Release Notes

RobotStudio
2020.1

Revision: -
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 - 2020 ABB All rights reserved.

ABB AB
Robotics Products
SE-721 68 Västerås
Sweden

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 Table of Contents

1 Release Information 5

1.1 General 5

1.2 System recommendation 6

2 What’s new in RobotStudio 2020.1 8

2.1 Virtual Reality – Flat tabbed menues 8

2.2 Virtual Reality – Tutorial 10

2.3 Virtual Reality - Improved navigation experience 10

2.4 Virtual Reality – Support for more headsets and hand controllers 11

2.5 Visualization of simulated stop positions 11

2.6 New libraries 11

3 Late changes 13

3.1 Mininal installation 13

4 CAD import formats and versions 14

5 Corrections 15

5.1 Corrections made in 2020.1 15

6 Known Limitations 18

6.1 Visual SafeMove 18

6.2 Online 18
6.2.1 Online – Paint 19
6.2.2 Online – Integrated Vision 19

6.3 Offline 22
6.3.1 Conveyor Tracking 24
6.3.2 MultiMove 25
6.3.3 External Axis 25
6.3.4 Network Drives and UNC Paths 26
6.3.5 RAPID 27
6.3.6 Paint 27
6.3.7 Graphics and Geometry 27

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6.4 ScreenMaker Limitations 28

7 RobotWare Compatibility 31

7.1 General 31

7.2 RobotWare 5.05 and 5.06 Compatibility 31

7.3 RobotWare 5.07 Compatibility 31

7.4 RobotWare 5.08 Compatibility 31

7.5 RobotWare 5.10 Compatibility 31

7.6 RobotWare 5.11 Compatibility 31

7.7 RobotWare 5.12 Compatibility 32

7.8 RobotWare 5.13 Compatibility 32

7.9 RobotWare 5.15 Compatibility 33

7.10 RobotWare 6 Compatibility 33

7.11 General Compatibility Limitations 33

7.12 ScreenMaker Compatibility 33

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RobotStudio 2020.1

1 Release Information
1.1 General

Release Name
The release name is RobotStudio 2020.1 and the build number is 20.1.8982.

User documentation
The RobotStudio Operating Manual is available in all languages except Czech, i.e. English,
German, French, Korean, Chinese, Japanese, Spanish.
A selected set of RobotWare manuals are available. Each of them is available in two
versions, one for IRC5 and one for OmniCore. The OmniCore manuals are only available in
English.

Release Date
The release date is June 3rd, 2020.

Demo stations
The following demo stations are included in this version.
• Demo AW Station
• Demo Solar Simulation
• Demo Exhaust Pipe
• Demo FlexLoader
• SC demo station finished.rspag
• SC demo station start.rspag
They are stored in the Pack & Go format (.rspag) and can be opened with the command
Unpack & Work on the Share section of the RobotStudio menu.

ScreenMaker Demo Station and Project

There is a demo station and associated ScreenMaker project available.
• SCM_ExampleProject (ScreenMaker Project)
• SCM_ExampleStation (RobotStudio station)
These files are found in the ‘Addins/ScreenMaker/Samples’ folder under the RobotStudio
installation folder.

Tutorials
Tutorials are available at the RobotStudio product pages at
http://www.abb.com/roboticssoftware

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1.2 System recommendation

Recommended Software
Operating System
Microsoft Windows 10 Anniversary update 64-bit edition
or later (recommended)1,2
ABB RobotWare 5 for IRC5 5.06 to 5.16.x
5.60.x and 5.61.x
ABB RobotWare 6 for IRC5 6.0 to 6.11.x
ABB RobotWare for OmniCore 7.0.x
1 The Windows AppInstaller is a pre-requisite for the virtual OmniCore FlexPendant
software, see https://www.microsoft.com/en-us/p/app-installer/9nblggh4nns1. The App
Installer is a default built-in app in Windows 10, but may have been removed on some PCs.
2Sideloading of apps must be enabled on Windows 10 to install the virtual OmniCore
FlexPendant, see below

It is recommended to run Windows Update to get the latest updates to Windows prior to
installing and running RobotStudio.

Note

The Windows Firewall will try to block features necessary to run RobotStudio. Make sure
to unblock these features when asked (Industrial Robot Discovery Server, RobotStudio
StudioAppFramework module, Virtual RobotController (all published by ABB). The
blocking state of a certain program can be viewed and changed at Start/Control
Panel/Windows Security Center/Windows Firewall. Read more on
http://www.microsoft.com.

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RobotStudio 2020.1

Recommended Hardware
Item Requirement
CPU 2.0 GHz or faster processor, multiple cores recommended
Memory 8 GB minimium
16 GB or more if working with large CAD models
Disk 10+ GB free space, solid state drive (SSD)
Graphics card1 High-performance, DirectX 11 compatible, gaming graphics card from
any of the leading vendors. For the Advanced lightning mode Direct3D
feature level 10_1 or higher is required.
Screen resolution 1920 x 1080 pixels or higher is recommended
DPI Normal size (100% / 96 dpi) up to Large size (150% / 144 dpi)
Only Normal size supported for Integrated Vision.
Mouse Three-button mouse
3D Mouse [optional] Any 3D mouse from 3DConnexion, see http://www.3dconnexion.com.
Virtual Reality Oculus Rift, HTC Vive or any Windows Mixed Reality Headset. Note
Headset that special PC hardware requirements apply when using RobotStudio
with VR, see https://www.oculus.com/oculus-ready-pcs/,
https://www.vive.com/us/ready/, or, https://www.microsoft.com/en-
us/windows/windows-mixed-reality-devices, respectively.

1 A note on graphics cards and PC hardware. RobotStudio will not benefit from the
additional features of so-called ‘Professional’ or ‘Workstation’ graphics cards. The price level
of these are at a much higher range than gaming graphics cards with comparable
performance. High-end gaming PCs are very suitable for offline programming with
RobotStudio. Such a PC will provide good performance for a limited budget.

