is used.

UsageThe single type is defined in the type Single Type.


Related informationThe type Single Type on page 655.


6 Topic Motion6.34.3 Use Single Type

6.34.4 Use Joint

ParentUse Joint belongs to the type Single, in the topic Motion.

Cfg nameuse_joint

DescriptionUse Joint defines which joint data to use for the single.

UsageThe joints are defined in the type Joint.




6 Topic Motion6.34.4 Use Joint

6.34.5 Base Frame x, y, z

ParentBase Frame x, Base Frame y, and Base Frame z belongs to the type Single in thetopic Motion.

Cfg namesbase_frame_pos_xbase_frame_pos_ybase_frame_pos_z

DescriptionBase Frame x defines the x-direction of the base frame position in relation to theworld frame (in meters).Base Frame y defines the y-direction of the base frame position in relation to theworld frame (in meters).Base Frame z defines the z-direction of the base frame position in relation to theworld frame (in meters).

Allowed valuesA value between -1,000 and 1,000 meters.



6 Topic Motion6.34.5 Base Frame x, y, z

6.34.6 Base Frame q1, q2, q3, q4

ParentBase Frame q1, Base Frame q2, Base Frame q3, and Base Frame q4 belongs tothe type Single in the topic Motion.

Cfg namesbase_frame_orient_u0base_frame_orient_u1base_frame_orient_u2base_frame_orient_u3

DescriptionBase Frame q1 defines the first quaternion (q1) of the base frame orientation inrelation to the world frame.Base Frame q2 defines the second quaternion (q2) of the base frame orientationin relation to the world frame.Base Frame q3 defines the third quaternion (q3) of the base frame orientation inrelation to the world frame.Base Frame q4 defines the fourth quaternion (q4) of the base frame orientation inrelation to the world frame.

Allowed valuesA value between -1 and 1 specifying the orientation.



6 Topic Motion6.34.6 Base Frame q1, q2, q3, q4

6.34.7 Base Frame Coordinated

ParentBase Frame Coordinated belongs to the type Single in the topic Motion.

Cfg namebase_frame_coordinated

DescriptionBase Frame Coordinated defines the name of robot or single that moves the baseframe of this single.




6 Topic Motion6.34.7 Base Frame Coordinated

6.34.8 Mech.Unit Not Moving Detection Level

ParentMech.Unit Not Moving Detection Level belongs to the type Single, in the topicMotion.

Cfg namenot_moving_speed_level

DescriptionMech.Unit Not Moving Detection Level defines the detection level for a Single forthe system output Mechanical Unit Not Moving.

UsageNormally the output ofMechanical Unit Not Movingwill be set only when the Singleis stopped. If the Detection Level is set for the speed of the Single, the output willalso be set when the speed of the Single are lower than the defined level.If the Detection Level is set both for a Robot and a Single running in the samemotion group, all the axes of the Robot and the Single must move slower than itslevel to set the output.If the Detection Level is set only for the Single but not for the Robot, the outputwill be set when the speed of the Single is lower than the Level regardless of thespeed of the Robot.

Allowed valuesA value between 0 and 1.0.01 = 1% of motor max speed, disabled if 0.The default value is 0.

Related informationMechanical Unit Not Moving on page 270, in the topic I/O, type System Output.Mech.Unit Not Moving Detection Level on page621, in the topicMotion, typeRobot.


6 Topic Motion6.34.8 Mech.Unit Not Moving Detection Level

6.35 Type Single Type

6.35.1 The type Single Type

OverviewThis section describes the type Single Type which belongs to the topic Motion.Each parameter of this type is described in a separate information topic in thissection.

Cfg nameSINGLE_TYPE

Type descriptionThe type Single Type contains a number of parameters that are common for asingle type in the robot system. The single is a mechanical unit with one joint.

Related informationThe Single type on page 647.


6 Topic Motion6.35.1 The type Single Type

6.35.2 Name

ParentName belongs to the type Single Type in the topic Motion.

Cfg namename

DescriptionName defines the name of the single type.




6.35.3 Mechanics

ParentMechanics belongs to the type Single Type in the topic Motion.

