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Table of Content
GENERAL ............................................................................................................................................................. 2
RELEASE INFORMATION..................................................................................................................................... 3
Release Date...................................................................................................................................................................... 3
Ordering number.............................................................................................................................................................. 3
Documentation .................................................................................................................................................................. 3
Manipulator Support........................................................................................................................................................ 5
Incompatibility RW 6.00.01............................................................................................................................................ 10
Improvements RW 6.0.................................................................................................................................................... 18
General
Release Information
The information should be considered as last minutes information and most up-to-date.
For more information please visit Robot Release Information (RRI) Homepage: RRI
Release Name
The release name is RobotWare 6.00.01
The release contains following:
· RobotWare 6.00.01 build 1211
· RobotStudio 6.00.01
Release Date
Ordering number
Documentation
See Release Notes on documentation DVD: 3HAC052153-001
ABB Robotics
PRU Title Ref
SEROP Release Notes RW 6.00.01 RP6.xx – 0xx
Department Date Filename Page
DMRO/QMPP 2015-01-22 Release Notes RW 6.00.01.doc
4/34
Author, telephone
Anders Trillkott, +46 21 344863
§ PCI-express boards
§ DSQC1006, DeviceNet Master/Slave – 1 channel Option 709-1
§ SoftWare solution
§ EtherNet/IP m/s Option 841-1
Manipulator Support
See Technote_130415_new_main_computer
ABB Robotics
PRU Title Ref
SEROP Release Notes RW 6.00.01 RP6.xx – 0xx
Department Date Filename Page
DMRO/QMPP 2015-01-22 Release Notes RW 6.00.01.doc
6/34
Author, telephone
Anders Trillkott, +46 21 344863
Language Support
The following languages are supported in RobotWare.
· English
· French
· German
· Spanish
· Italian
· Chinese (simplified Chinese, mainland Chinese) 1) 2)
· Dutch 1)
· Swedish 1)
·
1)
Danish
· Czech 1)
·
1)
Hungarian
·
1)
Finnish
·
1) 2)
Korean
· Japanese 1) 2)
· Russian 1) 2)
· Turkish 1)
· Slovenian 1)
Notes:
1) The language is only supported in the controller and Flex Pendant
2) The language support for Asian languages (Chinese, Korean, Japanese) and Russian has some specific
limitations:
- TPWrite, TPRead, and TPPrint do not work – use English text.
- Printing error text from RAPID (instruction ErrWrite) does not work - use English text.
ABB Robotics
PRU Title Ref
SEROP Release Notes RW 6.00.01 RP6.xx – 0xx
Department Date Filename Page
DMRO/QMPP 2015-01-22 Release Notes RW 6.00.01.doc
7/34
Author, telephone
Anders Trillkott, +46 21 344863
Incompatibility RW 6.0
Streamline the syntax of the Spot instructions, pneu vs servo.
In RobotWare 6.0 the spot instructions syntax has been streamlined.
The number of parameters and arguments are now the same for all options.
This means that there could be some problems when restoring an old backup with some of the previous
user modules, e.g. swdefine.sys.
Spot Pneu:
ActClose gun_num, curr_forcedata{gun_num}; old
ActClose gun_num \Force:=curr_forcedata{gun_num}; new
However the functionality in the swdefine module has been built in, and is now a part of the base
functionality, so the old module are no longer needed.
Two signals of the same type mapped on the same bit(s) are not allowed
It is not possible anymore to have two signal of the same signal type configured on the same bit.
Example:
-Name "myDO1" -SignalType "DO" -Device "MyDev" -DeviceMap "0"
-Name "myDO2" -SignalType "DO" -Device "MyDev" -DeviceMap "0
-Name "myGO1" -SignalType "GO" -Device "MyDev" -DeviceMap "0-7"
-Name "myGO2" -SignalType "GO" -Device "MyDev" -DeviceMap "7-10"
These will result in an event message error and the signals will be rejected.
The signal Slave_do1 has an implicit default value of "0" while the overlapping group has an explicit default
value for the bit 0 set to "1". The same rule applies to the case where the signal had an explicit default
value that differs from the groups implicit or explicit default value.
