Release Notes RW 6.06.01 Asdfasfdsaf Asdfasdfassad A Asfasdfasdfsafddsada

ABB Robotics
PRU Title Ref

SEROP Release Notes RW 6.06.01 RP6.xx – 0xx
Department Date Filename Page
RMRO/QMPP 2017-12-15 Release Notes RW 6.06.01.doc
1/27
Author, telephone
Anders Trillkott, +46 21 344863
Table of Content
TABLE OF CONTENT ........................................................................................................................................... 1
GENERAL ............................................................................................................................................................. 2
How to Migrate from RW5.x to RW 6.x .......................................................................................................................... 2
How to Migrate from RW5.6x to RW 6.x......................................................................................................................... 2
How to Migrate from RW6.x to RW 6.06.x...................................................................................................................... 2
RELEASE INFORMATION..................................................................................................................................... 3
Release Name .................................................................................................................................................................... 3
Release Date...................................................................................................................................................................... 3
Ordering number.............................................................................................................................................................. 3
Documentation .................................................................................................................................................................. 3
Controller Hardware Support.......................................................................................................................................... 4
Restrictions in Controller Hardware Support ................................................................................................................. 5
Manipulator Support........................................................................................................................................................ 5
Language Support ............................................................................................................................................................ 6
Incompatibility RW 6.06 .................................................................................................................................................. 7
New Functionality RW 6.06.............................................................................................................................................. 8
Improvements RW 6.06 .................................................................................................................................................. 12
Improvements RW 6.06.01 ............................................................................................................................................. 15
Information / Corrections RW 6.06................................................................................................................................ 16
Information / Corrections RW 6.06.01 ........................................................................................................................... 23
Product Defect Document RW 6.06 PDD ............................................................................................................. 25
Product Defect Document RW 6.06.01 PDD ............................................................................................................. 27

ABB Robotics
PRU Title Ref
2/27
Author, telephone
General
How to Migrate from RW5.x to RW 6.x

· Technote_140908_RobotWare 6
Contact local ABB for further information.
How to Migrate from RW5.6x to RW 6.x

· Migration Checklist in RobotStudio 6.x
· Migration Tool in RobotStudio 6.x
· License tool in RobotStudio 6.x
· Technote_140908_RobotWare 6
How to Migrate from RW6.x to RW 6.06.x

· Migration Checklist in RobotStudio 6.06.x
· Migration Tool in RobotStudio 6.06.x
· Technote: IRC5 New Main Computer

ABB Robotics
PRU Title Ref
3/27
Author, telephone
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 (Contact local ABB)
Release Name
The release name is RobotWare 6.06.01
The release contains following:
· RobotWare 6.06.01
· RobotStudio 6.06.01
Release Date
Release date 2017-12-19
Ordering number
RobotWare 6.06.01: 3HAC052368-001 Rev V
Documentation
See Release Notes on documentation DVD: 3HAC052153-001
ABB Robotics
PRU Title Ref
4/27
Author, telephone
Controller Hardware Support

§ Main computer unit:
§ DSQC1000
§ DSQC1018
§ Flexpandant unit:
§ SxTPU3
§ Drivesystem:
§ DriveSystem 09
§ PCI-express boards
§ DSQC1006, DeviceNet Master/Slave – 1 channel Option 709-1
§ DSQC1005, ProfiBus Controller – 1 channel Option 969-1
§ Fieldbus adapters (HMS-module)

§ DSQC669, EtherNet/IP Adapter Option 840-1
§ DSQC667, ProfiBus Device Option 840-2
§ DSQC668, ProfiNet Device Option 840-3
§ DSQC1004, DeviceNet Slave Option 840-4
§ SoftWare solution
§ EtherNet/IP Scanner/Adapter Option 841-1
§ Profinet Controller/Device Option 888-2
§ Profinet Device Option 888-3
§ ProfiSafe F-Device Option 997-1 (requires 996-1 + 888-2 or 888-3)
§ ProfiSafe F-Host&Device Option 997-2 (requires 996-1 + 888-2)
§ CIP Safety Adapter Option 997-3 (requires 996-1 + 841-1)
§ Prepared for ABB CI502 Option 1241-1 (requires 996-1 + 888-2)
§ Serial ports (RS232)

§ DSQC1003, RS232 – 1 (2) channel Option 970-1 (COM1 free / COM2 is console output.)
§ SafeMove 2nd Generation:

§ DSQC1015 Option 996-1
§ Local IO System
§ DSQC1030 Base unit 16Input, 16Output
§ DSQC1031 Add-on 16Input, 16Output
§ DSQC1032 Add-on 4Analog Inputs, 4Analog Outputs
§ DSQC1033 Add-on Relay 8 Input, 8 Output
ABB Robotics
PRU Title Ref
5/27
Author, telephone
Restrictions in Controller Hardware Support

See Technote_140908_RobotWare 6
See Technote_130415_new_main_computer
See Technote: New Main computer DSQC1018
Manipulator Support
See Technote_130415_new_main_computer

ABB Robotics
PRU Title Ref
6/27
Author, telephone
Language Support
The following languages are supported in RobotWare.
· English
· French
· German
· Spanish
· Italian
· Chinese (simplified Chinese, mainland Chinese) 1) 2)
· Portuguese (Brazilian Portuguese) 1)
· Dutch 1)
· Swedish 1)
· Danish 1)
· Czech 1)
· Hungarian 1)
· Finnish 1)
· Korean 1) 2)
· 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
7/27
Author, telephone
Incompatibility RW 6.06
IO Configurator (Add-In) 1.02
- Adaptation towards RobotStudio 6.06
- General bug fixes
In the 6.06 version there are limitations with the synchronization between IO Configurator (addin) and
Visual Safe Move that might lead to inconsistency with the safe IO configuration.
NOTE!
Version 1.02 requires RobotStudio version 6.06 to work properly. IOC versions lower than 1.02 will not work
with RobotStudio versions 6.06 or newer due to a compatibility change in RobotStudio framework.
There can only be one version of the IOC AddIn installed for all installed RobotStudio versions on a PC.
The reason is that RobotStudio shared the AddIn repository between different versions of RobotStudio.
Writing to top of file not possible (PDD7618)

