Release Notes RW 6.00.01

ABB Robotics
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SEROP Release Notes RW 6.00.01 RP6.xx – 0xx
Department Date Filename Page
DMRO/QMPP 2015-01-22 Release Notes RW 6.00.01.doc
1/34
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Anders Trillkott, +46 21 344863
Table of Content
TABLE OF CONTENT ........................................................................................................................................... 1
GENERAL ............................................................................................................................................................. 2
How to Migrate an Application from RW5.1x to RW 6.0................................................................................................ 2
How to Migrate an Application from RW5.6x to RW 6.0................................................................................................ 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 6.0 .................................................................................................................................................... 7
Incompatibility RW 6.00.01............................................................................................................................................ 10
New Functionality RW 6.0.............................................................................................................................................. 11
Improvements RW 6.0.................................................................................................................................................... 18
Improvements RW 6.00.01 ............................................................................................................................................. 22
Information / Corrections RW 6.0 ................................................................................................................................. 23
Information / Corrections RW 6.00.01 ........................................................................................................................... 31
Product Defect Document RW 6.0 PDD ................................................................................................................ 33
Product Defect Document RW 6.00.01 PDD ............................................................................................................... 34

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General
How to Migrate an Application from RW5.1x to RW 6.0

· Technote_140908_RobotWare 6
Contact local ABB for further information if needed.
How to Migrate an Application from RW5.6x to RW 6.0

· Migration Guide in RobotStudio 6.x
· Migration Tool in RobotStudio 6.x
· License tool in RobotStudio 6.x
· Technote_140908_RobotWare 6
Contact local ABB for further information if needed.

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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 6.00.01
The release contains following:
· RobotWare 6.00.01 build 1211
· RobotStudio 6.00.01
Release Date
Release date 2015-01-23
Ordering number
RobotWare 6.0: 3HAC052368-001 Rev A
Documentation
See Release Notes on documentation DVD: 3HAC052153-001
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Controller Hardware Support

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

§ DSQC669, EtherNet/IP slave Option 840-1
§ DSQC667, ProfiBus slave Option 840-2
§ DSQC668, ProfiNet slave Option 840-3
§ DSQC1004, DeviceNet slave Option 840-4
§ SoftWare solution
§ EtherNet/IP m/s Option 841-1
§ Profinet m/s Option 888-2
§ Profinet slave Option 888-3
§ Serial ports (RS232)

§ DSQC1003, RS232 – 1 (2) channel Option 970-1 (COM1 free / COM2 is console output.)
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Restrictions in Controller Hardware Support

See Technote_140908_RobotWare 6
See Technote_130415_new_main_computer
Manipulator Support
See Technote_130415_new_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)
· Swedish 1)
·
1)
Danish
· Czech 1)
·
1)
Hungarian
·
1)
Finnish
·
1) 2)
Korean
· 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.
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Incompatibility RW 6.0
Streamline the syntax of the Spot instructions, pneu vs servo.
In RobotWare 6.0 the spot instructions syntax has been streamlined.
The number of parameters and arguments are now the same for all options.
This means that there could be some problems when restoring an old backup with some of the previous
user modules, e.g. swdefine.sys.
Spot Pneu:
ActClose gun_num, curr_forcedata{gun_num}; old
ActClose gun_num \Force:=curr_forcedata{gun_num}; new
However the functionality in the swdefine module has been built in, and is now a part of the base
functionality, so the old module are no longer needed.
Two signals of the same type mapped on the same bit(s) are not allowed
It is not possible anymore to have two signal of the same signal type configured on the same bit.
Example:
-Name "myDO1" -SignalType "DO" -Device "MyDev" -DeviceMap "0"
-Name "myDO2" -SignalType "DO" -Device "MyDev" -DeviceMap "0
-Name "myGO1" -SignalType "GO" -Device "MyDev" -DeviceMap "0-7"
-Name "myGO2" -SignalType "GO" -Device "MyDev" -DeviceMap "7-10"
These will result in an event message error and the signals will be rejected.
Sync id switch in the spot instructions is removed

The synchronization id switch in all spot instructions has been removed to simplify the instruction syntax
and to reduce unnecessary complexity.
However it is still possible to run spot instructions in MultiMove systems independently with option 604-2
MultiMove Independent, with all Spot options.
As standalone software options the combination Spot+MMS can be supplied on request in cooperation with
R&D, but it needs to be tested and validated before taken into production.
Dispense base improvements

As part of simplifying the customizing process, the module DPUSER has been simplified. Therefor it is
recommended to start from the new default version of DPUSER if customizing shall be done.
For more information, see the customizing chapter in the Dispense manual.
However, an old version of DPUSER can still be used after some smaller adjustments:
1. Remove the Rapid data "equiprestartd" and "equipdata_gui". If the data has been changed compared to
the default setup, corresponding changes can be done in the PROC cfg.
2. Remove the Rapid routine "dp_init_signals". If dispense signals with other names than the default names
are used, this can now be easily configured in the PROC config.
Before 6.0 it was necessary to do changes in the routine "dp_init_signals" and corresponding changes also
in an xml file (DispenseSystem.xml). This is not necessary any more. The xml file is removed.
Analog signals cannot overlap group signals

In 6.0 Analog Signals cannot overlap Digital Group signals or Digital Signals.
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Overlapping groups and signals cannot have differing default values

With the release of RW 6.00 overlapping groups and signals cannot have differing default values.
Example of overlapping signal with differing default values in CFG:
"-Name "Slave_do1" -SignalType "DO" -Device "PN_Internal_Device" -DeviceMap "0""
"-Name "Slave_go_1" -SignalType "GO" -Device "PN_Internal_Device" -DeviceMap "0-7" -Default 255"
The signal Slave_do1 has an implicit default value of "0" while the overlapping group has an explicit default
value for the bit 0 set to "1". The same rule applies to the case where the signal had an explicit default
value that differs from the groups implicit or explicit default value.
The correct way to do it is to explicitly define the default value of both the group and signal to the same
value:
"-Name "Slave_do1" -SignalType "DO" -Device "PN_Internal_Device" -DeviceMap "0" -Default 1"
"-Name "Slave_go_1" -SignalType "GO" -Device "PN_Internal_Device" -DeviceMap "0-7" -Default 255"
Service routines and supervision task

The default service routines in spot have been made internal in order to reduce complexity and to simplify
the user code.
This means that the user module 'swdefine.sys' is no longer needed and has been removed from the spot
options.
It will still be possible to load an old module from 5.60 -> if needed.
The new internal service routines names are:
ManualSpot (replaces ManSpot)
ManualSetForce (replaces ManSetForce)
ManualGunControl (replaces ManCloseGun and ManOpenGun)
ManualCalib (replaces ManCalib)
ManualServiceCalib (replaces ManServiceCalib)
ManualForceCalib (replaces ManForceCalib)
ManualGunSearch (replaces ManAddGunName)
ManualGunPosition (replaces ManOpenHLift and ManCloseHLift)
The supervision task module (SW_SUP) is now loaded internally and is not copied into the home/spot
directory anymore.
This will cause a conflict when trying to load an old backup, however it will still be possible to load an old
swsup.mod module and create a new 'SW_SUPV' task if needed.
Note that this will require that the 'MultiTasking' option is selected in the system.
The new template user modules that are copied to the home/spot directory have the names 'swusrm.sys'
and 'swuser.sys'.
'swusrm.sys' is loaded into all motion tasks (AllMotionTask) and

'swuser.sys' are loaded into all tasks (AllTask).
To be able to run an old swdefusr.sys a configuration parameter must be changed:
Configuration/Process/Spot System - Motion task user module name - SWUSRM -> SWDEFUSR.
The recommendation is however to migrate any custom code in the old user modules into the new modules
to avoid problems.
Simulated I/O signals

