Release Notes

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ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 1/124 Author, telephone Anders Trillkott, +46 21 344888 Table of Content GENERAL ............................................................................................................................................................. 4 How to Migrate an Application from RW 4.0.100 to RW 5.15 .......................................................................... 4 How to Migrate DriveSystem 04 To 09 ............................................................................................................. 4 How to Upgrade to RobotWare 5.15 ................................................................................................................. 5 Downgrading from RobotWare 5.15 ................................................................................................................. 5 Incompatibilities ............................................................................................................................................... 6 RELEASE INFORMATION................................................................................................................................... 18 Release Name ................................................................................................................................................. 18 Release Date ................................................................................................................................................... 18 Ordering number............................................................................................................................................. 18 ROBOTWARE ..................................................................................................................................................... 19 Controller Hardware Support ......................................................................................................................... 19 Restrictions in Controller Hardware Support ................................................................................................ 19 Changed Controller Hardware Support ......................................................................................................... 19 Supported Robot Models................................................................................................................................ 20 Language Support .......................................................................................................................................... 21 Documentation................................................................................................................................................ 21 New Functionality RW 5.15............................................................................................................................. 22 New Functionality RW 5.15.00.01 ................................................................................................................... 26 New Functionality RW 5.15.01 ........................................................................................................................ 27 New Functionality RW 5.15.03 ........................................................................................................................ 30 New Functionality RW 5.15.04 ........................................................................................................................ 32 New Functionality RW 5.15.06 ........................................................................................................................ 33 New Functionality RW 5.15.07 ........................................................................................................................ 34 New Functionality RW 5.15.08 ........................................................................................................................ 35 New Functionality RW 5.15.09 ........................................................................................................................ 36 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 2/124 Author, telephone Anders Trillkott, +46 21 344888 New Functionality RW 5.15.11 ........................................................................................................................ 37 New Functionality RW 5.15.14 ........................................................................................................................ 38 Improvements RW 5.15................................................................................................................................... 39 Improvements RW 5.15.01 .............................................................................................................................. 