ABB IRC5 Compact Instructions for use

ABB Robotics

Application manual

Robot Reference Interface

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Checked in 2013-09-30

Skribenta version 4.0.378

Application manual

Robot Reference Interface

RobotWare 5.60

Document ID: 3HAC031973-001

Revision: F

The information in this manual is subject to change without notice and should not

be construed as a commitment by ABB. ABB assumes no responsibility for any errors

that may appear in this manual.

Except as may be expressly stated anywhere in this manual, nothing herein shall be

construed as any kind of guarantee or warranty by ABB for losses, damages to

persons or property, fitness for a specific purpose or the like.

In no event shall ABB be liable for incidental or consequential damages arising from

use of this manual and products described herein.

This manual and parts thereof must not be reproduced or copied without ABB's

written permission.

Additional copies of this manual may be obtained from ABB.

The original language for this publication is English. Any other languages that are

supplied have been translated from English.

ABB AB

Robotics Products

Se-721 68 Västerås

Sweden

Table of contents
7Overview of this manual ...................................................................................................................
9Product documentation, IRC5 ..........................................................................................................
11Safety ................................................................................................................................................
131 Introduction to Robot Reference Interface
152 Installation
152.1 Connecting the communication cable .................................................................... 162.2 Prerequisites .................................................................................................... 172.3 Data orchestration ............................................................................................. 182.4 Supported data types .........................................................................................
193 Configuration
193.1 Interface configuration ....................................................................................... 203.2 Interface settings .............................................................................................. 213.3 Device description ............................................................................................. 243.4 Device configuration ..........................................................................................
274 Configuration examples
274.1 RAPID programming .......................................................................................... 284.2 Example configuration .......................................................................................
335 RAPID reference information
335.1 RAPID instructions ............................................................................................ 335.1.1 SiConnect - Sensor Interface Connect ......................................................... 365.1.2 SiClose - Sensor Interface Close ................................................................ 385.1.3 SiGetCyclic - Sensor Interface Get Cyclic .................................................... 405.1.4 SiSetCyclic - Sensor Interface Set Cyclic ..................................................... 425.2 RAPID data types .............................................................................................. 425.2.1 sensor - External device descriptor ............................................................. 445.2.2 sensorstate - Communication state of the device ..........................................
45Index
3HAC031973-001 Revision: F 5
© Copyright 2008-2009,2013 ABB. All rights reserved.
Table of contents

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Overview of this manual

About this manual

This manual explains the basics of how and when to use the RobotWare option

Robot Reference Interface.

Usage

This manual can be used either as a reference to find out if an option is the right

choice for solving a problem, or as a description of how to use an option. Detailed

information regarding syntax for RAPID routines and configuration of system

parameters is not described here, but can be found in the respective reference

manual.

Who should read this manual?

This manual is mainly intended for robot programmers.

Prerequisites

The reader should be:

• Familiar with industrial robots and their terminology.

• Familiar with the RAPID programming language.

• Familiar with RobotStudio and how to work with system parameters.

References

Document IDReference

3HAC031045-001Operating manual - General safety information

3HAC16581-1Technical reference manual - RAPID Instructions, Functions and Data

types

3HAC032104-001Operating manual - RobotStudio

Sample code available on www.abb.com/robotics (ABB Library)

Revisions

DescriptionRevision

First edition-

Released with RobotWare 5.12. Minor corrections.A

SiConnect has a new switch \NoStop.

Updates in sensor.

SiTool and SiWobj are no longer needed for calculations. Current tool

and workobject are used instead.

Released with RobotWare 5.14.B

The following updates are made:

• The correct unit for robot joints is radians, see Example configura-

tion on page 28.

•Corrected code in examples, see Example configuration on page 28.

Correction of connections in Connecting the communication cable on

page 15.

Continues on next page

3HAC031973-001 Revision: F 7

Overview of this manual

DescriptionRevision

Released with RobotWare 5.15.D

Clarifications added regarding the direction of data exchange in Introduc-

tion to Robot Reference Interface on page 13.

Released with RobotWare 5.15.01.

• All references to the protocol high-priority UDP (HP-UDP) are re-

moved throughout the manual. The protocol is not supported.

• The attribute Link is changed from optional to mandatory in

Properties on page 26.

• Minor corrections.

Released with RobotWare 5.60.

• Updated the graphic in the section Connecting the communication

cable on page 15.

• Updated information related to Network ports in the section Device

description on page 21.

8 3HAC031973-001 Revision: F

Overview of this manual

Continued

Product documentation, IRC5

Categories for manipulator documentation

The manipulator documentation is divided into a number of categories. This listing

is based on the type of information in the documents, regardless of whether the

products are standard or optional.

All documents listed can be ordered from ABB on a DVD. The documents listed

are valid for IRC5 manipulator systems.

Product manuals

Manipulators, controllers, DressPack/SpotPack, and most other hardware will be

delivered 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 manuals

The technical reference manuals describe reference information for robotics

products.

•Technical reference manual - Lubrication in gearboxes: Description of types

and volumes of lubrication for the manipulator gearboxes.

•Technical reference manual - RAPID overview: An overview of the RAPID

programming language.

•Technical reference manual - 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 the

RAPID programming language.

•Technical reference manual - System parameters: Description of system

parameters and configuration workflows.

Application manuals

Specific applications (for example software or hardware options) are described in

Application manuals. An application manual can describe one or several

applications.

Continues on next page

3HAC031973-001 Revision: F 9

Product documentation, IRC5

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 manuals

The operating manuals describe hands-on handling of the products. The manuals

are aimed at those having first-hand operational contact with the product, that is

production 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

•Operating manual - Trouble shooting IRC5, for the controller and manipulator.

10 3HAC031973-001 Revision: F

Product documentation, IRC5

Continued

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