The Rewind instruction does not work as documented.
Changes in VxWorks 7.0 has affected the functionality of the instruction in the way that it works as it does
for a Virtual Controller.
Current limitation:
If the used file has been opened with a \Bin or \Bin \Append switch, a Rewind before any type of a Write
instruction will be ineffective. The writing will be done at the end of the file.
Active tool is not updated directly in YuMi LeadThrough (PDD8591)

The RAPID instruction SetLeadThrough \On has changed its behavior.
Now it works as when activating lead through from the FlexPendant.
The active tool set in the FlexPendant is always used when lead through is active, not the tool used in the
latest movement instruction.
ABB Robotics
PRU Title Ref
8/27
Author, telephone
New Functionality RW 6.06

New instruction FitCircle
There is a new Rapid instruction named FitCircle that identifies a circle from three or more 3D-points.
EtherNet/IP DSQC1030 Local IO available for BullsEye and TorchClean options

From RW 6.06, there is support for EtherNet/IP DSQC1030 Local IO for the options BullsEye and
TorchClean.
For these options there is now a Fieldbus selection in RobotStudio Installation Manager.
Available Fieldbus options are; DeviceNet and LocalIO (DSQC1030).
If DeviceNet is selected, there are EIO DeviceNet configuration files loaded with a DeviceNet device
connected to the signals. Matching PROC configuration is also loaded.
If LocalIO (DSQC1030) is selected, there are LocalIO configuration files loaded, but the signals are not
connected to any Device. Matching PROC configuration is also loaded.
If LocalIO (DSQC1030) is selected for BullsEye, the DI signal has to be configured as Change Of State
(COS) to have good performance. The LocalIO (DSQC1030) Device has an attribute called Production
Trigger that should be COS.
Recommended workflow for configuring Local IO (DSQC1030) for BullsEye and TorchClean.
1. When the DSQC1030 is connected for the first time, there will be a dialog on the FlexPendant and/or
RobotStudio that requires you to configure the Device. Select YES.
2. Do not create any signal names, leave that entry blank
SafeMove now supports mechanical units without TCP

SafeMove is now supporting drive-modules with only axes. Up to 6 axes can be monitored where each axis
is treated as single.
The following safety functions can be used on the axes:
Axis Position Supervision, Axis Speed Supervision, Safe Stand Still, Safe Brake Ramp and Contact
Application Tolerance.
SafeMove does NOT support axes which can be deactivated.
SafeMove cannot handle any kinematics connected to the axes.
User Log step 2

New event logs are added in domain Operational:
10147 - Set Variable/persistent variable
10148 - Set IO value
10160 - Pulse IO signal
New motor unit MU 80

Configuration for the new motor unit MU 80 is added to the utility directory and to the add-in for motors and
gear units.
Lifetime prediction on SCARA

Lifetime prediction added for ballscrew on SCARA IRB910SC (0.45/0.55/0.65).
Data is presented as an estimated service interval of gear box joint 3.
ABB Robotics
PRU Title Ref
9/27
Author, telephone
New instruction GetJointData

A new instruction GetJointData has been added.
GetJointData is used to read out joint specific data from a specified mechanical unit. The information that
can be read for the specified axis is the position, speed, torque and estimated external torque.
Syntax:
GetJointData
['\' MechUnit ':=' < variable (VAR) of mecunit> ',']
[Axis ':=' ] < expression (IN) of num>
[ '\' Position ':=' < variable (VAR) of num> ]
[ '\' Speed ':=' < variable (VAR) of num> ]
[ '\' Torque ':=' < variable (VAR) of num> ]
[ '\' ExtTorque ':=' < variable (VAR) of num> ] ';'
TuneMaster improvements
New version have been added to TuneMaster to make it possible to log Servo Gun signals in an easy way.
The version is equal to the Log version but with predefined signals for Servo Gun Tuning. Signal 200 is
Position on arm side.
PROFIenergy Sleep Mode (PDD6393)

A new PROFINET energy saving mode is available.
The new mode is the sleep mode, see documentation PROFIenergy Device.
Create and load Backup as a zip-file (PDD7240)

To simplify moving a backup to an external storage it is possible to choose to save and load a backup as
an archive.
The archive is saved in tar-format which can be unpacked with, e.g., WinZIP.
An archived backup can also be restored and loaded back into the system as well as a backup that has
been unpacked.
You can choose to save an archived Backup from:
•The FlexPendant
•RobotStudio
•The system input: Backup
Rapid Instruction to read lines from a text file (PDD7900)

Function ReadStr has got a new optional argument Line.
New syntax:
ReadStr '('
[IODevice ':=']
['\' Delim ':=']
['\' RemoveCR]
['\' DiscardHeaders]
['\' Time ':=' ]
['\' Line ':=' ] ')'
New function TaskIsExecuting (PDD7981)

A new function TaskIsExecuting has been added.
Function returns TRUE or FALSE depending on if the RAPID program task is executing or not.
Syntax:
TaskIsExecuting '('
[ TaskRef ':=' ]
|[ TaskName ':=' ] ')'
A function with a return value of the data type bool.
ABB Robotics
PRU Title Ref
10/27
Author, telephone
New function TaskIsActive (PDD7981)

A new function TaskIsActive has been added.
TaskIsActive can be used to find out if a normal task is active or not, i.e. checked in the task selection
panel or not.
A function that can return one of the following predefined data:
TSP_STATUS_NOT_NORMAL_TASK
TSP_STATUS_DEACT_SERV_ROUT
TSP_STATUS_DEACT
TSP_STATUS_ACT
Syntax:
TaskIsActive '('
[ TaskRef ':=' ]
|[ TaskName ':=' ] ')'
A function with a return value of the data type tsp_status.
New function GetTSPStatus (PDD7981)

