Page 1 ROBOTICS Operating manual OmniCore...
Page 2 Trace back information: Workspace RW 7-1 version a5 Checked in 2020-10-25 Skribenta version 5.3.075...
Page 4 Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damage to persons or property, fitness for a specific purpose or the like.
Page 5: Table Of Contents
Restrictions to jogging ..................Lead-through ....................Supervision ...................... Align tool ......................Working with SmartGripper ................. 5.9.1 Introduction .................... 5.9.2 Gripper configuration ................5.9.3 Smart Gripper function ................Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 6 6.10.6 Load identification service routine .............. 6.10.7 Brake check service routine ..............6.10.8 Cyclic Brake Check service routine ............. Running in production Introduction ...................... Basic procedures ....................7.2.1 Starting programs ................... Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 7 10.5 Restore the system .................... 10.6 Reset user data ....................10.7 FlexPendant logs ....................10.8 Update FlexPendant ..................10.9 Connection log ....................10.10 System diagnostics ................... Index Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
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Page 9: Overview Of This Manual
Operating manual - RobotStudio 3HAC032104-001 Application manual - Controller software OmniCore 3HAC066554-001 Technical reference manual - System parameters 3HAC065041-001 Application manual - SafeMove 3HAC066559-001 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 10 Added the section Capturing screenshots on page • Added the section Debugging the program on page 109. • Added the section Updating the FlexPendant applications on page 228. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 11: Product Documentation
Product documentation Categories for user documentation from ABB Robotics The user documentation from ABB Robotics is divided into a number of categories. This listing is based on the type of information in the documents, regardless of whether the products are standard or optional.
Page 12 The operating manuals describe hands-on handling of the products. The manuals are aimed at those having first-hand operational contact with the product, that is production cell operators, programmers, and troubleshooters. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 13: Introduction To Omnicore
This manual describes a robot without options, not a robot system. However, in a few places, the manual gives an overview of how options are used or applied. Most options are described in detail in their respective application manual. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 14: The Omnicore Controller
The OmniCore controller contains all the functions needed to move and control the manipulator, and delivers flexibility, connectivity, and performance. The OmniCore controller gives ABB robots the ability to perform their tasks in a highly efficient manner and also increases the flexibility to incorporate the latest digital technologies.
Page 15: The Flexpendant
These are the main parts of the FlexPendant. xx1700001891 Connector Touch screen Emergency stop hard button Joystick Reset button USB port Three-position enabling device Thumb button Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 16 Mechanical unit button. Allows you to select a mechanical unit. Motion mode button 1. Allows you to toggle the motion mode between reorient and linear. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 17 This is to enforce single point of control. CAUTION The single point of control cannot be guaranteed in automatic mode. External clients cannot be denied access. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 18 For robots used in collaborative application, the thumb button is used to enable the lead-through functionality. For robots supporting the mode manual full speed, the button is used as hold-to-run. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 19 A left-hander, however, can easily rotate the display through 180 degrees and use his right hand to support the device. xx1800000045 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 20 Home Screen. By default, the Home screen displays all the applications available to you. If you are in some other window, tap the Applications button to view the Home screen. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 21: Robotstudio
1.4 RobotStudio Overview of RobotStudio RobotStudio is an engineering tool for the configuration and programming of ABB robots, both real robots on the shop floor and virtual robots in a PC. To achieve true offline programming, RobotStudio utilizes ABB VirtualRobot™ Technology.
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Page 23: Navigating And Handling The Flexpendant
Hardware and software options This manual covers only the views of a basic RobotWare system. The details of the various options are explained in the application manuals. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 24: The User Interface
The QuickSet menu button displays the QuickSet window. button Context menu The context menu button displays a menu with available options button for a selected row. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 25: Status Bar
The list allows you to filter the event log list according to the category. QuickSet button Tapping the QuickSet button displays the QuickSet window. For more details see QuickSet window on page Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 26 When you tap on the QuickSet button the QuickSet window is displayed. The QuickSet window has the following tabs: • Control • • Execution • Visual • Information • ABB Ability • Logout/Restart Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 27 Edit Program Pointer Sets the program pointer to main. Cancel routine Cancels the execution of the current routine. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 28 Prevents the mechanical damage to the robot during jogging. Lead-through Allows you to grab the robot arms and jog the robot manually. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 29 This is used to run a RAPID program without the robot motion. tion Enable/Disable tasks This is used to enable or disable the selected task. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 30 Displays the position of each axis. Colored arrows Displays the direction in which the jog stick needs to be moved for jogging the selected axis. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 31 Displays the identity of the controller. App version Displays the version information of the FlexPendant application. Options Displays the options selected in the system. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 32 2 Navigating and handling the FlexPendant 2.2.2 Status bar Continued ABB Ability The ABB Ability tab displays information about the Connected Services. Button/Section Description Status Displays the status of connected services connection. Connection Status Connection status of Connected Services. Registration Status Registration status of Connected Services.