Cfg namemechanics

DescriptionMechanics defines what type of mechanics the single type uses.

Allowed valuesThe following mechanics are available/allowed:

Description:Value:

Linear track motionTRACK

Rotating axisFREE_ROT

Servo GunSG_LIN

Conveyor, linearEXT_LIN

Conveyor, rotatingEXT_ROT

Sensor synchronization, linear movementSS_LIN

Sensor synchronization, rotating movementSS_ROT



6 Topic Motion6.35.3 Mechanics

6.36 Type Stress Duty Cycle

6.36.1 The Stress Duty Cycle type

OverviewThis section describes the type Stress Duty Cycle, which belongs to the topicMotion. Each parameter of the type is described in a separate information topic inthis section.

Cfg nameSTRESS_DUTY_CYCLE

Type descriptionThe type Stress Duty Cycle is used to protect axes, gearboxes, etc. Damages dueto too high mechanical forces are avoided by setting limits for speed and torque.

LimitationsParameters of the type Stress Duty Cycle can only be defined for additional axes.


6 Topic Motion6.36.1 The Stress Duty Cycle type

6.36.2 Name

ParentName belongs to the type Stress Duty Cycle, in the topic Motion.

Cfg namename

DescriptionThe name of the Stress Duty Cycle.

UsageName is used to reference a Stress Duty Cycle from the parameter Use StressDuty Cycle in the type Drive System.




6.36.3 Speed Absolute Max

ParentSpeed Absolute Max belongs to the type Stress Duty Cycle, in the topic Motion.

Cfg namespeed_absolute_max

DescriptionThe absolute highest motor speed to be used.

UsageLimit the motor speed with Speed Absolute Max to avoid too much stress on theaxis. If, for example, the gearbox is the limiter for the speed, set Speed AbsoluteMax to a value that will protect the gearbox.

Allowed valuesA numeric value between 0 and 1500 (rad/s on motor side).


6 Topic Motion6.36.3 Speed Absolute Max

6.36.4 Torque Absolute Max

ParentTorque Absolute Max belongs to the type Stress Duty Cycle, in the topic Motion.

Cfg nametorque_absolute_max

DescriptionThe absolute highest motor torque to be used.

UsageLimit the motor torque with Torque Absolute Max to avoid too much stress on theaxis. If, for example, the gearbox is the limiter for the torque, set Torque AbsoluteMax to a value that will protect the gearbox.

LimitationTorque Absolute Max can only be defined for additional axes.

Allowed valuesA numeric value between 0 and 100000 (Nm on motor side).


6 Topic Motion6.36.4 Torque Absolute Max

6.37 Type Supervision

6.37.1 The Supervision type

OverviewThis section describes the type Supervision, which belongs to the topic Motion.Each parameter of the type is described in a separate information topic in thissection.

Cfg nameSUPERVISION

Type descriptionThe type Supervision is used for supervision of joints. Each joint has one set ofparameters of the type Supervision.

LimitationParameters of the type Supervision can only be defined for additional axes.



6 Topic Motion6.37.1 The Supervision type

6.37.2 Name

ParentName belongs to the type Supervision, in the topic Motion.

Cfg namename

DescriptionThe name of the supervision.




6.37.3 Brake Release Supervision On

ParentBrake Release Supervision On belongs to the type Supervision, in the topicMotion.

Cfg namebrake_release_supervision_on

DescriptionBrake Release Supervision On defines if the brake release supervision is on oroff.

UsageSetBrake Release Supervision On to On to turn on brake release supervision. Thisactivates a position supervision algorithm during brake release.



6 Topic Motion6.37.3 Brake Release Supervision On

6.37.4 Speed Supervision

ParentSpeed Supervision belongs to the type Supervision, in the topic Motion.

Cfg namespeed_supervision_on

DescriptionDefines if the speed supervision should be activated or not.

UsageSpeed supervision should normally be On.NOTE! Deactivating the speed supervision can be dangerous.



6 Topic Motion6.37.4 Speed Supervision

6.37.5 Position Supervision

ParentPosition Supervision belongs to the type Supervision, in the topic Motion.

