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RP5.15
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Table of Content
GENERAL ............................................................................................................................................................. 3 How to Migrate an Application from RW 4.0.100 to RW 5.15 .......................................................................... 3 How to Migrate DriveSystem 04 To 09 ............................................................................................................. 3 How to Upgrade to RobotWare 5.15 ................................................................................................................. 4 Downgrading from RobotWare 5.15 ................................................................................................................. 4 Incompatibilities ............................................................................................................................................... 5 RELEASE INFORMATION................................................................................................................................... 17 Release Name ................................................................................................................................................. 17 Release Date ................................................................................................................................................... 17 Ordering number............................................................................................................................................. 17 ROBOTWARE ..................................................................................................................................................... 18 Controller Hardware Support ......................................................................................................................... 18 Restrictions in Controller Hardware Support ................................................................................................ 18 Changed Controller Hardware Support ......................................................................................................... 18 Supported Robot Models................................................................................................................................ 19 Language Support .......................................................................................................................................... 20 Documentation................................................................................................................................................ 20 New Functionality RW 5.15............................................................................................................................. 21 New Functionality RW 5.15.00.01 ................................................................................................................... 26 New Functionality RW 5.15.01 ........................................................................................................................ 27 Improvements RW 5.15................................................................................................................................... 30 Improvements RW 5.15.01 .............................................................................................................................. 37 Improvements RW 5.15.02 .............................................................................................................................. 41 Information/Corrections RW 5.15 ................................................................................................................... 42 Information/Corrections RW 5.15.00.01 ......................................................................................................... 55 Information/Corrections RW 5.15.01 .............................................................................................................. 56
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Product Defect Document RW 5.15.00.01 PDD ............................................................................................ 70 Product Defect Document RW 5.15.01 Product Defect Document RW 5.15.02 PDD ............................................................................................ 71 PDD ............................................................................................ 73
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General
How to Migrate an Application from RW 4.0.100 to RW 5.15
The changes in RAPID functionality (from RW 4.0.100 to RW 5.05) are described in Migration Guide from RW 4.0.xx to RW 5.05 (RP5.05-06 - 102). The changes in RAPID functionality (from RW 5.05 to RW 5.10) are described in Migration Guide from RW 5.05 to RW 5.10 (RP5.10 053). The changes in RAPID functionality from RW 5.10 to RW 5.15 are described in Migration Guide from RW 5.10 to RW 5.15 (RP RW-019 / A1.1). The main part of the system parameters (configuration parameters, CFG) remains identical in RW 5.15. There are four documents that describe the necessary actions to migrate an application: a) Migration Guide from RW 4.0.xx to RW 5.05 (RP5.05-06 - 102) describes how to convert an RW 4.0.100 application to make it run on RW 5.05. It also describes all changes in system parameters. b) Conversion guide Additional axis parameters from RW 4.0.100 to RW 5.05 (RP5.05-06 111) describes how to convert the additional axis CFG parameters from RW 4.0.100 to RW 5.05. c) Migration Guide from RW 5.05 RW5.10 (RP5.10 053). describes how to upgrade the controller from RW 5.05 to RW 5.10. The description is concentrated on how to move an application from RW 5.05 to run on RW 5.10. d) Migration Guide from RW 5.10 RW 5.15 (RP RW-019 / A1.1) describes how to upgrade the controller from RW 5.10 to RW 5.15. The description is concentrated on how to move an application from RW 5.10 to run on RW 5.15. All four documents are available at ABB Library or from Product Support page: Link The Arc welding data in a backup taken on RW 5.05 (or earlier versions) must be converted with a conversion tool before the backup is restored on a RW 5.15 system. The conversion tool is included on the RobotWare 5.15 DVD.
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You can find a detailed description of how to upgrade the controller system from RobotWare 5.05 to RobotWare 5.11.xx in the document Migration Guide RW 5.05 RW 5.06 RW 5.08 RW 5.09 RW 5.10 (RP5.10 - 053) RW5.14 (RP5.14-043) Important note: When you install RobotWare 5.14: You will be asked if the installation program also shall install a newer version of Microsoft .NET framework. You must answer Yes (OK) to this question RobotStudio 5.14 requires the new .NET version.
The controller (and FlexPendant) will restart several times during the downgrading time. Do not switch off the power to the controller this will leave the firmware in an undefined state (halfway downgraded). Do not manually restart the controller during the downgrading. It is strongly recommended that you do not downgrade the RobotStudio (limited) version from 5.15. RobotStudio 5.15 (limited version for online work) can be used with all previous RobotWare 5.xx versions (backwards compatible). RobotStudio can as well be run side by side with older versions of RSO. There are no known problems to downgrade from RobotWare 5.15 to the listed RobotWare versions. If your robot is shipped with a 5.15 key then its not possible to downgrade the RobotWare due to the fact that the keys are only upwards compatible. Contact AfterSales (Part Support) via Robdesk for new key.