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RobotStudio 2020.1

2 What’s new in RobotStudio 2020.1

2.1 Virtual Reality – Flat tabbed menues

Overview
RobotStudio 2020 replaces the Virtual Reality functions that were displayed on a cube
attached to the left hand controller with flat menus for easy navigation and better usability.
Integrated tips introduce the functionality of each button.
From the five tabs on the vertical bar you will reach the corresponding page.
All the commands from the four sides of the menu cube in RobotStudio 2019.5 are
organized under the five tabs Home, Edit, Manipulate, Path and Settings.

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RobotStudio 2020.1

Home tab: Navigation options and simulation. Edit tab: Add annotations like text markups and
arrows.

Manipulate tab: Allow objects being grabbed with Path tab: Add, remove and edit target and move
your hand an limit robot axis while jogging. instructions.

Settings tab: Show or hide Tips and start the tutorial

again.

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RobotStudio 2020.1

2.2 Virtual Reality – Tutorial

Overview
The first time you start a Virtual Reality session a tutorial gets started as a series of simple
instructions. The tutorial can be started again from the Settings tab.

2.3 Virtual Reality - Improved navigation experience

Overview
The new Drag move navigation mode allows you to drag and rotate yourself around in the
3D environment by pressing both the left and right grip buttons on the hand controllers.
The teleportation is now initiated by pressing the the left grip button to show the teleport
beam and then the left trigger to confirm the movement.
Using the left joystick/trackpad, you can now move yourself step by step forward, backwards
and rotate to the left and right. Enable Walk mode to prevent walking through objects and
allow climbing stairs or other objects with a height similar to the steps of a stair.

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RobotStudio 2020.1

2.4 Virtual Reality – Support for more headsets and hand controllers

Overview
Support has been added for the following virtual reality headsets and hand controllers:
• Valve Index
• Samsung HMD Odyssey (Windows Mixed Reality)
• HTC VIVE Cosmos

All hand controllers are visualized with the corresponding 3D model in the virtual reality environment.

2.5 Visualization of simulated stop positions

Overview
The final stop positions of TCP when a category 0 stop occurs can be visualized. At regular
intervals along the path, programmed TCP positions are connected to the corresponding
TCP stop positions using straight lines.

2.6 New libraries

Overview
Models for the IRB760-445 palletizing robot as well as all variants of the OmniCore C30
controller and OmniCore FlexPendant has been added to ABB Library.

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RobotStudio 2020.1

OmniCore FlexPendant OmniCore C30

OmniCore C30 Desktop OmniCore C30 Rack mounted

IRB 760-445

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RobotStudio 2020.1

3 Late changes
3.1 Mininal installation

Overview
The minimal installation option has been removed because of its low usage.

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 Release Notes
RobotStudio 2020.1

4 CAD import formats and versions

Overview
This section describes the supported CAD formats and versions.

CAD formats
The table below lists all formats and versions supported by RobotStudio

Format File extensions Option required

3DStudio .3ds -
ACIS, reads versions R1 - 2020 1.0, writes .sat, .sab, .asat, .asab -
versions R18 - 2020 1.0.

CATIA V4, reads versions 4.1.9 to 4.2.4 .model, .exp, .session CATIA

CATIA V5/V6, .CATPart, .CATProduct, CATIA

reads versions V5R8 – V5/V6R2019 .CGR, .3DXML
writes V5R15 – V5/V6R2019
COLLADA 1.4.1 .dae -
DirectX writes 2.0 .x -
DXF/DWG, reads versions 2.5 – 2020 .dxf, .dwg AutoCAD

FBX writes version 7.5 .fbx -

GLB writes version 2.0 .glb -
IGES, reads up to version 5.3, writes version .igs, .iges IGES
5.3*
Inventor, reads V6 – V2020 .ipt, .iam Inventor

JT, reads versions 8.x, 9.x and 10 and 10.2 .jt JT

LDraw, reads version 1.0.2 .ldr, .ldraw, .mpd -

NX, reads versions NX 11 – NX 1899 .prt NX

OBJ .obj -
Parasolid, reads versions 9.0.* – 32.0.x. .x_t, .xmt_txt, .x_b, Parasolid
.xmt_bin
Pro/E / Creo, reads versions 16 – Creo 6.0 .prt, .prt.*, .asm, .asm.* Creo
Solid Edge, reads versions V18 – SE2020 .par, .asm, .psm SolidEdge

SolidWorks, reads versions 2003 – 2019 .sldprt, .sldasm SolidWorks

STEP, reads versions AP203, AP214, stp, step, p21 STEP
AP242, writes version AP214
STL Stl -
VDA-FS, reads 1.0 and 2.0, writes 2.0 vda, vdafs VDA-FS
VRML, reads VRML2 (VRML1 not supported) wrl, vrml, vrml2 -

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RobotStudio 2020.1

5 Corrections
Overview
This section lists the corrections made.

5.1 Corrections made in 2020.1

PDDs
ID Title
SetBrush Event coordinates are not updated when workobjects are changed
which the function adjust robtarget
9417
In the special case when the two workobjects have the same orientation has
been fixed
The screen tip of Save Station as viewer stated any recorded simulation will be
included.

11035
The screen tip has been changed to ’Packages the station for viewing on
computers that do not have RobotStudio installed’.