Page 33 Restart FlexPendant: This is used to restart the FlexPendant. Restart Application: This is used to restart a FlexPendant applica- tion. Exit Application: This is used to exit a FlexPendant application. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 34: Flexpendant Applications
If the option Program Package is not selected then programs must be created and edited using RobotStudio. The Jog application is used to jog the ABB industrial robot using an intuitive touch based user interface or using a joystick. Feature...
Page 35 Settings The Settings application is used to configure the general settings of OmniCore controller and FlexPendant. Controller configuration includes Network, ABB Ability, Time and Language, Backup, Restore, System diagnostics and so on. FlexPendant configuration includes background settings and programmable keys.
Page 36 ✓ Show motion pointer position ✓ ✓ Execute service routines ✓ ✓ Calibrate The Calibrate application is used for calibration and definition of frames for ABB robots. Feature Limited App Essential App Program Pack- Package [3120-1] Package [3120-2] age [3151-1] Mechanical unit calibration ✓...
Page 37: Personalizing The Flexpendant
2 Navigating and handling the FlexPendant 2.3.1 Introduction 2.3 Personalizing the FlexPendant 2.3.1 Introduction Overview The FlexPendant can be personalized in a number of ways. This is described in this chapter. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 38: System Information
1 On the start screen, tap Settings. 2 Tap System. The About page displayed. On the left sidebar tap the Hardware Devices and Software Resources to access the respective information. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 39: Changing Date And Time
The selected settings are saved. Note It is important to correctly define the Time Zone including the country and sub Zone, as this is used for different digital services. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 40: Configuring The Interface Language
5 Tap Apply. The Change language confirmation window is displayed. 6 Tap Yes. The FlexPendant is restarted and the language of the user interface is changed. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 41: Identity Settings
3 In the Robot System Name field tap Edit. 4 Type or update the name of the robot. 5 Tap Apply. The changes are saved and the name of the robot system is updated. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 42: Changing Programmable Keys
• Set to 1 - sets the signal value to 1. • Set to 0 - sets the signal value to 0. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 43 The value Move PP to Main is selected in the Key Pressed list. 10 Tap Apply. The selected key is configured. 11 Configure the other keys, if needed. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 44: Basic Procedures
Tap the arrow keys to change the insertion point, for instance when correcting typing errors. If you need to move... then tap... backward xx2000000923 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 45 If you need to move... then tap... forward xx2000000924 Deleting 1 Tap the Backspace key (top right) to delete characters to the left of the insertion point. xx2000000925 Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 46: Messages On The Flexpendant
See, Messages window on page How to generate program messages is described in Technical reference manual - RAPID Instructions, Functions and Data types. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 47: Capturing Screenshots
Use the File Transfer function in RobotStudio to access the image. The name of the file is in the format FlexPendantScreen_yyyy-MM-dd_HH-MM-ss-ms.png. Note For information regarding the FlexPendant hard buttons, see FlexPendant Main parts on page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 48: Filtering Data
Note When filtering I/O signals there are more options than other types of data. For example, you can filter data by Name or Type Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 49: Settings Search
Select the desired settings result to navigate to the corresponding settings window. xx2000001757 Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 50: Granting Access For Robotstudio
If you want to reject access, tap Deny. Note If you have granted the access and want to revoke it, tap Deny. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 51: Logging On And Off
You can logout from the controller using one of the following procedures: Using the QuickSet menu 1 Tap on the QuickSet button and select the Logout/Restart tab. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 52 The current active user is logged off from the controller and the Log in to controller window is displayed. Handling users and authorization levels Read more on how to add users or set the authorization in Operating manual - RobotStudio. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 53: Updating The Applications
2.5 Updating the applications 2.5 Updating the applications Overview The FlexPendant applications are updated using the Update option. For more details, see Updating the FlexPendant applications on page 228. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
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Page 55: Omnicore Controller Operating Modes
The Keyless Mode Selector is only a part of the robot system. It is the responsibility of the integrator to do a risk assessment of the robot system. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 56: Changing Operating Modes