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Incompatibilities
Incompatibilities between RobotWare 5.05 and RobotWare 5.06
RobotWare Arc programs Use a conversion tool (supplied on the RobotWare CD) to convert the backup taken in RW 5.05 before it is restored into RW 5.06. Dispense I/O configuration and system module DPUSER is changed Restore, and manually load the new DPUSER module. Manually add user changes to DPUSER module. OPC server changed text string handling Removed quotation marks () when writing to RAPID strings through the OPC server the old version was not OPC compliant. Additional option package with Positioners and/or Track motion must be converted
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Anders Trillkott, +46 21 344863 Incompatibilities between RobotWare 5.11 and RobotWare 5.12
StorePath required in ERROR handlers and TRAP routines New restrictions have been added when executing movement instructions in error handlers and TRAP routines. As described in users manual (Programming type examples in RAPID manual), StorePath should be used if executing movement instructions in trap routines and error handlers. From RW5.12 a warning will be generated if there is no StorePath. In a future releases the warning will be changed to a stopping error. Example: ERROR IF ERRNO = AW_WELD_ERR THEN ! Current movement on motion base path level ! is already stopped. ! New motion path level for new movements in the ERROR handler StorePath; ! Store current position from motion base path level stop_pos := CRobT(\Tool:=tool1, \WObj:=wobj1); ! Do the work to fix the problem MoveJ service_pos, v50, fine, tool1, \WObj:=wobj1; ... ! Move back to the position on the motion base path level MoveJ stop_pos, v50, fine, tool1, \WObj:=wobj1; ! Go back to motion base path level RestoPath; ! Restart the stopped movements on motion base path level, ! restart the process and retry program execution StartMoveRetry; ENDIF New arguments on function FSSize, and changed behaviour FSSize (File System Size) is used to retrieve the size of the file system in which a specified file resides. This function was developed many years ago, and the choice to return the value in bytes is no longer relevant. If using a USB memory with 8 Gb memory, and check how much memory that is left, a negative value can be received (before RW5.12). Now, in RW5.12, the instruction has changed some in behaviour. The new syntax is: FSSize( [ Name := ] < expression (IN) of string> [ \Total ] | [ \Free ] [ \Kbyte ] [ \Mbyte ]) The Kbyte and Mbyte switches are new arguments. The function still returns the number of bytes if none of the switches \Kbyte or \Mbyte is used. But, if the size exceeds 8388608, a recoverable error is generated. ERR_FILESIZE is explained below. ERR_FILESIZE - The size exceeds the max integer value for a num, 8388608.
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Anders Trillkott, +46 21 344863 Incompatibilities between RobotWare 5.12 and RobotWare 5.13
Backups taken on a system with Drive System 2004 are not compatible with a System with Drive System 2009 when additional axis is included. Backups taken on a system with Drive System 2009 are not compatible with a System with Drive System 2009 when additional axis is included. PROFINET internal slave configuration with firmware V2.4 If the PROFINET Master/Slave option using DSQC 678 (alias CP1616) is upgraded to firmware V2.4 using the new Robotware upgrade function, the internal slave slot configuration is a bit different. The input / output size set to 8 bytes will in this case result in an 8 byte slot and a 32 byte size will result in a 32 byte slot configuration. Refer to the application manual for more information. RS5.13RC3: More detail required for Profinet M/S incompatibility (DSE9845) PROFINET internal slave configuration with DSQC 678 firmware V2.4 With Robotware 5.13 the PROFINET M/S option using DSQC 678 can be used with two different firmware versions on the DSQC 678 board. Firmware V2.2 (same as used with Robotware 5.12), is the default selection in Robotware 5.13. If the user decides to upgrade the firmware on the DSQC 678 board to V2.4 (available in Robotware 5.13 thru the firmware upgrade function), the internal PROFINET slave device is configured slightly different. This difference causes the pervious working connection against a PLC (using Robotware 5.12 or a Robotware 5.13 with firmware version V2.2) to stop working unless the PLC is reconfigured to reflect the changed slot configuration with firmware V2.4. This problem only occur if a user using Robotware 5.12 has configured the IRC5 internal PROFINET slave with input and / or output sizes 8 or 32 bytes. Using firmware version V2.2 an input / output size of: 8 Bytes resulted in the following Slot configuration in the PLC project: Slot 1: 4 Bytes Slot 2: 4 Bytes 32 Bytes: Slot 1: 16 Bytes Slot 2: 16 Bytes Using firmware version V2.4 an input / output size of: 8 Bytes now results in the following Slot configuration in the PLC project: Slot 1: 8 Bytes 32 Bytes: Slot 1: 32 Bytes All other sizes are the same in both firmware V2.2 and firmware V2.4. Remember that it is always possible the view the IRC5 internal PROFINET slave device Slot configuration using the System info view.
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Anders Trillkott, +46 21 344863 Incompatibilities between RobotWare 5.14 and RobotWare 5.15
PM5: Operation Set Complete signal The operation set complete signal is now set after the robot has departed from the pick/place position, at the last depart action. Previously the signal was set at the pick/place position. The update applies to both outfeeders and infeeders. The update will apply if a robot system configured with PickMaster 5 or Palletizing PowerPac is upgraded to 5.15. The signal is reset when target generation is received. The signal will not reset until one complete pulse length has elapsed. If target generation is received before operation set complete is set, the signal is reset after one complete pulse length. The pulse length is configurable between 50 ms to 2000 ms.
Upgrading of PickMaster 5 systems PickMaster 5 can always import lines and projects created by older PickMaster 5 versions running on older RobotWare versions. However, when moving to a newer PickMaster version, an upgrade is sometimes required also for RobotWare: PM5.20 compatible with RW5.13.02 or later. PM5.13 compatible with RW5.13.02 or later. PM5.12 compatible with RW5.13 or later. PM5.11 compatible with RW5.09 or later. PM5.10 compatible with RW5.09 or later. PM5.03 compatible with RW5.09 or later.
Change to ICI protocol for DispensePac Support The protocol for communication with PIB/IPS is changed from pibfbc to ICI. Background: Paint switched to ICI protocol already in 5.14.02 but they are still supporting also the old version (pibfbc with IPS 4.30.xx or earlier). But to be able to use new IPS versions we need to go over to ICI protocol also for DispensePac Support. To minimize incompatibility problems it is still possible to use the old version, depending on the key version: A 5.15 system with a new key (signature 175 and higher) will automatically use the new ICI protocol (for IPS 4.50 and higher). A 5.15 system with an old key will automatically use the old type. When old DispensePac systems shall be used with new IPS versions (and the ICI protocol) the IPS configuration and EIO configuration of used PIB signals has to be changed. For details, see Release Notes IRC5P R12.1 SW: Incompatibilities between R11.1A SW and R12.1 SW. For more information, contact Paint product support.