Gearbox Heat Prediction Add-In – clarification in Operating Manual about ‘Use

Temperature from Controller(s)’

11485 The Operating Manual has been updated to state from which system
parameters the controller temperature is retrieved: “Select Use temperature from
controller(s) to reset the the ambient temperature and read the temperature from
the robot configuration as specified in the parameter Motion->SIS Parameter ->
r1_sis_param->Robot temperature.”
Error when adding more users than allowed in the RobotWare User
Authentication System (UAS) is wrong in the Operation Manual
11649
The Operating Manual has been updated to state the maximum number of
users, 100 for RobotWare 6, and 123 for RobotWare 7.
Virtual Single Arm YuMi 14050 - Manipulator IO device is missing

11973 The following features has been added to the system template:
abb.robotics.robotcontrol.options.calhall
abb.robotics.robotcontrol.options.contact_l
Not able to open RobotStudio .exe file. Shows an error message when try to
open
12109
The problem occurred when names of libraries in the station contained certain
characters. It has been corrected.
Online Monitor shows IRB360 upside down

The IRB360 is modeled with its base frame rotated 180° around X and the
12178 values for base frame are usually left at its defaults 0,0,0 translation and no
rotation. The Online monitor has been updated to take account for this and
rotate the task frame around X for the imported model. The result is that the
IRB360 model does not appear upside down.
External axis values not stored in target when inserting instruction in VR
12195
External axis values are now stored in the new target. The same configuration
as in the previous target with configuration, if any, is assigned to the new target.
Problem with Solidworks import on Windows 10 machines
12202
The ACIS geometry engine has been updated to a new version where the
problem is corrected..

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RobotStudio 2020.1

Single Arm Yumi - SmartGripper Alias Error with Virtual Controller

12210
The system template has been updated. See PDD 11973.
Error create Virtual System with duplicate products in its manifest

12262 The problem was caused by duplicate entries in the controller.rsf file.
RobotStudio now ignores duplicates.

Wrong dimension after exporting layost as .dxf and importing it again

12267
The scale is set to meter.
IRB5350 is attached at the wrong position on its rail
12278
The attachement position has been corrected.
Exception when linear jogging Stand Alone Controller
12514
The problem has been corrected.
RS/Visual SafeMove doesn't read the current position of the 7th axis as Sync
position, if SafeMove 1 is used.
12298
The 7th axis is now read.
Wrong work area for IRB5510 in Robotstudio
12315
Work envelope updated.
RS Improvement: The upper arm enclosure was visible after a zone violation
12345
even if it was not part of the violation.
Exception when opening Event Log: Cannot parse input: ms
12349
Certain event log messages were the null termination was not in the end of the
string caused this exception. The problem has been corrected.
ContactL doesn't appear
12367
ContactL and Leadthrough options added to YuMi system template.
IRBT6004 19m double CAD models and RobotStudio library are different
11915
The lengths of IRBT6004 variants has been adjusted so that the correspond tot
the actual model. Before the 19m variant was 20m long for example.
Crash in Robotstudio meeting when the sation contains certain move
instructions
12164
The problem occurred when the RobotStudio instance on the client side did not
have the same set of move instruction templates as on the host side, and has
been corrected.
Cad Convertor Issue - Import STEP file on Turkish Windows
12272
This problem has been corrected by an upgrade of the ACIS geometry engine.
Not possible to use wildcards Jobs when searching for RAPID
12240
This is a regression. It was possible to use wildcards in a previous version, and
its now possible again.
GLTF export is missing cables, physics objects and visibility state

12199 The following improvements has been made:

Each physics cable segement is exported as a capsule.
Objects can be shown or hidden.
RobotStudio hangs when transferring file to OmniCore
12153

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RobotStudio 2020.1

This problem could happen when RobotStudio was gathering information about
a network share from Windows with slow respone. This has now been corrected
so that RobotStudio will not hang in the situation.

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RobotStudio 2020.1

6 Known Limitations
Overview
This section describes known limitations in RobotStudio.

6.1 Visual SafeMove

The safety controller is not forwards compatible

When writing a safety configuration file of a later version than the current safety controller
image, then RobotStudio will generate an error of type “C00FFFE: Unknown error
(0xC004FFFE)LoadSafetyConfigurationFile”. (Note that this error may occur for other
reasons as well and is thus not unique to this case).

The function Get vectors from active tool reads values from the robot
The idea behind this function is to to read the data from the currently active tool of the robot
in order to define a corresponding SafeMove Tool in the safety configuration. That is the
reason why the tool information is read from the robot and not the safety controller. The
tools of the safety configuration are visible the Visual SafeMove itself and does not need a
special function to be retrieved.

Protected checksum may change when upgrading RW from 6.04.0x to 6.05 or 6.06
The protected checksum will change if the input and output modules of the internal device is
protected. The reason is that two attributes change order.

No visualization of Safe Range for external axes in Visual SafeMove for SafeMove Basic or Pro
When Safe Range is used to limit the axis range of an external axis such as a track motion,
there will be no visual indication of the actual range in the graphic view.

Visual SafeMove windows can be re-opened from the Quick Access Toolbar menu
Any windows that are closed can be re-opened using the Quick Access Toolbar menu, as
the command Default Layout does not recover these windows.

SafeMove Tool Zone visualization in Online Monitor for robots with external axes
Only TCP robots and track mounted robots will be visualized in the Online Monitor, no other
external axes or positioners.
As a consequence, the Online Monitor may show the robot in a non-violating position, even
though the safety controller has detected a safety violation and stopped the robot.

6.2 Online

Individual RAPID tasks cannot be stopped for RobotWare 5.60 and later
When running multitasking systems, it is not possible to start and stop individual tasks with
the dropdown menu of the task node in the Controller browser. This is due a restriction
introduced with RobotWare 5.60 and later.
However, from RobotWare 6.03 onwards, then RAPID tasks to execute or to stop can be
selected from RobotStudio RAPID tab.

FlexPendant Viewer running with automatic reloading

When having FlexPendant Viewer running with automatic reloading of the screens and at
the same time jogging the robot with the joystick the robot jogging might halt when the
FlexPendant Viewer reloads.