A new function GetTSPStatus has been added.
GetTSPStatus can be used to find out the current status of the task selection panel.
A function that can return one of the following predefined data:
TSP_UNCHECKED_RUN_SERV_ROUT
TSP_NORMAL_UNCHECKED
TSP_STATIC_UNCHECKED
TSP_SEMISTATIC_UNCHECKED
TSP_NORMAL_CHECKED
TSP_STATIC_CHECKED
TSP_SEMISTATIC_CHECKED
Syntax:
GetTSPStatus '('
[ TaskRef ':=' ]
| [ TaskName ':=' ] ')'
A function with a return value of the data type tsp_status
SafeMove support of MultiMove system with up to four robots (PDD8144)

SafeMove2 will from the 6.06 release support MultiMove systems with up to four robots.
NOrient error (PDD8193)

If the orientation was not normalized in the argument Rotation in NOrient function, the behavior of the
function was not correct. Now a correct error message is presented and the execution stops.
The error can now also be handled in an error handler. The name of the new error recovery constant is
ERR_ORIENT_VALUE.
Limitation of maximum gun force (PDD8704)

In this release new parameters for maximum gun force and deflection data has been added in the motion
configuration. The new parameters are for optional use, and are located in the type SG Process.
To enable the use of these parameters, it is required to deactivate the max gun force parameter in the
Spot configuration, see Spot Options, Configuration, Spot process configuration, Spot Gun Equipment,
max allowed gun force.
To enable the use of the deflection parameters, it is also required to remove the deflection data
parameters from the used gundata, see Spot Options, Gundata, Additional components for Spot Servo
Equalizing.
ABB Robotics
PRU Title Ref
11/27
Author, telephone
Backward Movement (PDD8733)

In 6.06 it is possible to start to step backward if the execution has stopped in a NOSTEPIN routine.
A configuration parameter must be set:
Domain: controller, type: General Rapid, name: StepOutNoStepin
When stepping backward, the code in the Nostepin routine will not be run backwards. But the program
pointer will be moved out of the NoStepin routine. Any UNDO will be run. The program pointer will be
placed on the statement before the call to the NoStepin Routine.
ABB Robotics
PRU Title Ref
12/27
Author, telephone
Improvements RW 6.06
ReadCfgData and WriteCfgData improvement
ReadCfgData and WriteCfgData now support use of dnum data type in argument CfgData.
UAS for Axis Calibration

Previously existing UAS grants "Calibration" and "Revolution counter update" now also applies to Axis
Calibration.
User now needs the grant “Calibration” to perform a fine calibration as well as calibration with reference.
User needs the grant “Revolution counter update” to be able to update revolution counters
User can validate existing calibration offset and previously created references as well as create new
references without the UAS grants
Change default value of use check point limitation in world

Check point limitation is used to monitor the speed of the arm check point (ACP), the tool center point
(TCP) and the wrist center point (WCP) in manual reduced speed mode.
In previous RobotWare versions arm check point (ACP) and wrist check point (WCP) has been evaluated
in relation to the base frame of the robot.
With RobotWare 6.05.01 a new system parameter, Use check point limitation in world, was introduced. The
default value of the system parameter Use check point limitation in world is from RobotWare 6.06 Yes.
The parameter Use check point limitation in world enables the robot to limit check point speed in world
coordinate system in teach mode.
Internal simulation mode if Virtual Controller system

Internal simulation mode 1 will be used if executing spot instructions in a virtual controller system.
No supervision of media signals will be done, and if using a pneumatic gun the gun open signals will not be
checked.
This means that the spot instructions will be possible to execute without any supervision faults.
Time Zone Settings UI and Control Modified.

The first requirement of showing Switzerland as a country when Zurich is selected in TimeZone, is
technically not possible. Because:
1. Time zone is overlapped in multiple countries. This kind of scenarios are more visible at bigger continent
ex: US and Africa.
2. Controller stores only time zone not country, So to retrieve the particular country in the above mentioned
scenario is not feasible.
So to make it understandable to user, added a new message in country selection of "Multiple Countries in
Zone".
Changed "System.Windows.Forms.ComboBox" of Country and Time Zone selection with
"ABB.Robotics.Tps.Windows.Forms.ComboBox" as per requirement.
New Event 50496: "Conveyor Tracking position error at pick"
Conveyor Tracking manual - New Troubleshooting Chapter

The Conveyor Tracking Application Manual has a new chapter to help troubleshooting. It contains helpful
information about how to make the application work smoothly in different scenarios.
Conveyor tracking parameters - Restart controller not needed

When changing Conveyor tracking related system parameters, there is no longer need to restart the
controller for the changes to take effect.
ABB Robotics
PRU Title Ref
13/27
Author, telephone
Conveyor tracking - Improved handling of ramps for UseAccProfile

The handling of combined speed ramp of conveyor speed with UseAccProfile instruction has been
improved
New Event 50496: "Conveyor Tracking position error at pick"

The new event message will help tuning conveyor tracking related parameters.
Conveyor Tracking position error at pick
Message Number: 50496
Description
Actual TCP position for robot arg1 is too far away from the ordered position on conveyor arg2 due to
ramping. Position error: arg3
Consequences
The robot may miss the picking or placing.
Probable Causes
The ramping of correction is not finished when reaching pick position.
Recommended Actions
1) Increase distance between pick and place positions to ensure that ramping is finished.
2) Reduce programmed speed.
3) Reduce ramping length. Configuration parameter “Start ramp” and/or “Stop ramp” in Process/Conveyor
systems/ parameters.
4) Increase max allowed position error at pick/place position. Configuration parameter “Max tracking error
at pick pos”.
Mirrored feedback signals are now set to fail-safe values when loosing CIP Safety connection.
The CIP Safety input signals mirrored to the robot controller are now set to fail-safe values when the CIP
safety connection is lost.
In previous version, the mirrored signals kept their values.
Installation Manager: Build process for Installation Packages too slow

Performance has been improved when creating an installation package.
Improvement force calibration sequence

In this release the force calibration sequence has been improved.
If working from a moc template file and performing a force calibration, the motor torque needed to reach
the specified max force on the gun will be calculated during the sequence.
It will then be possible to change the configured max torque directly from the sequence and run again with
new settings.
TPU Time zone setting improvement (PDD7357)