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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 5.15.02 The release contains following: RobotWare 5.15.02 build 2005 RobotStudio 5.15.02
Release Date
Release date 2013-06-04
Ordering number
Ordering number for the RobotWare 5.15.02 DVD is 3HAC8531-3.88
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RobotWare
Controller Hardware Support
This list is an overview of the supported main computer units.
DSQC 600 Main computer DSQC 600A Main computer DSQC 623 Main computer DSQC 639 Main computer
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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) 1)
Hungarian
1) 1) 2)
1)
Turkish 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.
Documentation
See Release Notes on documentation DVD: 3HAC032875-001
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IRB 1520ID variant with new gear boxes and improved tuning is supported in this release.
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Anders Trillkott, +46 21 344863 IRB 6400 Rex and IRB 640 with IRC5
Support for S4C+ robot types in IRC5: Variants IRB 640 160kg IRB 6400R / 2.5m 120kg IRB 6400R / 2.5m 120kg bal. B IRB 6400R / 2.5m 150kg IRB 6400R / 2.5m 150kg bal. B IRB 6400R / 2.5m 150kg HP IRB 6400R / 2.8m 150kg IRB 6400R / 2.8m 150kg bal. B IRB 6400R / 3.0m 100kg The robots are supported in the SAC (Stand Alone Controller) option in this release.
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Modification of CalcJointT
Function CalcJointT has been modified with a new optional argument ErrorNumber. New syntax: CalcJointT '(' [ '\'UseCurWObjPos ','] [ Rob_target ':='] <expression (IN) of robtarget> ',' [ Tool ':=' ] <persistent (PERS) of tooldata> [ '\' WObj ':=' <persistent (PERS) of wobjdata>] [ '\' ErrorNumber ':=' <variable or persistent (INOUT) of errnum> ')' If using the new optional argument ErrorNumber, and the variable or persistent is set to ERR_ROBLIMIT, at least one axis is outside the working area or the limits are exceeded for at least one coupled joint. The return value from CalcJointT will be a jointtarget value corresponding to the used robtarget, but it cannot be used in any movement instruction. The difference between using the optional argument and using an ERROR handler to take care of the error is that the jointtarget will be updated if \ErrorNumber is used and ERR_ROBLIMIT is set to the variable or persistent. Example: The jointtarget value corresponding to the robtarget value p3 is stored in jointpos3. If the position can be reached, it is used, otherwise the jointtarget value is written on the FlexPendant. VAR jointtarget jointpos3; CONST robtarget p3 := [...]; VAR errnum myerrnum; jointpos3 := CalcJointT(p3, tool2 \WObj:=orb1 \ErrorNumber:=myerrnum); IF myerrnum = ERR_ROBLIMIT THEN TPWrite "Joint jointpos3 cannot be reached."; TPWrite "jointpos3.robax.rax_1: "+ValToStr(jointpos3.robax.rax_1); .. TPWrite "jointpos3.extax.eax_f"+ValToStr(jointpos3.extax.eax_f); ELSE MoveAbsJ jointpos3, v100, fine, tool2 \WObj:=orb1; ENDIF
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EtherNet/IP
* When using QuickConnect a wait time must be specified before IOenable and after device power on in the Rapid program. The wait time can be found in the device EDS file. * Fieldbus Command Interface (FCI) for EtherNet/IP. * Support of Rockwell Point/IO. * Possibility to use the full range of the subnet mask.
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Improvements RW 5.15
PM5: Flow recovery dialogue
To improve usability, the selection of a work area has been skipped in the flow recovery dialogue on the flex pendant. A selected recover action will always be applied on the master work area. Advanced users can use the I/O interface to enable flow recovery with other (more unusual) selections of work areas. In the same dialogue, the flow recovery action "Next Pallet" has been renamed to "Terminate Job", indicating that the currently running job will be terminated without any further picks and places. "Terminate job" works in exactly the same way as "Next Pallet" (applied on the master work area): After the flow has been restarted, the job status is idle and the flow is ready for starting a new job. The next job can be launched from a PLC or using the flex pendant "Start job" button.
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Anders Trillkott, +46 21 344863 Support for two tracks in the same system
Now support for two tracks in the same system with TrackMotion additional option has been added. It is possible to create systems with two tracks (IRBT/IRT) in a multi move system. ROB_1 together with TRACK_1 on drive module 1 and ROB_2 together with TRACK_2 on drive module 2.
Some useful paint instructions are now available in the basic DispencePack Support
Following paint instructions/functions are now available in the basic DispensePac Support option: SetTmSignal GetSignal PaintBackup PaintRestore IpsSetParam In previous releases you needed also the sub option PaintTypeProdManager to make these instructions and functions available. Now only the basic DispensePac Support is needed.
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Flying start/end: Possibility to have more than 2 concurrent CAP processes in the same RAPID task (PDD182)
If the program pointer is much further in the RAPID program with CAP sequences than the motion pointer, which is possible for flying start/end and/or short segments and/or high speed, it must be possible to create many CAP processes in advance, i.e. before the movement is executed. Until RW 5.14, it was not possible to create more than two processes. Starting with RW 5.15 it is possible to create up to 10 processes in the same RAPID task.
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Anders Trillkott, +46 21 344863 885-1 SoftMove and 635-5 Spot Servo Equalizing is not working correctly (PDD531)
In this release it will be possible to use the standard gun arm deflection compensation in Spot Servo Equalizing (635-3) together with SoftMove (885-1) equalizing at the same time. This can be useful when the gun arm deflection is relatively big, SoftMove alone cannot compensate for the deflection of the gun during welding. Short description of functionality: During the closing of the gun the robot will be set into a soft mode, and when the gun has closed on the plates , soft mode will be deactivated. When force is applied on the gun during the weld, the standard gun arm deflection will be activated
SafeMove: CBC necessary, if "Call Routine..." CBC and then "Cancel Call Rout." (PDD534)
NOTE: Only affecting CyclicBrakeCheck if it is executed as a service routine. If CyclicBrakeCheck is called with "Call routine" and then a "Cancel Call routine" is done without executing any code, the CBC signals are not affected.