Cfg nameposition_supervision_on

DescriptionDefines if the position supervision should be activated or not.

UsageThe position supervision should normally be On.NOTE! Deactivating the position supervision can be dangerous.



6 Topic Motion6.37.5 Position Supervision

6.37.6 Counter Supervision

ParentCounter Supervision belongs to the type Supervision, in the topic Motion.

Cfg namecounter_supervision_on

DescriptionDefines if the measurement system supervision should be activated or not.

UsageThe counter supervision should normally be On.NOTE! Deactivating the counter supervision can be dangerous.



6 Topic Motion6.37.6 Counter Supervision

6.37.7 Jam Supervision

ParentJam Supervision belongs to the type Supervision, in the topic Motion.

Cfg namejam_supervision_on

DescriptionDefines if the jam supervision should be activated or not.

UsageThe jam supervision should normally be activated (On).NOTE! Deactivating the jam supervision can be dangerous.



6 Topic Motion6.37.7 Jam Supervision

6.37.8 Load Supervision

ParentLoad Supervision belongs to the type Supervision, in the topic Motion.

Cfg nameload_supervision_on

DescriptionDefines if the load supervision should be activated or not.

UsageThe load supervision should normally be On.



6 Topic Motion6.37.8 Load Supervision

6.37.9 Power Up Position Supervision

ParentPower Up Position Supervision belongs to the type Supervision, in the topicMotion.

Cfg namepower_up_position_on

DescriptionDefines if the power up position supervision should be activated or not.

UsageThe power up position supervision should normally be On.NOTE! Deactivating the power up position supervision can be dangerous.



6 Topic Motion6.37.9 Power Up Position Supervision

6.37.10 In Position Range

ParentIn Position Range belongs to the type Supervision, in the topic Motion.

Cfg namein_position_range

DescriptionDefines the allowed position deviation from fine point when the axis is consideredto have reached the fine point.

UsageNormally set to 1.

Allowed valuesA value between 0 and 10 radians on motor side.


6 Topic Motion6.37.10 In Position Range

6.37.11 Zero Speed

ParentZero Speed belongs to the type Supervision, in the topic Motion.

Cfg namenormalized_zero_speed

DescriptionDefines the maximum speed when the axis is considered to be standing still.

UsageNormally set to 0.02.

Allowed valuesA value between 0 and 1, where 1 equals max speed.


6 Topic Motion6.37.11 Zero Speed

6.37.12 Affects Forced Control

ParentAffects Forced Control belongs to the type Supervision, in the topic Motion.

Cfg namejoint_affect_forced_Kp

DescriptionDefines if the joint affects the in position forced control used in fine point.

UsageSet to No if the joint should affect the in position forced control.The forced control is used to reduce time for axis to go into the fine point.


Related informationForced Control Active on page 466, in the type Lag Control Master 0.


6 Topic Motion6.37.12 Affects Forced Control

6.37.13 Forced on Position Limit

ParentForced on Position Limit belongs to the type Supervision, in the topic Motion.

Cfg nameKp_forced_on_limit

DescriptionThe upper position limit for activation of forced control, measured from the finepoint.

UsageThe upper position limit is measured in radians on the motor shaft.


Related informationAffects Forced Control on page 673.


6 Topic Motion6.37.13 Forced on Position Limit

6.37.14 Forced off Position Limit

ParentForced off Position Limit belongs to the type Supervision, in the topic Motion.

Cfg nameKp_forced_off_limit

DescriptionThe lower position limit for deactivation of forced control used close to the finepoint.

UsageThe lower position limit is measured in radians on the motor shaft.

LimitationsMust have a lower value than Forced on Position Limit.


Related informationForced on Position Limit on page 674.Affects Forced Control on page 673.


6 Topic Motion6.37.14 Forced off Position Limit

6.37.15 Thermal Supervision Sensitivity Ratio

ParentThermal Supervision Sensitivity Ratio belongs to the type Supervision, in the topicMotion.

Cfg namethermal_supervision_sensitivity_ratio

UsageParameter used for tuning the thermal motor model. High value increases thetemperature in the model.

