ABB Automation Technologies AB
Robotics
För kännedom - Copies to
Users of RobotWare Machining FC GUI 5.13
Dokumentnamn - Form title
Release Notes RW
Machining FC GUI 5.13
Ref
Avd. - Department
RO/RP
.
Datum - Date
2010-03-30
Filnamn
Release Notes RobotWare
Machining FC GUI
v5.13.doc
Sida - Page
1/9
Utfärdare, tfn-nr - Dealt with by, telephone
Andreas X Eriksson, +46 21 344534
Table of Contents
TABLE OF CONTENTS...............................................................................................................................................1
GENERAL ....................................................................................................................................................................2
RobotWare versions for RobotWare Machining FC GUI 5.13............................................................................................ 2
Compatibility of project created with different versions of RobotWare Machining FC GUI .......................................... 2
RELEASE INFORMATION ..........................................................................................................................................2
Release Name ........................................................................................................................................................................... 2
Release Content........................................................................................................................................................................ 2
Release Information................................................................................................................................................................. 2
Release Date ............................................................................................................................................................................. 6
ORDERING AND INSTALLATION ..............................................................................................................................6
Order procedure ...................................................................................................................................................................... 6
Delivery..................................................................................................................................................................................... 6
Installation................................................................................................................................................................................ 7
ROBOTWARE MACHINING FC GUI 5.13...................................................................................................................7
New features of RobotWare Machining FC GUI 5.13.......................................................................................................... 7
Improvements of RobotWare Machining FC GUI 5.13 ....................................................................................................... 7
Limitations of RobotWare Machining FC GUI 5.13 ............................................................................................................ 8
CORRECTED PDDS ....................................................................................................................................................9
ABB Automation Technologies AB
Robotics
För kännedom - Copies to
Users of RobotWare Machining FC GUI 5.13
Dokumentnamn - Form title
Release Notes RW
Machining FC GUI 5.13
Ref
Avd. - Department
RO/RP
.
Datum - Date
2010-02-10
Filnamn
Release Notes RobotWare
Machining FC GUI
v5.13.doc
Sida - Page
2/9
Utfärdare, tfn-nr - Dealt with by, telephone
Andreas X Eriksson, +46 21 344534
General
RobotWare versions for RobotWare Machining FC GUI 5.13
RobotWare Machining FC GUI 5.13 is based on RobotWare 5.13 or later revisions of
RobotWare 5.13.
Compatibility of project created with different versions of RobotWare
Machining FC GUI
Downward compatibility of project created with previous version
The projects created with previous versions of RobotWare Machining FC GUI can
be loaded and modified with RobotWare Machining FC GUI 5.13. No extra effort
is needed to upgrade project files/folders.
Upward incompatibility of current version project loaded with previous version
The projects created with RobotWare Machining FC GUI 5.13 can’t be loaded
and modified with previous major versions of RobotWare Machining FC GUI,
such as 5.11 or previous.
The projects created with RobotWare Machining FC GUI 5.13 can be loaded and
modified with all 5.13 revision versions of RobotWare Machining FC GUI.
Release Information
Release Name
The release name is RobotWare Machining FC GUI 5.13.
Release Content
The release contains the following deliverables:
RobotWare Machining FC GUI as additional option on the RW 5.13 DVD
o
Available in English.
Operator’s manual RobotWare Machining FC GUI 5.13
o
Available in English.
Release Information
The information should be considered as last minutes information and most up-to-date:
Please refer to RobotWare Machining FC GUI 5.13 Operator’s manual for the
usage of new functions.
ABB Automation Technologies AB
Robotics
För kännedom - Copies to
Users of RobotWare Machining FC GUI 5.13
Dokumentnamn - Form title
Release Notes RW
Machining FC GUI 5.13
Ref
Avd. - Department
RO/RP
.
Datum - Date
2010-02-10
Filnamn
Release Notes RobotWare
Machining FC GUI
v5.13.doc
Sida - Page
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Force control works with limited functionality together with additional axes, for
example in a robot system with a robot on a track motion, the robot arm can be
force controlled while the track motion can not be force controlled. Additional
axes are not part of the force control movement, meaning that additional axes
cannot be moved by the input from the force sensor.
To avoid damaging abrasive by high contact force while approaching with cliffy
angle, there is restriction in teaching positions of last approach point and first
process point. The 2 mentioned points are indicated in concept view of a
machining path.
The actual positions of the 2 points should be taught, to ensure the tool
approaching angle to the material surface is less than 20 degrees.
The RobotWare Machining FC GUI 5.13 has an own product version, which can
be found in the left-bottom in first page. The product version for released with
RobotWare 5.13 should be 2.2XX.