The correct way to do it is to explicitly define the default value of both the group and signal to the same
value:
"-Name "Slave_do1" -SignalType "DO" -Device "PN_Internal_Device" -DeviceMap "0" -Default 1"
"-Name "Slave_go_1" -SignalType "GO" -Device "PN_Internal_Device" -DeviceMap "0-7" -Default 255"
The supervision task module (SW_SUP) is now loaded internally and is not copied into the home/spot
directory anymore.
This will cause a conflict when trying to load an old backup, however it will still be possible to load an old
swsup.mod module and create a new 'SW_SUPV' task if needed.
Note that this will require that the 'MultiTasking' option is selected in the system.
The new template user modules that are copied to the home/spot directory have the names 'swusrm.sys'
and 'swuser.sys'.
Incompatibility RW 6.00.01
Scan cycle of the Profibus Master network in the robot in RW 6.00 is too slow (PDD4436)
When the PROFIBUS Configurator V. 2.02 is used with the DSQC 1005, PB-PROI-PCIe, “conservative”
default values are set for the DP-Master, Profibus Segment, communication compared with default values
when using the PROFIBUS Configurator V. 1.73. These can cause the scan cycle of the Profibus Master
network to be too slow.
The communication parameters can be optimized in the following way:
After all devices residing in a segment are defined, you may use the function “Calculate/Check...” (click the
right mouse button on the Profibus Segment or CTRL+A). This will calculate an optimized timing for the
given configuration.
Both the configuration tool PROFIBUS Configurator V. 1.73 and PROFIBUS Configurator V. 2.02 can be
used to configure a PROFIBUS network handled by the PROFIBUS interface boards (DSQC 1005 and
DSQC 687). The two board types use the same binary configuration format so a binary file with a
PROFIBUS configuration created with the PROFIBUS Configurator V. 1.73 for DSQC 687 and be used
without changes for the DSQC 1005
ABB Robotics
PRU Title Ref
SEROP Release Notes RW 6.00.01 RP6.xx – 0xx
Department Date Filename Page
DMRO/QMPP 2015-01-22 Release Notes RW 6.00.01.doc
11/34
Author, telephone
Anders Trillkott, +46 21 344863
SIS events
A new setting Events as Warnings has been added to SIS, allowing the user to configure the system to
issue warnings instead of errors for SIS events. See the SIS operating manual for more information.
SafeMove visualizer
“SafeMove Visualizer” is a FlexPendant application which visualizes the SafeMove or EPS safety
functions and provides the following features:
· Visualization of the safety signals, the safety event log messages and the synchronization & brake check.
· Graphical visualization of the tools and the tool positions, Safety Tool Zones, Safety Axes Ranges,
Monitored Axes Ranges and Monitored Tool Zones.
· Executing of service routines for software synchronization, brake check and to move robot to its sync
position.
For more information see the user's manual "Engineering Tools" chapter "Externally guided motion".
The user will also have the opportunity to change a number of parameters for each mode.
Another new feature is that user can tune and set Mounting Stiffness Factor that should describe the
stiffness of the robot foundation. This will increase robot performance in case the foundation that robot is
mounted on is a bit flexible. Mounting Stiffness Factor is available for IRB 120, IRB 140, IRB 1200, IRB
1520, IRB 1600, IRB 2600, IRB 4600, IRB 6620 (not LX), IRB 6640, IRB 6700. Mounting Stiffness Factor
will be possible to tune from TuneMaster.
The basic setting of parameters and choosing mode is included in RobotWare. As an add-on it will, for
users that chooses option Advanced Robot Motion, be possible to change between these modes in runtime
with a Rapid instruction.
MotionProcessModeSet mode
Syntax:
GetMotorTorque '('
['\' MecUnit ':=' < variable (VAR) of mecunit> ',']
[AxisNo ':=' ] < expression (IN) of num> ')'
A function with a return value of the data type num.
MoveCGO, MoveJGO and MoveLGO can be used to set group output signal in the middle of the corner
path.