LimitationsThe thermal supervision is only available for motor units (MU 200, MU 300, andMU 400) and gear units (MTD 250, MTD 500, MTD 750, 200 MID 500, and MID1000).

Allowed valuesA value between 0.5 and 2.


6 Topic Motion6.37.15 Thermal Supervision Sensitivity Ratio

6.38 Type Supervision Type

6.38.1 The type Supervision Type

OverviewThis section describes the type Supervision Type, which belongs to the topicMotion. Each parameter of the type is described in a separate information topic inthis section.

Cfg nameSUPERVISION_TYPE

Type descriptionThe type Supervision Type is used for continuos supervision of position, speedand torque. These values should follow the planned path, within a tolerance interval,or the movement is stopped.

LimitationsParameters of the type Supervision Type can only be defined for additional axes.


6 Topic Motion6.38.1 The type Supervision Type

6.38.2 Name

ParentName belongs to the type Supervision Type, in the topic Motion.

Cfg namename

DescriptionThe name of the Supervision Type.

UsageName is used to reference a Supervision Type from the parameterUse SupervisionType in the type Supervision.




6.38.3 Max Force Control Position Error

ParentMax Force Control Position Error belongs to the type Supervision Type, in the topicMotion.

Cfg namefc_position_limit

DescriptionMax allowed position error during force control.If the position error is larger than Max Force Control Position Error, all movementis stopped.

UsageWhen a servo gun is in force control mode it is not allowed to move more than thedistance specified in Max Force Control Position Error.The most common reasons for a servo gun to move during force control are:

• the servo gun is flexible and can give in when high forces are applied• the force control may start before the gun has closed around the plate, e.g.

because the ordered plate thickness is larger than the real plate thickness,or because the parameter Close position adjust is set to a value larger than0.

LimitationsMax Force Control Position Error can only be used if you have servo tools.

Allowed valuesA numeric value between 0 and 0.10 (meter).The default value is 0.03 m.


6 Topic Motion6.38.3 Max Force Control Position Error

6.38.4 Max Force Control Speed Limit

ParentMax Force Control Speed Limit belongs to the type Supervision Type, in the topicMotion.

Cfg namefc_speed_limit_factor

DescriptionSpeed error factor during force control.The speed limits for force control is defined in the type Force Master Control. Ifthis speed limit multiplied with Max Force Control Speed Limit is exceeded, allmovement is stopped.

UsageThe speed may for a short period of time exceed the speed limit (defined in typeForce Master Control) before it is regulated to a value within the limits. To allowthe speed to exceed the limit during this regulation without stopping all movement,Max Force Control Speed Limit must be set to a value larger than 1. How muchthe speed is allowed to over-shoot the limit is determined by Max Force ControlSpeed Limit.

LimitationsMax Force Control Speed Limit can only be used if you have servo tools.

Allowed valuesA numeric value between 1 and 10. The value has no unit, but is a ratio of the speedlimit defined in the type Force Master Control.The default value is 1.1.

Related informationThe Force Master Control type on page 422.


6 Topic Motion6.38.4 Max Force Control Speed Limit

6.38.5 Dynamic Power Up Position Limit

ParentDynamic Power Up Position Limit belongs to the type Supervision Type, in thetopic Motion.

Cfg namedynamic_power_up_position_limit

DescriptionDefines the maximum accepted power up position error at maximum speed.

UsageDynamic Power Up Position Limit sets a dynamic limit for measurement systemsupervision of moment during power fail.A typical value is 120% of the maximum brake distance.

Allowed valuesA value between 0 and 1000 in radians.


6 Topic Motion6.38.5 Dynamic Power Up Position Limit

6.38.6 Teach Max Speed Main

ParentTeach Max Speed Main belongs to the type Supervision Type, in the topic Motion.

Cfg nameteach_mode_speed_max_main

DescriptionDefines maximum ordered speed in manual mode.

UsageTeach Max Speed Main is used to limit the maximum speed in manual mode.The value of Teach Max Speed Main should be set so that the arm speed doesnot exceeds 250 mm/s.

Allowed valuesA ratio value between 0 and 1, where 1 equals max speed.