The operating mode change will work only in the sequence Auto <> Manual Reduced Speed <> Manual Full speed. It is not possible to change the operating mode directly from Auto to Manual Full Speed. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 57: Locking And Unlocking Operating Modes
Since the temporary PIN-code is reset every time the operator unlocks it, this procedure must be repeated every time to set a temporary PIN-code. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 58 4 Tap a 4 digit PIN-code on the number pad. 5 Tap OK. The permanent PIN-code is saved and is applicable for all the users. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 59 The temporary PIN-code is reset every time the user unlocks it. Note For permanent PIN-code, the users will have one minute time to change the operating mode before it is locked again. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
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Page 61: Calibration
FlexPendant. Detailed information about calibration, revolution counter update, and so on can be found in the respective robot product manual. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 62: How To Check If The Robot Needs Calibration
For IRB 14050 when you select update the revolution counters, you are recommended to perform the calibration. Updating the revolution counters is described in the product manual for the robot. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 63 Do not attempt to perform the fine calibration procedure without the proper training and tools. Doing so may result in incorrect positioning that may cause injuries and property damage. Always consult a qualified service technician. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
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Page 65: Jogging
On YuMi robots without SafeMove the enabling device is disabled, hence, not used. There might be restrictions to how you can jog, see section Restrictions to jogging on page Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 66 Axis-by-axis motion mode moves one robot axis at a time. It is then hard to predict how the tool center point moves. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 68: Coordinate Systems For Jogging
X axis, while moving the joystick to the sides will move the robot along the Y axis. Twisting the joystick will move the robot along the Z axis. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 69 To determining the positions of a number of holes to be drilled along the edge of the work object. • To create a weld between two walls in a box. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 70 Following is an example of tool coordinate system in use: • Use the tool coordinate system when you need to program or adjust operations for threading, drilling, milling, or sawing. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 71 If you jog in the base coordinate system for the inverted robot, movements will be very difficult to predict. Choose the shared world coordinate system instead. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 72 Please check your plant or cell documentation to determine the physical orientation of any additional axes. The illustration shows the movement patterns for each manipulator axis. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 73: Basic Settings For Jogging
Move the mechanical unit out of a hazardous position. • Move robot axes out of singularities. • Position axes for fine calibration. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 74 3 In the Joystick Movements section, navigate to the Increment Mode list, and select the increment type. 4 Jog the selected axis. The robot axis is moved according to the selected increment mode. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 75: Reading The Exact Position
Reading the exact position This procedure describes how to read the exact position. 1 On the start screen, tap Jog. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 76 Quaternion • Euler angles The Position angle format can be set to: • Angles The Presentation angle unit can be set to: • Degrees • Radians Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 77: Restrictions To Jogging
If the weight of tools and payloads is not set, then overload errors might occur when jogging. Loads for additional axes controlled by specific software (dynamic models) can only be set in programing. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 78: Lead-Through
Note For Yumi robots with SafeMove, some different behaviors apply, see the product manual for the robot. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 79: Supervision
RAPID instruction MotionSup is used to activate/deactivate collision detection and to tune sensitivity during program execution. Note All motion supervision must be set for each task separately. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 80: Align Tool
For collaborative robots, the motors are on by default unless extra safety options are selected in the system. 5 Continue holding the three-position enabling device and tap and hold Start align. The tool is aligned. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 81: Working With Smartgripper
Overview SmartGripper is a RobotWare option that is used for facilitating the operation and programming of the ABB smart gripper. When you select the SmartGripper Support option in the System Options while creating a system using installation manager, the SmartGripper tab is displayed in the Jog application. Also, the settings for configuring the gripper is displayed in the Settings application.
