ABB OmniCore User manual

ROBOTICS
Operating manual
OmniCore

Trace back information:
Workspace 21D version a1
Checked in 2021-11-26
Skribenta version 5.4.005

Operating manual
OmniCore
Robotware 7.5
Document ID: 3HAC065036-001
Revision: J
© Copyright 2019-2021 ABB. All rights reserved.
Specifications subject to change without notice.

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, damage 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.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2019-2021 ABB. All rights reserved.
Specifications subject to change without notice.

Table of contents
9Overview of this manual ...................................................................................................................
13Product documentation ....................................................................................................................
151 Introduction to OmniCore
151.1 About this section .............................................................................................
161.2 The OmniCore controller ....................................................................................
171.3 The FlexPendant ...............................................................................................
221.4 RobotStudio .....................................................................................................
231.5 Directory structure on OmniCore ..........................................................................
252 Navigating and handling the FlexPendant
252.1 Overview .........................................................................................................
262.2 The user interface .............................................................................................
262.2.1 FlexPendant touch screen ........................................................................
292.2.2 Status bar ..............................................................................................
382.2.3 FlexPendant applications ..........................................................................
432.3 Personalizing the FlexPendant .............................................................................
432.3.1 Introduction ............................................................................................
442.3.2 System information ..................................................................................
452.3.3 Configuring the identity settings .................................................................
462.3.4 Configuring date and time .........................................................................
472.3.5 Configuring the interface language .............................................................
482.3.6 Configuring the default view during system events ........................................
492.3.7 Configuring the programmable keys ...........................................................
512.3.8 Adapting the FlexPendant for left-handed users ............................................
522.4 Basic procedures ..............................................................................................
522.4.1 Using the soft keyboard ............................................................................
542.4.2 Messages on the FlexPendant ...................................................................
552.4.3 Capturing screenshots .............................................................................
562.4.4 Filtering data ..........................................................................................
572.4.5 Settings search .......................................................................................
582.4.6 Granting access for RobotStudio ................................................................
592.4.7 Logging on and off ..................................................................................
612.5 Updating the applications ...................................................................................
633 OmniCore controller operating modes
633.1 Introduction ......................................................................................................
643.2 Changing operating modes .................................................................................
653.3 Locking and unlocking operating modes ................................................................
694 Calibration
694.1 Introduction ......................................................................................................
704.2 How to check if the robot needs calibration ............................................................
735 Jogging
735.1 Introduction to jogging .......................................................................................
765.2 Coordinate systems for jogging ...........................................................................
815.3 Basic settings for jogging ...................................................................................
835.4 Reading the exact position ..................................................................................
855.5 Incremental movement for precise positioning ........................................................
865.6 Restrictions to jogging .......................................................................................
875.7 Lead-through ....................................................................................................
895.8 Motion supervision ............................................................................................
915.9 Align tool .........................................................................................................
Operating manual - OmniCore 5
3HAC065036-001 Revision: J
© Copyright 2019-2021 ABB. All rights reserved.
Table of contents

925.10 Working with SmartGripper .................................................................................
925.10.1 Introduction ............................................................................................
965.10.2 Gripper configuration ...............................................................................
975.10.3 Smart Gripper function .............................................................................
996 Programming and testing
996.1 Introduction ......................................................................................................
1006.2 Before you start programming .............................................................................
1016.3 Programming concept ........................................................................................
1016.3.1 Handling of programs ..............................................................................
1066.3.2 Handling of modules ................................................................................
1116.3.3 Handling of routines ................................................................................
1196.3.4 Handling of instructions ............................................................................
1246.3.5 Example: Add movement instructions .........................................................
1266.3.6 Program and motion pointers ....................................................................
1276.4 Debugging the program ......................................................................................
1296.5 Data types .......................................................................................................
1296.5.1 Edit data in specific tasks, modules, or routines ............................................
1306.5.2 Creating new data instance .......................................................................
1326.5.3 Editing data instances ..............................................................................
1346.6 Tools ..............................................................................................................
1346.6.1 What is a tool? ........................................................................................
1366.6.2 What is the tool center point? ....................................................................
1386.6.3 Creating a tool ........................................................................................
1406.6.4 Copying a tool ........................................................................................
1416.6.5 Defining the tool frame .............................................................................
1466.6.6 Editing the tool data .................................................................................
1486.6.7 Deleting a tool ........................................................................................
1496.6.8 Setup for stationary tools ..........................................................................
1516.7 Work objects ....................................................................................................
1516.7.1 What is a work object? .............................................................................
1526.7.2 Creating a work object .............................................................................
1536.7.3 Copying a workobject ...............................................................................
1546.7.4 Defining a work object ..............................................................................
1566.7.5 Defining the work object coordinate system .................................................
1606.7.6 Editing the work object data ......................................................................
1616.7.7 Deleting a work object ..............................................................................
1626.7.8 Setup stationary work object .....................................................................
1636.8 Payloads .........................................................................................................
1636.8.1 Overview ...............................................................................................
1646.8.2 Creating a payload ..................................................................................
1666.8.3 Copying a payload ...................................................................................
1676.8.4 Editing the payload data ...........................................................................
1696.8.5 Deleting a payload ...................................................................................
1706.9 Testing ............................................................................................................
1706.9.1 Using the hold-to-run function ...................................................................
1726.9.2 Running the program from a specific instruction ...........................................
1736.9.3 Running a specific routine ........................................................................
1746.9.4 Stepping instruction by instruction .............................................................
1776.10 Service routines ................................................................................................
1776.10.1 Running a service routine .........................................................................
1806.10.2 Connected Services Reset service routine ...................................................
1816.10.3 Battery shutdown service routine ...............................................................
1826.10.4 Axis Calibration service routine ..................................................................
1836.10.5 Calibration Pendulum service routine ..........................................................
1846.10.6 Service Information System service routine ..................................................
1856.10.7 Load identification service routine ..............................................................
1966.10.8 Brake check service routine ......................................................................
2026.10.9 Cyclic Brake Check service routine .............................................................
6 Operating manual - OmniCore
3HAC065036-001 Revision: J
© Copyright 2019-2021 ABB. All rights reserved.
Table of contents