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RobotStudio 2020.1

6.2.1 Online – Paint

Backup for Paint systems does not create backup of the PIB for IRC5P with RobotWare 5.xx
The Backup function of RobotStudio does not create a backup of the PIB board of the
IRC5P system when running RobotWare 5.xx.
Workaround: Create the backup of the PIB board with the FlexPaint Pendant using an
USB-stick.

Go Offline does not work for Paint systems

The Go offline function will not create a working Virtual controller system for Paint system
unless the Paint package I/O option is set to Simulated.

6.2.2 Online – Integrated Vision

Installation error when having previous versions of RobotStudio or Insight Explorer

If you have a previous version of RobotStudio or Cognex In-Sight software installed,
installing a new version of RobotStudio may result in the following error message
Module C:\Program Files (x86)\Common Files\Cognex\In-
Sight\5.7.1674.0\CvsInSightDisplay.ocx failed to register. HRESULT -2147220472.
Contact your support personnel.
Workaround: To correct the issue, open Windows Settings -> Apps -> Apps & features,
select the current ABB RobotStudio 2019.x, select Modify, and step through the installation
wizard and select Repair. Alternatively, uninstall and reinstall RobotStudio.
Note: Only one version of the In-Sight Display Control can be registered at a time, and this
is always the latest version installed. Although older versions of RobotStudio or In-Sight may
seem to function with this version installed, their compatibility with this version is not
guaranteed.

RobotStudio may hang for up to 60 seconds when configuring jobs with PatMax 1-50
The user interface of RobotStudio may freeze for up to 60 seconds when configuration
Integrated Vision jobs with the tool PatMax 1-50.
Workaround: Use PatMax 1-10 instead.

Remaining error – New Emulators

New camera models have been added to the camera emulator option in RobotStudio
6.04.01. Some of these new models are not yet fully compatible. Our recommendation is to
choose a camera model from the 7000 series which is fully compatible with Firmware
version 4.10.2.

Emulated cameras not discovered when controller in Motors On

For RobotWare 5.61 onwards, the camera discovery mechanism is disabled when the
controller is in Motors On. As a consequence, the camera nodes will not appear in the
controller browser.
Workaround: Switch to Manual Reduced Speed and use the Refresh command on the
Integrated Vision node in the browser to make the cameras appear.

Information – Camera firmware version and update

The minimum firmware version to be used with Integrated Vision is 4.08. If this version is not
available for a specific camera model, then the newest version available shall be used.
There are two important things to know before upgrading a sensor

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RobotStudio 2020.1

• The user must make sure to first backup the files on the camera. This can be done
using the Rapid snippets for camera backup/restore, or the FlexPendant Explorer.
• The latest available firmware version may vary across sensor types. However, when
the firmware update utility presents the latest available version it shows the
firmware with the highest version number which may not apply to the sensor to be
updated. However, the appropriate firmware will be applied.

Information – The spreadsheet view

The spreadsheet view is not enabled when editing in the in the following modes “Add part
location tool”, “Add part inspection tool”. Before entering the spreadsheet mode click for
example “Setup Image” or Output to Rapid.

Information – Calibration board without fiducial

When using the calibration boards, checkerboard or board with dots, the user must select
the preferred origin by clicking and accepting (press enter) three points on the board. Only
after these three points have been selected is it possible to click “calibrate” to execute the
calibration.

Information - Use default camera settings

If the camera is not using default communication settings the result may be that RAPID
instructions return error code “Communication Error”. The safest method to get default
settings is to go to Connect->Add Sensor Right click and select “Show all sensors”. Select
the device to reset and click “Apply factory settings” in the lower right corner. The most
important settings are:
Telnet port: 23
User: “admin”
Password: “”

Information – User Credentials

It is now possible to create user profiles with different access levels on the camera. For
detailed information about this, please refer to the Integrated Vision User Manual.

Remaining error – Save image on camera

It is not possible to save an image on the camera using “Save Image”. This is by design, but
the dialog still allows the user to try to do this. The result is that the image is not saved and
no error message is given.

Remaining error - Connect button greyed out for no reason

It may sometimes happen that the “Connect” button is greyed out, with the tooltip saying the
camera is not on the correct subnet although the IP settings are OK.
Workaround: Restart the Integrated Vision Add-In.

Remaining error – VC started from Controller->Add controller does not detect cameras
A VC that is started from Controller->Add controller does not detect cameras on the
network, even if the VC_network_definition.xml is correctly configured and the firewall is
turned off. The reason is that the controller is not able to detect new cameras on the
network when it is in “Motors On” state. When the VC is started stand-alone in RobotStudio
it is automatically set to “Motors On“ when started.
Workaround: To allow it to discover cameras, turn the control panel key to manual mode or
launch the VC as part of a station.

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User tip - Removing cameras from configuration

To remove a configured camera from the list of configured cameras, use the configuration
editor. Enter Configuration->Communication->Application Protocols and remove the desired
camera. Perform a warm start to complete the operation.

User tip – Viewing all cameras present on the network

Connect->Add Sensor is normally used for setting the IP addresses of sensors that are not
currently on the correct subnet (192.168.125.X). Since the dialog shows all cameras “seen”
by the PC, this dialog is useful when error tracing camera network problems.
If a camera does not appear on the network using the “Add sensor” dialog as suggested
above, it is advisable to cycle the power of the camera. If the camera receives power from
the controller, then cycle power by turning the mains switch.

User tip – Warm start the controller after changing network settings
Whenever changing the network settings of the camera, either from Connect->Add Sensor
or Connect->Network settings, it is important to warm start the controller. If this is not done,
RAPID instructions will give the error “Communication Error” and the FTP-mounted camera
disk is not accessible. If DHCP address is used and persist, please try a static address
instead.