A new control ( combo box) is implemented to improve the UI & scroll ability, see Time Zone settings
above
ProductionMonitoring on VC (PDD7818)
In previous releases, there were problems to test some of the ProductionMonitoring features on a virtual
Controller.
The nominal values were not created correctly which led to problems with the "notify at cycle end"
functionality also.
These problems are now corrected.
ABB Robotics
PRU Title Ref
14/27
Author, telephone
Installation Manager allows simultaneous selection of options SafeMove1 and SafeMove2 (PDD8227)
It is no longer possible to select both the legacy SafeMove or Electronic Position Switches options together
with the new SafeMove 2 options at the same time in Installation Manager
Multiple instance of an Add-In option showing in Installation Manager (PDD8347)

When a user have several instances of the same product and same version on the PC it could be
confusion which one to use.
This is now filtered so only one of them is shown.
Tool control at program stop (PDD8695)

A new parameter has been added to Motion configuration to prevent the automatic open of the servo tool
at program stop.
The parameter is under the type SG PROCESS in the Motion domain and is called Automatic open
disabled (cfg name: automatic_open_disabled).
Default value is that the tool will still open automatically and this parameter needs to be set to change the
behavior.
Note:
This parameter should only be used when controlling tools as gripper and never in spotwelding.
Parameter is not visible in RobotStudio or at teach pendant and needs to be manually changed.
The parameter Soft Stop Timeout (cfg name: soft_stop_timeout) that by mistake had its maximum allowed
value increased in RW6.05 now has its old value 1.2s.
CyclicBrakeCheck (CBC) doesn't write correct pos. values in the CBC_REPORT_OK.log… (PDD8806)
The output in the report files CBC_REPORT.log and BC_REPORT.log that is created in the HOME
directory has been modified.
When logging the position, each mechanical unit is now logged with name and position.
The change has been done to be able to handle all types of configurations of robots and external axis.
New appearance:
Position:
ROB_1: 0.2:0:0:0:0:-0.1
Old appearance:
Position: -40:-45:30:0:-40:0
No user grant needed for leaving commissioning mode (PDD8892)

In the case where commissioning mode in SafeMove is active and the safety service user has logged out it
was previously not possible to enter supervision.
From the 6.06 release, it is possible for all user to go to supervision mode.
Clarified the CIP Safety parameter SCID (PDD9015)

The CIP Safety parameter SCID has caused some confusion.
The parameter is called SCID in the standard but the PLC supplier calls it "Configuration Signature ID".
Now we have updated the manual and event logs using both names.
ABB Robotics
PRU Title Ref
15/27
Author, telephone
Improvements RW 6.06.01
Installation Manager invalid Product Overview (PDD9401)
When a created Addin/product have options that have the same id(name) Installation Manager summary
page can show this id(name) at several or all locations where it is defined in the Addin/product.
This have now been improved.
Installation Manager very slow to read 3 systems from Boot Application (PDD9432)
Improved the speed of getting system information
IRB 2600 Type B correction for Duty factor warning (PDD9575)

Our IRB 2600 axis 2 is a gear concept that gives high temperature by its principle (high ratio cycloid) from
Type A onwards.
The motor windings can work up to 140°C continuously and we have an oil in the gearbox that can work up
to around 100°C (it’s made for worm gears that become hot). I.e. motor temperature will be higher
compared to the initial version, but this is by design and OK as is.
The threshold values that trigger warning message “50263" to prevent overheating of motors axis 1 and 2
had originally been lowered from IRB 2600 TypeA to Type B .
This could cause unnecessary warning messages on Type B robots running programs that used to run with
Type A robots.
The threshold values have now been changed to the same values as for previous motor type (IRB 2600
Type A) to avoid this problem.
ABB Robotics
PRU Title Ref
16/27
Author, telephone
Information / Corrections RW 6.06

FTP client configuration for FileZilla
Using the FileZilla FTP server with the FTP client in RobotWare requires changing the welcome message
sent by the FileZilla server to the controller. The welcome message should be FileZilla.
In the FileZilla FTP server options dialog select "General Settings" and "Welcome message".
Replace the default welcome message with FileZilla.
Limitation of servo disconnect units updated

The limitation of maximum number of units that can be used when other units are in the same drive unit is
now documented in manuals:
-Product specification - Controller software IRC5
-Application manual - Spot options
There also is a new event log when more axis then allowed is added to system.
Limitations:
Servo tool change can be used up to 8 different tools but is limited by 14 axes in total for the drive module.
E.g. if robot is on a track motion or if another additional axis is connected to a drive module it reduces that
number of allowed tools that can be used with servo disconnect.
Mode-switch problem in VC with SafeMove2

When using VC with SafeMove and a hard mode switch, sometimes the event log 90663 "Unstable
Operating Mode selector input" was triggered during startup and SafeMove entered safe state.
This has now been corrected.
System Failure after collision with Weaving have been solved

In rare cases after a collision when using collision detection, system would go into System Failure. This
error has been fixed.
DispencePac: Illegal return code -1 from SetTMSignal

Setting an analog value on a digital signal with SetTMSignal including delay would earlier result in a
confusing internal error message.
This has been fixed to give the proper error message with code 131016.
DispencePac: Illegal unit [PibSaf] state change (EIO_FBC_UNIT_RUNNING) -->

(EIO_FBC_UNIT_RUNNING)
In rare cases the system could come up in system failure after a restart, and an additional symptom would
be an internal error regarding "illegal state change" for an ICI EIO device associated with IPS.
The problem was related to certain timing during startup and has now been fixed.
Data declaration is not available in instruction editor (PDD7355)

Solution:
Requirement is only show constant symbols (not PERS or VAR) if the parameter has min and max values
defined
Error message Event 71582 - Meaning not clear (PDD7550)

Clarified 71582 event log text.
For example added appropriate actions steps which gives the user better guidance to a possible solution.
Timestamp in Controller Explorer does not seem to update (PDD7593)

Issue: Modified Timestamp is not updated for HTTP file transfer using Robot Web Services.
Solution:
The last modified date will be available.
ABB Robotics
PRU Title Ref
17/27
Author, telephone
Installation Pkg not recognized when the controller ID name is missing (PDD7753)
Improvement to installation package in cases where controller ID is missing (empty).
Users will get a list of controllers where they can pick one to install the system.
Memory index parameter for non-robot axis (PDD8235)