6 Topic Motion6.38.6 Teach Max Speed Main

6.38.7 Teach Max Speed DSP

ParentTeach Max Speed DSP belongs to the type Supervision Type, in the topic Motion.

Cfg nameteach_mode_speed_max_dsp

DescriptionDefines the motor speed supervision level in manual mode.

UsageTeach Max Speed DSP is used for speed supervision in Axis Computer duringmanual mode. The value of TeachMax Speed DSP should be set to the same valueas Teach Max Speed Main added with a margin for noise and vibrations. Typicalvalue is the largest value of (Teach Max Speed Main * 1.20) or (Teach Max SpeedMain + 8/Speed Absolute Max).

Allowed valuesA ratio value between 0 and 1, where 1 equals max speed.


6 Topic Motion6.38.7 Teach Max Speed DSP

6.38.8 Max Jam Time

ParentMax Jam Time belongs to the type Supervision Type, in the topic Motion.

Cfg namemax_jam_time

DescriptionDefines the maximum allowed time with maximum torque at zero speed.

UsageSet Max Jam Time to protect the robot and equipment from faults and damage thatmay occur if the torque is high while the speed is zero.

Allowed valuesA value between 0 and 2.0 seconds.A typical value is 0.5.


6 Topic Motion6.38.8 Max Jam Time

6.38.9 Max Overload Time

ParentMax Overload Time belongs to the type Supervision Type, in the topic Motion.

Cfg namemax_overload_time

DescriptionDefines the maximum allowed time with maximum torque while moving.

UsageSetMaxOverload Time to protect the robot and equipment from faults and damage.If Max Overload Time is exceeded, the controller will indicate an error in hardware,robot, load, or programming.

Allowed valuesA value between 0 and 20 seconds.A typical value is 0.2.


6 Topic Motion6.38.9 Max Overload Time

6.38.10 Auto Max Speed Supervision Limit

ParentAuto Max Speed Supervision Limit belongs to the type Supervision Type, in thetopic Motion.

Cfg nameauto_mode_max_speed_sup_limit

DescriptionDefines the maximum speed supervision limit in automatic mode.

UsageAuto Max Speed Supervision Limit is typically set to 1.2 to allow margin againstspeed overshoot, interference from external forces, etc.

Allowed valuesA value between 0 and 5, where 1 equals max speed.A typical value is 1.2.


6 Topic Motion6.38.10 Auto Max Speed Supervision Limit

6.38.11 Influence Group

ParentInfluence Group belongs to the type Supervision Type, in the topic Motion.

Cfg nameinfluence_group

DescriptionDefines the type of influence group for the Supervision Type. An influence groupis a group of axes, mechanically affecting each other.

UsageInfluence Group is used to calculate supervision levels.Normally, for axes not affecting each other, deactivate the function by settingInfluence Group to 0.



6 Topic Motion6.38.11 Influence Group

6.38.12 Alarm Position Limit for Brake Release

ParentAlarm Position Limit for Brake Release belongs to the type Supervision Type, inthe topic Motion.

Cfg namebrake_release_position_alarm_limit

DescriptionAlarm Position Limit for Brake Release defines the emergency stop limit for positionsupervision during brake release.

UsageAn emergency stop is generated if the axis motor moves more than the definedvalue of Alarm Position Limit for Brake Release directly after brake release.

Allowed valuesA value between 0 and 1000, defined in radians on motor side.Default value is 1.0.


6 Topic Motion6.38.12 Alarm Position Limit for Brake Release

6.38.13 Position OK Ratio for Brake Release

ParentPosition OK Ratio for Brake Release belongs to the type Supervision Type, in thetopic Motion.

Cfg namebrake_release_position_ok_ratio

DescriptionPosition OK Ratio for Brake Release defines the maximum position error for theaxis when the axis should leave the brake supervision state and change to normaloperation.

UsageThe value of Position OKRatio for Brake Release is a ratio of the value of parameterAlarm Position Limit for Brake Release.

Allowed valuesA value between 0 and 1.Default value is 0.2, a normal value is 0.2 - 0.5.

Related informationAlarm Position Limit for Brake Release on page 688.