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6.3 Offline

*The YuMi library revision 1 cannot be successfully updated to YuMi revision 2

When opening a Pack&Go file with a station that has a reference to
IRB14000_0.5_0.5__01.rslib you get the option to update it to the newer
IRB14000_0.5_0.5__02.rslib. The following issues occurs if you select ‘Yes’ and update the
model:
• The attached parts, for example Smart Grippers) are detached.
• The new YuMi robot is not connected to the virtual Controller.
• The old YuMi mecanism is converted to a component.
Answer ‘No’ to this question to keep the original revision 1 model and avoid the problems
mentioned above.

RobotStudio needs to be restarted to update a modified library instance

When editing a library file (.rslib) that is used in a currently open station, then RobotStudio
needs to be restarted to update the library. Simply re-opening the station is not enough to
update the content of the station. Unless RobotStudio is restarted, the old library instance
will remain in memory and be loaded even though the underlying file has been updated.
This is a known limitation and is expensive to fix. There is a workaround to the problem,
which is to restart RobotStudio

The robot IRB 1600ID 1.55 m / 6kg replaced by IRB 1660ID1.55 m / 6 kg in RobotWare 6.04
The robot IRB 1600ID 1.55 m / 6 kg is not available in RobotWare 6.04 and later. It has
been renamed to IRB 1660ID 1.55 m / 6 kg. Virtual controller systems for IRB 1600ID 1.55
m / 6 kg based on RobotWare 6.03 cannot upgraded to RobotWare 6.04 and later. This
means that Pack&Go files for this robot based on RobotWare 6.03 cannot be upgraded to
RobotWare 6.04 automatically
Workaround: Re-build or modify the virtual controller system to use IRB 1660ID 1.55 m / 6
kg instead when using RobotWare 6.04 or later.

FlexPendant and RAPID applications run with logged in user rights

A FlexPendant or RAPID application running on the virtual controller runs with the rights of
the logged-in Windows user. RAPID applications running in a background task will start to
execute when the Pack&Go file is opened and FlexPendant applications will start to execute
when the user starts the Virtual FlexPendant.
A warning message has been added to the Unpack&Work wizard to make the user aware
that only Pack&Go files (.rspag) from trusted sources shall be opened.

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Compatibility of RobotStudio Library and Stations with older RobotStudio versions

RobotStudio is generally not forwards compatible, i.e. it is not possible to load stations or
libraries created in RobotStudio 6.04 into an earlier version of RobotStudio such as e.g.
RobotStudio 5.x, 6.03.02 or earlier. However, RobotStudio is backwards compatible,
which means stations and libraries created in versions 5.x, 6.03.02 or earlier can be opened
in RobotStudio 6.04

TrueMove path visualization fails for customized zone data.

The TrueMove path visualization function only supports predefined zonedata. It will not work
for user defined zonedata.

Backup fails for RobotStudio solutions with SafeMove or Electronic Position Switches
Backups are automatically created for virtual controller systems that are part of a
RobotStudio solution when saving the station. For virtual controller systems with the
RobotWare options SafeMove or Electronic Positioning Switches the backup will fail since
these systems contain files that are read-only. As a result, an error message is presented in
the output window: “<System name>: Backup failed”. The station will be successfully saved
but there will be no backup created.
Workaround: Ignore the error message “<System name>: Backup failed” and create a
manual backup whenever needed. The RobotStudio Option “Enable automatic backup of
controllers in solution” that is available in” RobotStudio Options -> Robotics -> Virtual
Controller” can be de-selected to disable the backup function.

IRB 14000 cannot be combined with any other robot

The function system from layout fails if trying to create a MultiMove system where one robot
is an IRB 14000. The reason is that the IRB 14000 cannot be combined with any other
robot.
Workaround: Create a separate system for the IRB 14000.

The Work Envelope function does not support IRB 14000

The function is disabled for the IRB 14000 and cannot be activated.

The 2D work envelope fails for certain robot models

As a result, the generated work envelop may appear distorted.

Update of current selection in the 3D graphics window may be delayed

A problem related to the graphics driver has been observed on certain PCs. The problem is
that the update of the current selection in the 3D graphics is delayed until the next redraw.
Workaround: Add or uncomment the following line in the file RobotStudio.exe.config
<add key=”DoublePresentWorkaround” value=”true” />

Failure to open Pack&Go file to same folder the second time

RobotStudio will prevent Pack&Go files to be opened to the same folder a second time if the
station contains VC systems with the EPS or SafeMove option. This is by design to prevent
the safety controller configuration file to be accidentally overwritten.
Workaround: Remove the write protection manually using Windows Explorer.

Updates of instruction template and code snippets

RobotStudio will not automatically update the user files for instruction templates and code
snippets files in the folders:
…\My Documents\RobotStudio\Instruction Templates

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…\My Documents\RobotStudio\Code snippets

Workaround: The user has to manually copy the latest files from
%ProgramFiles%\ABB Industrial IT\Robotics IT\RobotStudio 5.xx\Instruction
Templates,
and
%ProgramFiles%\ABB Industrial IT\Robotics IT\RobotStudio 5.xx\Code
Snippets
to the data folder.

I/O signals configured with access level ‘DEFAULT’

When IO signals are configured with access level ‘DEFAULT’, only input signals are
possible to set/reset from the I/O Simulator and I/O Window. To be able to affect also output
signals, set the access level to ‘ALL’ for them in the Configuration Editor.

VC does not start with RRI option and GSI folder structure missing.
The VC will hang when started with a system containing the RobotWare option RRI (Robot
Reference Interface) if the GSI folder structure is missing.
Workaround: create GSI Folder before starting the VC inside the HOME directory of the
system. See the Application Manual for Robot Reference interface for more information.

System in Guard Stop state in Automatic mode after run-time error

Certain run-time errors may cause the controller system to enter Guard Stop state in
Automatic mode. This is the same behavior as in a physical robot controller system. This
typically happens when a run-time error related to Conveyor Tracking occurs. A simulation
cannot be started when the controller is in this state.
Workaround: To reset the controller state, open the Control Panel window and first switch
to Manual mode, and then back to Automatic mode.