Using the memory_index parameter under type Measurement Channel in topic Motion for external axis no
longer creates a corrupt not starting system.
The memory_index parameter should only be used for robot axis.
System I/O signal not shown as error argument in the error message 71391 (PDD8239)
For Event log 71391 (System Signal configuration) the argument for system I/O signal was not shown
earlier.
This is now solved.
RCS Module - Drive unit configurations for additional axis (PDD8267)

irc5c.cfg now contains drive unit configuration for additional axis.
This makes it easier to create a simulation system using MOC.cfg from a real system backup.
Negative calibration offset value no longer valid in configuration (PDD8307)

System parameter calibration offset (cal_offset) no longer allows negative values to be entered manually
(from Robot Studio) or by loading configuration file with negative value.
Negative values caused system failure.
Missing instructions ArcC1/ArcC2 in a multiprocess system. (PDD8378)

In previous releases, the instructions ArcC1 and ArcC2 was missing in the instruction pick list if the option
651-2 Two Additional Arc Systems was active in the robot system.
This is now corrected.
Wrong management of application options dependencies (PDD8429)

The dependency handling in option manager is corrected.
Garbage on sockets (PDD8368)

In a high communication load situations the controller could on rare occasions accidentally send garbage
data on any new opened socket.
This condition is now removed.
Restore backup with Advanced Settings does not restore Controller ID (PDD8456)
Controller ID contains the ABB identity of the controller and it must always be the same as the serial
number of the controller. It is never overwritten when restoring a backup of a RobotWare System unless:
1. Advanced options of restore are used and
2. The Controller ID is empty (e.g. after HW change)
The described behavior is valid from RobotWare 6.06.
In RobotWare 6.04 and 6.05 it was possible to overwrite a non-empty Controller ID by restoring a backup
through advanced options.
Installation Manager does not seem to allow renaming system name (PDD8459)
Rename system works now successfully.
Optical Tracking - Restart distance works correctly mow with PreProcessTracking (PDD8479)
In RW 6.05 the combination of Restart distance and PreProcessTracking did not work correctly for the start
point of the process.
The robot started the process "Restart distance" before the start point.
This is now corrected in RW 6.06.
ABB Robotics
PRU Title Ref
18/27
Author, telephone
FP message translation (PDD8491)
All text in Local IO is previous in English.
It’s now translated to other languages in 6.06.
Brake Check RAPID template should conform to other similar templates (PDD8533)
The RAPID template file BC_config_IO.sys for configuration of I/O signals that can be used by BrakeCheck
has been moved.
The file can now be found in directory
hd0a\\PRODUCTS\RobotWare_6.0x.xxxx\utility/BrakeCheck
instead of
hd0a\\PRODUCTS\RobotWare_6.0x.xxxx\system.
Termination of pause mode before minimum time of stay has passed i now possible (PDD8607)
A request to terminate of pause mode before minimum time of stay has passed will be accepted and
executed when minimum time of stay has passed.
Error in UIMsgBox when two words have same meaning (PDD8682)

When two words have the same meaning, there is a conflict. This happens in Swedish, Danish, Slovenian,
and Turkish.
The implementation is fixed to handle this case with new function flow.
Indpos in ManSetForce routine (PDD8692)

In this release the minimum independent position possible has been changed to 1mm when running a
SetForce of ManualSetForce.
Socket send problem in RW6 (PDD8745)

If the network is unreachable or connection is lost after a socket is opened, sending socket errors where
unhandled in the system. So no elog was created or you got 41587
An elog has been added (41588) so that the error can be handled in rapid ( ERR_SOCK_NET_UNREACH).
Note that this elog will take some time and resends to appear, to get a more fail safe socket sending, it is
encouraged to implement user ACK messages in Rapid.
TuneMaster save and load of I/O signal configuration fails (PDD8754)

It is now possible to save and open an I/O signal definition in TuneMaster
IO filter for Alias IO does not work (PDD8763)

Alias IO name filter function is available in RW 6.06
SocketMessage Not able to trigger Multitasking in Cmd Prompt (PDD8764)

There was a problem in earlier releases if two RAPID tasks was executing a SocketAccept at the same
time. If the first task accepted an incoming connection, and started to send data with high frequency to a
remote computer, the second RAPID task was never able to accept the incoming connection, and it hang
on SocketAccept forever.
This has been fixed in RW6.06.
Sporadic problem with system backup (PDD8797)

For systems with large Persistent, etc. large matrixes with strings, there has sometimes not been possible
to do a backup, save modules/programs etc.
This is now solved in 6.06.
Positioner will not load in second drive module (PDD8808)

The user will now get an error dialog in Installation Manager when trying to select:
- An ABB Positioner on either second, third or fourth Drive System
- An ABB TrackMotion on either third or fourth Drive System
ABB Robotics
PRU Title Ref
19/27
Author, telephone
System from Installation Manager adds two drive modules (PDD8876)
Multiple drive selection for IRB8700 is corrected to single drive
Overshoot problem on IRBT4004 with Multimove system (PDD8882)

We have corrected a limitation that could cause a track motion to go outside the joint limits if the path
ended with a zone near the joint limit.
LoadId with PayLoadsInWristCoords and StationaryPayLoadMode (PDD8865)

Load identification now works correctly when using "PayloadsInWristCoord" and/or
"StationaryPayloadMode" settings.
System failure when using rapid command CopyFile (PDD8900)

We have some reports of spontaneous system failures when the controller is executing CopyFile rapid
command.
This was caused by a too small memory allocation to be able to execute this command at all times.
The allocated memory for this has now been increased and the reported problem has been solved now.
Fixed bug causing unexpected jerk in lead-through (PDD8916)

Fixed bug that would cause a short unexpected jerk and stop in lead-through after moving program pointer
in some circumstances.
UAS logon invalid log entries without any reason (PDD8935)

The UAS built-in user accounts have been removed from RW 6.06. This is part of security improvement.
RCS 6.05.01 RCS Installation folders have wrong names (PDD8936)