6 Topic Motion6.38.13 Position OK Ratio for Brake Release

6.39 Type Transmission

6.39.1 The Transmission type

OverviewThis section describes the type Transmission, which belongs to the topic Motion.Each parameter of this type is described in a separate information topic in thissection.

Cfg nameTRANSMISSION

Type descriptionEach set of parameters of the type Transmission belongs to a joint (robot joint oradditional axis).The parameters in Transmission determine the transmission gear ratio betweenthe motor and the axis.

LimitationsThe transmission gear ratio can only be defined for additional axes.The transmission gear ratio for the robot joints are defined by ABB and cannot bechanged.


6 Topic Motion6.39.1 The Transmission type

6.39.2 Name

ParentName belongs to the type Transmission, in the topic Motion.

Cfg namename

DescriptionThe name of the Transmission.

UsageName is used to reference a Transmission from the parameter Use Transmissionin the type Joint.




6.39.3 Rotating Move

ParentRotating Move belongs to the type Transmission, in the topic Motion.

Cfg namerotating_move

DescriptionRotating Move defines if the axis is rotating or linear.

UsageFor rotating axes, set Rotating Move to Yes. For linear axes, set Rotating Move toNo.Rotating Move affects if the transmission gear ratio is defined as motor radiansper joint radians, or motor radian per joint meter.

Allowed valuesYes or No.The default value is No (i.e. that the axis is linear).


6 Topic Motion6.39.3 Rotating Move

6.39.4 Transmission Gear Ratio

ParentTransmission Gear Ratio belongs to the type Transmission, in the topic Motion.

Cfg nametransm_joint

DescriptionTransmission Gear Ratio defines the transmission gear ratio between motor andjoint.

UsageFor rotating axes, set Transmission Gear Ratio to the number of revolutions themotor performs for every revolution of the joint. For linear axes, set TransmissionGear Ratio to motor radians per meter.

LimitationsTransmission Gear Ratio can only be defined for external axes. Transmission GearRatio for the robot joints are defined by ABB and cannot be changed.

Allowed valuesA numeric value between -100000 and +100000.


6 Topic Motion6.39.4 Transmission Gear Ratio

6.39.5 Transmission Gear High

ParentTransmission Gear High belongs to the type Transmission, in the topic Motion.

Cfg namehigh_gear

DescriptionWhen a joint is in independent mode, Transmission Gear High is the numerator inthe fraction representing the transmission gear ratio between motor and joint. Thedenominator is the parameter Transmission Gear Low.

UsageWhen a joint is set to independent mode, the transmission gear ratio is representedas Transmission Gear High divided by Transmission Gear Low. See How to definetransmission gear ratio for independent joints for more information on how to usethese parameters.

LimitationsThe parameter Transmission Gear High is only useful if you have the RobotWareoption Independent Axes.When a joint is not in independent mode, it uses the parameter Transmission GearRatio instead of Transmission Gear High and Transmission Gear Low.

Allowed valuesAn integer value.

Related informationHow to define transmission gear ratio for independent joints on page 344.Transmission Gear Low on page 695.Application manual - Motion functions and events.


6 Topic Motion6.39.5 Transmission Gear High

6.39.6 Transmission Gear Low

ParentTransmission Gear Low belongs to the type Transmission, in the topic Motion.

Cfg namelow_gear

DescriptionWhen a joint is in independent mode, Transmission Gear Low is the denominatorin the fraction representing the transmission gear ratio between motor and joint.The numerator is the parameter Transmission Gear High.

UsageWhen a joint is set to independent mode, the transmission gear ratio is representedas Transmission Gear High divided by Transmission Gear Low. See How to definetransmission gear ratio for independent joints for more information on how to usethese parameters.

LimitationsThe parameter Transmission Gear Low is only useful if you have the RobotWareoption Independent Axes.When a joint is not in independent mode, it uses the parameter Transmission GearRatio instead of Transmission Gear High and Transmission Gear Low.

Allowed valuesAn integer value.

Related informationHow to define transmission gear ratio for independent joints on page 344.Transmission Gear High on page 694.Application manual - Motion functions and events.