The default the size of simulated (previously called virtual) I/O signals is set to 23 signals in RW6.00.
The maximum size is 32 bits wide and can be set with the "Size" parameter in CFG.
Depending upon the size set signals used from RAPID program must have the correct type assigned.
For 32 bits wide signals the DNUM arguments in the RAPID instructions must be used otherwise can faulty
values be assigned to the signal.
For 23 bit signals it is enough with NUM.
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Use of 16 bits counters for advanced queue tracking

Due to change in IO handling the function advanced queue tracking of DSC377 board will not work as in
previous versions .
A delay of 20 ms must be added in the interrupt attached to c1NewObjStrobe before reading
c1CntFromEnc1 and c1CntFromEnc2 .
Installation Manager mismatching options (PDD3839)

From 6.0 it is not possible any more to select or run more than one master option in the controller at the
same time. This is limited by the installation manager.
The installation manager license key file is not affected by this limitation.
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Incompatibility RW 6.00.01
Scan cycle of the Profibus Master network in the robot in RW 6.00 is too slow (PDD4436)
When the PROFIBUS Configurator V. 2.02 is used with the DSQC 1005, PB-PROI-PCIe, “conservative”
default values are set for the DP-Master, Profibus Segment, communication compared with default values
when using the PROFIBUS Configurator V. 1.73. These can cause the scan cycle of the Profibus Master
network to be too slow.
The communication parameters can be optimized in the following way:
After all devices residing in a segment are defined, you may use the function “Calculate/Check...” (click the
right mouse button on the Profibus Segment or CTRL+A). This will calculate an optimized timing for the
given configuration.
Both the configuration tool PROFIBUS Configurator V. 1.73 and PROFIBUS Configurator V. 2.02 can be
used to configure a PROFIBUS network handled by the PROFIBUS interface boards (DSQC 1005 and
DSQC 687). The two board types use the same binary configuration format so a binary file with a
PROFIBUS configuration created with the PROFIBUS Configurator V. 1.73 for DSQC 687 and be used
without changes for the DSQC 1005
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New Functionality RW 6.0

CFG-data for external axes
A number of system parameters have been moved from the encrypted part to the internal part of the MOC-
configuration for external axis.
This applies to positioners equipped with motor type A.
The following system parameters have been moved: SINGLE_TYPE, ROBOT_TYPE, JOINT,
TRANSMISSION and DRIVE_SYSTEM.
SIS events
A new setting Events as Warnings has been added to SIS, allowing the user to configure the system to
issue warnings instead of errors for SIS events. See the SIS operating manual for more information.
Move PP to main via system input

It is now possible to set pp to main in all tasks or one specified task via system inputs signals.
See the System Parameter Manual for a more detailed description.
TuneMaster for test signal logging

A new version of TuneMaster has been added, when starting the application Log Signals can be selected.
This version can log test signals as TestSignalViewer does but has no limit for the log time
(TestSignalViewer can only log 25s.).
For more information how to run the program see manual in the help.
SafeMove visualizer
“SafeMove Visualizer” is a FlexPendant application which visualizes the SafeMove or EPS safety
functions and provides the following features:
· Visualization of the safety signals, the safety event log messages and the synchronization & brake check.
· Graphical visualization of the tools and the tool positions, Safety Tool Zones, Safety Axes Ranges,
Monitored Axes Ranges and Monitored Tool Zones.
· Executing of service routines for software synchronization, brake check and to move robot to its sync
position.
RAPID instructions External guided motion (EGM)

A new option, Externally Guided Motion (EGM), is available starting with RW 6.00.
The option gives access to a set of RAPID instructions and RAPID data types that enable the user to move
a robot by means of a device, which provides position data from outside motion control.
The option Robot Reference Interface (RRI) is replaced by EGM and EGM includes all functionality that
RRI provided.
A description of all EGM RAPID instructions can be found in the technical reference manual "RAPID
Instructions, Functions and Data types".
The EGM concept and functionality is described in the Application manual "Controller software IRC5"
chapter "Engineering Tools".
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External guided motion

EGM is designed for advanced users and provides a low level interface to the robot controller, by by-
passing the path planning that can be used when high responsiveness to robot movements are needed.
EGM can be used to read positions from and write positions to the motion system at a high rate, every
4 ms with a control lag of 10–20 ms depending on the robot type. The references can either be specified
using joint values or a pose. The pose can be defined in a work object for robots.
The RobotWare option Externally Guided Motion gives you access to:
- Instructions to set up, activate, and reset EGM.
- Instructions to initiate EGM movements and to stop them.
- A function to retrieve the current EGM state.
- System parameters to configure EGM and set default values.
- Support of MultiMove and Absolute Accuracy.
For more information see the user's manual "Engineering Tools" chapter "Externally guided motion".
Motion Process Modes

Motion Process Modes.
Different processes can demand different motion settings for the robot. The new function Motion Process
Modes will make it possible to choose between different pre-defined robot tunings to be able to adapt to the
needs for various applications.
It is a choice that user can do with changing parameter
Use Motion Process Mode ( Motion Domain -> Robot )
There will be three pre-defined modes

- Optimal Cycle time mode (default) rob1_optimal_cycle_time_mode
- Low Speed High accuracy mode (process applications up to ~500mm/s)
rob1_low_speed_accuracy_mode
- Stiff Mode (Contact applications etc.) rob1_low_speed_stiff_mode
The user will also have the opportunity to change a number of parameters for each mode.
Another new feature is that user can tune and set Mounting Stiffness Factor that should describe the
stiffness of the robot foundation. This will increase robot performance in case the foundation that robot is
mounted on is a bit flexible. Mounting Stiffness Factor is available for IRB 120, IRB 140, IRB 1200, IRB
1520, IRB 1600, IRB 2600, IRB 4600, IRB 6620 (not LX), IRB 6640, IRB 6700. Mounting Stiffness Factor
will be possible to tune from TuneMaster.
The basic setting of parameters and choosing mode is included in RobotWare. As an add-on it will, for
users that chooses option Advanced Robot Motion, be possible to change between these modes in runtime
with a Rapid instruction.
MotionProcessModeSet mode
where mode can be

OPTIMAL_CYCLE_TIME_MODE (corresponds to cfg rob1_optimal_cycle_time_mode )
LOW_SPEED_ACCURACY_MODE (corresponds to cfg rob1_low_speed_accuracy_mode)
LOW_SPEED_STIFF_MODE (corresponds to cfg rob1_low_speed_stiff_mode )
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Motion Error Handler

The RAPID execution does not have to stop when a collision occurs (event number 50204- Motion
supervision). If the system parameter collision Error Handler is defined the execution will enter the RAPID
error handler after the deceleration and the execution can continue if all conditions for further execution are
fulfilled. This is known as “Motion Error Handling”. To separate collision errors from other RAPID errors, the
errno variable is set to ERR_COLL_STOP.
After the collision, the deceleration is always performed before any RAPID code can be executed.
The “Stop Event Routine” will not start e.g. to turn off processes, and the code in the error handler will start
when the deceleration has finished.
In 6.00, the functionality is deactivated for MultiMove.
For more details see documentation:
Chapter "Error recovery" in manual "RAPID kernel".
And manual "System Parameters", Chapter: "Controller topic->General Rapid type- CollisionErrorHandler"
New info view in Spot GUI

In this release a new information view has been added in the Spot GUI.
Misc. information like system name, RobotWare version, Spot application version and options info.
RAPID sockets with datagram protocol UDP

Added support for RAPID sockets with connectionless communication with protocol UDP/IP with support
for broadcast.
SocketCreate instruction has been updated with new optional switch UDP.
New syntax:
SocketCreate
[ Socket ’:=’ ] < variable (VAR) of socketdev >
[ ’\’ UDP ] ’; ’
Two new instructions added, SocketReceiveFrom and SocketSendTo.
Syntax for SocketReceiveFrom:

SocketReceiveFrom
[ Socket ’:=’ ] < variable (VAR) of socketdev >
[ ’\’ Str’ :=’ < variable (VAR) of string > ]
| [ ’\’ RawData ´:=´ < variable (VAR) of rawbytes > ]
| [ ’\’ Data ´:=´ < array {*} (VAR) of byte > ]
[ ’\’ NoRecBytes’ :=’ < variable (VAR) of num > ]
[ RemoteAddress ’:=’ ] < variable (VAR) of string >
[ RemotePort ’:=’ ] < variable (VAR) of num >
[ ’\’ Time ´:=´ < expression (IN) of num > ] ’;’
Syntax for SocketSendTo:
SocketSendTo
[ Socket ´:=´ ] < variable (VAR) of socketdev >
[ RemoteAddress ’:=’ ] < expression (IN) of string >
[ RemotePort ’:=’ ] < expression (IN) of num >
[ \Str ´:=´ < expression (IN) of string > ]
| [ \RawData ´:=´ < variable (VAR) of rawdata > ]
| [ \Data ´:=´ < array {*} (IN) of byte > ]
[ ’\’ NoOfBytes ´:=´ < expression (IN) of num > ] ’;’
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New RAPID function GetMotorTorque

New RAPID function GetMotorTorque has been added.
The function reads the current filtered motor torque applied on the motors of the robot and external axes.
The motor torque value can also be seen as test signal number 2000.
Syntax:
GetMotorTorque '('
['\' MecUnit ':=' < variable (VAR) of mecunit> ',']
[AxisNo ':=' ] < expression (IN) of num> ')'
A function with a return value of the data type num.
New instructions MoveXGO and MoveXAO

New RAPID instructions have been added that set group output signal or analog output signal in the middle
of the corner path.
MoveCGO, MoveJGO and MoveLGO can be used to set group output signal in the middle of the corner
path.
MoveCAO, MoveJAO and MoveLAO can be used to set analog output in the middle of the corner path.
Locking of robot axis 4

A new switch LockAxis4 has been added to instruction SingArea.
New syntax:
SingArea
[ '\' Wrist ] | ['\' LockAxis4 ] | ['\' Off ] ';'
If the argument \LockAxis4 is specified then axis 4 is locked to 0 or +-180 degrees to avoid singular points.
The TCP follows the correct path, but the orientation of the tool will deviate if the position was not
programmed with axis 4 at zero or +-180 degrees.
Data type motsetdata updated

The data type motsetdata has been updated. The component sing of singdata has been updated with a
new Boolean component lockaxis4.
The singdata component in motsetdata describes the settings done by SingArea instruction.
SingArea \LockAxis4; will set C_MOTSET.sing.lockaxis4 to TRUE.
If using SingArea without LockAxis4 switch it will be set to FALSE.
The default value (FALSE) is automatically set
* when using the restart mode Reset RAPID.
* when a new program is loaded.
* when starting program execution from the beginning.
New robot IRB 1200

Support for new robot types:
Variants
IRB 1200 / 0.7m 7kg
IRB 1200 / 0.9m 5kg
IRB 640 with RobotWare 6

SoftWare support for S4C+ robot type in IRC5 with RobotWare 6.0:
Variant:
IRB 640 / 160 kg
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Multi gun support selection

In this release it is possible to select multigun support via Installation Manager when building a Spot Servo
or Spot Pneu system.
The default setup if that selection is made, is I/O signals for 4 gun equipment’s and 4 process tasks for
simultaneous welding support.
If multigun support is not selected, only I/O signals and support for one gun equipment is installed.
The I/O names will be different between the configurations.
For more info about different configurations, see the Spot options manual.
New graphical simulation view in Spot GUI

In this release a new graphical simulation view has been added in the Spot GUI to replace the standard
data editor used before in previous releases.
PROC configuration for the Spot Options

In this release the configuration method in the Spot Option has changed from using RAPID data to using
the configuration database, via “process configuration”. This means that the user modules have changed
and all rapid data has moved into cfg.
Some of the configuration are essential for the functionality of the spot application and spot gui and can
therefore not be removed.
For more information about the configuration method, see the Spot Options manual.
Spot Options refactoring RW6.0

In the release the Spot option has been refactored. New option id: 635-6 Spot Welding
Summary:
· In the release the Spot options has been refactored, one spot license in Installation Manager for all spot
options. Before separate key’s was needed for each spot option. Possible to select spot configuration when
creating the system.
· Supervision task and service routines are loaded internally, to reduce complexity of the user code.
· The number of user modules has been reduced, new template modules are swuserm.sys and swuser.sys.
swuserm.sys is loaded in all motion tasks, and swuser.sys is loaded in all tasks, same as before. Reduced
complexity and simplification.
· RAPID data configuration has replaced with process configuration, default behavior of the application is
configured via configuration database, Configuration/Process. Simplified configuration and setup.
· The Spot GUI is also using the process configuration, the SpotSystem.xml file is no longer used, all
configuration in one place.
· The syntax of the Spot instructions has been streamlined, pneu vs servo has the same parameters.
· A new picklist for SpotWeld on the GTPU and RobotStudio has been created to simplify programming.
· The sync id switch has been removed from the spot instructions, to reduce complexity.
· A new graphical simulation view has been created in Spot GUI to simplify setup/testing for the operators.
· A new information screen has been created in Spot GUI, with useful system information etc.
· MultiGun support can be selected separately in Installation Manager for the Spot Pneu and Servo
configurations, default setup is for one weld equipment as requested by many users.
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Responsive jogging
Responsive Jogging offered as evaluation version (beta) in RobotWare 6.0
With the introduction of RobotWare 6 there is a new function called Responsive Jogging. It provides a more
direct response when jogging the robot with the FlexPendant or the T10 handheld jogging device.
In RobotWare 6.0 the functionality is offered as an evaluation version for testing purpose. The ambition is
that the functionality should be complete in RobotWare 6.01.
Please note that this is an evaluation version and there are a number of known and potentially unknown
limitations. As always when jogging it is vital that the safety is not compromised. Please ensure that you
maintain enough distance to the robot so that releasing the three position enable or pushing the e-stop will
stop the robot before any collision can occur. The safety functions mandated by ISO10218-1 are all fulfilled
for responsive jogging.
Known limitations are:

1. Movement close to singularities can stop the motion and the three position enable device needs to be toggled.
2. Movement outside reach stops the motion and the three position enable device needs to be toggled.
3. Coordinated MultiMove is not supported and the classic jogging mode will be automatically used.
4. Jogging with Cartesian jogging mode and in a joint configuration where some joints are close to singularities should
be avoided. Otherwise motion lag between joystick input and robot motion will be experienced.
5. Motion lag between joystick input and robot motion are common for small robots (IRB 120/IRB 140) when jogging in
Cartesian mode.
6. In some situations the movement is not started as expected. To resolve this the three position enable device needs
to be toggled.
7. Will not work with IRB360 robots and palletizers(4 axis robot).
To active the functionality a manual change in the configuration file is needed. Add the parameter "-
jog_mode 1" to the JOG_PARAMETERS type for the motion planner that the function Responsive Jogging
should be activated for.
Changed system behavior due to the introduction of EIO validation scripts