The installation path for the RCS module previously only contained the major and minor version numbers
leading to some ambiguity when installing a revision.
From 6.06 all four version fields are used in the installation path
Extra functional mappings (PDD8942)

By mistake, the function mappings "General Stop", "AutoStop", "EnableSwitch", "DeviceEnable1" and
"DeviceEnable2" have been visible in the SafeMove configurator.
Those functional mappings are intended for future releases and should not be used.
The function mappings are no longer be visible in the configurator.
Targets reported as out of reach for IRB 5500 robot in RobotStudio (PDD8950)
The problem in RobotStudio that some targets programmed for the IRB 5500 robot was shown as out of
reach, although they could be reached by the robot using a Rapid program, is solved.
The action "Quick Stop" (PDD8967)

Quickstop from system input is working correct, in 6.05 an malfunction was introduced and if setting a
system input connected to quickstop simultaneously as a another stop was processing e.g. Emergency
Stop system input quickStop could stop working.
System update removes robot from selected option (PDD8968)

When updating Robotware/addin the IRB could be deselected, this have now been solved.
Rename of system not possible (PDD8978)

Rename system works successfully in 6.06
Inactive System - Rename system fails (PDD9030)

Rename system works now successfully
ABB Robotics
PRU Title Ref
20/27
Author, telephone
Popup regarding the braking of the profinet version is not correct (PDD9066)
When updating Robotware a dialog was sometimes wrongly presented in the Installation Manager about
the profinet compatibility will be broken.
This have now been solved.
Installation Manager fails to update virtual controller (PDD9091)

Problem of updating product while installing is corrected.
Update Package: Not possible to update a MultiMove system (PDD9093)

The following error has been corrected in RW 6.06:
When using Deployment Package to install/update a multi-move system which has more than 1 robot
defined and all robots are of the same type and use the same Drive system, only Robot1 is correctly
installed/updated.
Drive system and the robot type are missing for other robots.
Problems with bullseye 6.05.01 (PDD9173)

Customers, who ran Bullseye setup in 6.05.01 will have to do the following, if they upgrade to a newer RW
version and restore a backup of the upgraded system:
1. If they want to use the restored Bullseye data
· Take a backup of the system
· Upgrade the system to the newer RW version
· Restore the backup
· Edit all Bullseye data files (BE_Data_T_ROBx, x = 1, 2, 3, 4) in the directory HOME/Bullseye
Add the following RAPID procedure:
LOCAL PROC GetnBEArrDim(

VAR num Value)
Value:=Dim(CurToolList, 1);
ERROR
RAISE;
ENDPROC
2 If they want to rerun BESetupToolJ

· Take a backup of the system
· Upgrade the system to the newer RW version
· Restore the backup
· Remove all Bullseye data files (BE_Data_T_ROBx, x = 1, 2, 3, 4) in the directory HOME/Bullseye
System crash when changing profinet IP information (PDD9159)

If the WAN ip address from bootserver is the same as profinet ip address and the profinet
ip address/netmask or gateway is changed by PLC or profinet tool the system would freeze completely and
crash.
The next startup of the system it will be in system failure with lost image.
6.05.02 Rapid cannot see communicating Profinet (PDD9212)

RobotWare now starts ProfiNet before waiting for external mechanical units which solves reported issue.
ABB Robotics
PRU Title Ref
21/27
Author, telephone
Unexpected stop of Axis Calibration routine when starting from unsynchronized state (PDD9214)
Axis Calibration service routine would not be allowed to restart with error code 50091 ("Restart not
possible") under certain conditions when it was originally started from an unsynchronized state (revolution
counters not updated).
ProductionMonitoring Arc Settings (PDD9232)

In RW 6.05 there was a problem to edit Process Configuration settings for the option Production Monitoring
from RobotStudio.
EGM won't handle AbsAcc in customer installation (PDD9246)

The Cartesian position that EGM sent from robot controller to client was not compensated with absolute
accuracy.
VCG Pur 6.04.01 IRB 6700 sys fail after crash (PDD9249)
In rare cases after a collision when using collision detection, system would go into System Failure.
This error has been fixed.
Robotware hanging when restarting (PDD9259)

In some cases, connecting a DHCP enabled device to the LAN (X2-X4) can cause the robot to not shut
down properly.
This results in that the main computer refuses to shut down when trying to restart.
This is true whether it be a restart or power off. When all energy is drained from the UPS, and system is
restarted it will come up in Sys-Fail mode due to lost system data.
This problem is solved in RW6.06
Several instructions (e.g. GetDataVal) cannot be added to program via the RAPID Editor…(PDD9280)
Reported issue solved in 6.06
F- host slot naming for internal device (PDD9293)

The (default) naming convention for slots installed when using F- Host option now corresponds to the
convention given by the IOC tool.
slot 1: DO_64_bytes
slot 2: DI_64_bytes
slot 3: SDO_8_bytes
slot 4: SDI_8_bytes
Zero size output module with Ethernet IP (PDD9312)

It is now possible to configure Ethernet I/P, with Output Size set to 0, and ownership set to exclusive.
This stopped to work in 6.05
F-Devices used in [997-2] ProfISafe F-Host (PDD9324)

Fixed problems how records was shown and handled.
Limitations using GAP in the startup, Valid from 6.01 and onwards (PDD9424)
Information for systems with GAP that gets errors 50261 and 50262 during the first setup of safepos and
have one or more external axis activated (like a track).
The jRange variable in GoSafeData.sys have to include all external axis with a value corresponding to
definition of safepos.
If any of the configured active external axis have "9E9" in jRange you will have this error codes.
ABB Robotics
PRU Title Ref
22/27
Author, telephone
System failure with TriggRampAO on Cap instructions (PDD9464)
There was a chance that Cap instructions like CapL with triggdata of type TriggRampAO could cause the
system to enter system failure state for unexpected reason.
ABB Robotics
PRU Title Ref
23/27
Author, telephone
Information / Corrections RW 6.06.01