Path handling of instructions with multiple joint targets

The path functions Rotate, Translate, and Mirror do not work as expected with instructions
containing via points as jointtargets. The functions will leave the jointtargets as is.
Interpolate Path gives an Unknown Error and Tool Compensation reports an error message

Event Manager: Simulation cannot be triggered by analog system signals

The event manager only supports analog station signals, not analog system signals
Conveyor Tracking

*Conveyor objects must be re-added for stations created prior to RS 6.05.

When opening stations with conveyor tracking created prior to RobotStudio 6.05, conveyor
objects must be re-added.

Incorrect default values for c1Position and c1Speed for RobotWare 5 with the PaintWare option
The default values for the parameters c1Position and c1Speed may become incorrect for a
virtual controller system. The symptom is that its attribute values are all zero, see snapshot
below.

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Incorrect values

Workaround: Save the following lines to a CFG file named ‘TEMP.CFG’ or similar and load
in the virtual controller followed by a restart.

EIO:CFG_1.0:5:0::
#

EIO_SIGNAL:

-Name "c1Position" -SignalType "AI" -Unit "CnvIf"\

-SignalLabel "ctPosition" -UnitMap "0-31" -Access "ALL"\
-MaxLog 21474.8 -MaxPhys 1 -MaxPhysLimit 1\
-MaxBitVal 2147483647 -MinLog -21474.8 -MinPhys -1 -MinPhysLimit -1\
-MinBitVal -2147483647

-Name "c1Speed" -SignalType "AI" -Unit "CnvIf" -SignalLabel "ctSpeed"\

-UnitMap "32-63" -Access "ALL"\
-MaxLog 21474.8 -MaxPhys 1 -MaxPhysLimit 1\
-MaxBitVal 2147483647 -MinLog -21474.8 -MinPhys -1 -MinPhysLimit -1\
-MinBitVal -2147483647

6.3.2 MultiMove

MultiMove error: ‘Object reference not set to an instance of an object’

When the Test Play button is pressed in the MultiMove tool, the following error message
may be displayed: ‘Object reference not set to an instance of an object’, but the robot moves
and the Status ‘Calculation OK’ is displayed. In addition, when ‘Create Paths‘ is pressed the
following message is displayed: ‘Can't create paths : Value cannot be null’, and no paths are
created. In the ‘Create Paths Settings’, is the WP TCP drop down empty.
Reason: Workobject is not set for the current task

6.3.3 External Axis

Error 50091: ‘Restart not possible’ after warm start of a system with external axis
When restarting a system with activated mechanical units the activation state is lost. Then
the program can no longer be started from the Virtual FlexPendant, the RAPID Editor or the
RAPID Tasks window.
Workaround: Reset the program pointer (‘Program Pointer to Main’) before starting the
program from the Virtual FlexPendant, the RAPID Editor or the RAPID Tasks window, or,
start the program from the Simulation Play button.

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6.3.4 Network Drives and UNC Paths

RobotStudio on computers with roaming user profiles

RobotStudio may fail on PC configurations with roaming user profiles, i.e. when the users’
documents folder resides on a server and not on the local disk.
Workaround: Redefine the ’User Project Folder’ to a folder on the local disk (File →
Options → General → Files&Folders → User Project Folder).

Virtual Controller does not support UNC paths

UNC paths cannot be used to locate Virtual Controller systems. Using UNC paths for VC
systems will cause the log message ‘Failed to initialize FW upgrade framework’ to appear
when the system starts. Subsequent attempts to work with the VC such as synchronizing
RAPID data will fail.

Creating and starting systems located on a network drive

When using a network drive to store RobotStudio data such as RobotWare systems or the
RobotWare mediapool, the following problems may occur
• Virtual controller does not start
• Not possible to open Virtual FlexPendant
Cause: By default, the .NET Framework does not allow execution of code from a remote
file system. This means the application may behave unexpectedly if the media used by the
system or the system itself resides on a network share.
Workaround: To resolve this, the user must explicitly grant the required permissions:
1. Open the file Virtual FlexPendant.exe.config located in
C:\Program Files (x86)\ABB Industrial IT\Robotics IT\RobotStudio 5.61\Bin
2. Add the following lines
<?xml version="1.0"?>
<configuration>
<startup useLegacyV2RuntimeActivationPolicy="true">
<supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.0"/></startup>
<runtime> <!-- THIS IS ONE OF THE NEW LINES!!!
-->
<loadFromRemoteSources enabled="true"/> <!-- THIS IS ONE OF THE NEW LINES!!! -->
</runtime> <!-- THIS IS ONE OF THE NEW LINES!!!
-->
</configuration>

The Virtual FlexPendant must be restarted for the changes to take effect.
For further information, see
http://msdn.microsoft.com/en-us/library/dd409252(v=vs.100).aspx

Note

Windows security settings may prevent the file from being directly edited in the default
location. Copy the file to your local Documents folder to edit it. Upon completion, you
need to manual copy the file back to its original location.

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6.3.5 RAPID

Robtargets that are LOCAL to a PROCEDURE cannot be synchronized with RobotStudio

The RobotStudio synchronization engine that translates 3D data of the station to RAPID
code and vice versa does not support robtargets that are declared locally to a procedure.
Workaround: Declare the robtargets as global or local to a module instead.

Robtarget names must be unique in RAPID even if they are LOCAL

RobotStudio requires that robtarget names are unique for the RAPID synchronization to
work properly, i.e. you cannot have a global robtarget named pMyTarget1 in module A and
a local robtarget with the same name in Module B.

Global robtargets cannot be made local through Synchronization to VC

Global robtargets cannot be changed to local through Synchronization to VC, the option is
disabled (PDD 3140).
Workaround: Change the robtargets to module local in the RAPID Editor and Synchronize
to station.

