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Operating Manual Robotstudio

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Operating Manual Robotstudio ABB Robotics Operating manual RobotStudio Operating manual RobotStudio 5.13 Document ID: 3HAC032104-001 Revision: D © Copyright 2008-2010 ABB. All rights reserved. ABB. All rights 2008-2010 © Copyright 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, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted. Additional copies of this manual may be obtained from ABB at its then current charge. © Copyright 2008-2010 ABB All rights reserved. ABB AB Robotics Products SE-721 68 Västerås Sweden © Copyright 2008-2010 ABB. All rights reserved. ABB. All rights 2008-2010 © Copyright Table of Contents Overview . 9 Product documentation, M2004 . 12 Safety . 14 1 Introduction 15 1.1 Terms and Concepts. 15 1.1.1 Hardware concepts . 15 1.1.2 RobotWare concepts. 17 1.1.3 RAPID concepts . 19 1.1.4 Concepts of programming . 20 1.1.5 Targets and paths . 21 1.1.6 Coordinate systems. 22 1.1.7 Robot axis configurations. 24 1.1.8 Libraries, geometries and CAD files . 26 1.1.9 VSTA as the IDE . 29 1.2 Installing and Licensing RobotStudio . 30 1.3 The Graphical User Interface . 33 1.3.1 The Graphical User Interface . 33 1.3.2 The Getting Started window. 34 1.3.3 The Layout browser . 35 1.3.4 The Paths & Targets browser . 36 1.3.5 The Modeling browser . 38 1.3.6 The Offline and Online browsers . 39 1.3.7 The Output window . 42 1.3.8 The Operator Window . 45 1.3.9 The Document Manager window . 47 1.3.10 Using a mouse . 54 1.3.11 Selecting an item . 55 1.3.12 Attaching and detaching objects. 56 1.3.13 Keyboard shortcuts. 57 2 How to build stations 61 2.1 Workflow for building a new station . 61 2.2 Setting up a conveyor tracking station with two robots working on the same conveyor . 63 2.2.1 Two robot systems sharing the same task frame position . 63 2.2.2 Two robot systems having different task frame positions. 65 2.3 Creating a system with external axes automatically . 67 2.4 Manually setting up a system with track motion . 69 2.4.1 Setting up a system with track motion of type RTT or IRBTx003 manually . 69 2.4.2 Setting up a system with track motion of type IRBTx004 manually . 70 2.5 The VC . 71 2.5.1 Starting a VC . 71 2.5.2 Restarting a VC . 73 2.6 Station components . 75 2.6.1 Importing a station component. 75 2.6.2 Converting CAD formats . 77 2.6.3 Troubleshooting and optimizing geometries . .78 © Copyright 2008-2010 ABB. All rights reserved. ABB. All rights 2008-2010 © Copyright 2.7 Modeling . 80 2.7.1 Objects . 80 2.7.2 Mechanisms . 82 2.7.3 Tools and tooldata . 83 2.7.4 Setting the local origin of an object . 84 3HAC032104-001 Revision: D 3 Table of Contents 2.8 Placement . 85 2.8.1 Placing objects . 85 2.8.2 Placing external axes . 86 2.8.3 Placing robots. 88 3 How to program robots 91 3.1 Workflow for programming a robot. 91 3.2 Workobjects . 92 3.3 Jogging mechanisms . ..
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