Rob Inst
Rob Inst
Rob Inst
3 Controller software
3.1 Introduction
The robot controller includes a working memory (RAM) and a mass storage memory.
The mass storage memory is a semiconductor memory (flash disk), but works like a
hard disk. When the robot controller is up and running, the operating system and all
programs are executed in the working memory. However, all code for the operating
system and all relevant data, are always stored in the storage memory. This means
that, e.g. when the power is broken, all system data is stored in the storage memory,
and when repowering the system, all the code and data is restored from the storage
memory to the working memory and the system is restarted. In this case the system
status and all data are restored to exactly the same values as before the power break.
This is normally referred to as a warm start.
When a robot controller is started for the first time, a so called cold start must be
implemented. This requires that the code for the operating system is already installed
in the storage memory (see below), and if so it is loaded into the working memory and
started. In this case the system will enter a defined start-up status.
Note! Both warm and cold starts can also be done as a manual restart. For more infor-
mation on Controller Start-up and Set-up, see chapter 4.
If the robot controller is ordered with the software installed on delivery, the controller
software and settings are already stored in the storage memory and the system is ready
to use.
If the robot controller is ordered and delivered without software or if you want to
reconfigure your system, the RobInstall tool must be used to install the controller
software. The RobInstall tool is included on the RobotWare CD-ROM (see
section 3.1.1). The RobInstall tool can be used both for creation of the controller
software and for downloading it to the controller system.
When downloading, the controller software can be transferred to the controller storage
memory in three ways (see Figure 41):
- using floppy disks,
- using Ethernet connected direct to the IO computer (IOC) service outlet on the
front of the controller cubicle,
- using Ethernet connected via a local area network (LAN) to the main computer
(MC).
RobotWare CD-ROM
To install RobInstall and
System Pack on PC
Floppy disks
IOC-Ethernet (Service)
with delivered boot cable UTP-X
Connected to IOC
MC-Ethernet (LAN)
Network in workshop
Figure 41 RobotWare CD-ROM installation on PC and Controller Software installation to the robot controller.
The transfer and installation of the controller software to the controller storage
memory via Ethernet or floppy disks is executed by a basic program named Boot
Image.
This basic program must always be in the storage memory. At start-up of the
controller, without any controller software installed, Boot Image will start and ask the
operator how the controller software should be installed.
If the controller software is already installed and a warm start is done, Boot Image is
not used.
The installed controller software can be deleted by cold start and then the Boot Image
will be active again.
Note! The CD contains all the System software and should therefore be treated and
stored carefully.
Note! ABB takes no responsibility for the installation or use of Voyager FTP client.
Please refer the vendor of this product for all questions regarding the Voyager
application.
The FTP client is used to transport files manually between the PC and the robot
controller storage memory. These actions are carried out in the same way as in a file
manager or in Windows Explorer.
&UHDWHDQHZ5RERW&RQWUROOHU6\VWHP
Start RobInstall as described in section 3.2.1.
6HWWLQJXSWKHV\VWHP
1. Choose 1HZ to create a new Robot
Controller system
)LJXUH &UHDWHDQHZV\VWHP
2. Enter a name for the new controller system.
The recommended max length for the
System name is 16 characters. That secures 1
full support in the File manager. The File
Manager can only display files and
directories which has a name length of
maximum 16 carachters. 2
)LJXUH 'LVSOD\RIFRQILJXUHGV\VWHP
stored in the media pool (see section 6.1) will be used. If an earlier revision should
be used, uncheck the check mark and press Rev. Select (see Figure 48,
position 2). In the new window select the system package to use and press OK.
4. If you want the system to start up in query mode, put a mark in the query mode
selection square. For further details of the query mode, see section 4.8.
5. Press Finish to create the controller system or press Next to view the
current configuration.