6 Topic Motion6.39.6 Transmission Gear Low

6.40 Type Uncalibrated Control Master 0

6.40.1 The Uncalibrated Control Master 0 type

OverviewThis section describes the type Uncalibrated Control Master 0, which belongs tothe topicMotion. Each parameter of the type is described in a separate informationtopic in this section.

Cfg nameUCCM0

Type descriptionThe type Uncalibrated Control Master 0 is used to regulate uncalibrated axes. Ifone axis in a mechanical unit is uncalibrated, Uncalibrated Control Master 0 isused to regulate all axes in that mechanical unit.


6 Topic Motion6.40.1 The Uncalibrated Control Master 0 type

6.40.2 Name

ParentName belongs to the type Uncalibrated Control Master 0, in the topic Motion.

Cfg nameUCCM0 name

DescriptionThe name of the Uncalibrated Control Master 0.

UsageName is used to reference an Uncalibrated Control Master 0 from the parameterUncalibrated Control Master in the type Joint.




6.40.3 Kp, Gain Position Loop

ParentKp, Gain Position Loop belongs to the type Uncalibrated Control Master 0, in thetopic Motion.

Cfg nameKp

DescriptionProportional gain in the position regulation loop.

UsageThe higher the value ofKp, Gain Position Loop, the better tracking and disturbancerejection.If the position regulation overshoots, decrease Kp, Gain Position Loop.

LimitationsKp, Gain Position Loop only affects the axis when it is uncalibrated (or when anotheraxis in the same mechanical unit is uncalibrated).

Allowed valuesA numeric value between 0 and 1000 (1/s).


6 Topic Motion6.40.3 Kp, Gain Position Loop

6.40.4 Kv, Gain Speed Loop

ParentKv, Gain Speed Loop belongs to the type Uncalibrated Control Master 0, in thetopic Motion.

Cfg nameKv

DescriptionProportional gain in the speed regulation loop.

UsageThe higher the value of Kv, Gain Speed Loop, the better tracking and disturbancerejection.If the level of oscillation or noise is too high, decrease Kv, Gain Speed Loop.

LimitationsKv, Gain Speed Loop only affects the axis when it is uncalibrated (or when anotheraxis in the same mechanical unit is uncalibrated).

Allowed valuesA numeric value between 0 and 100 (Nms/rad).


6 Topic Motion6.40.4 Kv, Gain Speed Loop

6.40.5 Ti Integration Time Speed Loop

ParentTi Integration Time Speed Loop belongs to the type Uncalibrated Control Master0, in the topic Motion.

Cfg nameTi

DescriptionIntegration time in the speed regulation loop.

UsageThe lower the value of Ti Integration Time Speed Loop, the better tracking anddisturbance rejection.If the level of oscillation or noise is too high, increase Ti Integration Time SpeedLoop.

LimitationsTi Integration Time Speed Loop only affects the axis when it is uncalibrated (orwhen another axis in the same mechanical unit is uncalibrated).

Allowed valuesA numeric value between 0 and 10 (seconds).The default value is 10 seconds.


6 Topic Motion6.40.5 Ti Integration Time Speed Loop

6.40.6 Speed Max Uncalibrated

ParentSpeed Max Uncalibrated belongs to the type Uncalibrated Control Master 0, in thetopic Motion.

Cfg namespeed_max_n

DescriptionSpeed Max Uncalibrated defines the maximum allowed speed for an uncalibratedaxis.

UsageUse SpeedMax Uncalibrated as a limit for the speed of the axis when it is regulatedas an uncalibrated axis.

LimitationsSpeed Max Uncalibrated only affects the axis when it is uncalibrated (or whenanother axis in the same mechanical unit is uncalibrated).

Allowed valuesA numeric value between 0 and 670 (rad/s on motor side).


6 Topic Motion6.40.6 Speed Max Uncalibrated

6.40.7 Acceleration Max Uncalibrated

ParentAcceleration Max Uncalibrated belongs to the type Uncalibrated Control Master 0,in the topic Motion.

Cfg nameacc_max_n

DescriptionAcceleration Max Uncalibrated defines the maximum allowed acceleration for anuncalibrated axis.