45 Improvements RW 5.15.02 .............................................................................................................................. 49 Improvements RW 5.15.03 .............................................................................................................................. 50 Improvements RW 5.15.06 .............................................................................................................................. 52 Improvements RW 5.15.07 .............................................................................................................................. 54 Improvements RW 5.15.08 .............................................................................................................................. 55 Improvements RW 5.15.09 .............................................................................................................................. 56 Improvements RW 5.15.10 .............................................................................................................................. 57 Improvements RW 5.15.11 .............................................................................................................................. 58 Improvements RW 5.15.12 .............................................................................................................................. 58 Improvements RW 5.15.14 .............................................................................................................................. 59 Information/Corrections RW 5.15 ................................................................................................................... 60 Information/Corrections RW 5.15.00.01 ......................................................................................................... 71 Information/Corrections RW 5.15.01 .............................................................................................................. 72 Information/Corrections RW 5.15.02 .............................................................................................................. 82 Information/Corrections RW 5.15.03 .............................................................................................................. 83 Information/Corrections RW 5.15.04 .............................................................................................................. 88 Information/Corrections RW 5.15.05 .............................................................................................................. 89 Information/Corrections RW 5.15.06 .............................................................................................................. 90 Information/Corrections RW 5.15.07 .............................................................................................................. 94 Information/Corrections RW 5.15.07.01 ......................................................................................................... 95 Information/Corrections RW 5.15.08 .............................................................................................................. 96 Information/Corrections RW 5.15.09 .............................................................................................................. 99 Information/Corrections RW 5.15.10 ............................................................................................................ 102 Information/Corrections RW 5.15.11 ............................................................................................................ 104 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 3/124 Author, telephone Anders Trillkott, +46 21 344888 Information/Corrections RW 5.15.12 ............................................................................................................ 105 Information/Corrections RW 5.15.13 ............................................................................................................ 106 Information/Corrections RW 5.15.14 ............................................................................................................ 107 Product Defect Document RW 5.15 PDD .......................................................................................... 109 Product Defect Document RW 5.15.00.01 PDD .......................................................................................... 111 Product Defect Document RW 5.15.01 PDD .......................................................................................... 112 Product Defect Document RW 5.15.02 PDD .......................................................................................... 114 Product Defect Document RW 5.15.03 PDD .......................................................................................... 115 Product Defect Document RW 5.15.04 PDD .......................................................................................... 