ABB robots

RoboDK supports all ABB robots that areprogrammed in RAPID language, including PRG and MOD files (IRC5, S4 and S4Crobot controllers). This documentation is based on the IRC5 ABB robotcontroller.

The following sections demonstrate typicaloperations using an ABB robot teach pendant to prepare a new program in RoboDKand transfer it to the robot.

Transfer a robot program

Follow these steps to load a program module (MOD file) froma USB disk:

1.    Select ABB➔Program editor

2.    Select Modules, on top of the screen

3.    Select File➔Load module (it is not important theprogram pointer / PP is lost)

4.    Select the MODfile from the USB disk

5.    Select OK

Start a robot program

Follow these steps to start a specific robot program in theABB robot controller:

1.    Change thecontroller switch to manual mode. The “Manual” message at the top menu barshould be displayed.

2.    Select: ABB➔Program editor➔Debug➔PP to routine

3.    Select theprogram generated by RoboDK. main_RoboDK is the default name.

4.    Hold the “deadman” switch from the teach pendant. The message “Motors On” as the status ofthe robot should be visible as well as the orange robot light should be on.

5.    Select the play buttonon the teach pendant to start the program

Retrieving the TCP

The following steps allow creating or modifying robot tools (TCP,also known as tooldata in ABB robot programming):

1.    Select ABB➔Program data➔tooldata (double click)

2.    It is possibleto create or modify existing tool variables

3.    Once the toolhas been defined the X,Y,Z values of the TCP can be retrieved

 

 

Transfer programs through FTP

Programs can be easily transferred throughFTP from RoboDK for ABB robots:

1.    Right click therobot in RoboDK

2.    Select Connectto robot…

3.    Enter the IP ofthe robot

4.    Enter the remoteFTP path.   
The complete path can be retrieved from the teach pendant or using FileZillaFTP Client.

5.    Enter the FTPcredentials (anonymous by default)

Once a RoboDK program is ready to be sent to the robot:

1.    Right click aprogram in RoboDK

2.    Select Sendprogram to robot (Ctrl+F6)    
This will generate the program and attempt to transfer it to the robotcontroller. A window will pop up showing if the FTP transfer was successful ornot.

 

When programs are transferred through FTP on the fly theyneed to be loaded using RAPID programming on the robot side. The followingexample will run the main_RoboDK program from a module calledMOD_Pick_and_place:

PERS bool progloaded := FALSE;

. . .

PROC Run_Program_FTP()

    IF (progloaded=FALSE) THEN

        Load "/hd0a/serialnum/HOME/RoboDK/MOD_Pick_and_place.mod";

        progloaded = TRUE;

    ELSE

        UnLoad "/hd0a/serialnum/HOME/RoboDK/MOD_Pick_and_place.mod";

        progloaded = FALSE;

        Load "/hd0a/serialnum/HOME/RoboDK/MOD_Pick_and_place.mod";

        progloaded = TRUE;

    ENDIF

    %main_RoboDK%; !call the main programfrom the module send and loaded

ENDPROC

 

RoboDK driver for ABB

Robot driversprovide an alternative to Offline Programming (where a program is generated,then, transferred to the robot and executed). With robot drivers, it ispossible to run a simulation directly on the robot (Online Programming). Moreinformation available in the Robot Drivers section.

A connection between RoboDK and the ABB robotcan be established to move the robot automatically from a connected PC using RoboDK.This allows using the RoboDK Run on robot option for online programmingand debugging. The connection can be established through a standard Ethernet connection(TCP/IP).

Important:This option requires the ABB software option Socket Messaging.

Follow these steps to set up the RoboDKdriver for ABB robots:

1.   Establish an Ethernet connection between the computer and the robot.

2.   Transfer the RoboDK_Driver.mod and RoboDK_COM.mod files tothe robot (USB disk, FileZilla FTP transfer or RobotStudio can be used). Theyshould be used as the main task.

3.   Follow these steps on the ABB teach pendant to load the program from theteach pendant:

a.   Select ABB➔Program Editor

b.   Select Tasks and Programs (at thetop)

c.    Select Show Modules (at the bottom)

d.   Select File➔Load Module… (select YES to lose the program pointer)

e.   Select the RoboDK_COM.mod file, thenselect OK.

f.     Select the RoboDK_Driver.mod file, thenselect OK.

4.   Run the Main program (you will find the Main program in RoboDK_Driver.mod).

Note: The IPof the robot may have to be updated on line 10 of the RoboDK_COM.mod file:

CONST string server_ip := "192.168.125.1";

The default communication port for theprovided program is 2000 but it can also be changed.