When loading (EIO) CFG files from Robot Studio or from the Flexpendant it is required to load the CFG
data in the correct order if the CFG data is spread across different CFG files. I.e. that is, if it´s a
dependency between the EIO CFG types.
Currently there are dependencies between:
- Cross Connections and single bit signals. Where the signals must be loaded before the Cross Connections or
together in the same CFG file.
- Signals and devices. Where the devices must be loaded before the signals or together in the same CFG file.
- Devices and Network. Where the network must be loaded before the devices or together in the same CFG file.
- Signal safe level and signals. Where the safe level needs to be loaded before the signal definition or in the same CFG
file.
Otherwise this will result in a "load error" generated by the validation component. The event logs will be
displayed in the IO & Communication tab in the CFG view.
Possibility to set Speed Override to 0% (PDD1595)

This function will allow the user to select 0% Speed override from quickset/speed view along with the
current speed overrides 25%, 50% and 100%. In a way it will be possible to start with 0% Speed override.
High accuracy position sync (PDD2582)

A new parameter, high accuracy position sync, is introduced in the Motion Planner configuration section. It
is introduced to highly increase the position accuracy when synchronization is made between mechanical
units with different bandwidth. The functionality may have slight negative effect on motion start time after
fine point and may lead to minor increase of cycle time.
The functionality is turn off by default.
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Stationary PayLoad Mode (PDD3035)

When defining the Load data for a PayLoad with a stationary Tool it is possible to choose between having
the Load data defined relative to the Robot wrist coordinate system or relative to a WorkObject. This
system behavior can be changed with the new system parameter StationaryPayLoadMode in type General
Rapid and topic Controller. With this new option it's only one Load data is needed for each fixture even
several WorkObjects are used.
IRB 6400 Rex with IRC5 (PDD3766)

SoftWare Support for S4C+ robot types in IRC5:
Variants:
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/120kg
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Improvements RW 6.0
Fine calibration from FlexPendant
The process when updating the revolution counters or doing a fine calibration of a robot has been speeded
up from about 60 seconds to about 9 seconds.
Supervision task and service routines are now internal

The default service routines in spot have been made internal in order to reduce complexity and to simplify
the user code.
This means that the user module 'swdefine.sys' is no longer needed and has been removed from the spot
options.
It will still be possible to load an old module from 5.60 -> if needed.
The new internal service routines names are:

ManualSpot (replaces ManSpot)
ManualSetForce (replaces ManSetForce)
ManualGunControl (replaces ManCloseGun and ManOpenGun)
ManualCalib (replaces ManCalib)
ManualServiceCalib (replaces ManServiceCalib)
ManualForceCalib (replaces ManForceCalib)
ManualGunSearch (replaces ManAddGunName)
ManualGunPosition (replaces ManOpenHLift and ManCloseHLift)
The supervision task module (SW_SUP) is loaded internally and is not copied into the home/spot directory
anymore.
It will still be possible to load an old swsup.mod module and create a new 'SW_SUPV' task if needed.
Note that this will require that the 'MultiTasking' option is selected in the system.
The new template user modules that are copied to the home/spot directory have the names 'swusrm.sys'
and 'swuser.sys'.
'swusrm.sys' are loaded into all motion tasks (AllMotionTask) and
'swuser.sys' are loaded into all tasks (AllTask).
To be able to run an old swdefusr.sys a configuration parameter must be changed:

Configuration/Process/Spot System - Motion task user module name - SWUSRM -> SWDEFUSR.
The recommendation is to migrate any custom code in the old user modules into the new modules to avoid
problems.
New picklist, SpotWeld.

In this release a separate instruction pick list has been created for spot welding, SpotWeld.
This is done to simplify the programming, all spot related instruction are located in the same place for quick
and easy access from RobotStudio and the TPU.
Improvements LoadIdentify and ManLoadIdentify

The User Interaction has been updated in LoadIdentify and ManLoadIdentify service routines. Old TPxxx
instructions and functions have been replaced with UI instructions and functions.
ABB Robotics
PRU Title Ref
19/34
Author, telephone
IRB 2400 used in High-Accuracy Applications

IRB 2400 is now using QuickMove 2 (QM2) instead of QuickMove 1 (QM1) from RW 5.61 and future RW
releases, including RW 6.00. This information describes the consequences for the motion performance of
IRB 2400.
Cycle Time:
The cycle time using QM2 is in on the average shorter. However, depending on the programmed speed
and the geometry of the path, the cycle time QM2 can be in the approximate range 20% shorter to 5 %
longer compared to QM1.
Path accuracy:
Path accuracy is in general better using QM2, e.g., the path is more speed independent in high speed
corners and circles. However, due to the improved cycle time performance, the speed and acceleration are
sometimes higher and the path accuracy in high-accuracy low-speed applications like cutting of small
shapes, the path accuracy can sometimes be worse.
One example is cutting of circular holes, radius 5 – 10 mm, speed 40 – 80 mm/s, where the typical circular
roundness is 0.25 mm using QM1 and Advanced Shape Tuning. Circular roundness is defined as the
difference between max and min diameters. Using QM2, a typical circular roundness is 0.30 mm. Another
example is cutting of hexagonal shapes, where the cycle time for QM2 is much better with the
consequence that small path vibrations can be induced.
Motion Process Mode
Application specific tuning by selecting different robot tunings is introduced in RW 6.00 (Motion Process
Mode). OPTIMAL_CYCLE_TIME_MODE is the default mode with best possible cycle time,
LOW_SPEED_ACCURACY_MODE improves path accuracy for low-speed applications, and
LOW_SPEED_STIFF_MODE optimizes servo stiffness for contact applications.
LOW_SPEED_ACCURACY_MODE is set by changing the system parameter Motion/Robot/Use Motion
Process Mode. If the option Motion Performance is installed, the mode can also be changed from the
RAPID program. For more information on Motion Process Mode, see Application Manual/Controller
Software/Motion Performance/Motion Process Mode and System Parameter Manual.
Recommendations for IRB 2400 in high-accuracy low-speed applications:
1. For high-accuracy low-speed applications, it is recommended to use LOW_SPEED_ACCURACY_MODE
for IRB 2400. By doing this, the circular roundness with QM2 will be the same as when using QM1.
2. For shapes like hexagons and rectangles, the Rapid instruction PathAccLim TRUE \AccMax := 1, TRUE
\DecelMax := 1; is useful for improving path accuracy if vibrations are induced. The value (1) is
acceleration/deceleration in m/s^2 and can be tuned if needed.
DispensePac Support: Changed default behavior

The DispensePac Support default behavior (IO configuration and data types) has been changed and is now
the same as for basic Dispense.
The earlier precustomized version of DPUSER is not often used. Most of the function packages are
customized with start from the original version.
ABB Robotics
PRU Title Ref
20/34
Author, telephone
Dispense base improvements

A number of changes and improvements of the basic Dispense functionality has been done in RW 6.0. The
reason for the changes is mainly "ease of use" but also to try to get more "common look and feel" with
other application software. But the main functionality is the same as before.
1. PROC configuration is implemented for dispense signals and some dispense data.
The data to set up of the Dispense Restart functionality and the data for customizing the Dispense GUI is
removed from DPUSER and can now be done in the process (PROC) configuration. The configuration of
the Dispense signals is also simplified and moved to process config.
2. It is now during customizing possible to reduce the number of visible equipment.
3. To reduce the complexity of the Dispense instructions two (not used) optional arguments (p1 and p2) are
removed from the Dispense instructions.
4. To simplify the programming there is now a separate Dispense pick list with instructions.
5. The configuration of IO signals for the default setup has been adapted to the new standard.
6. The Dispense Application Manual has been partially rewritten.
Improved Startup time

All of the different startup commands have been improved for the time needed to perform the action. It is
hard to give exact figures since it is depending on the actual system configuration but the following gives
some indication:
Command Improvement:
Restart better than 20%
Reset RAPID better than 40%
Revert to last better than 10%
Improvements/Corrections regarding startup and shutdown robustness