SafeMove: CBC signals are set to 0 without any act. of limits, if a restore is exe. (PDD541)
Before RW5.15, all PSCXCBCXXX signals were set to 0 when restoring a system. Now, from RW5.15, all PSCXCBCREQ signals will be set to 1 when restoring a system. Max. allowed speed is 250 mm/s (if configured in the SafeMove configuration). A CyclicBrakeCheck needs to be executed.
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Anders Trillkott, +46 21 344863 Optional parameter to specify the number of used bits for the new functions BitNegDnum and BitLShDnum (PDD818)
A new optional argument Size has been added to functions BitLShDnum and BitNegDnum. New syntax:
BitLShDnum?(? [Value ?:=?] ? ,? [ShiftSteps? :=?] [ \ Size := ] ?)? BitNegDnum?(? [Value ?:=?] [ \Size := ] ?)?
With the new optional argument, you can limit the number of bits that should be considered when using BitLShDnum and BitNegDnum. The bits above the number used in optional argument Size will be set to 0.
Example:
VAR dnum myvalue; ! Read a 16 bits digital input signal myvalue:=GInputDnum(gi2); ! Value 43346 (= 0000000000000000000000000000000000001010100101010010 binary) read from gi2 ! Shift 8 steps left, only consider the 16 lowest bits result:=BitLShDnum(myvalue, 8 \Size:=16); ! result = 20992 (= 0000000000000000000000000000000000000101001000000000 binary) ! Shift 8 steps left, consider all 52 bits in a dnum result:=BitLShDnum(myvalue, 8); ! result = 11096576 (= 0000000000000000000000000000101010010101001000000000 binary)
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Update motion supervision after system parameters change from RAPID (PDD1098)
The motion supervision settings will now be updated when writing to the corresponding system parameters using the WriteCfgData instruction from RAPID. The changes will not take effect for Robot movements until a Motors On order is performed and the changes will not affect an active path. For the changes to take effect the path must be cleared using, e.g., the RAPID instruction ClearPath. To make Motion Supervision settings that affect the path immediately the instruction MotionSup shall be used.
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Anders Trillkott, +46 21 344863 Possible to change Collision detection only if option installed (DSE10628)
Now it is only possible to change system parameters for the Collision Detection option in topic Motion if the option is installed. On the TPU the parameters will be hidden and in RobotStudio the parameters will be displayed as N/A.
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Improvements RW 5.15.01
PM5: 40631 Instruction error
A correction has been made to avoid error 40631, indicating that too many consecutive MoveX instructions has been used with the \Conc option. The error is automatically avoided by the routines PmDoAction, PmDoMove1, PmDoMove2 and PmDoMove3. In order to avoid the error for MoveX instructions outside PmDoAction, e.g. intermediate movements, movement to home position or customized movements: Replace MoveX with PmDoMove or turn off \Conc.
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Anders Trillkott, +46 21 344863 Standard IO configurations for DN-lean in Mediapool\service\ioconfig (PDD145)
The Standard IO Configuration of the mediapool now consists of separate folders for DeviceNet and DNLean. The Folders contains the CFG files listed below: Mediapool\RobotWare_5.15.1054\utility\service\ioconfig\DeviceNet d327A_10.cfg d327A_11.cfg d327A_12.cfg d327A_13.cfg d327A_14.cfg d327A_15.cfg d328A_10.cfg d328A_11.cfg d328A_12.cfg d328A_13.cfg d328A_14.cfg d328A_15.cfg d332A_10.cfg d332A_11.cfg d332A_12.cfg d332A_13.cfg d332A_14.cfg d332A_15.cfg d350B_10.cfg d350B_10s.cfg d350B_11.cfg d350B_12.cfg d350B_13.cfg d350B_14.cfg d350B_15.cfg d351A_10.cfg d351A_10s.cfg d351A_11.cfg d351A_12.cfg d351A_13.cfg d351A_14.cfg d351A_15.cfg d352A_10.cfg d352A_10s.cfg d352A_11.cfg d352A_12.cfg d352A_13.cfg d352A_14.cfg d352A_15.cfg d355A_10.cfg d355A_11.cfg d355A_12.cfg d355A_13.cfg d355A_14.cfg
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Improvements RW 5.15.02
LoadIdentify and ManLoadIdentify improvements (PDD2188/PDD2229)
There have been modifications in service routines LoadIdentify and ManLoadIdentify. 1) MOVE button has been removed. When "SlowTest" has been executed, there is no need to push MOVE button to continue the execution of the service routine. When executing in manual full speed this button was a problem. 2) The speed override is checked before start of movements. It is not allowed to execute the movements with reduced speed, and it was hard to remember to change this when changing operating mode from manual reduced speed to manual full speed. When changing to manual reduced speed the speed override is set to 3%. 3) Added error handling. If a stop occurred during movements, the service routine was ended. Now a stop will be handled in an error handler, and it is possible to restart the latest movement sequence from the beginning. This is very useful when first executing the service routine in manual mode slowly, and then executing the measurements in manual full speed. If stopping the execution in the real measurements, it is not necessary to run the slow movements again. 4) Slow test movement improvements for robots (LoadIdentify only). The slow speed test has been improved in two ways: We have removed redundant movements from the sequence and we have introduced a new CFG parameter, load_id_test_speed_factor (exists under robot in cfg). The speed factor can be set between 1 and 6, where the value 1 corresponds to the original speed of the slow speed test. The default value of the speed factor is 4. 5) User Interface improvements. Some UI has been changed from using old TPReadFK to using UIMessageBox instead.