MoveCAO, MoveJAO and MoveLAO can be used to set analog output in the middle of the corner path.
If the argument \LockAxis4 is specified then axis 4 is locked to 0 or +-180 degrees to avoid singular points.
The TCP follows the correct path, but the orientation of the tool will deviate if the position was not
programmed with axis 4 at zero or +-180 degrees.
Responsive jogging
Responsive Jogging offered as evaluation version (beta) in RobotWare 6.0
With the introduction of RobotWare 6 there is a new function called Responsive Jogging. It provides a more
direct response when jogging the robot with the FlexPendant or the T10 handheld jogging device.
In RobotWare 6.0 the functionality is offered as an evaluation version for testing purpose. The ambition is
that the functionality should be complete in RobotWare 6.01.
Please note that this is an evaluation version and there are a number of known and potentially unknown
limitations. As always when jogging it is vital that the safety is not compromised. Please ensure that you
maintain enough distance to the robot so that releasing the three position enable or pushing the e-stop will
stop the robot before any collision can occur. The safety functions mandated by ISO10218-1 are all fulfilled
for responsive jogging.
To active the functionality a manual change in the configuration file is needed. Add the parameter "-
jog_mode 1" to the JOG_PARAMETERS type for the motion planner that the function Responsive Jogging
should be activated for.
Improvements RW 6.0
Fine calibration from FlexPendant
The process when updating the revolution counters or doing a fine calibration of a robot has been speeded
up from about 60 seconds to about 9 seconds.
The supervision task module (SW_SUP) is loaded internally and is not copied into the home/spot directory
anymore.
It will still be possible to load an old swsup.mod module and create a new 'SW_SUPV' task if needed.
Note that this will require that the 'MultiTasking' option is selected in the system.
The new template user modules that are copied to the home/spot directory have the names 'swusrm.sys'
and 'swuser.sys'.
'swusrm.sys' are loaded into all motion tasks (AllMotionTask) and
'swuser.sys' are loaded into all tasks (AllTask).
The recommendation is to migrate any custom code in the old user modules into the new modules to avoid
problems.
Improvements RW 6.00.01
IV - Improvement of TPU HMI (4033)
In the vision data table on the FlexPendant Integrated Vision application, the number of decimals has been
limited to two and the size of the parameter name field has been increased. The reason is to avoid
truncated labels and excessive decimal precission.
Behavior of overlapping DOs and GOs is different between 5.xx and 6.xx
- Overlapping DO/GO and DI/GI must have the same value on the parameter
"ActionWhenStartup".
- Overlapping DO/GO and DI/GI with the value "Default" on the parameter
"ActionWhenStartup" shall have a default value that matches each other’s corresponding to the overlapping
bit otherwise can unpredictable signal setting occur for these signals at startup.
See incompatibility above for more info.
Shutdown re-enabled
The Shutdown function is now enabled in “Advanced restart” list.
As our PROFINET configurator does not support deactivating the DAP, you will have to use the patched file
which you have to copy into the corresponding directory of the configurator catalogue (normally in:
C:\Users\Public\Documents\FDCML10\Profinet\SIEMENS).
After exchanging this file, you will need to create a new project.
The second connection to the ET200 must not contain the DAP at all, just the module(s) you want to
access. I.e. use the new device from the device catalog in the PROFINET configurator.
Visit toolbox for access to patched file: ET200S_20100722_IM151-3PN_DIM 20.xml
Link: http://inside.abb.com/cawp/gad00507/8044f90faf7ddb48c1257131004795ac.aspx
2: Do not use the same the ARUUID for both PROFINET controllers. This is currently not described in the
user documentation from KW Software.
This might happen when using a robot controller and a Phoenix PLC to connect to a shared device. Since
both the robot's and PLC's PROFINET controller can use the same configuration file as its base. This will
cause the two configurations to have the same ARUUID.
EGMSetupAI, EGMSetupAO and EGMSetupGI do not detect external axes not in use
The RAPID instructions EGMSetupAI, EGMSetupAO and EGMSetupGI do not check, if the mechanical unit
axis for which the instruction specifies signals, really exists. It assumes, that the user's specification is
correct.