Wrong Fieldbus dependencies in BullsEye&TorchClean options
In RW 6.06 there was a dependency between 652-1 BullsEye - Local IO and 841-1 EtherNet/IP
Scanner/Adapter.
This made it impossible to select 652-1 BullsEye - Local IO if the 841-1 EtherNet/IP Scanner/Adapter
option was not present in the license.
This dependency is now removed.
Reference Calculation Error in Motion Planner (PDD9002)

The reported reference calculation error in conveyor tracking has been solved.
On the PROFINET request "Information of wake on lan" gives complete information (PDD9329)
The PROFINET controller (i.e. PLC)will now get the complete information on the PROFIenergy request
information on “wake on lan”.
Localized text truncated (PDD9382)

Truncated localized text have now been fixed
Automatic selection of options (PDD9400)

There is a new dialog to help the user to select options when there are dependencies and user interaction
is necessary.
This dialog can also be disable in the 'Preferences' and Installation Manager will behave as earlier releases
i.e. automatically select options.
SafeMove in MultMove systems may loose synch and CBC data if one drive module is excl. (PDD9451)
In some cases when a drive module is excluded from the safety configuration in a MultiMove system,
SafeMove requires a synchronization and brake-test to be performed after each startup.
This error has now been corrected.
I/O controlled axis; Joint Position Error; RefSync unexpected movement (PDD9463)
The joint position error problem in I/O controlled axis has been solved
Profinet Faulty Device Issue (PDD9475)

For profinet devices that reports bad IO:s in the startup, it would happen
that the I/O device would be stuck in state "Faulty" in our controller.
Error was introduced in 6.05.01
The error has now been solved
Installation Manager adding additional Drive Module to Robot system (PDD9480)

Installation Manager sometimes do not show the 'drive system' for IRB 2-4 in a multimove system.
This is now solved.
Tabs for Sync. and CBC in FlexPendant shows wrong information in a MultiMove system (PDD9526)
In a MultiMove system with SafeMove where one or more drive modules have been excluded from the
safety configuration, the information in the Synchronization and CBC on the FlexPendant tab shows wrong
information.
The excluded drive module was not handled correctly.
This has now been corrected in 6.06.01.
Error 50066 after update to RW6.06 (PDD9535)

Corrected a bug that was introduced in RW 6.06 that would give the error 50066 "Robot not active" at
startup for a robot mounted on a gantry.
ABB Robotics
PRU Title Ref
24/27
Author, telephone
Asian languages does not work on RW 6.06 (PDD9566)
Korean, Chinese and Japan languages were not working in 6.06
It is now resolved in 6.06.01.
Gun indexing in service routines not correct if "Combi" configuration (PDD9589)

In this release a problem with gun indexing has been corrected i the spot service routines.
The problem occurred when a "Combi" configuration was used, and if several guns was used, servo and
pneumatic combined.
New CFG type and instance in EIO domain (PDD9632)

There is a new CFG type called "PROFINET_DRIVER" in the EIO domain.
An instance of this type named "PROFINET_COMMON_DATA" is now created when a system has the
PROFINET Device or PROFINET Controller/Device option installed.
This new type contains information necessary for the PROFINET Driver and cannot be changed.
This type will be documented in a later doc. release.
CollisionErrorHandling leads to unexpected behavior (PDD9677)

Important
Please make sure that an error handler exist if Collision Error Handling is activated. Otherwise the program
pointer will be set to main at collision and the movement will then be unexpected.
Read the manual how the error handler should look like for Collision Error Handling.
ABB Robotics
PRU Title Ref
25/27
Author, telephone
Product Defect Document RW 6.06 PDD

PROFIenergy Sleep Mode PDD6393
Create and load Backup as a zip-file PDD7240
Data declaration is not available in instruction editor PDD7355
TPU Time zone setting improvement PDD7357
Error message Event 71582 - Meaning not clear PDD7550
Timestamp in Controller Explorer does not seem to update PDD7593
Installation Pkg not recognized when the controller ID name is missing PDD7753
ProductionMonitoring on VC PDD7818
Rapid Instruction to read lines from a text file PDD7900
TaskIsActive functional request PDD7981
SafeMove support of MultiMove system with up to four robots PDD8144
NOrient error PDD8193
Installation Manager allows simultaneous selection of options SafeMove1 and SafeMove2 PDD8227
Memory index parameter for non-robot axis PDD8235
System I/O signal not shown as error argument in the error message 71391 PDD8239
RCS Module - Drive unit configurations for additional axis PDD8267
Negative calibration offset value no longer valid in configuration PDD8307
Multiple instance of an Add-In option showing in Installation Manager PDD8347
Garbage on sockets PDD8368
Missing instructions ArcC1/ArcC2 in a multiprocess system. PDD8378
Wrong management of application options dependencies PDD8429
Restore backup with Advanced Settings does not restore Controller ID PDD8456
Installation Manager does not seem to allow renaming system name PDD8459
Optical Tracking - Restart distance works correctly mow with PreProcessTracking PDD8479
FP message translation PDD8491
Brake Check RAPID template should conform to other similar templates PDD8533
Active tool is not updated directly in YuMi LeadThrough PDD8591
Termination of pause mode before minimum time of stay has passed i now possible PDD8607
Error in UIMsgBox when two words have same meaning PDD8682
Indpos in ManSetForce routine PDD8692
Tool control at program stop PDD8695
Limitation of maximum gun force PDD8704
Backward Movement PDD8733
Socket send problem in RW6 PDD8745
TuneMaster save and load of I/O signal configuration fails PDD8754
IO filter for Alias IO does not work PDD8763
SocketMessage Not able to trigger Multitasking in Cmd Prompt PDD8764
Sporadic problem with system backup PDD8797
CyclicBrakeCheck (CBC) doesn't write correct position values in the CBC_REPORT_OK.log… PDD8806
Positioner will not load in second drive module PDD8808
LoadId with PayLoadsInWristCoords and StationaryPayLoadMode PDD8865
System from Installation Manager adds two drive modules PDD8876
Overshoot problem on IRBT4004 with Multimove system PDD8882
No user grant needed for leaving commissioning mode PDD8892
System failure when using rapid command CopyFile PDD8900
Fixed bug causing unexpected jerk in lead-through PDD8916
UAS logon invalid log entries without any reason PDD8935
RCS 6.05.01 RCS Installation folders have wrong names PDD8936
Extra functional mappings PDD8942
Targets reported as out of reach for IRB 5500 robot in RobotStudio PDD8950
The action "Quick Stop" PDD8967
System update removes robot from selected option PDD8968
Rename of system not possible PDD8978
Clarified the CIP Safety parameter SCID PDD9015
Inactive System - Rename system fails PDD9030
ABB Robotics
PRU Title Ref
26/27
Author, telephone
Popup regarding the braking of the profinet version is not correct PDD9066
Installation Manager fails to update virtual controller PDD9091
Update Package: Not possible to update a MultiMove system PDD9093
Problems with bullseye 6.05.01 PDD9173
System crash when changing profinet IP information PDD9159
6.05.02 Rapid cannot see communicating Profinet PDD9212
Unexpected stop of Axis Calibration routine when starting from unsynchronized state PDD9214
ProductionMonitoring Arc Settings PDD9232
EGM won't handle AbsAcc in customer installation PDD9246
VCG Pur 6.04.01 IRB 6700 sys fail after crash PDD9249
Robotware hanging when restarting PDD9259
Several instructions (e.g. GetDataVal) cannot be added to program via the RAPID Editor on the FP PDD9280
F- host slot naming for internal device PDD9293
Zero size output module with Ethernet IP PDD9312
F-Devices used in [997-2] ProfISafe F-Host PDD9324
Limitations using GAP in the startup, Valid from 6.01 and onwards PDD9424
System failure with TriggRampAO on Cap instructions PDD9464
ABB Robotics
PRU Title Ref
27/27
Author, telephone
Product Defect Document RW 6.06.01 PDD