Page 82 Allows you select the type of gripper. Firmware upgrade Displays the current version details of the gripper firmware. Enable/Disable Power to Enables/Disables the power to the gripper. Gripper Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 83 Current state Indicates the state of the gripper. For details about the gripper states, see Returned value in IRB 14050 gripper Product manual. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 84 SmartGripper settings. This can be configured only from RobotStudio now. For more information of the camera module, see the Application manual of Integrated Vision. xx2000001342 Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 85: Gripper Configuration
5 Tap the Calibrate button. When the button color turns blue from gray, the gripper is calibrated and the status is updated. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 86: Smart Gripper Function
8 Tap the On or Off button in the Blow Off section to start or stop the suction tool dropping down the objects. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 87: Programming And Testing
6 Programming and testing 6.1 Introduction 6 Programming and testing 6.1 Introduction Overview This chapter provides you information about creating programs and testing those programs. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 88: Before You Start Programming
For more details about the RAPID language and structure, see Technical reference manual - RAPID Overview and Technical reference manual - RAPID Instructions, Functions and Data types. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 89: Programming Concept
Instead, you should save the program folder again and overwrite the old version, or rename the program. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 90 1 On the start screen, tap Code, and then select Modules from the menu. 2 On the Context menu, tap Save as. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 91 You can only delete a loaded program. 1 On the start screen, tap Code, and then select Modules from the menu. 2 On the Context menu, tap Delete. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 92 6 Programming and testing 6.3.1 Handling of programs Continued 3 In the Delete Program confirmation window, tap OK to delete, or Cancel to keep the program intact. xx1900000225 Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 93: Handling Of Modules
1 On the start screen, tap Code, and then select Modules from the menu. 2 On the Context menu, tap Load Module. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 94 2 Tap Save as on the Context menu for the module. 3 The Save Module as window is displayed: xx1900000229 Tap and select a location for saving the module. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 95 1 On the start screen, tap Code, and then select Modules from the menu. 2 Tap Delete on the Context menu for the module. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 96 6.3.2 Handling of modules Continued 3 The Delete Module confirmation window is displayed: xx1900000231 4 Tap OK. The selected module is deleted and removed from the module list. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 97: Handling Of Routines
1 On the start screen, tap Code, and then select Code editor from the menu. 2 Tap Routines in the menu to the right. xx1900000232 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 98 Procedure: used for a normal routine without return value Function: used for a normal routine with return value Trap: used for an interrupt routine • Parameters Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 99 1 On the start screen, tap Code, and then select Modules from the menu. 2 Tap View Routines on the Context menu for the module. xx1900000228 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 100 7 The new parameter is displayed in the list. Tap to select a parameter. To edit values, tap the value. 8 Tap Apply. The selected parameters are added to the Parameters field in the routine declaration window. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 101 The changes to the routine are saved. How to make all declarations is detailed in section Creating a new routine on page Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 102 2 Tap View Routines on the Context menu for the module. 3 Tap Delete on the Context menu for the routine. The Delete Routine conformation window is displayed. 4 Tap OK. The selected routine is deleted. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 103: Handling Of Instructions
6 Tap Apply. The changes are updated in the selected instruction. 7 Tap Check Program. The validity of the modified program is verified. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 104 Position. The Update Position window is displayed. 5 Tap Update. The current robot position value is set in the selected position argument. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 105 3 Tap on the instruction that you want to comment. 4 Tap Edit. 5 Tap Comment. The selected instruction is commented and is skipped during the program execution. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 106: Example: Add Movement Instructions
The program is saved. Result Your program code should look like this: Proc main() MoveL *, v50, fine, tool0; MoveL *, v50, z50, tool0; Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 107 6 Programming and testing 6.3.5 Example: Add movement instructions Continued MoveL *, v50, z50, tool0; MoveL *, v50, z50, tool0; MoveL *, v50, fine, tool0; End Proc; Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 108: Program And Motion Pointers
The cursor indicates a complete instruction or any of the arguments. The cursor is shown as blue highlighting of the program code in Code Editor of Code. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 109: Debugging The Program
For collaborative robots, after selecting a programmed position, you need to just press and hold the Press and hold to Go To button to move the robot. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 110 Note For service routines the code is not displayed. 4 Tap QuickSet and run the routine. 5 Tap Cancel Call Routine. The selected routine is cancelled. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 111: Data Types
Only used types: Displays only the used data types. • All data types: Displays all the data types. 4 Tap on a data type to view its details. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 112: Creating New Data Instance
Persistent to retain the data between sessions. Variable if the data instance is variable. Constant if the data instance is constant. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 113 Tap the Routine menu to select routine. 5 In the Initial Value tab, select the values according to the selected data type. 6 Tap Apply. The new data instance is created. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 114: Editing Data Instances