When loading an existing RWMFC project from RobotWare Machining FC GUI
5.13, the currently loaded RAPID program modules can be either kept or
unloaded/deleted from controller’s memory. An advanced setting is used to
switch between the two loading behaviors. Please refer to the operation manual
for detailed information.
When loading MFC project with current user RAPID program kept, temporary
RAPID errors could be reported in the Event Log during loading process. It is
possible that the RAPID program pointer is temporarily lost during and after
loading. In this case, a PP reset operation is required before re-starting RAPID
execution.
ABB Automation Technologies AB
Robotics
För kännedom - Copies to
Users of RobotWare Machining FC GUI 5.13
Dokumentnamn - Form title
Release Notes RW
Machining FC GUI 5.13
Ref
Avd. - Department
RO/RP
.
Datum - Date
2010-02-10
Filnamn
Release Notes RobotWare
Machining FC GUI
v5.13.doc
Sida - Page
4/9
Utfärdare, tfn-nr - Dealt with by, telephone
Andreas X Eriksson, +46 21 344534
When loading MFC project with current user RAPID program kept, the user
modules named same with any modules in *.mfc project will be replaced. Please
check before loading, and save the user modules to be replaced.
In case that RobotWare Machining FC GUI is set to unload current RAPID
program when loading an existing mfc project, the loading from RobotWare
Machining FC GUI 5.13 can cause currently loaded RAPID program modules to
be unloaded/deleted from controller’s memory. Please backup or save the
loaded RAPID program module before loading existing RWMFC project.
Please choose to perform or cancel loading mfc project with confirmation
dialogue.
The contact indicator shows the contact behavior between tool and work piece in
conceptual model.
ABB Automation Technologies AB
Robotics
För kännedom - Copies to
Users of RobotWare Machining FC GUI 5.13
Dokumentnamn - Form title
Release Notes RW
Machining FC GUI 5.13
Ref
Avd. - Department
RO/RP
.
Datum - Date
2010-02-10
Filnamn
Release Notes RobotWare
Machining FC GUI
v5.13.doc
Sida - Page
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In the approaching, when robot passes the last approach point, it starts to move
toward to the work piece. The robot will move to the first process point after
proper contact force is reached. During the movement from last approach point
and first process point, the contact force increases from the contact threshold to
the 100% of force set in approach parameter tab page.
In the withdrawing, when robot passes the last process point, it starts to move
away from work piece. The robot will shift to position control when the detected
force is less than the zero contact force set in withdraw parameter tab page. The
robot will move to first withdraw point with linear movement.
In case that the “X” button (close current view) of RWMFC GUI view is pressed
by chance, the current editing MFC project is saved as “Restore”. The current
ABB Automation Technologies AB
Robotics
För kännedom - Copies to
Users of RobotWare Machining FC GUI 5.13
Dokumentnamn - Form title
Release Notes RW
Machining FC GUI 5.13
Ref
Avd. - Department
RO/RP
.
Datum - Date
2010-02-10
Filnamn
Release Notes RobotWare
Machining FC GUI
v5.13.doc
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editing process data will be saved with this project. If a recover of editing project
is necessary, the project named “Restore” can be reloaded.
Release Date
The release date is 2010-04-10.
Ordering and installation
Order procedure
To order RW Machining FC GUI, do the following:
Mark 877-1 Machining FC GUI in the specification form. The Machining FC GUI
can only be effect when 661-2 Force Control Base is also selected for baseware
support.
Delivery
The RobotWare Machining FC GUI deliverables are delivered in the following ways:
ABB Automation Technologies AB
Robotics
För kännedom - Copies to
Users of RobotWare Machining FC GUI 5.13
Dokumentnamn - Form title
Release Notes RW
Machining FC GUI 5.13
Ref
Avd. - Department
RO/RP
.
Datum - Date
2010-02-10
Filnamn
Release Notes RobotWare
Machining FC GUI
v5.13.doc
Sida - Page
7/9
Utfärdare, tfn-nr - Dealt with by, telephone
Andreas X Eriksson, +46 21 344534
RobotWare Machining FC GUI option will be delivered on the RobotWare DVD.
Manuals are delivered together with all other IRC5 manuals.
RobotWare Machining FC GUI key will be delivered together with the robot.
Also,
RobotWare Machining FC option is available at
ABB Solutions bank in the RW 5.13 DVD
RobotWare Machining FC documentation is available at:
ABB Library/ Robotics/ Software Products/ Application Software/ Foundry
Software/ RobotWare Machining FC
Installation
RobotWare Machining FC GUI needs to be installed on the IRC5 upon delivery. To install
RobotWare Machining FC GUI:
1.
