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ABB IRC5 Applications Manual
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ABB IRC5 Applications Manual

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ABB Robotics
Application manual
Robot Reference Interface

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  • Page 1 ABB Robotics Application manual Robot Reference Interface...
  • Page 2 Trace back information: Workspace R13-2 version a2 Checked in 2013-09-30 Skribenta version 4.0.378...
  • Page 3 Application manual Robot Reference Interface RobotWare 5.60 Document ID: 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.
  • Page 4 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.

  • Page 5: Table Of Contents

    SiGetCyclic - Sensor Interface Get Cyclic ............ 5.1.4 SiSetCyclic - Sensor Interface Set Cyclic ............. RAPID data types ....................5.2.1 sensor - External device descriptor ............. 5.2.2 sensorstate - Communication state of the device .......... Index 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.
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  • Page 7: Overview Of This Manual

    3HAC031045-001 Technical reference manual - RAPID Instructions, Functions and Data 3HAC16581-1 types Operating manual - RobotStudio 3HAC032104-001 Sample code available on www.abb.com/robotics (ABB Library) Revisions Revision Description First edition Released with RobotWare 5.12. Minor corrections. SiConnect has a new switch \NoStop.
  • Page 8 Released with RobotWare 5.60. • Updated the graphic in the section Connecting the communication cable on page • Updated information related to Network ports in the section Device description on page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.

  • Page 9: Product Documentation, Irc5

    All documents listed can be ordered from ABB on a DVD. The documents listed are valid for IRC5 manipulator systems. Product manuals...
  • Page 10 Operating manual - Introduction to RAPID • Operating manual - IRC5 with FlexPendant • Operating manual - RobotStudio • Operating manual - Trouble shooting IRC5, for the controller and manipulator. 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.

  • Page 11: Safety

    Therefore, it is important that all safety regulations are followed when entering safeguarded space. Safety regulations Before beginning work with the robot, make sure you are familiar with the safety regulations described in the manual Operating manual - General safety information. 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.
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  • Page 13: Introduction To Robot Reference Interface

    XML format and are configured using appropriate sensor configuration files. Robot Reference Interface The cyclic communication channel (TCP or UDP) can be executed in the high-priority network environment of the IRC5 Controller which ensures a stable data exchange up to 250Hz. Robot...
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  • Page 15: Installation

    Service port on the computer unit (connected to the service port on the controller) WAN port on the computer unit Action Note Use one of these two connections (A or B). Note The service connection can only be used if it is free. 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.

  • Page 16: Prerequisites

    Robot Reference Interface can be used to communicate with any processor-based devices, that support IP via Ethernet and can serialize data into XML format. 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.

  • Page 17: Data Orchestration

    TCP position and joint values. ately 24ms to 60ms depending on robot type. PlannedPose Frame Planned robot TCP. Current tool and workobject are used for calculation. PlannedJoints Joints Planned robot joint values. 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.

  • Page 18: Supported Data Types

    User defined record types must be specified in the configuration file of the external device. See Device configuration on page 24 for a description on how to create user-defined record types. 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.

  • Page 19: Configuration

    Interface settings on page For more detailed information of the Description.xml file see Device description on page For more detailed information of the Configuration.xml file see Device configuration on page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.

  • Page 20: Interface Settings

    MySensor that runs a data server application and can communicate via Robot Reference Interface with the robot. For each sensor system, a subdirectory named with the sensor system identifier, for example MySensor, contains further settings. 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.

  • Page 21: Device Description

    The Convention element identifies the protocol that should be used by the device, for the Robot Reference Interface option only the Cyclic Data Protocol (CDP) is supported. Element Attribute Description Value Comment Convention Protocol type Continues on next page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.
  • Page 22 Protocol The IP protocol type Port The logical port num- uShort Any available port num- ber of the channel ber on the device, maxim- um 65535. Continues on next page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.
  • Page 23 ID, which needs to be used for the ID in the reply too, to identify the reply message and to detect which packages have been lost. See also the example in section Transmitted XML messages on page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.

  • Page 24: Device Configuration

    Maximum 16 characters. ated type symbol name Link Linkage of mem- Intern Optional. Can be omitted if bers of enumer- members only have RAPID ated type linkage. Continues on next page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.
  • Page 25 RAPID linkage. Alias Alias name of String Optional. The alias name is complex type used on device side and in field message. Continues on next page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.
  • Page 26 Linkage of prop- Intern Mandatory if field has RAPID erty linkage. Alias Alias name of the String Optional. The alias name is property used on device side and in message. 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.

  • Page 27: Configuration Examples

    4.1 RAPID programming RAPID module A RAPID module containing the corresponding RAPID record declarations and variable declarations must be created and loaded. The FlexPendant user interface is not included in RobotWare. 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.