A number of improvements and corrections have been done to make the system shutdown and startup
more robust and stable to prevent loss of TPU communication and faulty/corrupt SD cards.
- The file handling when shutting down the system have been improved to avoid faulty/corrupt disks.
- Corrections have been done to make the system startup more robust.
- The way to handle a missing HOME folder which caused the controller to loose FTP and TPU is improved.
- Changes have been done to secure that the FlexPendant is not affected by the status of the Ethernet ports X2, X4-
X6.
- Two controllers with the same IP address shall not cause loss of TPU anymore.
New visual appearance

The FlexPendant have been modified for its user interface appearance, i.e. its "look and feel". All icons and
color scheme have been changed.
The design principles are built on the foundation of the ABB brand. ABB’s colors are used to create a
dynamic feeling. ABB’s “Day and night” theme reflected in black app icons and a white interface.
DispensePac Support. If IPS switched off, TPU error screen (PDD3350)

The startup sequence has been improved when using the ICI protocol against IPS. If there is an error with
the configuration, the controller and TPU will come online quickly and inform about the problem through
event log messages. Previously, the controller would hang during startup for a long time, without giving any
feedback to the user.
DSQC 1000 connecting to controller (PDD3767)

Improvements have been done to secure that the FlexPendant is not affected by the status of the Ethernet
ports X2, X4-X6.
ABB Robotics
PRU Title Ref
21/34
Author, telephone
System now manages to handle a missing HOME folder (PDD4098)

In RW5.6x, when the HOME folder is missing in a startup for some reason, the consequences are that the
FTP, RobotStudio and FlexPendant lose their connection to the controller.
That is now solved to 6.0.
The system will start up with system failure, elog 20446 will be triggered and the HOME folder will be empty
so the user must check/add/fix the contents. Copy any missing files/folders from a Backup and reboot the
system or do a restore of a Backup to recover.
ABB Robotics
PRU Title Ref
22/34
Author, telephone
Improvements RW 6.00.01
IV - Improvement of TPU HMI (4033)
In the vision data table on the FlexPendant Integrated Vision application, the number of decimals has been
limited to two and the size of the parameter name field has been increased. The reason is to avoid
truncated labels and excessive decimal precission.
Calibration procedure for indexing positioners (PDD4213)

The calibration procedure for indexing positioners has been improved. Calibration of indexing positioners
can now be done without code from BootDiscMaker.
The RAPID procedure CalibIntch1() should be used.
ABB Robotics
PRU Title Ref
23/34
Author, telephone
Information / Corrections RW 6.0

Upgrade 5.6x to 6.xx
A new tool is now available in RobotStudio for migrating old backups to new versions of RobotWare.
Location of utility files from RobotWare DVD
The contents of the "Euromap_spi" and "Fieldbus" folders that were located in the Utility folder on the
RobotWare 5 DVD can now be found with the RobotWare distribution installed together with RobotStudio in
the "utility\service" folder instead.
The RobotWare distribution is per default located at "ProgramData\ABB Industrial IT\Robotics
IT\DistributionPackages\ABB.RobotWare-\RobotPackages" where “ProgramData” typically points to the
folder "C:\ProgramData" which will be a hidden folder on most systems.
It is also possible to navigate to this folder by right clicking on an installed RobotWare version in the Add-
ins browser in RobotStudio and selecting "Open Package Folder"
Not possible to install a system with a mounted ftp disk

If you have a system with a mounted ftp disk it is not possible to install a system. The
returned error message is "Failed to download package".
Fileservice "ReadDiskSpace is failed -1073414146 -1" ....
<span class="msg"> is also wrong, invalid xml.
The work around is to disconnect the ftp server.
Timing error correction for motion related I/Os in virtual environment

The timing between I/O-signals and mechanical unit positions in virtual environments, like Robot Studio
signal analyzer, was not correct and the accuracy is now highly improved.
Behavior of overlapping DOs and GOs is different between 5.xx and 6.xx
- Overlapping DO/GO and DI/GI must have the same value on the parameter
"ActionWhenStartup".
- Overlapping DO/GO and DI/GI with the value "Default" on the parameter
"ActionWhenStartup" shall have a default value that matches each other’s corresponding to the overlapping
bit otherwise can unpredictable signal setting occur for these signals at startup.
See incompatibility above for more info.
VC: CTime() gives wrong time

The following errors exist in RobotWare virtual controller releases 5.xx and have been fixed in release 6.0:
· RAPID function CTime() returns wrong result
· Timestamps for event logs coming from virtual robot controller are wrong when presented in RobotStudio
and Virtual TPU
The returned time is in both cases wrong due to incorrect compensation for local time zone and daylight
saving time. The errors are not present in the real controller.
Production Screen configuration cleared at system reset

Due to added functionality to the Production Screen framework, the Production Screen configuration file
(ProductionSetup.xml) will be cleared after a "Reset system" has been performed. The setup file will still be
available in backups.
ABB Robotics
PRU Title Ref
24/34
Author, telephone
Robot controller restart mode names and descriptions changed in RW 6.0

Names and descriptions of robot controller restart modes are changed in RobotWare 6.0 compared to 5.xx
releases. All user interfaces and documentation in 6.0 use new names and terminology for restart modes.
For the existing users that are familiar with 5.xx terminology, here is mapping between names used in
release 5.xx and release 6.0:
- Warm start -> Restart
- I-start -> Reset system
- P-start -> Reset RAPID
- X-start -> Start Boot Application
- B-Start -> Revert to last auto saved
- Shutdown -> Shutdown main computer
- C-Start -> N/A (removed in 6.0)
Integrated Vision: Restart needed when pulling camera cable

When pulling the camera cable it may sometimes be necessary to restart the controller to regain full
communication with the camera.
Shutdown re-enabled
The Shutdown function is now enabled in “Advanced restart” list.
ET200S shared device configuration

1: How to get and ET200S device to act as a shared device in the robot controller:
As our PROFINET configurator does not support deactivating the DAP, you will have to use the patched file
which you have to copy into the corresponding directory of the configurator catalogue (normally in:
C:\Users\Public\Documents\FDCML10\Profinet\SIEMENS).
After exchanging this file, you will need to create a new project.
The second connection to the ET200 must not contain the DAP at all, just the module(s) you want to
access. I.e. use the new device from the device catalog in the PROFINET configurator.
Visit toolbox for access to patched file: ET200S_20100722_IM151-3PN_DIM 20.xml
Link: http://inside.abb.com/cawp/gad00507/8044f90faf7ddb48c1257131004795ac.aspx
2: Do not use the same the ARUUID for both PROFINET controllers. This is currently not described in the
user documentation from KW Software.
This might happen when using a robot controller and a Phoenix PLC to connect to a shared device. Since
both the robot's and PLC's PROFINET controller can use the same configuration file as its base. This will
cause the two configurations to have the same ARUUID.
To solve this issue, please proceed as follows:

- Deactivate the shared device in the second project using the context menu item “Blind out Device”
- Compile the project
- Reactivate the shared device in the second project using the context menu item “Blind out Device”
- Recompile the project
Please keep in mind that this procedure is not considered a workaround but will be the official handling of a
shared device and will therefore be documented as such in the documentation.
EGMSetupAI, EGMSetupAO and EGMSetupGI do not detect external axes not in use
The RAPID instructions EGMSetupAI, EGMSetupAO and EGMSetupGI do not check, if the mechanical unit
axis for which the instruction specifies signals, really exists. It assumes, that the user's specification is
correct.
ABB Robotics
PRU Title Ref
25/34
Author, telephone
MultiProcess adaptions for RW Arc