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Information/Corrections RW 5.15
Manual Full Speed
The new ISO 10218-1:2011, see reference [1] (replacing the older ISO 10218-1:2008) was given the status of Swedish Standard in January 2012. Chapter 5.7.4 now states that Manual High Speed is to be used for "Programme verification only". To comply with the new standard, only the following set commands will be allowed: Start program execution, including: - Setting Run Mode to Single Cycle or Continuous - Setting Speed to 0 100% (The speed is always set to 3% when the Enable Device button is pressed) Step program execution, including - Setting of Step Mode to Step Into, Step Out, Step Over and Next Move Instruction Stop program execution Setting of program pointer (Debug view): - PP to Main - PP to Routine - PP to Cursor - Call Routine (Service Routine) - Cancel Call Routine (Cancel Service Routine) - Check program Set of I/O signals Simulation of I/O signals Use of some System inputs - All actions with Stop functionality - MotorOff - AckAutoMode (internal) - SafeMoveConfirmStop (internal) - LimitSpeed Use of System outputs Modify of Task Selection Panel settings Restart of the system Examples on functionality removed/blocked compared to RW5.14.03 in MANFS mode: Load, Save or Edit of RAPID program Modify of Program Data Use of System input signals - Except the ones specified above Modify of CFG parameter settings Backup/Restore Jogging
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Anders Trillkott, +46 21 344863 Appearance of FP SDK controls: CheckBox, Led, Switch, RadioButton
The RadioButton control of the FlexPendant SDK now has the same forecolor when disabled as other similar controls (e.g. Led, Switch, CheckBox, Button) of the FP SDK.
CapRefresh with optional arg. \RestartDist set in mm results in a restart dist. in meters
The value provided in the optional argument \RestartDist of CapRefresh was interpreted as a distance in m instead of mm. This is now corrected.
ABB Robotics
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Backup limited to max path 100 bytes when using compress functions on the controller
Backup/restore can be done using archive and compress functionality on the controller. The max path (on any file in the backup) is limited to 100 bytes when data shall be stored in an archive on the controller.
ABB Robotics
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Anders Trillkott, +46 21 344863 RobotStudio: SafeMove configurator may cause wrong safety configuration (PDD57)
Problems with zone points not updated directly after manually entering values have been solved. The right TCP value is now shown when pressing the "Get Current TCP pos" button. In the graphical view of the zones (Safe/Monitor Tool Zone tab)the base frame object is now always showing the actual robot baseframe independent of what is selected in the "Mechanical Unit" tab.
System Crash when moving into position with wrong loaddata active (PDD176)
The problem when system crash when moving into position with too high loaddata active has now been solved.
Certain entries in MMC.CFG not backwards compatible RW 5.14 -> RW 5.13 (PDD219)
Configuration files shall not be loaded in systems running an older RobotWare version than in which they were created.
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Store SID data for ESAB AristoMig500i on USB connected to FlexPendant (PDD446)
It is now possible to store a SID file from the AristoMig5000i FlexPendant application directly onto a USB stick connected to the FlexPendant.
Possible to add more than 8 MTZ points in the Savemove configuration (PDD467)
The possibility to add more than 8 MTZ/STZ points than allowed has been corrected.
Wago IO module not connected any more after warm start (PDD540)
A Wago unit with the extra label (/000-004) for 750-306 is a special module manufactured for ABB robots. There is known problems with these modules and the problem we got are very much similar. Most of the people that have these special modules and have got problems have replaced them with an ordinary 750-306. Ways to try to get the problem solved: One way is to try and update firmware which can only be made by WAGO. Contact Peter Top at Wago Netherlands. Another way is a workaround and is to run with POLLED connection instead of COS if thats possible. If the modules contain both analog and digital io nodes, grouping them together i.e. all analog on one module and all digital on another might solve the problem.
ABB Robotics
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Anders Trillkott, +46 21 344863 Error: System.ArgumentNullException when loading station (PDD569)
Problem to read uas grant configuration file in unix file format has been corrected. (Work around for previous releases is to change to dos file format)
Files for IO Bus not installed with error but bus works (PDD736)
Problem is now solved.
ABB Robotics
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Anders Trillkott, +46 21 344863 Incorrect window open identification in FP GUI (PDD779)
When we have 6 views open and in that 6 views there is one program editor view along with custom view should be opened. When user try to launch existing program editor view from custom application, user getting pop up that " Its not possible to have more than 6 views open." but it should open existing program editor. This is now corrected.
Ordering a backup from FPU creates empty backup folder when SysInput (PDD823)
When Disable backup parameter is high and user want to take a backup, in this situation backup is restricted but problem is that any empty folder of backup is created. Which give impression to the user that backup is created though its restricted. So Now In this backup is totally restricted and no empty folder of backup is created.
ABB Robotics
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RP5.15
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Anders Trillkott, +46 21 344863 Using Bosch WeldTimer Interface limits the number of I/O signals (PDD832)
In previous releases the Bosch WT interface could under some circumstances interfere with the I/O screen on the TPU. The symptoms of this were that no signals could be viewed from the I/O screen. This problem has been fixed in this release.
Uncorrect mechanical unit name that crashes the Virtual FlexPendant (PDD984)
A buffer overrun in RobotCommunication runtime is corrected. It's now possible to have mechanical unit names of 32 bytes.
ABB Robotics
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RP5.15
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Error 20457 SC2 Changed Safety Conf. error when changing SafeMove conf. (PDD1006)
The saved or downloaded Safety configuration contained in some cases parameters that should not have been added, these have now been removed. These faulty parameters only occur in cases where you have a translation and/or rotation of the robot.