2066.10.10 Wrist optimization service routine ...............................................................
2077 Running in production
2077.1 Introduction ......................................................................................................
2087.2 Basic procedures ..............................................................................................
2087.2.1 Starting programs ...................................................................................
2117.2.2 Stopping programs ..................................................................................
2127.2.3 Using multitasking programs .....................................................................
2157.2.4 Returning the robot to the path ..................................................................
2167.2.5 Using motion supervision and non motion execution .....................................
2187.3 Managing Dashboards .......................................................................................
2217.4 Managing positions ...........................................................................................
2217.4.1 Introduction ............................................................................................
2227.4.2 Teach position .......................................................................................
2277.4.3 Go To position ........................................................................................
2287.4.4 Working with displacements and offsets ......................................................
2307.5 Connecting and detaching a FlexPendant ..............................................................
2358 Handling inputs and outputs, I/O
2358.1 Introduction ......................................................................................................
2368.2 Viewing signal lists ............................................................................................
2378.3 Setting signals as favorite signals ........................................................................
2388.4 Simulating the signals and changing the signal values .............................................
2408.5 I/O devices .......................................................................................................
2439 Handling the event log
2439.1 Introduction ......................................................................................................
2449.2 Accessing the event log .....................................................................................
2459.3 Saving log entries .............................................................................................
2469.4 Clearing the log entries ......................................................................................
24710 Install, update, restart, and other configuration
24710.1 Introduction ......................................................................................................
24810.2 Start installer ....................................................................................................
24910.3 Restart ............................................................................................................
25110.4 Back up the system ...........................................................................................
25310.5 Restore the system ............................................................................................
25410.6 Reset user data ................................................................................................
25510.7 FlexPendant logs ..............................................................................................
25610.8 Update FlexPendant ..........................................................................................
25810.9 Connection log .................................................................................................
25910.10 Connected Services log ......................................................................................
26010.11 System diagnostics ...........................................................................................
261Index
Operating manual - OmniCore 7
3HAC065036-001 Revision: J
© Copyright 2019-2021 ABB. All rights reserved.
Table of contents

This page is intentionally left blank

Overview of this manual
About this manual
This manual contains instructions for operation of OmniCore controller based
robots.
Note
It is the responsibility of the integrator to conduct a risk assessment of the final
application.
It is the responsibility of the integrator to provide safety and user guides for the
robot system.
Note
Screenshots in this manual are generally intended to show a language version
corresponding to the language of the manual. In some cases, a translated manual
still uses English screenshots if the localized user interface was not available at
the time of publishing the manual.
Usage
This manual should be used during operation.
Some actions that are more advanced, or not used in the daily operation, are
described in Operating manual - Integrator's guide OmniCore.
Note
Before any work on or with the robot is performed, the safety information in the
product manual for the controller and manipulator must be read.
Who should read this manual?
This manual is intended for:
• operators
• product technicians
• service technicians
• robot programmers
Prerequisites
The reader should:
• Have read and understood the safety instructions in the product manuals for
the robot.
• Be trained in robot operation.
Continues on next page
Operating manual - OmniCore 9
3HAC065036-001 Revision: J
© Copyright 2019-2021 ABB. All rights reserved.
Overview of this manual

References
Documentation referred to in the manual, is listed in the table below.
Document IDDocument name
3HAC079399-001Product manual - OmniCore E10
3HAC060860-001Product manual - OmniCore C30
Document.ID-1Product manual - OmniCore C90XT
3HAC073447-001Product manual - OmniCore V250XT
3HAC065037-001Operating manual - Integrator's guide OmniCore
3HAC032104-001Operating manual - RobotStudio
3HAC066554-001Application manual - Controller software OmniCore
3HAC065041-001Technical reference manual - System parameters
3HAC066559-001Application manual - Functional safety and SafeMove
Tip
All documents can be found via myABB Business Portal, www.abb.com/myABB.
Revisions
DescriptionRevision
First edition.A
• The safety information is moved to the product manuals for the
controller and the manipulator.
• Updated the section Changing operating modes on page 64.
• Updated the section Connecting and detaching a FlexPendant on
page 230.
B
Released with RobotWare 7.0.1. The following updates are made in this
revision:
•References to the Hold-to run-button is replaced with thumb button
in the manual.
• Section Service Information System service routine updated with
new counter: moved distance.
• Added information about recently used programs in the section
Starting programs on page 208.
• Updated the section Creating new data instance on page 130.
C
Released with RobotWare 7.0.2. The following updates are made in this
revision:
• FlexPendant terminology updated in entire manual.
• Added information about SafeMove.
• Updated information about queueing backups.
• Added the section Locking and unlocking operating modes on
page 65.
• Added the section Go To position on page 227.
• Updated the section QuickSet window on page 30.
• Updated the section Connecting and detaching a FlexPendant on
page 230.
• Updated the section Creating new data instance on page 130.
•The directory of BC_config_IO.sys file is corrected in the section
Description of the I/O setup on page 198.
D
Continues on next page
10 Operating manual - OmniCore
3HAC065036-001 Revision: J
© Copyright 2019-2021 ABB. All rights reserved.
Overview of this manual
Continued