In RW 6.0 it is possible to select in which robot(s) to install RW Arc by simply selecting Arc and its sub
options in the Drive Module tab for the desired robot. The options MultiProcess together with either
MultiMove Synchronized or MultiMove independent must also be present in the license.
NOTE! In RW 6.0 the selected options must match in each robot, i.e. it is not possible to make different Arc
option selections in each of the robots. If the selections do not match, the end result cannot be guaranteed.
For example, it is not possible to select Power Source A in T_ROB1 and Power Source B in T_ROB2. The
same Power Source selection must be made in both robots.
Functionality wise it is the same as in RW 5, where the selected Arc options applied on all robots in a
MultiMove setup.
Spot:New configuration in mmc.cfg

If a spot instruction is executed in step mode it should be possible to tune the actual position by jogging the
robot a bit and then modify the position, this did not work in previous releases. What would happen was
that the PP would move to the next instruction due to a baseware system behavior, missing the opportunity
to weld in the same position.
This behavior has changed in this release, no PP movement will be done when modifying a position in a
spot instruction.
Step forward in a Spot instruction:

1. Step FWD is pressed one time - robot will move to the target position.
2. Operator dialog is shown, 'Stop' button is pressed in dialog.
3. Robot is jogged some distance and position is modified with 'ModifyPosition' (old path is cleared).
4. Start button is pressed - position will be welded at the new updated location.
Note that the current robot path will be cleared when a 'ModifyPosition' is done.
Positioner installation moved from BDM to Positioner addin

In previous releases, the configuration of different positioner installations was done by running a wizard in
the web application BootDiscMaker (BDM). Often the positioner was packaged together with additional arc
welding configuration options selected in BDM. This configuration was installed as an additional option.
Now the configuration of our standard positioners has been moved to a RobotWare Add-In product called
"Positioner", so they have been separated from the extra arc welding configuration (that still can be found
in BDM). To get positioner files installed in a controller system, the "Positioner" add-in has to be added in
Installation Manager, together with a license file for the positioner to be installed.
We have support for positioner installation on first drive module only.
No more virtual bus for conveyor boards

In the conveyor manual the sentence 2 In RobotStudio or FlexPendant, change the following system
parameters:
• Change the bus for the unit from Virtual1 to the correct bus, for example DeviceNet1.
This should be replaced by :Remove the flag Simulated from the board configuration .
Servo Tool Support not possible to select in Installation Manager.

Selecting the free option Servo Tool Support in Installation Manager it is not possible.
This is because the option is dependent on the option World Zones which is licensed.
To be able to select Servo Tool Support option a license with World Zones has to be added.
ABB Robotics
PRU Title Ref
26/34
Author, telephone
Modified DSQC377B I/O signals for PickMaster option

Conveyor tracking board DSQC377B signals are modified for systems having the PickMaster option.
The 16 bit GO signals cXCntFromEnc1, cXCntFromEnc2, cXCntToEnc1 and cXCntToEnc2 have been
removed.
They are replaced with the 32 bit signals cXCntFromEnc and cXCntToEnc.
There is a new version of ppacal.prg adapted for the new signals.
When migrate an RW5.6x backup the signals and ppacal.prg are converted.
DSQC377B signals are not modified for systems without the PickMaster option.
System Input Start Speed 0% (PDD2289)

A bug related to regain movement and speed adjustment set to 0% is now fixed.
When starting a program with the speed adjustment set to 0% (either from the Flexpendant or via a system
input) the controller could take very long time before changing state to "Program Started".
Missing fieldbus adapter generates system failure (PDD2783)

Reported issue solved.
Geometric Interpolation to high (PDD3300)

An error that could cause the robot to stop with the message 50376 "Geometric Interpolation failed" has
now been corrected. The error could be triggered by having a corner zone with large differences in
programmed speed between the two movements.
Booting a FlexPicker ends up with mismatch between controller and SMB data (PDD3456)
When performing an I-start of an IRB360 installed controller, the system will start up uncalibrated since
SMB data is not automatically read into the controller. The workaround is to read the data from SMB to
controller. Use Flexpendant and navigate to: Calibration/SMB Memory/Update.../. Make the choice "Update
cabinet with SMB memory data".
UAS - Default user only (PDD3493)

A correction has been implemented to solve the problem that Default User with only UAS grant "Backup
and save" cannot create a backup of the system.
UNDO Abort (PDD3504)

Undo handler now executes correct without elog (UNDO aborted) when moving program pointer after
stopping system with system input “Stop after instruction” and an external stop (at the same time
System with active conveyor never applies brakes (PDD3542)

Now the conveyor mechanical has rob1_brake as brake_relay by default.
So Brakes will apply after Brake on Time.
Modification of SafeMove/EPS config backup (PDD3577)

Modification of a backed-up safety configuration file (psc_user_X.sxlm) using a tool other than
RobotStudio, such as a text editor or equivalent, is considered to be misuse and is a violation of the normal
safety procedure.
If a safety user configuration file is modified and restored to the controller the safety controller may just
ignore the file, not changing the configuration and will not notify the user.
A new entry will be added to the manual to describe this.
Robot P-Starting when using AliasIO command (PDD3662)

When a large string was used in instruction AliasIO in the argument FromSignal, this caused the controller
to restart. The string needed to be larger than 32 characters to get this problem.
This problem has been solved in this robotware release. Now you get a proper event log.
ABB Robotics
PRU Title Ref
27/34
Author, telephone
SoftMove, incorrect behavior when add Instruction CSSAct at TPU (PDD3687)

When programming CSSAct from the FlexPendant, no suggestions of the SoftDir were visible.
This has been corrected in this release.
Error 50226 only with new DSQC1000 (PDD3695)

The problem reported with very close targets causing error 50226 has been solved
Unable to change values in large data types from the FlexPendant (PDD3708)
A correction has been implemented to solve the problem that it was not possible to edit values in a large
array from the FlexPendant.
Profinet unit data wrongly copied to another unit (PDD3754)

A problem where the robot controller was connected to a Profinet PN/PN Coupler device from Siemens is
corrected.
The problem occurred when the other side of the Coupler, e.g., a PCL, was disconnected. The input
signals are then supposed to be set to a predefined value, but that wasn't always the case. It sometimes
took the input values from the previously configured Profinet device.
Profinet Coupler device functionality not fully supported (PDD3754)

The Profinet PN/PN Coupler device from Siemens has functionality where the user can configure how to
substitute input signals when the other network is not available. This functionality will not have any effect on
the robot controller. The robot controller will always keep the previous data.
Profinet Coupler device does not work in combination with TrustLevel (PDD3754)
The Profinet PN/PN Coupler device from Siemens will always end up in an error state after startup if the
device TrustLevel for "Action when Disconnected" is set to "Generate System Stop".
Modify Position in one process target (PDD3815)

New CFG parameter MMC_NO_PC_MOVEMENT_CLEAR_PATH is added in and set default for all Spot
Instructions,
This avoids PC to step to next instructions and avoids disturbing elog messages and regain dialog after
modifying position.
MMC_NO_PC_MOVEMENT_CLEAR_PATH
For instructions without between points, such as SpotL, the program pointer should not continue to the next
instruction and a clear path is performed after modify position. The type
MMC_NO_PC_MOVEMENT_CLEAR_PATH is used default in Spot systems to avoid disturbing elog
messages and regain dialogs after modifying position.
Example
MMC_NO_PC_MOVEMENT_CLEAR_PATH:
-name "SpotL_ToPoint"
-name "SpotJ_ToPoint"
-name "SpotML_ToPoint"
-name "SpotMJ_ToPoint"
Backup with Remote Mounted Disk takes a long time and ends with error (PDD3878)
In RW 6.00, when using OMNI NFS server connected to the controller, it will only work with WAN (X6) port.
NOTE! If Profinet is used, OMNI NFS will not work on the WAN (X6) port either.
FlexPendant fails to come up after power down with SMB communication lost (PDD3909)
If the SMB communication was lost and the system was restarted the FlexPendant did not come up. This
problem has now been fixed.
ABB Robotics
PRU Title Ref
28/34
Author, telephone
UAS problem when using SoftwareSync when parameter HoldToRun is set (PDD3916)
The error with UAS when using SoftWareSync when parameter HoldToRun is set is now solved.
TAF error locks up pendant illegal syntax (PDD3971)