Backup Folder name beginning with space is not accessible anymore (PDD1061)
In previous versions, when creating backup, it was allowed to give a backup name that starts with a whitespace character. This will lead to problem later. From RW 5.15, it is not allowed to give a folder name that starts with an empty space at backup. An error message will be returned and ask the user to give a new valid backup name.
ABB Robotics
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RP5.15
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Anders Trillkott, +46 21 344863 Performance issue for pallet patterns with many products (PDD1107)
A correction has been made that substantially improves the the ability to handle pallet patterns with a large number of products. The correction prevents motion supervision errors (50082) during operation. Occurrences of corner path failures (50024) are minimized. In previous releases, motion supervision error can occur during operation when using >600 products. It can also occur for only 200 products when the pallet pattern is used with safe positions. System failures, and lost contact with the flex pendant may also occur.
Error in system builder while creating system from backup when using IRBT (PDD1202)
Improved incompatibility check for additional options.
ABB Robotics
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RP5.15
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Anders Trillkott, +46 21 344863 Erroneous Message while editing System Parameter in RS (PDD1268)
It is not possible to edit the System Input signal Backup to have the on the backup from Robot Studio. Argument 1 must be empty to set the Backup name to the . That is not possible from Robot Studio. This can be made from the Flex Pendant: - Set any value on Argument 1 - Press OK - Empty the field for Argument 1 - Press OK -> Now the backup will get the when the backup is made.
ABB Robotics
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Anders Trillkott, +46 21 344863 Robot and Single now possible to select when changing Base Frame (DSE6212)
When changing the system parameters Base Frame Moved by (type Robot) and Base Frame Coordinated (type Single) in topic Motion it is now possible to select an instance from Robots or Singles.
ABB Robotics
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RP5.15
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Anders Trillkott, +46 21 344863 Tuning error at UINumTune and UIDNumTune in RobotStudio (DSE10598)
If the instructions UINumTune and UIDnumTune are used with decimal values (increments) the tuning (increasing/decreasing) could result in an incorrect value on the virtual FlexPendant. This could occur if the PC has a locale (regional setting) other than English specified. This has been corrected.
ABB Robotics
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RP5.15
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Information/Corrections RW 5.15.00.01
A system or folder on the controller cannot start with the character ''.
Due to a limitation in the VxWorks DOS file-system, a system or folder on the controller cannot start with the character '' (lower-case). If a system starting with '' is downloaded to the controller, then the download will fail.
Motion Timeout with "Restart Distance" and "Scrape Optional On" selected (PDD1654)
If you had configured your RW Arc system with "Restart Distance" and "Scrape Optional On", it could happen that you got the error 110012 - "Movement-start timeout". This is now corrected.
SYSFAIL when having any IDrive error from the IPS in AbsAcc robot system (PDD1721)
Position messages are now disabled by default and only enabled during startup on systems with PIB safety (IRC5P). This will in turn prevent stack overflow on IRC5 systems using AbsAcc when position messages appear.
Consistency check problem of PERS data defined from user record type (PDD1770)
Replacing a module with an updated version is done in two steps, first is the original module is unloaded and then the new updated module is loaded. Unloading a module that contains a record definition that is referenced from another module will cause a temporary record to be created to avoid syntax error during this replace operation. The fact that the updated module contains a record which size has been altered is not discovered. If creating a backup and performing a restore operation will cause all modules to be deleted (including all temporary records) and when loading the updated module together with the referencing module, the error will be discovered.
ABB Robotics
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RP5.15
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Information/Corrections RW 5.15.01
Servo Tool Control instructions added in MMC MotionSetAdv picklist.
Servo Tool Control basic instructions has been added in the MMC MotionSetAdv picklist in this release. And the old example code has been removed, no example code will be copied to the Home directory when this option is installed. The Spot Servo or Spot Servo Equalizing options should be selected and used if a more complete Servo Tool functionality is required.
PROFINET firmware
In case the PROFINET board doesn't have a firmware that is supported by the RobotWare it has to be loaded with a supported version. Sometimes the user have to use Step7 in order to load the new version in these cases the user can get the firmware from: On the PC where the RobotWare is installed: ...\ABB Industrial IT\Robotics IT\Mediapool\\firmvare\DSQC678_xxxx.fwl On the IRC5 Controller: \hd0a\\firmvare\DSQC678_xxxx.fwl DSQC678_xxxx the four x is the version of the firmware
ABB Robotics
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RP5.15
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Integrated Vision: Error 20630 when loading complex job from RAPID
After loading a job that has got a complex configuration for output to RAPID, and then setting the camera to RunMode, the system may display the error message "20630 Camera job is not valid". There is a limitation in how large and complex the configuration may be, but it is not possible to give a fixed number. As a guide value, three vision tools that each produce up to 10 parts with X, Y and Angle is generally OK. More vision tools/item types may not work.
Integrated Vision: Communication error if default camera settings are not used
If the camera is not using default communication settings the result may be that RAPID instructions return error code Communication Error. The safest method to get default settings is to open Integrated Vision in RobotStudio and go to Connect->Add Sensor, right click and select Show all sensors. Select the device to reset and click Apply factory settings in the lower right corner. The most important settings to reset are: Telnet port: 23 User: admin Password: They can be viewed under RobotStudio->Vision->Connect->Network settings.
ABB Robotics
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Anders Trillkott, +46 21 344863 Integrated Vision: DHCP enabled camera does not get address
It has been observed that cameras with DHCP enabled sometimes do not receive an address. The following may be attempted to work around the problem: -Warm start the controller -Power cycle the camera and the warm start the controller. If the camera receives power from the controller this is the same as power cycling the mains switch of the controller. -Assign a static IP address 192.168.125.X to the camera using Connect->Add sensor or Connect->Network settings in RobotStudio.