3 Tap Delete on the context menu for the data instance that you want to delete. 4 Tap Yes. The selected data instance is deleted. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 115 A copy of the selected data instance is created. Note The copied data instance has the same values as the original, but the name is unique. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 116: Tools
The controller continuously monitors the load and writes an event log if the load is higher than expected. This event log is saved and logged in the controller memory. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 117 6 Programming and testing 6.6.1 What is a tool? Continued Illustration en0400000803 Tool side Robot side Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 118: What Is The Tool Center Point
A typical moving TCP can be defined in relation to, for example the tip of a arc welding gun, the center of a spot welding gun, or the end of a grading tool. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 119 In some applications a stationary TCP is used, for example when a stationary spot welding gun is used. In such cases the TCP can be defined in relation to the stationary equipment instead of the moving manipulator. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 120: Creating A Tool
The Create Tool window is displayed. 3 Complete the tool information (see Tool declaration settings on page 121) and then tap Apply. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 121 The created tool is not useful until you have defined the tool data (TCP coordinates, orientation, weight etc.). See Editing the tool data on page 128 section about LoadIdentify in Operating manual - OmniCore. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 122: Copying A Tool
3 Tap OK. A copy of the selected tooldata is created. Note The copied tooldata has the same values as the original, but the name is unique. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 123: Defining The Tool Frame
2 Tap the tool you want to edit. The Edit Tool window is displayed. 3 Tap Define in the menu. The Tool TCP Definition, Define Position window is displayed. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 124 How to proceed with tool frame definition on page 126. 6 Tap Next. The Tool TCP Definition, Define Orientation window is displayed. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 125 8 Tap Modify to modify the positions. Then tap Next. The Tool TCP Definition, Calibration Result window is displayed. 9 Tap Finish to save the calibration. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 126 How to define elongator points on page 127. 5 If, for some reason, you want to redo the calibration procedure described in step 1-4, tap Cancel. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 127 Verify that the tool tip stays very close to the selected reference point as the robot moves. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 128: Editing The Tool Data
If you already have the measurements of the tool, or for some reason want to measure them manually, the values can be entered in the tool data. en0400000881 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 129 If necessary, enter the tool's moment of inertia. [kgm tload.ix tload.iy tload.iz Tap Save to use the new values, Cancel to leave the definition unchanged. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 130: Deleting A Tool
If the tool, work object or payload is referenced by any program, those programs cannot run without changes. If you delete a tool you cannot continue the program from the current position. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 131: Setup For Stationary Tools
You also need to attach elongators to the stationary tool if you need to set up the orientation. You should enter the reference tip’s tool definition manually to minimize errors when calculating the stationary tool’s coordinate system. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 132 6 Programming and testing 6.6.8 Setup for stationary tools Continued You may enter the stationary tool’s definition manually. en0400000990 Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 133: Work Objects
Payloads are important when working with grippers. In order to position and manipulate an object as accurate as possible its weight must be accounted for. You must choose which one to use for jogging. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 135: Copying A Workobject
3 Tap OK. A copy of the selected wobjdata is created. Note The copied wobjdata has the same values as the original, but the name is unique. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 136: Defining A Work Object
7 In the Object Method list select the User defined with 3 points method. 8 Select each point, jog the robot to the approach point, and tap Modify. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 137 The Results tab is displayed. 10 Verify the calculation result. If any change is required tap the Back button and redefine the parameters. 11 Tap Finish. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 138: Defining The Work Object Coordinate System
5 Tap Modify to define the points. See How to define the user frame on page 140. 6 Tap Next. The Workobject Definition, Define Object frame window is displayed. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 139 How to define the object frame on page 141. 9 Tap Next. The Workobject Definition, Calibration Result window is displayed. 10 Tap Finish to save the calibration. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 140 3 Select the point in the list. 4 Tap Modify to define the point. 5 Repeat steps 2 to 4 for the remaining points. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 141 1 In the Object Methods drop down menu, select User defined with 3 points. 2 See steps 2 to 4 in the description of How to define the user frame on page 140. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 142: Editing The Work Object Data
The cartesian coordinates of the position of the user uframe.trans.x frame uframe.trans.y uframe.trans.z The user frame orientation uframe.rot.q1 uframe.rot.q2 uframe.rot.q3 uframe.rot.q4 Note Editing work object data can also be done from the Code window. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 143: Deleting A Work Object
3 Tap Delete on the context menu for the work object that you want to delete. 4 The Confirm deletion of data window is displayed. 5 Tap Delete. The selected work object is deleted. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 144: Setup Stationary Work Object
The data that defines the work object appears. 4 Set robhold to On (=TRUE). 5 Tap Save to use the new setup, Cancel to leave the work object unchanged. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 145: Payloads
Payloads are important when working with grippers. In order to position and manipulate an object as accurate as possible its weight must be accounted for. You must choose which one to use for jogging. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 146: Creating A Payload