IP Address: 192.168.125.82
Subnet Mask: 255.255.255.240
Default Gateway: 192.168.125.81
Table 38 The TCP/IP properties for direct con-
nection between PC and IOC service
outlet
Before starting to download, make sure there is at least 25 Mb free disk space on
the controller mass storage memory. For information on how to perform a manual
storage capacity check, see section 6.3.1.
Note! Before downloading, make sure that the robot controller displays the
Start Window on the Teach Pendant Unit (see section 4.2).
Before starting to transfer the system from the disks to the controller, make sure
there is at least 25 Mb free disk space on the controller mass storage memory. For
information on how to perform a manual storage capacity check, see section 6.3.1.
4 Robot Controller
4.1 BootImage
The BootImage is a basic program which is used to start up the system from “scratch”.
This program is already installed in the controller at delivery and is used to:
- restart the system
- load the system from boot disks or network connections
- set or check network settings
- choose a system from the mass storage memory.
4.3 Reboot
The Reboot window will be displayed if any
of the system settings are changed or when
Reboot is pressed in the Start window
(Figure 59).
YES Restarts the system.
NO Returns to the start window.
LAN Settings
Node Identification
MAC ID The Main Computer’s ethernet
address.
Current IP The Main Computer’s current IP Figure 63 LAN Settings window
address. This row is blank if the
LAN Settings has not been defined.
Network Settings
IP Space for typing a new IP address,
for the Main Computer or the DHCP
server. See Configure for fixed IP
network and for DHCP distributed
IP network, below.
Table 39 Explanation of the terms in the LAN Settings window
LAN Settings
(Subnet mask) Shows the subnet mask of the net-
work. Only visible when configured
for fixed IP.
(Gateway) Shows the gateway IP for the net-
work.
Only visible when configured for
fixed IP.
Table 39 Explanation of the terms in the LAN Settings window
Service Settings
Figure 64 Service Settings window
IP The IP Address for the I/O Computer
Required RobInstall PC settings
IP These values are required to config-
ure your PC’s network settings for
Subnet mask communication between RobInstall
Gateway and the I/O Computer.
Note! Use C-start with caution. Since it deletes the current system, it should not be used
to just switch between installed systems. For this purpose, use X-Start (see
section 4.7.3).
It will take quite some time to implement a Cold start. Just wait until the robot shows
the Start window. When the Start window is shown, a new system can be selected if
available in the mass storage memory (see section 4.6) or a new system can be down
loaded and started (see section 3.5 and 3.6).
4. Select xxxx model. Choose Robot model type within in the same family, e.g. 1400,
6400 etc. If there are more than three options, press SCAN to view them.
5. Only valid for 6400R!
Select bal.B or standard. If the Robot family is 6400R and you choose 2.5-
120, 2.5-150, 2.5-200, or 2.8-150, you will be asked what type of
balancing units that are used. You can find the identification on a label, attached to
the top of the balancing units. Select either bal.B or standard.
6. Install xxx? See section 4.8.1, step 3.
5 Calibration
Key.id is a file, which is created by RobInstall from the key strings, that specifies the
options to be installed from the System Pack and the external option programs to be
installed.
The latest revision of the System Pack and external option programs will be selected
as default, if not deselected in RobInstall (see section 3.3.4).
When creating a new system to download to the controller via Ethernet or to transfer
to a set of diskettes, the selected System Pack and External Option Programs are
copied from the media pool and concatenated into one file that also holds the key.id
and the syspar directory. This target file is temporarily stored in the system directory
before download or creating diskettes.
Note! Never delete or change the \bin or BootRom.sys directories in the root directory.
If this is the case, the controller cannot be restarted and the mass storage memory
will be impossible to use.
There should always be at least 25 Mb free disk space on the controller mass stor-
age memory before attempting to download a new system. For information on
how to increase storage capacity, see section 6.3.1.
Note! Removing systems using the FileManager or FTP-client can be hazardous because
the \bin and BootRom.sys directories the must be kept intact.