ABB Robotics
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RP5.15
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Anders Trillkott, +46 21 344863 CAP speed at flying start and end not used any more (PDD632)
Up to RW 5.15.01 it was possible to specify different speed for flying start and flying end, i.e. approach and depart speed for flying weld. This was ment to give the user the possibility to decrease cycle time, but it resulted in problems to control the robot speed due to delays in motion control when a speed change is requested. Investigations showed, that the most efficient way, i.e. the fastest solution, is to leave speed planning to motion control without interference from the application layer (CAP). Therefore the values specified in capspeeddata for flying start and flying end are not used by the application process any more - the values are ignored. The data entries remain present in capspeeddata though for compatibility reasons.
EIO System Signal Backup Save not possible with unchanged parameter (PDD1215)
Earlier we have to change parameter to the opposite functionality and then change them back to default and wanted function and then it is possible to save the settings. Now user can save backup the way he wants to save it.
ABB Robotics
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RP5.15
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Anders Trillkott, +46 21 344863 Erroneous Message while editing System Parameter in RS (PDD1268)
Changed behavior for the system parameter System Input for Action: Backup: If the name of the backup should be the system name, Arg1 shall be set to the environment variable: "SYSTEM:". It will be possible to use old cfg-files ( e.g. in backups) where Arg1 is empty. In the cfg-editor from the Flex Pendant or Robot Studio the letters: "SYSTEM:" shall be used.
ABB Robotics
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RP5.15
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Anders Trillkott, +46 21 344863 Hidden routines should not be shown while filtering routines (PDD1459)
We have one button called search routine on debug pallete in Program editor. When user click on it, then all Routines were listed. Hidden Routines are no longer part of that list.
Program is not restarted after PE_EndPause when it was running before Saving mode was activated (PDD1544)
The robot will pause its program cycle during a "ProfiEnergy pause" (request). If any program is running when "PE start pause" is received. When "PE end pause" is received, the program cycle will continue its cycle. See manual for complete description.
Motors On does not work in Manual mode while PE mode is active (PDD1546)
If a robot is in ProfiEnergy pause mode (mode 0x1) it is possible to switch from auto to manual mode and do commissioning, then switch back to auto and return to ProfiEnergy pause mode without any additional actions taken by operator or PLC. See manual for complete description.
Inputs and Outputs viewer on FPU exposes safety signals in several selections (PDD1564)
Reported problem solved.
ABB Robotics
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RP5.15
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Anders Trillkott, +46 21 344863 Drive Module 2 external axis configuration (PDD1581)
It is now possible to change the Drive Module system parameters for external axis in RobotStudio and on the FlexPendant. In topic Motion and type Joint parameter Use Drive Module and Drive Module Number have been added.
Not possible to enter devicenet address for io unit on IPS node via ICI bus (PDD1792)
Added the possibility to edit ICI path for ICI-based EIO units through RobotStudio and FlexPendant system parameter editors.
ABB Robotics
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RP5.15
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Anders Trillkott, +46 21 344863 ErrorMsg 20325, SafeMove safety supervision not activated (PDD1796)
It can happen that Warning message 20325 is shown after a warmstart in configurations where there is a SafeMove unit mounted in one drive module and no unit in another drive module in the same system, e.g. where positioners are used. This message can be ignored when it is shown for a drive module where there is no SafeMove unit mounted. Changed message text from SafeMove to PSC because it's also used for EPS
ABB Robotics
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RP5.15
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64/73
ABB Robotics
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RP5.15
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Anders Trillkott, +46 21 344863 Robot locked at the end of an arc seam in a 'partially' synchronous multimove environment (PDD1917)
In previous releases, it could happen that a Robot and a positioner, that welded synchronized, could get in a locked situation at the ArcXEnd instruction. From RW 5.15, there would also be an elog message that stated that the positioner task was not using ArcMoveExtJ instructions, when it in fact was. In earlier versions (RW<5.15), there was no error message, execution would just get locked at the ArcXEnd instruction. This locked situation is now corrected.
Not possible to clear EthernetIP bus IP address from the system parameters when using LAN (PDD1938)
When user is giving some IP Address and after that it got erased means not giving any IP address which is not accepting as valid IP. This is now corrected.
FlexPendantperforms restart when backup path to long with NFS share (PDD1951)
Using NFS and make backup; if the backup path is greater than NFS max path, 99 bytes, might the Flexpendat restart. This has been corrected in 5.15.01, an e-log is displayed and Flexpendant does not restart.
ABB Robotics
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RP5.15
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Anders Trillkott, +46 21 344863 Step Backward Num Limit Errror Spotware (PDD2019)
In previous releases (RW5.15) there could be a problem when running spot instruction is step backward mode. The error 41752 could occur if the program number I/O group was bigger than 23 bits. This problem has been corrected in this release.
Integrated vision: Always execute CamSetRunMode" after updating "Output to RAPID" configuration in RobotStudio (PDD2057)
After updating the "Output to RAPID" configuration in RobotStudio it is important to run the RAPID instruction "CamSetRunMode" because this forces the controller to reload the active result configuration. If "CamSetRunMode" is not executed before the next image acquisition is performed, the results from the camera may be interpreted wrongly.
Axis computer DSQC 601 firmware update failed (Revision 10) (PDD2077)
In this release it is possible to use Axis computer DSQC 601 rev.10.
Instruction CamGetResult delivers already used positions even if the vision-tool is disabled (PDD2066)
When disabling a vision tool during run-time results may still be produced from that vision tool even though they should not. A possible workaround can be used in this situation: -To assign the vision tools that are enabled/disabled during production to different item types. That way it is possible to sort out only the results that originate from the last image acquisition.