If you change the name of a payload after it is referenced in any program you must also change all occurrences of that payload’s name. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 147 Setting the value for ModalPayLoadMode The ModalPayLoadMode is defined in RobotStudio. See Operating manual - RobotStudio. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 148: Copying A Payload
3 Tap OK. A copy of the selected loaddata is created. Note The copied loaddata has the same values as the original, but the name is unique. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 149: Editing The Payload Data
TCP or work object. Thus it is possible to use the same payload loaddata for any robhold or stationary tool being active. This saves the time (for example, during commissioning). Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 150 6.8.4 Editing the payload data Continued For more information about PayLoadsInWristCoords, see Technical reference manual - System parameters and Technical reference manual - RAPID Instructions, Functions and Data types. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 151: Deleting A Payload
If the tool, work object or payload is referenced by any program, those programs cannot run without changes. If you delete a tool you cannot continue the program from the current position. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 152: Testing
4 Press and hold the thumb button. If Start was pressed, the program execution continues as long as you hold the thumb button. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 153 If the button is released, the program execution will stop immediately. 5 If the three-position enabling device is released, intentionally or by accident, the procedure must be repeated to enable running. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 154: Running The Program From A Specific Instruction
Make sure that no personnel are in the safeguarded space. Before running the robot, read the safety information in the product manual for the controller. 3 Press the Start button on the FlexPendant. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 155: Running A Specific Routine
2 Tap Debug and then PP to Routine to place the program pointer at the start of the routine. 3 Press the Start button on the FlexPendant. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 157 The motion pointer will indicate p10 and the program pointer will move up to MoveJ p10. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 158 (MoveL p20). pressing the Forward the robot will move to p20 with the speed v1000. button again Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 159: Service Routines
You can also find calibration related service routines in the Calibrate menu. 2 The available service routines are displayed. 3 Select the routine according to your requirement. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 160 However, it is not possible to save more than one interrupted movement each time as wanted, if the service routine would be called from an error handler with StorePath and RestoPath. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 161 • Must be in a loaded module, not installed. (Check the system parameter Installed in the type Automatic Loading of Modules in the Controller topic.) Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 162: Connected Services Reset Service Routine
3 Tap Yes. 4 Press the START button on the FlexPendant. A confirmation page is displayed with operator messages. 5 Tap Reset. The software agent is reset. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 163: Battery Shutdown Service Routine
Before starting the service routine Bat_shutdown, run the robot to its calibration position. This will make it easier to recover after the sleep mode. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 164: Calibration Pendulum Service Routine
When to use this service routine CalPendulum is a service routine used with Calibration Pendulum, the standard method for calibrating the non-collaborative (articulated) ABB robots. This is the most accurate method for the standard type of calibration, and it is also the recommended method in order to achieve proper performance.
Page 165: Service Information System Service Routine
Status OK indicates that no service interval limit has been exceeded by that counter. Status NOK indicates that service interval limit has been exceeded by that counter. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 166: Load Identification Service Routine
To identify the mass of B and C, axis 3 has to perform some movement. This means that to identify the mass, the upper arm load A must be known and correctly defined first. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 168 The axes 3, 5, and 6 are not close to their corresponding working range limits. • The speed is set to 100%. • The system is in manual mode. Note LoadIdentify cannot be used for tool0. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 169 12 If the robot is not in a correct position for load identification, you will be asked to jog one or more axes roughly to a specified position. When you have done this tap OK to confirm. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 170 There is a message if the load is approved or not, and an Analyze button to view more information. • Load approved • Load not approved • Load approved only with wrist down Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 171 10 Select the configuration angle. The optimum is +90 or -90 degrees. If this is impossible, tap Other and set the angle. The minimum is +30 or -30 degrees. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 172 Cancel Call Routine in the code editor's debug menu. Limitations for LoadIdentify Only tool loads and payloads can be identified with LoadIdentify. Thus arm loads cannot be identified. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 173 Because there is not 6 axes, a 4-axis robot cannot identify all parameters of the load. The following parameters cannot be identified: • - The inertia around the x-axis. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 174 If this happens, it should still be possible to get good results by running the LoadIdentify routine again, preferably with another position of the last axis. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 175: Brake Check Service Routine
FlexPendant and do not use the instructions VelSet, AccSet, SpeedRefresh, or any other instruction that affects the motion performance in TRAPS or event routines. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 176 The following formula should be used: Max Static Arm Torque = (M*L*g)/n Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 177 Max Static Arm Torque = Tbrake min/1.35 Tbrake min for ABB motor units can be found in the product specification for the specific motor unit, see Product specification - Motor Units and Gear Units. For more information about parameter Max Static Arm Torque, see topic Motion, type Brake in Technical reference manual - System parameters.