116 Product Defect Document RW 5.15.06 PDD .......................................................................................... 117 Product Defect Document RW 5.15.07 PDD .......................................................................................... 118 Product Defect Document RW 5.15.07.01 PDD .......................................................................................... 119 Product Defect Document RW 5.15.08 PDD .......................................................................................... 120 Product Defect Document RW 5.15.09 PDD .......................................................................................... 121 Product Defect Document RW 5.15.10 PDD .......................................................................................... 122 Product Defect Document RW 5.15.11 PDD .......................................................................................... 123 Product Defect Document RW 5.15.12 PDD .......................................................................................... 123 Product Defect Document RW 5.15.13 PDD .......................................................................................... 123 Product Defect Document RW 5.15.14 PDD .......................................................................................... 124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 4/124 Author, telephone Anders Trillkott, +46 21 344888 General How to Migrate an Application from RW 4.0.100 to RW 5.15 The changes in RAPID functionality (from RW 4.0.100 to RW 5.05) are described in “Migration Guide from RW 4.0.xx to RW 5.05” (RP5.05-06 - 102). The changes in RAPID functionality (from RW 5.05 to RW 5.10) are described in “Migration Guide from RW 5.05 to RW 5.10” (RP5.10 – 053). The changes in RAPID functionality from RW 5.10 to RW 5.15 are described in “Migration Guide from RW 5.10 to RW 5.15” (RP RW-019 / A1.1). The main part of the system parameters (configuration parameters, CFG) remains identical in RW 5.15. There are four documents that describe the necessary actions to migrate an application: a) “Migration Guide from RW 4.0.xx to RW 5.05” (RP5.05-06 - 102) describes how to convert an RW 4.0.100 application to make it run on RW 5.05. It also describes all changes in system parameters. b) “Conversion guide Additional axis parameters from RW 4.0.100 to RW 5.05” (RP5.05-06 – 111) describes how to convert the additional axis CFG parameters from RW 4.0.100 to RW 5.05. c) “Migration Guide from RW 5.05 – RW5.10” (RP5.10 – 053). describes how to upgrade the controller from RW 5.05 to RW 5.10. The description is concentrated on how to move an application from RW 5.05 to run on RW 5.10. d) “Migration Guide from RW 5.10 – RW 5.15” (RP RW-019 / A1.1) describes how to upgrade the controller from RW 5.10 to RW 5.15. The description is concentrated on how to move an application from RW 5.10 to run on RW 5.15. All four documents are available at ABB Library or from “Product Support” page: Link The Arc welding data in a backup taken on RW 5.05 (or earlier versions) must be converted with a conversion tool before the backup is restored on a RW 5.15 system. The conversion tool is included on the RobotWare 5.15 DVD. How to Migrate DriveSystem 04 To 09 Limitations: Backups taken on a System containing Drive System ‘04 are not compatible with a System containing Drive System ‘09 when additional axis is used. Backups taken on a System containing Drive System ‘09 are not compatible with a System containing Drive System ‘04 when additional axis is used. Technote_091105_Migration Guide DriveSystem_04_To_09 found on ABB Library describes how to solve above limitation. Link ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 5/124 Author, telephone Anders Trillkott, +46 21 344888 How to Upgrade to RobotWare 5.15 It is possible to upgrade to RobotWare 5.15 from the following versions: · RobotWare 5.05 (or later revisions) · RobotWare 5.06 (or later revisions) · RobotWare 5.07 (or later revisions) · RobotWare 5.08 (or later revisions) · RobotWare 5.09 (or later revisions) · RobotWare 5.10 (or later revisions) · RobotWare 5.11 (or later revisions) · RobotWare 5.12 (or later revisions) · RobotWare 5.13 (or later revisions) · RobotWare 5.14 (or later revisions) You can find a detailed description of how to upgrade the controller system from RobotWare 5.05 to RobotWare 5.11.xx in the document “Migration Guide RW 5.05 – RW 5.06 – RW 5.08 – RW 5.09 – RW 5.10” (RP5.10 - 053) – RW5.14 (RP5.14-043) Important note: When you install RobotWare 5.14: You will be asked if the installation program also shall install a newer version of Microsoft .NET framework. You must answer “Yes” (“OK”) to this question – RobotStudio 5.14 requires the new .NET version. Downgrading from RobotWare 5.15 It is possible to downgrade the installation from RobotWare 5.15. The firmware in the electronic units will be downgraded when you cold start the controller with the downgraded system. Important note: The firmware downgrading will take a long time: => From RW => From RW => From RW => From RW => From RW => From RW => From RW => From RW => From RW => From RW 5.15 to RW 5.15 to RW 5.15 to RW 5.15 to RW 5.15 to RW 5.15 to RW 5.15 to RW 5.15 to RW 5.15 to RW 5.15 to RW 5.14 will take over 5.13 will take over 5.12 will take over 5.11 will take over 5.10 will take over 5.09 will take over 5.08 will take over 5.07 will take over 5.06 will take over 5.05 will take over 10 minutes. 