If there is previous installation of RobotWare Machining FC GUI in the PC, please
uninstall the previous version from “Control Panel”. The different version of
RobotWare Machining FC GUI can NOT be kept in PC at the same time.
2.
The installation script
Setup.exe
in directory “RW 5.13 DVD/Additional
Options/RobotwareMachiningFCGUI/” will install RwMachiningFCGUI in the
Mediapool.
3.
In RobotStudio Online/System Builder, build a system with RobotWare Machining
FC GUI (RobotWare Machining FC GUI is accessed by adding an additional
option key for RobotWare Machining FC GUI). In the system builder option list
make sure to select the additional option
o
RWMACHININGFCGUI
4.
Download the RobotWare Machining FC system to the IRC5 controller.
5.
Launch FlexPendant.
RobotWare Machining FC GUI 5.13
New features of RobotWare Machining FC GUI 5.13
There are no new features in comparison to RW MFC GUI 5.12 versions.
Improvements of RobotWare Machining FC GUI 5.13
There is a small improvements in FC GUI 5.13 than RW MFC GUI 5.12.
1.
When save project to a exist folder, a hint dialog will appear to remind user for
overwriting.
ABB Automation Technologies AB
Robotics
För kännedom - Copies to
Users of RobotWare Machining FC GUI 5.13
Dokumentnamn - Form title
Release Notes RW
Machining FC GUI 5.13
Ref
Avd. - Department
RO/RP
.
Datum - Date
2010-02-10
Filnamn
Release Notes RobotWare
Machining FC GUI
v5.13.doc
Sida - Page
8/9
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Andreas X Eriksson, +46 21 344534
Limitations of RobotWare Machining FC GUI 5.13
There are some known limitations with RobotWare Machining FC 5.13 release. They are
listed as the following.
1. Learning a reverse direction path:
when try to create a project, the system needs to
teach and learn a path along the surface of the work piece, the system can not
support a reverse path(shown in picture below)
2. Learning along tool Z direction:
when try to create a project, the user needs to
teach and learn a path with defined direction tool, see the picture below. In the
learning scenario, the system can learn in the case where with tool Z direction in Tool
A and Tool B, but the system can not learn in the case where with tool Z direction in
Tool C.
3. Loading/Saving program outside of HOME directory:
RobotWare Machining FC
5.13 limited project folder to “Systemxxx/HOME/MachiningFC/MFC Projects” for easy
management. It does not support to save / load a project to a folder not under the
said directory.
4. Exported path module is not renamed/unloaded when path name changed:
RobotWare Machining FC does not supporting automatically renaming of exported
ABB Automation Technologies AB
Robotics
För kännedom - Copies to
Users of RobotWare Machining FC GUI 5.13
Dokumentnamn - Form title
Release Notes RW
Machining FC GUI 5.13
Ref
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.
Datum - Date
2010-02-10
Filnamn
Release Notes RobotWare
Machining FC GUI
v5.13.doc
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path module according to new input path name. The user should manually delete the
exported path module if a new export operation of the path needs to be performed,
otherwise the ambiguous reference name error is reported due to some RAPID data
are named same in the previous and new exported path module.
5. Loading an existing RWMFC project from RobotWare Machining FC GUI 5.13
can cause the current loaded RAPID program modules to be unloaded / deleted
from controller’s memory.
Please backup or save the loaded RAPID program
module before loading existing RWMFC project.
Corrected PDDs
All Corrected PDDs:
PDR No.
Description
Status
DSE7992
5.10.01 RW Machining FCGUI changed comp. to
5.10 without notice.
Fixed
DSE8129
ReleaseNotes are not at all similar to
RobotWare Release Notes.
Fixed.
DSE8262
GUI shows error message with VC.
Fixed
DSE8355
Exported RAPID program has the wrong force
direction in path frame.
Fixed
DSE8376
Support information of installed GUI in control
panel is not correct.
Fixed
DSE8383
Path can be deleted without warning message.
Fixed
DSE8418
User RAPID module is unloaded when loading a
new MFC project.
Fixed
DSE8728
Release notes contains wrong message.
Fixed
DSE8730
Program name checking is wrong.
Fixed
DSE8821
Corrected PDDs is not liested in release notes.
Fixed
DSE8771
RW5.12RC FC Machining GUI/ Deleting path1
Fixed
DSE8544
Switching Motion mode in MachiningFC GUI
2.1.01.0
Fixed
DSE9207
Release Notes RW Machining FC GUI 5.12.02RC Fixed
DSE9765
Release Notes RW Machining FC GUI 5.13RC
Fixed
DSE8562
Overwrite without hint when save project
Fixed