ABB Robotics
PRU Title Ref
SEROP Release Notes RW 6.00.01 RP6.xx – 0xx
Department Date Filename Page
DMRO/QMPP 2015-01-22 Release Notes RW 6.00.01.doc
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Author, telephone
Anders Trillkott, +46 21 344863
• Change the bus for the unit from Virtual1 to the correct bus, for example DeviceNet1.
This should be replaced by :Remove the flag Simulated from the board configuration .
Booting a FlexPicker ends up with mismatch between controller and SMB data (PDD3456)
When performing an I-start of an IRB360 installed controller, the system will start up uncalibrated since
SMB data is not automatically read into the controller. The workaround is to read the data from SMB to
controller. Use Flexpendant and navigate to: Calibration/SMB Memory/Update.../. Make the choice "Update
cabinet with SMB memory data".
Unable to change values in large data types from the FlexPendant (PDD3708)
A correction has been implemented to solve the problem that it was not possible to edit values in a large
array from the FlexPendant.
Profinet Coupler device does not work in combination with TrustLevel (PDD3754)
The Profinet PN/PN Coupler device from Siemens will always end up in an error state after startup if the
device TrustLevel for "Action when Disconnected" is set to "Generate System Stop".
Backup with Remote Mounted Disk takes a long time and ends with error (PDD3878)
In RW 6.00, when using OMNI NFS server connected to the controller, it will only work with WAN (X6) port.
NOTE! If Profinet is used, OMNI NFS will not work on the WAN (X6) port either.
FlexPendant fails to come up after power down with SMB communication lost (PDD3909)
If the SMB communication was lost and the system was restarted the FlexPendant did not come up. This
problem has now been fixed.
ABB Robotics
PRU Title Ref
SEROP Release Notes RW 6.00.01 RP6.xx – 0xx
Department Date Filename Page
DMRO/QMPP 2015-01-22 Release Notes RW 6.00.01.doc
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Author, telephone
Anders Trillkott, +46 21 344863
UAS problem when using SoftwareSync when parameter HoldToRun is set (PDD3916)
The error with UAS when using SoftWareSync when parameter HoldToRun is set is now solved.
System crash when using open command with too long string (PDD4108)
If using a total path that exceeds 81 characters in an Open instruction, the system crashed.
This has been fixed in this release.
File Handling Error when saving Event Logs to USB drive (PDD4324)
When you insert a USB-stick into the USB-connector on the FlexPendant saving Event Logs to this USB-
stick fails with the error message "Saving log file failed".
The work around is to use the USB-connectors on the controller itself.
EIO EthernetIP device working but an error message is received at startup (PDD4329)
Event Message 71527 EtherNet/IP adapter state conflict
This message is issued by the EtherNet/IP Scanner when it receives the CIP General Status Code 0x10
Device State Conflict from a device.
This tells the scanner that the device’s current mode/state prohibits the execution of the requested service
such as the creation of an I/O connection. Mostly this is a temporary mode/state that will resolve itself
allowing the Scanner to create I/O Connections a few seconds later.
If so, this message can be ignored. If the device will remain in this error state there is most likely a real
error on the device.
File changes to FP applications does not load the changes until a FP reset (PDD4351)
With RobotWare 6.0 the controller's restart will no longer reset the FlexPendant memory. This was part of
an effort to improve the restart time of the controller. This means that after placing a new FlexPendant
application file(s) on the FlexPendant unit, you need to manually reset the FlexPendant for it to reload its
assets. To manually reset the FlexPendant you need to use the reset button on the FlexPendant's
backside. (See Operating Manual – IRC5 with FlexPendant, 3HAC16590)
SKS specific error messages and elog entries on the FlexPendant. (PDD4348)
In RW 6, there were problems with SKS specific error messages not showing up on the FlexPendant. This
is now corrected.
Orientation via analogue input interprets values in rad not deg (PDD4373)
When using signals as input for EGM, the values given for orientation were interpreted as radians and not
as degrees as stated in the documentation.
This error is now corrected and the values are now interpreted as degrees.