Error Message: Sync. to Station completed with errors

Error Message: Sync to Station completed with errors: New data <name> <type> has same
name as existing object in same block <routine>.
When this error message appears, there is a storage type mix-up between data already
stored in RS and in the VC. Because of this, and per design, the data is not considered the
same data.
Workaround: 1. Ensure all data declarations have the same definition in RS as in RAPID
(there is no user interface for this).
2. Sync to station should now work.
3. Sync back to controller, and remember to change the data declarations back to what you
want.

6.3.6 Paint

The new conveyor tracking module DSQC2000 is not supported for paint robots.
The new conveyor tracking module DSQC2000 is not supported for paint robots.

Lack of Virtual Controller support for the Paint systems

Paint systems that are configured using the Paint package I/O option Discrete, Compact or
Fieldbus, will result in a SysFail state.
Workaround: Re-create the system with the simulated I/O option.

6.3.7 Graphics and Geometry

*Display of working range optimized for furthest reach

The current algorithm uses a fixed value for joint five which gives the furthest reach for a
given tool. The sweep is not optimized to get the shortest reach on the "inside" of the
working area.

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Enforce selected graphics device for PCs with multiple graphics cards
For best performance when running RobotStudio on a PC with multiple graphics cards,
RobotStudio can be configured to use a specified device. By this option you can ensure
maximum performance. This is useful for e.g. Lenovo W540 that has both an integrated Intel
graphics device and a discrete NVIDIA card.
Open the file RobotStudio.exe.config that is located in the folders
C:\Program Files (x86)\ABB Industrial IT\Robotics IT\RobotStudio x.y\Bin64
and
C:\Program Files (x86)\ABB Industrial IT\Robotics IT\RobotStudio x.y\Bin
and uncomment the line
<add key="GraphicsDeviceType" value="Discrete"/>
Valid values are 'Discrete', 'Integrated' and 'Warp' (software renderer).
Note that there are two different files, one for the 32-bit version, and another for the 64-bit
version.

Problems when undoing Boolean operations on Geometry

Undoing a Boolean operation might not succeed. To recover from these problems, you need
to delete the items that caused the problem.

6.4 ScreenMaker Limitations

Numeric controls and decimal separators

To use numeric controls in ScreenMaker on the PC set the decimal symbol to a single
period ('.'). Other decimal symbols are not supported and binding values will not work in the
Virtual FlexPendant. The behavior on the real FlexPendant is not affected by this PC
setting.

Graphs on secondary screens

To use a Graph on a secondary screen (not the main screen) a custom action is needed.
Otherwise, the Graph will not be updated properly.
In the ScreenForm that contains the Graph add a Load event. In this event add an action
using Add Action->Advanced->Call Custom Action. Select the Graph control and the
UpdateValues action.

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Binding to the Enabled property

Connecting the Enabled property of any control to a BOOL variable or IO signal may not
work as expected. The variable or signal may be inadvertently changed leading to
unexpected behavior.
Instead, bind to a digital output where the Access Level is set to ReadOnly.

A ScreenMaker cannot be deployed a controller with disabled Default User

Workaround: Enable the Default User.

NumEditor in ScreenMaker disables the controls in a group box or panel

If you are using the NumEditor control in a group box or a panel, and that box or panel is
enabled by an input signal, then all other controls of that group or panel will become
disabled if the editor is opened and closed.

Button with multiple states in ScreenMaker app do not update the images if button is disabled
For an app which uses Buttons with multiple states connected to images that change
depending on the value of a RAPID variable, then if the button is disabled, the button shows
the greyed image of the state which was active when the disabled state was shown the first
time.

ScreenMaker fails for RobotWare 5.12

ScreenMaker fails to build applications for RobotWare 5.12.
Workaround: Update to a later RobotWare version.

A ScreenMaker application may fail to build if the DPI setting is not set to 100%
Certain UI controls in ScreenMaker may fail to build correctly if the DPI setting is not set to
‘Smaller – 100%’.
Symptom: The error message caused by this problem will read ‘System.Drawing.Font’
does not contain a constructor that takes 2 arguments.
Workaround: Set DPI to 100% on your PC.

File changes to FlexPendant applications does not load the changes until a FlexPendant reset
With RobotWare 6.0x the controller's restart will no longer reset the FlexPendant memory.
This was part of an effort to improve the restart time of the controller.
This means that after placing a new FlexPendant application file(s) on the FlexPendant unit,
you need to manually reset the FlexPendant for it to reload its assets.

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To manually reset the FlexPendant you need to use the reset button on the FlexPendant's
backside. (See Operating Manual – IRC5 with FlexPendant, 3HAC16590)

Running Routine with Movement

RunRoutine Button control does not always work correct when a routine with movements is
called.
As a workaround use instructions like StopMove, StorePath, RestorePath and StartMove to
control the movements of the robot.
A Trap routine could be called with a normal button control and in the Trap the above
instructions can be used to control the movements of the robot.

PictureBox control as a Widget

If a Picture Box control is created as a widget from a Windows 8 operating system, the
control is not shown on the FlexPendant. The behavior is fine with any other operating
system like Windows 7.

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7 RobotWare Compatibility
7.1 General

Supported RobotWare versions

RobotStudio is distributed with the corresponding version of RobotWare and works with
RobotWare 5.07 and later. Please check details below.

7.2 RobotWare 5.05 and 5.06 Compatibility

RobotWare 5.05 and 5.06 including revisions thereof are not supported by RobotStudio 5.15
and later versions. Please use the corresponding version of RobotStudio for managing robot
controllers with any of these RobotWare versions.

7.3 RobotWare 5.07 Compatibility

RobotWare 5.07 and its revisions of are supported with the following limitations:

General
The location of the program pointer is not updated in the RAPID Editor during program
execution.