It is now possible to try to start a program whit syntactic and semantic error, flexpendant is showing the
correct error instead of locking up.
Lockup after warmstart by RAPID (PDD3997)

Problems fixed with running tasks when warm starting system with:
All normal rapid task not selected in task selection panel and with an severe system error e.g. Position out
of reach.
Programming SoftMove instructions from RobotStudio (PDD4050)

When programming CSS instructions from RobotStudio, these instructions were not known to RobotStudio,
and "Wrong number or arguments to CSSAct" was visible in the RobotStudio RAPID editor. You got no
suggestions of arguments to use for the CSS instructions either.
The RAPID program could however be executed.
The problem with programming CSS instructions from RobotStudio has been fixed in this release.
No info on error 20182 (PDD4077)
Task running fault (PDD4058)

Problems with running task caused by rapid execution error during event routine execution fixed.
No info on error 20182 (PDD4077)

An ELOG for error code 20182 is added.
The System Input Signal QuickStop is ineffective.
Description: A stop action has already started.
The manual: "Trouble shooting IRC5" will be updated.
System crash when using open command with too long string (PDD4108)
If using a total path that exceeds 81 characters in an Open instruction, the system crashed.
This has been fixed in this release.
RAPID code that could not be handled:
Open "C:/Users/mydummy/Documents/RobotStudio/Food democel (Palletizing)" \File:= "Project 1111.log", logfile

\Write;
Currently active view is not a valid test view (PDD4145)

A problem remains when start is pressed. The FlexPendant sometimes says that the currently active view
is not a valid test view, even though the Program Editor is active. The problem sometimes occurs after
editing procedure calls with 0 or 1 parameters, e.g. break or SystemStopAction.
The easiest workaround is to open the edit dialog for another instruction or to use the Production Window.
The class SystemInfo is not supported in the FP SDK (PDD4167)

The class SystemInfo is not supported in the FP SDK. It has previously supported in 5.15 and 5.61. One
effect of this is missing information about path to options in Installation Manager.
ABB Robotics
PRU Title Ref
29/34
Author, telephone
Calibration procedure for indexing positioners (PDD4213)

For calibration of indexing positioners in 6.00, we recommend using "Production manager".
However, an advanced user can also find the RAPID instruction "CalibInterch1Proc, found in the picklist
"Motion Adv." useful if the user can specify the data required for this instruction.
RobotWare Spot Manual Actions (PDD4232)

If several servo guns were configured in the system, a user dialog "end" button was missing in the service
routines.
This has been corrected in this release.
Manual Function SpotWare only one gun is activate (PDD4233)

If two or more guns was defined in and not all guns are activated the manual actions would raise an error
that a gun is deactivated, and it was not possible to run the routine at all.
This has been fixed now, an error will be raised if there is no guns activated or if the names are incorrect.
Motion Error Handler only triggers once in a procedure.. (PDD4241)

The Motion Error Handler with errno ERR_COLL_STOP will in some circumstances only triggers once in a
procedure, i.e. if the motion supervision triggers a second time in the same procedure the error handler will
not be executed again and the robot stops.
In addition, the error message comes up even if an error handler is used to solve the collision detection.
This message can only be acknowledged from FlexPendant. The error message is always shown although
the program is running after motion error handler.
The system output Motion Supervision Triggered will not be resetted after motion error handler, and cannot
be acknowledged via system input.
File Handling Error when saving Event Logs to USB drive (PDD4324)
When you insert a USB-stick into the USB-connector on the FlexPendant saving Event Logs to this USB-
stick fails with the error message "Saving log file failed".
The work around is to use the USB-connectors on the controller itself.
EIO EthernetIP device working but an error message is received at startup (PDD4329)
Event Message 71527 EtherNet/IP adapter state conflict
This message is issued by the EtherNet/IP Scanner when it receives the CIP General Status Code 0x10
Device State Conflict from a device.
This tells the scanner that the device’s current mode/state prohibits the execution of the requested service
such as the creation of an I/O connection. Mostly this is a temporary mode/state that will resolve itself
allowing the Scanner to create I/O Connections a few seconds later.
If so, this message can be ignored. If the device will remain in this error state there is most likely a real
error on the device.
RW Add-In folder name is fixed (PDD4333)

There is a relation between APT (RW Add-In Packaging Tool) and IM (Installation Manager) about how the
product is identified in the new installation concept. So, APT is designed in such way that the installation
folder name is made by combining “product name” and “product version”, separated with underscore. Due
to this new installation concept, user is not allowed to edit the root folder that user see in APT.
Default selections in the RW Addin Packaging Tool is always installed (PDD4345)

When creating an RW Add-In with RW Add-In packaging tool and choosing "is default selected" for one
option then this option will be installed every time even if the option was not selected in Installation
manager.
ABB Robotics
PRU Title Ref
30/34
Author, telephone
File changes to FP applications does not load the changes until a FP reset (PDD4351)
With RobotWare 6.0 the controller's restart will no longer reset the FlexPendant memory. This was part of
an effort to improve the restart time of the controller. This means that after placing a new FlexPendant
application file(s) on the FlexPendant unit, you need to manually reset the FlexPendant for it to reload its
assets. To manually reset the FlexPendant you need to use the reset button on the FlexPendant's
backside. (See Operating Manual – IRC5 with FlexPendant, 3HAC16590)
Deselected options of robot system automatically reactivated during RW upgrade (PDD4366)

When having a multimove system created via your license(s) but only having selected robot 1 and then
upgrading Robotware to another version, all robots will be selected automatically.
Workaround is to deselect the other robots and only have the first robot selected.
ABB Robotics
PRU Title Ref
31/34
Author, telephone
Information / Corrections RW 6.00.01

50026 Close to singularity error on gantry
A problem generating 50026 close to singularity error on gantry has been corrected.
TSC is not working due to wrong EIO references

In RW 6.0 the TorchClean instructions were not working correctly.
This is now corrected.
Option groups not expanded (PDD3857)

Now the branches in the Options tab will be expanded if it contains any selected option.
When a license file without any language, the branch has will not be expanded however the English
language will be selected as default language.
TPU - Program Editor is not a valid test window (PDD4145)

A problem is corrected when start is pressed. The FlexPendant sometimes said that the currently active
view is not a valid test view, even though the Program Editor was active. The problem sometimes occurred
after editing procedure calls with 0 or 1 parameters, e.g. break or SystemStopAction.
Motion Error Handler only triggers once in a procedure (PDD4241)

- The problem that the Motion Error Handler with errno ERR_COLL_STOP only triggers once in a
procedure, is solved.
- The error message is changed to a warning if the cfg parameter for motion error handler is set.
- The system output Motion Supervision Triggered will be reset after leaving the motion error handler, e.g.
the signal will only be set a short while executing in the error handler.
Add-In Packaging Tool – Dependency (PDD4299)

A dependency specified for an option in an Add-In could be
either of type AND dependency, or of type OR dependency.
If an option does not work unless all of its dependent
options are also being installed, all these options are mandatory
and should go into the AND dependency list.
Example:
813-1 Optical Tracking
624-1 Continuous Application Platform

628-1 Sensor Interface
If an option does not work unless one of its dependent options
are also being installed, all these options should go into the OR dependency list. In this case the option will
work if either of the options in the list are also selected for installation. For example. PROFIenergy requires
that either PROFINET Controller/Device or PROFINET Device is selected for installation:
963-1 PROFIenergy
888-2 PROFINET Controller/Device