Reference Calculation Error in Motion Planner PDD9002
On the PROFINET request "Information of wake on lan" gives complete information PDD9329
Localized text truncated PDD9382
Automatic selection of options PDD9400
Installation Manager invalid Product Overview PDD9401
Installation Manager very slow to read 3 systems from Boot Application PDD9432
SafeMove in MultMove systems may loose synch and CBC data if one drive module is excluded PDD9451
I/O controlled axis; Joint Position Error; RefSync unexpected movement PDD9463
Profinet Faulty Device Issue PDD9475
Installation Manager adding additional Drive Module to Robot system PDD9480
Tabs for Synchronization and CBC in FlexPendant shows wrong information in a MultiMove system PDD9526
Error 50066 after update to RW6.06 PDD9535
Asian languages does not work on RW 6.06 PDD9566
IRB 2600 Type B correction for Duty factor warning PDD9575
Gun indexing in service routines not correct if "Combi" configuration. PDD9589
New CFG type and instance in EIO domain PDD9632

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TABLE OF CONTENT ........................................................................................................................................... 1

How to Migrate from RW5.x to RW 6.x .......................................................................................................................... 2

How to Migrate from RW5.6x to RW 6.x......................................................................................................................... 2

How to Migrate from RW6.x to RW 6.06.x...................................................................................................................... 2

Release Name .................................................................................................................................................................... 3

Controller Hardware Support.......................................................................................................................................... 4

Restrictions in Controller Hardware Support ................................................................................................................. 5

Language Support ............................................................................................................................................................ 6

Incompatibility RW 6.06 .................................................................................................................................................. 7

New Functionality RW 6.06.............................................................................................................................................. 8

Improvements RW 6.06 .................................................................................................................................................. 12

Improvements RW 6.06.01 ............................................................................................................................................. 15

Information / Corrections RW 6.06................................................................................................................................ 16

Information / Corrections RW 6.06.01 ........................................................................................................................... 23

Product Defect Document RW 6.06 PDD ............................................................................................................. 25

Product Defect Document RW 6.06.01 PDD ............................................................................................................. 27

How to Migrate from RW5.x to RW 6.x

Contact local ABB for further information.

How to Migrate from RW5.6x to RW 6.x

Contact local ABB for further information.

How to Migrate from RW6.x to RW 6.06.x

Contact local ABB for further information.

Release date 2017-12-19

RobotWare 6.06.01: 3HAC052368-001 Rev V

Controller Hardware Support

§ DSQC1005, ProfiBus Controller – 1 channel Option 969-1

§ Fieldbus adapters (HMS-module)

§ DSQC667, ProfiBus Device Option 840-2

§ DSQC668, ProfiNet Device Option 840-3

§ DSQC1004, DeviceNet Slave Option 840-4

§ Profinet Controller/Device Option 888-2

§ Profinet Device Option 888-3

§ ProfiSafe F-Device Option 997-1 (requires 996-1 + 888-2 or 888-3)

§ ProfiSafe F-Host&Device Option 997-2 (requires 996-1 + 888-2)

§ CIP Safety Adapter Option 997-3 (requires 996-1 + 841-1)

§ Prepared for ABB CI502 Option 1241-1 (requires 996-1 + 888-2)

§ Serial ports (RS232)

§ SafeMove 2nd Generation:

Restrictions in Controller Hardware Support

Contact local ABB for further information.

Contact local ABB for further information.

· Portuguese (Brazilian Portuguese) 1)

Writing to top of file not possible (PDD7618)

Active tool is not updated directly in YuMi LeadThrough (PDD8591)

New Functionality RW 6.06

EtherNet/IP DSQC1030 Local IO available for BullsEye and TorchClean options

SafeMove now supports mechanical units without TCP

User Log step 2

New motor unit MU 80

Lifetime prediction on SCARA

New instruction GetJointData

PROFIenergy Sleep Mode (PDD6393)

Create and load Backup as a zip-file (PDD7240)

Rapid Instruction to read lines from a text file (PDD7900)

New function TaskIsExecuting (PDD7981)

New function TaskIsActive (PDD7981)

New function GetTSPStatus (PDD7981)

SafeMove support of MultiMove system with up to four robots (PDD8144)

NOrient error (PDD8193)

Limitation of maximum gun force (PDD8704)

Backward Movement (PDD8733)