Page 178 Description of the EIO.cfg file EIO:CFG_1.0:6:1:: EIO_SIGNAL: -Name "BCACT1" -SignalType "DO" -Name "BCOK1" -SignalType "DO" -Name "BCWAR1" -SignalType "DO" -Name "BCERR1" -SignalType "DO" Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 179 During the first brake check test Signal Signal state BCOK BCERR BCWAR BCACT Interrupted brake check test, program pointer still in BrakeCheck routine Signal Signal state BCOK Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 180 Max Static Arm Torque defined in Nm on motor side. A warning limit is set with a higher torque value (depending on the brake). Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 181: Cyclic Brake Check Service Routine
Cyclic Brake Check can be initiated in the following way: • Run the Cyclic Brake Check service routine from FlexPendant. The controller must be in manual mode. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 182 In Pre warning time (h), set how long before the end of the interval a warning should be displayed on the FlexPendant. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 183 Brake maintenance is a feature in the Cyclic Brake Check functionality. Cyclic Brake Check automatically detects if maintenance of the mechanical brakes is needed and activates the Brake maintenance functionality during execution. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 184 If the Cyclic Brake Check is interrupted more than 3 times, a new cyclic brake check is required. Only reduced speed can be used until a new Cyclic Brake Check is performed. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 185: Running In Production
The content in this section applies to a robot and not a robot system. It is the responsibility of the integrator to provide a safety and users manual for the robot system. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 186: Basic Procedures
Tap No to continue with the existing program and proceed to step 8. 7 Browse to the location, select a program file, and tap Load. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 187 1 On the start screen, tap Code, and then select Code Editor from the menu. 2 On the right menu tap Debug. 3 Select PP to Main The program pointer is set to main. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 188 If the robot system encounters program code errors while the program is running, it will stop the program and the error is logged in the event log. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 189: Stopping Programs
Execute the next instruction without completing the move. by pressing the Forward but- ton again. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 190: Using Multitasking Programs
All the active tasks are started. 5 Stop program execution by pressing the Stop button on the FlexPendant. All the active tasks are stopped. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 191 The folders and files available in the selected device are displayed. 4 Navigate and choose the required program file. Note The supported file format is .pgf 5 Tap Load. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 192 In Operate, there is one tab for each task. To switch between viewing the different tasks, tap on the tabs. To edit several tasks in parallel, use the Code Editor in Code. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 193: Returning The Robot To The Path
Tap Yes to return to the path and continue the program. • Tap No to return to the next target position and continue the program. • Tap Cancel to cancel the program. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 194: Managing Dashboards
3 Type a name for the new dashboard in the Title field. 4 Tap Apply. The new dashboard is created and displayed in the Define Dashboards and Dashboards page. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 195 6 Tap OK. The Edit Card page is displayed with the list of associated dashboards. 7 Tap Apply. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 196 4 Tap on the delete icon next to the card that you want remove from the selected dashboard. The card is deleted from the Associated Cards section. 5 Tap Apply. The changes are saved. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 197: Managing Positions
Go To position on page 202. CAUTION Changing programmed positions may significantly alter the robot’s movement pattern. Always make sure the changes are safe for both equipment and personnel. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 198: Teach Position
3 In the program click and select the position that needs to be updated. 4 Using joystick jog the robot to a new position. 5 Tap Teach Position. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 199 The elements available in the array are displayed. 2 Using joystick jog the robot to a new position. 3 Select the element. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 200 3 Select the element for which the position needs to be modified and using joystick jog the robot to a new position. xx2000001296 4 Tap Teach. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 201 P20x) to P30 without returning to the previous planned path (via the old P20). The new planned path from P20 (P20x) to P30 is calculated using these two positions and position P10. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 202: Go To Position
The robot is moved from the current position to the selected programmed position. Note For collaborative robots, after selecting a programmed position, you need to just press and hold the Go To button to move the robot. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 203: Working With Displacements And Offsets
MoveL Offs(p10, 100, 50, 0), v50... Define the offset for the position with the following expressions: 1 Original position / starting point Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 204 You can tap on Change Data Type and the other buttons available on the expression editor to fine tune the selected instruction. 8 Tap Apply. The changes are saved. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 205: Connecting And Detaching A Flexpendant
2 Tap the Logout/Restart tab. 3 In the FlexPendant section, tap Detach FlexPendant. The Detach FlexPendant window is displayed. 4 Tap Detach. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 206 The controller must be in manual mode when connecting the FlexPendant. CAUTION Always inspect the connector for dirt or damage before connecting it to the controller. Clean or replace any damaged parts. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 207 Plug in the connector on the controller and tighten the locking ring. xx1900000975 CAUTION Make sure that the emergency stop button is not pressed in when connecting the FlexPendant. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 208 This page is intentionally left blank...