UsageUse Acceleration Max Uncalibrated as a limit for the acceleration of the axis whenit is regulated as an uncalibrated axis.

LimitationsAcceleration Max Uncalibrated only affects the axis when it is uncalibrated (orwhen another axis in the same mechanical unit is uncalibrated).

Allowed valuesA numeric value between 0 and 10000 (rad/s2 on motor side).


6 Topic Motion6.40.7 Acceleration Max Uncalibrated

6.40.8 Deceleration Max Uncalibrated

ParentDeceleration Max Uncalibrated belongs to the type Uncalibrated Control Master0, in the topic Motion.

Cfg namedec_max_n

DescriptionDeceleration Max Uncalibrated defines the maximum allowed deceleration for anuncalibrated axis.

UsageUse Deceleration Max Uncalibrated as a limit for the deceleration of the axis whenit is regulated as an uncalibrated axis.

LimitationsDeceleration Max Uncalibrated only affects the axis when it is uncalibrated (orwhen another axis in the same mechanical unit is uncalibrated).

Allowed valuesA numeric value between 0 and 10000 (rad/s2 on motor side).


6 Topic Motion6.40.8 Deceleration Max Uncalibrated

IndexAacceleration data, type, 349access level, type, 157application protocol, type, 37arm, type, 355arm check point, type, 375arm load, type, 378Auto Condition Reset, type, 72automatically switch jog unit, type, 308

Bbackup settings, type, 22, 310brake, type, 383bus, type, 165

Ccommunication, topic, 33configuration files, 29controller, topic, 69control parameters, type, 392cross connection, type, 174

Ddrive module, type, 397drive system, type, 400drive unit, type, 22, 403, 405

EEIO.cfg, 29event routine, type, 84

Ffieldbus command, type, 182fieldbus command type, type, 186force master, type, 408force master control, type, 422friction compensation, type, 444

II/O, topic, 149Internal Slave, 305

Jjog parameters, type, 449joint, type, 454

Llag control master 0, type, 461linked m process, type, 487

Mmains, type, 498man-machine communication, 307measurement channel, type, 502mechanical unit, type, 508mechanical unit group, type, 95MMC.cfg, 29MOC.cfg, 29modpos settings, type, 100most common I/O signal, type, 322most common instruction, type, 315motion, topic, 331

motion planner, type, 520motion supervision, type, 547motion system, type, 556motor, type, 562motor calibration, type, 566motor type, type, 573

NNORMAL task type, 137NoSafety trustlevel, 140

Ooperator safety, type, 110

Ppath return region, type, 116path sensor synchronization, type, 581physical channel, type, 53PROC.cfg, 29process, type, 589

Rrelay, type, 593robot, type, 597robot serial number, type, 622Run Mode Settings, type, 122

Ssafety run chain, type, 125SEMISTATIC task type, 137SG process, type, 626signal, type, 191single, type, 647single type, type, 655SIO.cfg, 29STATIC task type, 137stress duty cycle, type, 658supervision type, type, 677SYS.cfg, 29SysFail trustlevel, 140SysHalt trustlevel, 140SysStop trustlevel, 140system input, type, 219system misc, type, 128system output, type, 259system parameter definition, 27

Ttask, type, 134topic definition, 27transmission, type, 690transmission protocol, type, 62type definition, 27

Uuncalibrated control master, type, 696unit, type, 288unit type, type, 299

Wwarning at start, type, 328


Index

Contact us

ABB ABDiscrete Automation and MotionRoboticsS-721 68 VÄSTERÅS, SwedenTelephone +46 (0) 21 344 400

ABB AS, RoboticsDiscrete Automation and MotionBox 265N-4349 BRYNE, NorwayTelephone: +47 51489000

ABB Engineering (Shanghai) Ltd.5 Lane 369, ChuangYe RoadKangQiao Town, PuDong DistrictSHANGHAI 201319, ChinaTelephone: +86 21 6105 6666

www.abb.com/robotics

3HAC

1707

6-1,

Rev

Q,e

n

system parameters | technical reference manual | abb robotics

Documents