  • Page 28: Example Configuration

    <Client Convention="CDP" Name="AnyDevice" /> </Clients> </Settings Description.xml <?xml version="1.0" encoding="utf-8"?> <Description> <Name>AnyDevice</Name> <Convention>CDP</Convention> <Type>IntelligentCamera</Type> <Class>MachineVision</Class> <Network Address="10.49.65.74" Port="Service"> <Channel Type="Cyclic" Protocol="Udp" Port="3002" /> </Network> <Settings> <TimeOut>2000</TimeOut> Continues on next page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.
  • Page 29 <Record Name="SensorData"> <Field Name="ErrorString" Type="String" Alias="EStr" /> <Field Name="ApplicationData" Type="Num" Size="18" Alias="AppData" /> </Record> </Records> <Properties> <Property Name="RobData" Type="RobotData" Flag="WriteOnly"/> <Property Name="SensData" Type="SensorData" Flag="ReadOnly"/> </Properties> </Configuration> Continues on next page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.
  • Page 30 ! Send and receive data cyclic with 64 ms rate SiGetCyclic AnyDevice, DataIn, 64; SiSetCyclic AnyDevice, DataOut, 64; ENDPROC ! Close Interface Procedure PROC RRI_Close() ! Close the connection SiClose RsMaster; ENDPROC ENDMODULE Continues on next page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.
  • Page 31 Description Integer Last received data message ID. This ID must correspond to the ID sent from the robot controller. Float Time stamp String Error message EStr Continues on next page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.
  • Page 32 The corresponding XML message on the network would look like this: <SensData Id="111" Ts="1.234"> <EStr>xxxx</Estr> <AppData X1="232.661" X2="1620.293" X3="463.932" X4="1231.053" X5="735.874" X6="948.263" X7="2103.584" X8="574.228" X9="65.406" X10="2372.633" X11="20.475" X12="96.729" X13="884.382" X14="927.954" X15="748.294" X16="3285.574" X17="583.293" X18="684.338" /> </SensData> 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.

  • Page 33: Rapid Reference Information

    The sensor stays connected, even if the program pointer is set to main. More examples More examples of how to use the instruction SiConnect are illustrated below. Example 1 PERS sensor AnyDevice; PERS robdata DataOut := [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]]; Continues on next page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.
  • Page 34 TRAP will be executed. A way to handle this problem is to have a SiConnect \NoStop in the restart shelf, to be sure that the application tries to reestablish the connection to the client. Continues on next page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.
  • Page 35 SiGetCyclic - Sensor Interface Get Cyclic on page 38 Descriptor to the external device. sensor - External device descriptor on page Communication state of a device. sensorstate - Communication state of the device on page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.

  • Page 36: Siclose - Sensor Interface Close

    Subscribe on cyclic data transmission. SiGetCyclic - Sensor Interface Get Cyclic on page Descriptor to the external device. sensor - External device descriptor on page Continues on next page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.
  • Page 37 5 RAPID reference information 5.1.2 SiClose - Sensor Interface Close Continued For information about Communication state of a device. sensorstate - Communication state of the device on page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.

  • Page 38: Sigetcyclic - Sensor Interface Get Cyclic

    (unregisters / unsubscribes) the cyclic transmission of the given data or data set. More examples More examples of how to use the instruction SiGetCyclic are illustrated below. Example 1 PERS sensor AnyDevice; PERS robdata DataOut := [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]]; Continues on next page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.
  • Page 39 SiSetCyclic - Sensor Interface Set Cyclic on page Descriptor to the external device. sensor - External device descriptor on page Communication state of a device. sensorstate - Communication state of the device on page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.

  • Page 40: Sisetcyclic - Sensor Interface Set Cyclic

    (unregisters / unsubscribes) the cyclic transmission of the given data or data set. More examples More examples of how to use the instruction SiSetCyclic are illustrated below. Example 1 PERS sensor AnyDevice; PERS robdata DataOut := [[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]]; Continues on next page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.
  • Page 41 SiGetCyclic - Sensor Interface Get Cyclic on page Descriptor to the external device. sensor - External device descriptor on page Communication state of a device. sensorstate - Communication state of the device on page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.

  • Page 42: Rapid Data Types

    PERS sensdata DataIn := ["No",[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]]; VAR num SampleRate:=64; ! Setup Interface Procedure PROC RRI_Open() SiConnect AnyDevice; ! Send and receive data cyclic with 64 ms rate Continues on next page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.
  • Page 43 SiSetCyclic - Sensor Interface Set Cyclic on page Subscribe on cyclic data transmission. SiGetCyclic - Sensor Interface Get Cyclic on page 38 Communication state of a device. sensorstate - Communication state of the device on page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.

  • Page 44: Sensorstate - Communication State Of The Device

    SiSetCyclic - Sensor Interface Set Cyclic on page Subscribe on cyclic data transmission. SiGetCyclic - Sensor Interface Get Cyclic on page 38 Descriptor to the external device. sensor - External device descriptor on page 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.
  • Page 45 18 string, 18 system parameters Controller topic, 17 instructions Motion topic, 17 SiClose, 36 SiConnect, 33 SiGetCyclic, 38 time, 18 SiSetCyclic, 40 type, 22 IP protocols, 16 WAN port, 15 3HAC031973-001 Revision: F © Copyright 2008-2009,2013 ABB. All rights reserved.
  • Page 48 Telephone +46 (0) 21 344 400 ABB AS, Robotics Discrete Automation and Motion Box 265 N-4349 BRYNE, Norway Telephone: +47 51489000 ABB Engineering (Shanghai) Ltd. 5 Lane 369, ChuangYe Road KangQiao Town, PuDong District SHANGHAI 201319, China Telephone: +86 21 6105 6666 www.abb.com/robotics...

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