888-3 PROFINET Device
If the installation manager needs to behave mutual exclusively for

conflicting OR dependency, the same to be defined in the product manifest.
No connection to IPS object while starting up (PDD4331)

For RW6.00.01, added 30 second delay in startup when using ICI to compensate for earlier I/O
synchronization timeout that was 30 seconds in RW5 (now 0 in RW6).
This is needed to make sure ICI nodes have time to get online in EIO during startup, and to prevent
associated errors with nodes being offline.
ABB Robotics
PRU Title Ref
32/34
Author, telephone
Sysfail with T10 function keys when using an IRB460 (PDD4338)

Loading an incorrect configuration of the T10 function keys could lead to a system failure, when pressing
one of the function keys of the device.
This has now been corrected.
Installation Manager crashes (PDD4341)

In a specific case were you select an option that has dependency to another options which is licensed the
Installation Manager could crash.
This is now corrected.
SKS specific error messages and elog entries on the FlexPendant. (PDD4348)
In RW 6, there were problems with SKS specific error messages not showing up on the FlexPendant. This
is now corrected.
Serial number after creating license file connected controller (PDD4359)

If the KeyString converter receives old formatted serial number from the backup, then the serial number
format shall not be altered to new formatted serial number after the conversion. So the same format serial
number is retained in license file after the conversion
If the backup has new formatted serial number, then the KeyString converter generates new formatted
serial number in the license file
Default user credentials must not be removable (PDD4365)

In the Preferences window of Installation Manager any user can now change the user credentials and to be
able to change back to default credentials a "Default" button.
Orientation via analogue input interprets values in rad not deg (PDD4373)
When using signals as input for EGM, the values given for orientation were interpreted as radians and not
as degrees as stated in the documentation.
This error is now corrected and the values are now interpreted as degrees.
Process Configuration Changes Do Not Take Effect (PDD4374)

Changes to the Process Configuration did not take effect when the controller was restarted. This has now
been fixed.
Installation Manager - Cannot activate system in manual mode (PDD4386)

Now any user can activate a system via Installation Manager in manual mode as well.
DeviceNet and PROFIBUS Controller options are mutually exclusive (PDD4402)

Due to hardware constraints the options "709-1 DeviceNet Master/Slave" and "969-1 PROFIBUS
Controller" cannot be used at the same time and the possibility to select those together has therefore been
blocked in the Installation Manager.
Pickmaster errors after stop. Issue with PickWare log. (PDD4433)

For some PickMaster robot systems setups, errors can occur after a stop situation, e.g. Motion supervision
or a pause command from PickMaster. Symptom can be a PickMaster application freeze or a "Deceleration
Limit" error on a robot.
If similar problems are seen, it is recommended to verify that PickWare logging is turned off for all work
areas in the PickMaster project configuration.
Auto acknowledge input (PDD4487)

The Auto acknowledge input option has been corrected.
ABB Robotics
PRU Title Ref
33/34
Author, telephone
Product Defect Document RW 6.0 PDD

VC: CTime() gives wrong time DSE10744
System Input Start Speed 0% PDD2289
Missing fieldbus adapter generates system failure PDD2783
Geometric Interpolation to high PDD3300
DispensePac Support. If IPS switched off, TPU error screen PDD3350
Installation Manager mismatching options PDD3839
UAS - Default user only PDD3493
UNDO Abort PDD3504
System with active conveyor never applies brakes PDD3542
Robot P-Starting when using AliasIO command PDD3662
SoftMove, incorrect behaviour when add Instruction CSSAct at TPU PDD3687
Error 50226 only with new DSQC1000 PDD3695
Unable to change values in large data types from the FlexPendant PDD3708
IRB 6400 Rex with IRC5 PDD3766
DSQC 1000 connecting to controller PDD3767
Modify Position in one process target PDD3815
FlexPendant fails to come up after power down with SMB communication lost PDD3909
UAS problem when using SoftwareSync when parameter HoldToRun is set PDD3916
TAF error locks up pendant illegal syntax PDD3971
Lockup after warmstart by RAPID PDD3997
Problems programming SoftMove instructions from RobotStudio PDD4050
Task running fault PDD4058
No info on error 20182 PDD4077
System now manages to handle a missing HOME folder PDD4098
System crash when using open command with too long string PDD4108
RobotWare Spot Manual Actions PDD4232
Manual Function SpotWare only one gun is activate PDD4233
EIO EthernetIP device working but an error message is received at startup PDD4329
ABB Robotics
PRU Title Ref
34/34
Author, telephone
Product Defect Document RW 6.00.01 PDD

IV - Improvement of TPU HMI PDD4033
TPU - Program Editor is not a valid test window PDD4145
Motion Error Handler only triggers once in a procedure PDD4241
Add-In Packaging Tool – Dependency PDD4299
No connection to IPS object while starting up PDD4331
Sysfail with T10 function keys when using an IRB460 PDD4338
Installation Manager crashes PDD4341
SKS specific error messages and elog entries on the FlexPendant. PDD4348
Default user credentials must not be removable PDD4365
Orientation via analogue input interprets values in rad not deg PDD4373
Process Configuration Changes Do Not Take Effect PDD4374
Installation Manager - Cannot activate system in manual mode PDD4386
DeviceNet and PROFIBUS Controller options are mutually exclusive PDD4402

Release Notes RW 6.00.01

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

How to Migrate an Application from RW5.1x to RW 6.0................................................................................................ 2

How to Migrate an Application from RW5.6x to RW 6.0................................................................................................ 2

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

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

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

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

Incompatibility RW 6.0 .................................................................................................................................................... 7

New Functionality RW 6.0.............................................................................................................................................. 11

Improvements RW 6.00.01 ............................................................................................................................................. 22

Information / Corrections RW 6.0 ................................................................................................................................. 23

Information / Corrections RW 6.00.01 ........................................................................................................................... 31

Product Defect Document RW 6.0 PDD ................................................................................................................ 33

Product Defect Document RW 6.00.01 PDD ............................................................................................................... 34

How to Migrate an Application from RW5.1x to RW 6.0

Contact local ABB for further information if needed.

How to Migrate an Application from RW5.6x to RW 6.0

Contact local ABB for further information if needed.

Release date 2015-01-23

RobotWare 6.0: 3HAC052368-001 Rev A

Controller Hardware Support

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

§ Fieldbus adapters (HMS-module)

§ DSQC667, ProfiBus slave Option 840-2

§ DSQC668, ProfiNet slave Option 840-3

§ DSQC1004, DeviceNet slave Option 840-4

§ Profinet m/s Option 888-2

§ Profinet slave Option 888-3

§ Serial ports (RS232)

Restrictions in Controller Hardware Support

· Portuguese (Brazilian Portuguese) 1)

Sync id switch in the spot instructions is removed

Dispense base improvements

Analog signals cannot overlap group signals

Overlapping groups and signals cannot have differing default values

Service routines and supervision task

'swusrm.sys' is loaded into all motion tasks (AllMotionTask) and

Simulated I/O signals

Use of 16 bits counters for advanced queue tracking

Installation Manager mismatching options (PDD3839)

New Functionality RW 6.0

Move PP to main via system input

TuneMaster for test signal logging

RAPID instructions External guided motion (EGM)

External guided motion

Motion Process Modes

There will be three pre-defined modes

where mode can be

Motion Error Handler

New info view in Spot GUI

RAPID sockets with datagram protocol UDP

Syntax for SocketReceiveFrom:

New RAPID function GetMotorTorque

New instructions MoveXGO and MoveXAO

Locking of robot axis 4

Data type motsetdata updated

New robot IRB 1200

IRB 640 with RobotWare 6

Multi gun support selection

New graphical simulation view in Spot GUI

PROC configuration for the Spot Options

Spot Options refactoring RW6.0