Offline
A limitation in the versions 5.07.02, 5.07.03, and, 5.07.04 of RobotWare may cause the
Virtual Controller to System Failure state during I-start on certain computers. The problem is
due to the ctrl.bin-file not being correctly created.
Workaround: Create an empty ctrl.bin file in the INTERNAL folder of the controller system,
and then perform a warm start.

Note

The problem will reappear if the system is I-started.

The virtual controller does not support RobotWare 5.07.08 and RobotWare 5.07.07.

Online
FlexPendant Viewer does not work RobotWare 5.07

7.4 RobotWare 5.08 Compatibility

RobotWare 5.08 and its revisions of are supported with the following limitations:

Offline
RobotWare 5.08 is not supported.
Workaround: Use RobotWare 5.08.01 or later.

7.5 RobotWare 5.10 Compatibility

RobotWare 5.10 and its revisions of are supported with the following limitations:

Offline
Starting a controller will generate internal UAS error in controller error log.

7.6 RobotWare 5.11 Compatibility

RobotWare 5.11 and its revisions of are supported with the following limitations:

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Offline
Linear jogging of a robot across joint values that will cause a change of confdata may fail.
For example, if the robot is jogged linearly when joint values is passing 90 degrees for axis
1 may cause the robot to stop or to change configuration.

7.7 RobotWare 5.12 Compatibility

RobotWare 5.12 and its revisions of are supported with the following limitations:
Paint backups from RW 5.12.01 not compatible with RW 5.12.02 or later
Restoring a paint system backup from RobotWare 5.12.01 will cause SysFail for RobotWare
5.12.02 or later
Workaround: Add the following parameters to the configuration files
EIO.CFG:
EIO_SIGNAL:
-Name "doMainInMC" -SignalType "DO" -Unit "SysComm" -
UnitMap "44"
-Name "A1HVErrNo" -SignalType "GO" -Unit "SysComm" -
UnitMap "150-151"\
-Access "ALL"
-Name "A1HVEn" -SignalType "DO" -Unit "SysComm" -UnitMap
"155"\
-Access "ALL"
EIO_CROSS:
-Res "A1HVEn" -Act1 "HVEnabled"
SYS.CFG:
CAB_TASK_MODULES:
-File "INTERNAL:/pntrapid/T_ROB1/cycinfo.sys" -ModName
"cycinfo"\
-Task "T_ROB1"
-File "INTERNAL:/pntrapid/csvlkup.sys" -ModName
"csvlkup" -AllTask \
-Hidden

7.8 RobotWare 5.13 Compatibility

RobotWare 5.13 and its revisions of are supported with the following limitations:
Paint backups from RW 5.12.02, 5.12.03 or RW 5.13 or 5.13.01 not compatible with RW
5.13.02 or RW 5.13.03
There are several changes in the configuration database for I/O (EIO.CFG) and Controller
(SYS.CFG) that will cause System Failure if an old backup is loaded. There are also
changed in installed RAPID modules. To create a compatible configuration, proceed as
follows:
1. Create and start a VC with a RobotWare 5.13.03 system containing the same
options as your original backup, but do not load the backup.
2. Save the EIO.CFG and SYS.CFG to file.
3. Compare the saved files with the corresponding files of your backup. (You can
use a text file comparison tool for simplification.)

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4. Add your system-specific configuration to the general configuration files saved

from the 5.13.01-system using a text editor.
5. Replace the files of the original backup with the corresponding modified
configuration files.
6. Go through the RAPID modules of the backup and remove the default modules
(i.e. those that are not changed by the user).
7. Load the backup and restart the system. You are done.

7.9 RobotWare 5.15 Compatibility

Signal Analyzer Online

The feature Signal Analyzer Online requires RobotWare 5.15.03 or later.

7.10 RobotWare 6 Compatibility

Overview
RobotWare 6.00 and 6.00.01 systems cannot be directly upgraded to RobotWare 6.01. To
upgrade a system, you need to create backup and migrate it using the tool ‘Migrate Backup
or Folder’, then recreate the system and finally, restore the backup.
For this reason, the functions ‘Unpack&Work’, ‘Go Offline’ and ‘New Solution with Station
and Robot Controller – From backup’ are blocked to prevent upgrade from RobotWare 6.00
or 6.00.01 to RobotWare 6.01.
RobotStudio, however, is compatible with both RobotWare 6.00 / 6.00.01 and 6.01.

7.11 General Compatibility Limitations

Safety Configuration
Safety configuration of a track motion IRC5 system equipped with a safety controller of type
EPS or SafeMove can be done without the need to read track motion parameters manually
when using RobotWare 5.11.01 or later. Encrypted parameters needed by the safety
controller will be automatically read by EPS Wizard and SafeMove Configurator,
respectively.

Configurations
The feature Configurations for selecting the robot arm configuration (confdata) may fail,
or not present all solutions, in some specific circumstances even when the target is
reachable if RobotWare 5.14 or earlier is used.
Workaround: Upgrade to RW5.14.01 or later

7.12 ScreenMaker Compatibility

RobotWare
It is possible to use previous RobotWare versions, but with some limitations.
• ActionTrigger will work only on RobotWare 5.12.02 or later.
• The controls Button, TpsLabel and PictureBox controls was modified in
RobotStudio 5.13. The property ‘Allow MultipleStates’ of these controls can be
accessed from RobotWare 5.13 and later.
• Variant Button will work only on RobotWare 5.14.01 or later
• Conditional Trigger will work only on RobotWare 5.14.01 or later
• Widgets will work only on RobotWare 5.60 or later.

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FlexPendant SDK
ScreenMaker should be used with FlexPendant SDK 5.12.02 or later. ScreenMaker allows
selection of FlexPendant SDK version when it is launched. If only one version of
FlexPendant SDK is available in the system, it is loaded by default.

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