Page 209: Handling Inputs And Outputs, I/O
8 Handling inputs and outputs, I/O 8.1 Introduction 8 Handling inputs and outputs, I/O 8.1 Introduction Overview The inputs and outputs signals can be managed using the I/O application or RobotStudio. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 210: Viewing Signal Lists
4 Select the category of the signal that you want to view. The signals of the selected category are displayed. You can use the search box to quickly filter and view a particular signal. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 211: Setting Signals As Favorite Signals
The favorite signals are listed under the Favorite Signals category on the Signals page. To view a selected category of signals, use the procedure Viewing signal lists on page 210. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 212: Simulating The Signals And Changing The Signal Values
For an analog signal, in the Value column tap on the arrow. A soft numeric keyboard is displayed. Type a value between 0 and 10 and tap Apply. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 213: I/O Devices
Firmware Update Allows you to upgrade the firmware. Note Actions - Firmware option is available only for the network type EtherNet IP. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 214 3 Tap Browse and select the firmware from the location it is stored. 4 Tap Upgrade. The firmware for the selected EtherNet IP I/O device is upgraded. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 215: Handling The Event Log
Open the event log to: • view the current event logs. • study specific event log in detail. • manage the log entries. The log can be printed from RobotStudio. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 216: Accessing The Event Log
2 Select a category in the list to filter the event logs. 3 Tap a log entry. The selected event log message is displayed. Note Tap the Back button to go back to the Event Log list. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 217: Saving Log Entries
3 Select a location and select a folder to store the file. 4 In the File name text box, type a name for the file. 5 Tap Save. The log entries are saved. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 218: Clearing The Log Entries
1 Tap the Event log icon on the status bar. 2 Select Clear all from the context menu. A confirmation window is displayed. 3 Tap OK. The log entries in all the domains are deleted. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 219: Install, Update, Restart, And Other Configuration
10 Install, update, restart, and other configuration 10.1 Introduction Overview This chapter provides information about installing a RobotWare system, updating the FlexPendant applications, backup the system, and other configuration. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 220: Start Installer
5 Tap Install RobotWare System and select the installation package folder. The selected installation package is added. 6 Tap Start RobotWare System. 7 Tap Start. The controller is restarted and the system is installed. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 221: Restart
10 Install, update, restart, and other configuration 10.3 Restart 10.3 Restart Restart controller ABB robot systems are designed to operate unattended for long times. There is no need to periodically restart the functioning systems. Restart the controller when: • new hardware has been installed.
Page 222 10 Install, update, restart, and other configuration 10.3 Restart Continued The Restart window is displayed. 3 Tap OK. The FlexPendant is restarted. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 223: Back Up The System
While the backup is in process background tasks continue to execute. 1 On the start screen, tap Settings, and then Backup & Recovery. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 224 The unnecessary files in the home directory can then be deleted without any problems. Note If a fault occurs during the backup, for example, full disk or power failure, the whole backup structure is deleted. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 225: Restore The System
Browse for the location where the backup is located and select which of the following options should be restored: • Safety Settings 3 Tap Restore to restore the selected options. The restore is performed, and the system is restarted. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 226: Reset User Data
4 Tap Reset. A confirmation message is displayed. 5 Tap OK. The controller is restarted and the system is updated according to the selected reset data settings. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 227: Flexpendant Logs
4 If required, to change the storage path, in the Folder Name field tap Browse and select the required path. 5 Tap Create. The FlexPendant log is saved in the selected path. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 228: Update Flexpendant
After a restart if the FlexPendant detects a new version of applications in the system, it displays the following message. Tap Install to update the FlexPendant applications. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 229: Connection Log
5 If required, to change the storage path, in the Folder Name field tap Browse and select the required path. 6 Tap Create. The current connection state of the connectivity module is saved in the selected path. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 230: System Diagnostics
4 If required, to change the backup location, in the Folder Name field tap Browse and select path. 5 Tap Create. The file is saved in the selected location. Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 231: Index
152 lead-through, 78 error messages, 46 Limited App Package [3120-1], 34 Essential App Package [3120-2], 34 load, 78 expressions LoadIdentify offs, 203 service routine, 166 Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 232 75 viewing, 210 modifying, 197–198 SIS, Service Information System moving to, 202 counters, 165 offset, 203 service routine, 165 reading, 75 SmartGripper tuning, 197 configuring, 85–86 Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 233 142 define, 126 selecting, 73 defining, 127 write access measuring, 128 granting, 50 TCP, 120 message, 46 working area variations, 127 rejecting, 50 tool frame Operating manual - OmniCore 3HAC065036-001 Revision: E © Copyright 20192020 ABB. All rights reserved.
Page 236 PuDong District SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics and Motion 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 20192020 ABB. All rights reserved. Specifications subject to change without notice.

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