ABB IRC5 Compact Instructions for use

ABB Robotics
Application manual
Robot Reference Interface

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Checked in 2013-09-30
Skribenta version 4.0.378

Application manual
Robot Reference Interface
RobotWare 5.60
Document ID: 3HAC031973-001
Revision: F
© Copyright 2008-2009,2013 ABB. All rights reserved.

The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
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, damages to
persons or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Additional copies of this manual may be obtained from ABB.
The original language for this publication is English. Any other languages that are
supplied have been translated from English.
© Copyright 2008-2009,2013 ABB. All rights reserved.
ABB AB
Robotics Products
Se-721 68 Västerås
Sweden

Table of contents
7Overview of this manual ...................................................................................................................
9Product documentation, IRC5 ..........................................................................................................
11Safety ................................................................................................................................................
131 Introduction to Robot Reference Interface
152 Installation
152.1 Connecting the communication cable .................................................................... 162.2 Prerequisites .................................................................................................... 172.3 Data orchestration ............................................................................................. 182.4 Supported data types .........................................................................................
193 Configuration
193.1 Interface configuration ....................................................................................... 203.2 Interface settings .............................................................................................. 213.3 Device description ............................................................................................. 243.4 Device configuration ..........................................................................................
274 Configuration examples
274.1 RAPID programming .......................................................................................... 284.2 Example configuration .......................................................................................
335 RAPID reference information
335.1 RAPID instructions ............................................................................................ 335.1.1 SiConnect - Sensor Interface Connect ......................................................... 365.1.2 SiClose - Sensor Interface Close ................................................................ 385.1.3 SiGetCyclic - Sensor Interface Get Cyclic .................................................... 405.1.4 SiSetCyclic - Sensor Interface Set Cyclic ..................................................... 425.2 RAPID data types .............................................................................................. 425.2.1 sensor - External device descriptor ............................................................. 445.2.2 sensorstate - Communication state of the device ..........................................
45Index
3HAC031973-001 Revision: F 5
© Copyright 2008-2009,2013 ABB. All rights reserved.
Table of contents

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Overview of this manual
About this manual
This manual explains the basics of how and when to use the RobotWare option
Robot Reference Interface.
Usage
This manual can be used either as a reference to find out if an option is the right
choice for solving a problem, or as a description of how to use an option. Detailed
information regarding syntax for RAPID routines and configuration of system
parameters is not described here, but can be found in the respective reference
manual.
Who should read this manual?
This manual is mainly intended for robot programmers.
Prerequisites
The reader should be:
• Familiar with industrial robots and their terminology.
• Familiar with the RAPID programming language.
• Familiar with RobotStudio and how to work with system parameters.
References
Document IDReference
3HAC031045-001Operating manual - General safety information
3HAC16581-1Technical reference manual - RAPID Instructions, Functions and Data
types
3HAC032104-001Operating manual - RobotStudio
Sample code available on www.abb.com/robotics (ABB Library)
Revisions
DescriptionRevision
First edition-
Released with RobotWare 5.12. Minor corrections.A
SiConnect has a new switch \NoStop.
Updates in sensor.
SiTool and SiWobj are no longer needed for calculations. Current tool
and workobject are used instead.
Released with RobotWare 5.14.B
The following updates are made:
• The correct unit for robot joints is radians, see Example configura-
tion on page 28.
•Corrected code in examples, see Example configuration on page 28.
Correction of connections in Connecting the communication cable on
page 15.
C
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3HAC031973-001 Revision: F 7
© Copyright 2008-2009,2013 ABB. All rights reserved.
Overview of this manual

DescriptionRevision
Released with RobotWare 5.15.D
Clarifications added regarding the direction of data exchange in Introduc-
tion to Robot Reference Interface on page 13.
Released with RobotWare 5.15.01.
• All references to the protocol high-priority UDP (HP-UDP) are re-
moved throughout the manual. The protocol is not supported.
• The attribute Link is changed from optional to mandatory in
Properties on page 26.
• Minor corrections.
E
Released with RobotWare 5.60.
• Updated the graphic in the section Connecting the communication
cable on page 15.
• Updated information related to Network ports in the section Device
description on page 21.
F
8 3HAC031973-001 Revision: F
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Overview of this manual
Continued

Product documentation, IRC5
Categories for manipulator documentation
The manipulator documentation 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.
All documents listed can be ordered from ABB on a DVD. The documents listed
are valid for IRC5 manipulator systems.
Product manuals
Manipulators, controllers, DressPack/SpotPack, and most other hardware will be
delivered with a Product manual that generally contains:
• Safety information.
• Installation and commissioning (descriptions of mechanical installation or
electrical connections).
•Maintenance (descriptions of all required preventive maintenance procedures
including intervals and expected life time of parts).
• Repair (descriptions of all recommended repair procedures including spare
parts).
• Calibration.
• Decommissioning.
•Reference information (safety standards, unit conversions, screw joints, lists
of tools ).
• Spare parts list with exploded views (or references to separate spare parts
lists).
• Circuit diagrams (or references to circuit diagrams).
Technical reference manuals
The technical reference manuals describe reference information for robotics
products.
•Technical reference manual - Lubrication in gearboxes: Description of types
and volumes of lubrication for the manipulator gearboxes.
•Technical reference manual - RAPID overview: An overview of the RAPID
programming language.
•Technical reference manual - RAPID Instructions, Functions and Data types:
Description and syntax for all RAPID instructions, functions, and data types.
•Technical reference manual - RAPID kernel: A formal description of the
RAPID programming language.
•Technical reference manual - System parameters: Description of system
parameters and configuration workflows.
Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals. An application manual can describe one or several
applications.
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© Copyright 2008-2009,2013 ABB. All rights reserved.
Product documentation, IRC5

An application manual generally contains information about:
• The purpose of the application (what it does and when it is useful).
•What is included (for example cables, I/O boards, RAPID instructions, system
parameters, DVD with PC software).
• How to install included or required hardware.
• How to use the application.
• Examples of how to use the application.
Operating manuals
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 trouble shooters.
The group of manuals includes (among others):
•Operating manual - Emergency safety information
•Operating manual - General safety information
•Operating manual - Getting started, IRC5 and RobotStudio
•Operating manual - Introduction to RAPID
•Operating manual - IRC5 with FlexPendant
•Operating manual - RobotStudio
•Operating manual - Trouble shooting IRC5, for the controller and manipulator.
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Product documentation, IRC5
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