ABB Robotics
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RP5.15
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Information/Corrections RW 5.15.02
Integrated Vision: CamGetParameter \NumVal does not work with a negative value
The RAPID instruction CamGetParameter with optional argument NumVal has not worked for negative values. It gave error code 41774. That problem has now been solved.
Smart Positioner - Unable to return Axis 1 to Normal mode Ref. Cal. Errors (PDD2296)
Independed joint for axis one for general kinematic robot is now working.
ABB Robotics
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RP5.15
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68/73
PDD
Program pointer not possible to set in current routine PDD8 RobotStudio: SafeMove configurator may cause wrong safety configuration PDD57 FlexPendant Explorer is disabled when controller goes to sysfail PDD98 Strange graphic behaviour on GTPU3 PDD142 BACKUP/RESTORE window needs to be closed after making a backup before a restore PDD168 IRC5 startup error with DN Lean and double master PDD169 System Crash when moving into position with wrong loaddata active PDD176 Flying start/end: Possibility to have more than 2 concurrent CAP processes PDD182 Certain entries in MMC.CFG not backwards compatible RW 5.14 -> RW 5.13 PDD219 WeldGuide III Sensor Calibration PDD251 Error in RAPID example Application Manual Spot options revH PDD253 WeldGuide III Dwellbit error PDD258 Smartac/search instruction PDD282 Gundata valid for all guns in the system PDD356 Store SID data for ESAB AristoMig5000i on USB connected to the FlexPendant PDD446 Possible to add more than 8 MTZ points in the SafeMove configuration PDD467 RS5.14.02 VC does not start up PDD490 SoftMove Improvements for Spot PDD531 SafeMove: CBC necessary, if "Call Routine..." CBC and then "Cancel Call Rout. PDD534 Wago IO module not connected any more after warm start PDD540 SafeMove: CBC signals are set to 0 without any activation of limits, if a restore is executed. PDD541 Error: System.ArgumentNullException when loading station PDD569 IRB 120 Jerky Motion PDD603 Documentation - Error 50042 PDD622 Intensive use of TriggLIOs causes the system to crash PDD629 Restart function after emergency stop in Dispense system PDD687 Operation Set Complete signal PDD717 FCResetDampingTune and FCSetDampingTune clarification PDD732 Files for IO Bus not installed with error but bus works PDD736 Lost unit function back to earlier behaviour. PDD758 SafeMove wizard - Incorrect update of the resolver offsets PDD770 Incorrect window open identification in FP GUI PDD779 It fails to read file information in system Home directory PDD780 SafeMove wizard - Restart dialog not fully localized in French PDD783 Arc ignition when supervision gun fault PDD787 SafeMove wizard - Problem in the report generation PDD792 Fronius IF - Wrong Value in Wirefeed Speed PDD811 Fronius IF - Missing Message when deleting a Job PDD812 Fronius IF - Runtime Data is not updated PDD815 Opt. Para. to specify the nr. of used bits for the new functions BitNegDnum and BitLShDnum PDD818 LoadIdentify improvement when ModalPayLoadMode is 0 PDD820 Ordering a backup from FPU creates empty backup folder when SysInput PDD823 Using Bosch WeldTimer Interface limits the number of I/O signals PDD832 Ethernet/IP Lan Slave Communication with Rockwell PLC PDD845 IRC5 - FlexPendant GUI - Not acceptable filter position in data list PDD850 Corrections for mechanical gripper types PDD875 Error handling not working PDD880 Ethernet/IP Master Configuration - Beckoff bus coupler BK9105 PDD885 110016 Unsafe flying-end PDD906 Improvement in Safemove PDD908 Modify default values in SafeMove configurator PDD909 Uncorrect mechanical unit name that crashes the Virtual FlexPendant PDD984 FcPress instruction gives error 50076 PDD986 StartMove instruction locked PDD990 When LoadIdentify results in 0 kg mass PDD991
ABB Robotics
PRU Title Ref
SEROP
Department
RP5.15
Filename Release Notes RW 5.15.02.doc Page
DMRO/SH
2013-06-04
Author, telephone
69/73
ABB Robotics
PRU Title Ref
SEROP
Department
RP5.15
Filename Release Notes RW 5.15.02.doc Page
DMRO/SH
2013-06-04
Author, telephone
70/73
PDD
PDD1444 PDD1552 PDD1640 PDD1654 PDD1658 PDD1721
ABB Robotics
PRU Title Ref
SEROP
Department
RP5.15
Filename Release Notes RW 5.15.02.doc Page
DMRO/SH
2013-06-04
Author, telephone
71/73
PDD
DSE10507 PDD27 PDD145 PDD530 PDD632 PDD677 PDD764 PDD813 PDD826 PDD847 PDD897 PDD1143 PDD1185 PDD1215 PDD1268 PDD1269 PDD1283 PDD1300 PDD1325 PDD1349 PDD1406 PDD1424 PDD1425 PDd1459 PDD1462 PDD1476 PDD1514 PDD1516 PDD1543 PDD1544 PDD1546 PDD1547 PDD1553 PDD1564 PDD1575 PDD1581 PDD1599 PDD1600 PDD1603 PDD1613 PDD1656 PDD1698 PDD1704 PDD1741 PDD1768 PDD1779 PDD1792 PDD1793 PDD1794 PDD1798 PDD1799 PDD1802 PDD1808 PDD1816 PDD1837
ABB Robotics
PRU Title Ref
SEROP
Department
RP5.15
Filename Release Notes RW 5.15.02.doc Page
DMRO/SH
2013-06-04
Author, telephone
72/73
ABB Robotics
PRU Title Ref
SEROP
Department
RP5.15
Filename Release Notes RW 5.15.02.doc Page
DMRO/SH
2013-06-04
Author, telephone
73/73
PDD
PDD1796 PDD2188 PDD2216 PDD2229 PDD2263 PDD2277 PDD2296