10 minutes. 10 minutes. 10 minutes. 10 minutes. 15 minutes. 20 minutes. 25 minutes. 30 minutes. 40 minutes. The controller (and FlexPendant) will restart several times during the downgrading time. à Do not switch off the power to the controller – this will leave the firmware in an undefined state (halfway downgraded). à Do not manually restart the controller during the downgrading. It is strongly recommended that you do not downgrade the RobotStudio (limited) version from 5.15. RobotStudio 5.15 (limited version for online work) can be used with all previous RobotWare 5.xx versions (backwards compatible). RobotStudio can as well be run side by side with older versions of RSO. There are no known problems to downgrade from RobotWare 5.15 to the listed RobotWare versions. If your robot is shipped with a 5.15 key then it’s not possible to downgrade the RobotWare due to the fact that the keys are only upwards compatible. Contact AfterSales (Part Support) via Robdesk for new key. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 6/124 Author, telephone Anders Trillkott, +46 21 344888 Incompatibilities Incompatibilities between RobotWare 5.05 and RobotWare 5.06 · RobotWare Arc programs Use a conversion tool (supplied on the RobotWare CD) to convert the backup taken in RW 5.05 before it is restored into RW 5.06. · Dispense I/O configuration and system module DPUSER is changed Restore, and manually load the new DPUSER module. Manually add user changes to DPUSER module. · OPC server – changed text string handling Removed quotation marks (“”) when writing to RAPID strings through the OPC server – the old version was not OPC compliant. · “Additional option” package with Positioners and/or Track motion must be converted Incompatibilities between RobotWare 5.06 and RobotWare 5.07 · Changes in PROC configuration syntax for Arc welding Production Monitor Modify the 5.05 PROC.CFG file before loading it into RW 5.07. · CAP (Continuous process Application Platform) has moved components and changed instructions Modify the RAPID program (that uses CAP) with the changed components and instructions. · Export of Service Information System (SIS) data through RAPID variables is removed The RAPID variables for export of SIS data are removed from the service routine, and cannot be used in RW 5.07. · Limitations for RAPID instruction TPShow The RAPID instruction TPShow works only with the argument TP_LATEST. The other arguments (TP_PROGRAM or TP_SCREENVIEWER) only results in a warning in the event log. · Changed system configuration for single robot Spot system The user modules are visible in the SYS.CFG in RW 5.07. Merge the 5.05 configuration (from the 5.05 SYS.CFG) into the 5.07 SYS.CFG. Incompatibilities between RobotWare 5.07 and RobotWare 5.08 · The Safety controller EPS (Electronic Position Switches) wizard for RW 5.07 cannot be used for RW 5.08. The wizard is an Add-in to RS Online. - Use RSO 5.07 and EPS wizard 5.07 to configure RW 5.07 Safety controller - Use RSO 5.08 and EPS wizard 5.08 to configure RW 5.08 Safety controller. Note: The EPS wizard 5.08 cannot be used with the RW 5.07 Safety controller. The incompatibility is caused by different Windows .Net versions. · Backup/restore of I/O configuration file for Spot MMI If the default names of the I/O signals (for Spot welding option) have been changed (e.g. g1_start_weld), the MMI has to be reconfigured in order to show the correct signal names on the FlexPendant. The configuration file has been changed (and renamed) in RobotWare 5.08. The configuration file will not be stored in the backup – when you install a new system, the configuration file must be replaced manually. · Changed default setting for PickMaster systems The I/O unit DSQC328A has been replaced with the new unit DSQC652. The option “Prepared for PickMaster” is prepared with a configuration file that uses the unit DSQC652 (in RobotWare 5.08 systems). This configuration file must be modified if the controller is equipped with the old DSQC328A I/O board. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 7/124 Author, telephone Anders Trillkott, +46 21 344888 · Spot MMI application configuration file is changed The configuration file for the Spot MMI application has been changed, both name and content is changed. The configuration file name is changed from TpsViewSpotApp.config to SpotSystem.xml. · Configuration file for Spot options has been changed from RW 5.07 to RW 5.08 If you want to restore a backup from a previous release (RW 5.07) into a RW 5.08 system, you must modify the system configuration file for the Spot options if the backup was taken on Spot/Spot servo single gun system.. If the backup is taken from a Spot/Spot servo multi gun system, you do not need to make any changes in the backup. · Limitation for WriteAnyBin – ReadAnyBin functions in RAPID The instructions WriteAnyBin – ReadAnyBin is designed to only send internal controller data between IRC5 control systems. No data protocol is released and the data cannot be interpreted on any PC. It is not possible to use WriteAnyBin – ReadAnyBin between different software versions: - Version 0 for IRC5 controller was used up to and including RW 5.07. - Version 1 for IRC5 controller is used from RW 5.08 and later releases. · The number of data fields in the Seam Results WebWare database table has increased for RW 5.08. The Seam Results WebWare database table created with RW 5.07 must be removed and re-created with the PM_CreateAllDB utility. If multiple controllers are writing to the same Seam Results database, they must all be upgraded to RW 5.08. · Option Force Control has been adapted to MultiMove systems The name for the PMC sensor setup has been changed to make it possible to setup 4 sensors (one for each robot). The name of the sensor setup (“ATI_ACROMAG”) in the backup must be manually changed (to “ATI_ACROMAG1”). · Incompatibility for recompiled FlexPendant SDK applications RW 5.08 includes a Compliance tool for converting SDK applications from RW 5.07 to RW 5.08. A problem correction in the tool resulted in a change of an internal parameter name that is stored in a configuration file – and thereby included in the backup (from RW 5.07). The settings for the views “Additional Test View” and “View on Operation Mode Change” must be manually updated in order to make the work again. · All applications that have been built with the FlexPendant SDK 5.07 and the PC SDK 5.07 must be recompiled using the FlexPendant SDK 5.08 and the PC SDK 5.08 tools. The reason is that the new SDK product uses a new Microsoft .NET version. · All applications that have been built with the Robot Application Builder (RAB) 5.07 must be recompiled using the RAB 5.08. The reason is that the new RAB product uses new Microsoft .NET components. · The function “Plastics Mould” (that was included in RobotWare 5.07) does not work in RobotWare 5.08 (and has been excluded from RobotWare 5.08). The function is planned to be included in RobotWare 5.08.01. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 8/124 Author, telephone Anders Trillkott, +46 21 344888 Incompatibilities between RobotWare 5.08 and RobotWare 5.09 · The PickMaster 5.0 product has introduced an incompatibility if you are trying to use a backup from an earlier release in RobotWare 5.09. The size of an array (NonCnvWOData) has been increased from 8 to 25 elements. The array is located in module ppaUser.sys. A workaround method is to initialize 17 more elements. Incompatibilities between RobotWare 5.09 and RobotWare 5.10 · If you upgrade the controller software to RobotWare 5.10 on an IRB 6620 system, the robot will get a slightly changed robot path. The changed robot path means that the robot must be commissioned again after the upgrade, and not only started. The path has been slightly changed in the corner zones (zone points). The changed path is due to a new interpolator. Incompatibilities between RobotWare 5.10 and RobotWare 5.11 · EtherNet/IP Fieldbus Adapter, predefined CFG name ENIP_SLAVE_FA is changed to EN_SLAVE_FA. If you are using a backup from earlier RobotWare to upgrade the system (and the system includes the Ethernet Fieldbus Adapter), you must manually change the CFG name for the adapter (in the CFG database) · In RobotWare 5.11, the option 876-1 Weld Data Monitoring is automatically included with the option 659-1 Production Monitoring. If you upgrade a RobotWare 5.10 system that includes Production Monitoring (in the license key), the RobotWare 5.11 system will display some configuration warnings (e-log 110470) when the 5.10 backup is being restored. The warnings will not cause any problems, and can be removed by loading a valid Weld Data Monitoring PROC configuration to the controller. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 9/124 Author, telephone Anders Trillkott, +46 21 344888 Incompatibilities between RobotWare 5.11 and RobotWare 5.12 · StorePath required in ERROR handlers and TRAP routines New restrictions have been added when executing movement instructions in error handlers and TRAP routines. As described in user’s manual (Programming type examples in RAPID manual), StorePath should be used if executing movement instructions in trap routines and error handlers. From RW5.12 a warning will be generated if there is no StorePath. In a future releases the warning will be changed to a stopping error. Example: ERROR IF ERRNO = AW_WELD_ERR THEN ! Current movement on motion base path level ! is already stopped. ! New motion path level for new movements in the ERROR handler StorePath; ! Store current position from motion base path level stop_pos := CRobT(\Tool:=tool1, \WObj:=wobj1); ! Do the work to fix the problem MoveJ service_pos, v50, fine, tool1, \WObj:=wobj1; ... ! Move back to the position on the motion base path level Move stop_pos, v50, fine, tool1, \WObj:=wobj1; ! Go back to motion base path level RestoPath; ! Restart the stopped movements on motion base path level, ! restart the process and retry program execution StartMoveRetry; ENDIF · New arguments on function FSSize, and changed behaviour FSSize (File System Size) is used to retrieve the size of the file system in which a specified file resides. This function was developed many years ago, and the choice to return the value in bytes is no longer relevant. If using a USB memory with 8 Gb memory, and check how much memory that is left, a negative value can be received (before RW5.12). Now, in RW5.12, the instruction has changed some in behaviour. The new syntax is: FSSize’(’ [ Name ’:=’ ] < expression (IN) of string> [ ´\´Total ] | [ ´\´Free ] [ ´\´Kbyte ] [ ´\´Mbyte ]’)’ The Kbyte and Mbyte switches are new arguments. The function still returns the number of bytes if none of the switches \Kbyte or \Mbyte is used. But, if the size exceeds 8388608, a recoverable error is generated. ERR_FILESIZE is explained below. ERR_FILESIZE - The size exceeds the max integer value for a num, 8388608. If the Kbyte switch is used, the function returns the value in Kbyte instead of bytes, i.e. the byte value is divided with 1024. If the Mbyte switch is used, the function returns the value in Mbyte instead of bytes, i.e. the byte value is divided with 1024*1024. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 10/124 Author, telephone Anders Trillkott, +46 21 344888 · Changes in PickMaster installation An old backup works with this release but to use the new functionalities and improvements some changes must be made to an existing system. There have also been some cleanups of not used RAPID modules and configurations. Removed files: - Conveyer dependent files have been removed New file: - pmrcSys.sys, contains RAPID data and routines that is moved and renamed from pmrcUser.sys Modified RobotWare files: - PmProjMgr.mod, corrected spelling of routines, added a WaitDI in main when project is not found, added an elog message when no task is found in LoadAllModulesInTask, removed setting of PM_PROJECT_STATUS in TrapProjectStopped. - PmProjServer.mod, added IO support for error recovery, added new RAPID error recover for starting flow in error state. - pmrcsim.cfg, added signals pmEvent_diTrigger, pmEvent_giErrorSource, pmEvent_giMessage, pmFlow_diRecover, pmFlow_giRecoverAction and pmFlow_giWaRecoverSelection - pmrcsyspub.cfg, moved all RAPID event routines to internal installation - pmrcUser.sys, moved most RAPID data and routines to pmrcSys.sys, renamed all symbols so it is possible restore an old backup. Modified PickMaster5 PC RAPID modules: - PmMain.mod, added global safety height distance for intermediate positions and set it to 100, changed incompatible RAPID routine calls to MoveInterMid, DoAction and SetLastPos in Operate. - PmUtility.mod, renamed and moved LastRobTgt, LastWobj and LastTool to pmrcSys.sys, MoveHomePos is calling MoveInterMid, the arguments to SetLastPos and MoveInterMid has changed, MoveInterMid is using a new safe min z calculation with three intermediate positions, improved error handling in PmCalcIntermid · PM 3: StorePath required in ERROR handlers and TRAP routines StorePath and RestoPath must be added in RAPID error handlers and traps with movement instructions due to changes in RAPID kernel. The changes are delivered with next release of PickMaster3 but that release date is later than RW5.12. These changes are also necessary to do for all systems that upgrades from previous RobotWare releases. The main routine in PMppa140_IRC5.prg and PMppa360_IRC5.prg must be modified with following code: PROC main() UnCoordinated; InitSafeStop; InitSpeed; WaitForExeOrder; %RoutineName%; ERROR (PPA_RESTART) IF (ERRNO = PPA_RESTART) THEN ClearPath; StorePath; GotoRestartPos; RestoPath; RETRY; ENDIF ENDPROC The SafeStopTrap trap in PMppa140_IRC5.prg and PMppa360_IRC5.prg must be modified with following code: ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 11/124 Author, telephone Anders Trillkott, +46 21 344888 TRAP SafeStopTrap IF (ForceStopProcess = TRUE) THEN ForceStopProcess:=FALSE; ClearPath; StorePath; SafeStop; RestoPath; ENDIF ENDTRAP · Ethernet/IP Master/Slave The unit type for the EtherNet/IP Fieldbus Adapter must have the internal slave parameter set to true. Otherwise an internal error will appear and no contact will be established. · RRI: Angles RX and RZ for Cartesian positions are interchange (DSE8588) The rotational part of the frame in Euler angles are now presented in degrees instead of in radians as before. · Force control options merged The RAPID part of RW Machining FC and RW Assembly FC is now merged into a new option Force Control Base 661-2. Force Control Base includes all the RAPID instructions, functions, and datatypes from both the old options. The RW Machining GUI option (option 877-1) is the graphical interface part of the old RW Machining FC with additional option. This can still be ordered through “FlexFinishing” option from ATABB (ABB Austria). ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 12/124 Author, telephone Anders Trillkott, +46 21 344888 Incompatibilities between RobotWare 5.12 and RobotWare 5.13 • Backups taken on a system with Drive System 2004 are not compatible with a System with Drive System 2009 when additional axis is included. • Backups taken on a system with Drive System 2009 are not compatible with a System with Drive System 2009 when additional axis is included. · PROFINET internal slave configuration with firmware V2.4 If the PROFINET Master/Slave option using DSQC 678 (alias CP1616) is upgraded to firmware V2.4 using the new Robotware upgrade function, the internal slave slot configuration is a bit different. The input / output size set to 8 bytes will in this case result in an 8 byte slot and a 32 byte size will result in a 32 byte slot configuration. Refer to the application manual for more information. · RS5.13RC3: More detail required for Profinet M/S incompatibility (DSE9845) PROFINET internal slave configuration with DSQC 678 firmware V2.4 With Robotware 5.13 the PROFINET M/S option using DSQC 678 can be used with two different firmware versions on the DSQC 678 board. Firmware V2.2 (same as used with Robotware 5.12), is the default selection in Robotware 5.13. If the user decides to upgrade the firmware on the DSQC 678 board to V2.4 (available in Robotware 5.13 thru the firmware upgrade function), the internal PROFINET slave device is configured slightly different. This difference causes the pervious working connection against a PLC (using Robotware 5.12 or a Robotware 5.13 with firmware version V2.2) to stop working unless the PLC is reconfigured to reflect the changed slot configuration with firmware V2.4. This problem only occur if a user using Robotware 5.12 has configured the IRC5 internal PROFINET slave with input and / or output sizes 8 or 32 bytes. Using firmware version V2.2 an input / output size of: 8 Bytes resulted in the following Slot configuration in the PLC project: Slot 1: 4 Bytes Slot 2: 4 Bytes 32 Bytes: Slot 1: 16 Bytes Slot 2: 16 Bytes Using firmware version V2.4 an input / output size of: 8 Bytes now results in the following Slot configuration in the PLC project: Slot 1: 8 Bytes 32 Bytes: Slot 1: 32 Bytes All other sizes are the same in both firmware V2.2 and firmware V2.4. Remember that it is always possible the view the IRC5 internal PROFINET slave device Slot configuration using the ‘System info’ view. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 13/124 Author, telephone Anders Trillkott, +46 21 344888 · PM: New work object drop distance When upgrading to 5.13, the conveyor drop distance will be changed. Most conveyors work areas will get a drop distance of 20 meters which is the default value of the system parameter PROC->CONVEYOR->max_dist which from this release will define the minimum drop distance. This will cause most applications using the QuickAck functionality not to work properly. The QuickAck functionality is implemented in the rapid module PPAUTILITIES. This module is not a part of the PickMaster product offer but it is widely used and a version of it can be found in the PickMaster 3 Forum. One of the following actions is required if the application is using QuickAck: 1) Set the drop distance to 2 meters by setting the system parameter PROC->CONVEYOR>max_dist to 2000 (mm). This will restore the old control behaviour of the drop distance. 2) Update the PPAUTILITIES module to automatically work with Rw5.13. A new version is expected to be published on the PickMaster forum. · PM: pm_eventdata A new component, ATime, has been added to the rapid datatype pm_eventdata which is included with the option Prepared for PickMaster 5. Customer backups from older releases having the Prepared for PickMaster option and containing PERS declarations of pm_eventdata will not be compatible without manual modification. Note: the standard rapid templates used with PickMaster do not contain such data. Example: PERS pm_eventdata pm_eventdata1:=[0,0,0,0,"goSignal",24,24]; must be converted to: PERS pm_eventdata pm_eventdata1:=[0,0,0,0,"goSignal",0,24,24]; where the new component ATime is set to 0. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 14/124 Author, telephone Anders Trillkott, +46 21 344888 · New IRC5 Drive System With RW 5.13, Drive System 09 will introduce the Additional Rectifier Unit, ARU-430A and the Main Drive Unit MDU-430A for the “Low voltage” robot range (IRB 120 – 1600, 260 – 3x0). The MDU-430A is a smaller drive unit than the MDU-790A and hence needs the additional rectifier, ARU-430A, in order to supply up to 3 ADU-790A with enough DC-power. This is in contrast to the MDU-790A, which has enough DC-power to drive 3 ADU-790A by itself. This means that there will be 2 rectifiers in the “low-voltage” Drive System 09 configuration which will affect the additional axis configuration, for Drive System 09. In the “DRIVE_SYSTEM:” part of the additional axis configuration the “–use_dc_link” parameter needs to be changed from “dc_link_dm” (where ” is the drive module number) to “dc_link_ext_dm”, example: # DRIVE_SYSTEM - ? DRIVE_SYSTEM: # -name "M7DM1" -use_current_transfer_function "cur_tr_1.00" \ -use_current_controller "c_c_slow_1" -use_mains "mains" \ -use_trafo "trafo_dm1" -use_dc_link "dc_link_ext_dm1" -use_drive_unit "M7DM1" \ -use_cable "cable_4.5_30" -use_motor "M7DM1" -use_thermal_duty_cycle "M7DM1" \ -use_stress_duty_cycle "M7DM1" This will work for both a “high voltage” system using MDU-790A and a “low voltage” system using MDU430A. For MDU-790A both “dc_link_dm” and “dc_link_ext_dm” will be valid configuration parameters, and will internally point to the same rectifier. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 15/124 Author, telephone Anders Trillkott, +46 21 344888 Incompatibilities between RobotWare 5.13 and RobotWare 5.14 · PM3: Persistents and constants of itmtgt Old rapid program having constants or persistent declarations of the data type itmtgt must be modified to be used with Rw5.14 since the data structure has been extended with new components: val1, val2, val3, val4 and val5. E.g. Old definition: VAR itmtgt PickTarget:=[0,0,0,[[0,0,0],[0,-1,0,0],[0,0,0,0],[0,0,0,0,0,0]]]; New definition: VAR itmtgt PickTarget:=[0,0,0,-1,-1,-1,-1,-1[[0,0,0],[0,-1,0,0],[0,0,0,0],[0,0,0,0,0,0]]]; The RAPID templates PMppa360_IRC5.prg and PMppa140_IRC5.prg have been slightly updated to handle this incompatibility. The new RAPID templates are backward compatible. Incompatibilities between RobotWare 5.14 and RobotWare 5.15 · PM5: Operation Set Complete signal The operation set complete signal is now set after the robot has departed from the pick/place position, at the last depart action. Previously the signal was set at the pick/place position. The update applies to both outfeeders and infeeders. The update will apply if a robot system configured with PickMaster 5 or Palletizing PowerPac is upgraded to 5.15. The signal is reset when target generation is received. The signal will not reset until one complete pulse length has elapsed. If target generation is received before operation set complete is set, the signal is reset after one complete pulse length. The pulse length is configurable between 50 ms to 2000 ms. · Upgrading of PickMaster 5 systems PickMaster 5 can always import lines and projects created by older PickMaster 5 versions running on older RobotWare versions. However, when moving to a newer PickMaster version, an upgrade is sometimes required also for RobotWare: PM5.20 compatible with RW5.13.02 or later. PM5.13 compatible with RW5.13.02 or later. PM5.12 compatible with RW5.13 or later. PM5.11 compatible with RW5.09 or later. PM5.10 compatible with RW5.09 or later. PM5.03 compatible with RW5.09 or later. · Change to ICI protocol for DispensePac Support The protocol for communication with PIB/IPS is changed from pibfbc to ICI. Background: Paint switched to ICI protocol already in 5.14.02 but they are still supporting also the old version (pibfbc with IPS 4.30.xx or earlier). But to be able to use new IPS versions we need to go over to ICI protocol also for DispensePac Support. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 16/124 Author, telephone Anders Trillkott, +46 21 344888 To minimize incompatibility problems it is still possible to use the old version, depending on the key version: A 5.15 system with a new key (signature 175 and higher) will automatically use the new ICI protocol (for IPS 4.50 and higher). A 5.15 system with an old key will automatically use the old type. When old DispensePac systems shall be used with new IPS versions (and the ICI protocol) the IPS configuration and EIO configuration of used PIB signals has to be changed. For details, see Release Notes IRC5P R12.1 SW: Incompatibilities between R11.1A SW and R12.1 SW. For more information, contact Paint product support. · Data type motsetdata updated The data type motsetdata has been updated with a new Boolean component evtbufferact. This component describes the settings done by ActEventBuffer and DeactEventBuffer. Instruction DeactEventBuffer sets it to FALSE and ActEventBuffer sets it to TRUE. It is by default set to TRUE. The default value (TRUE) is automatically set * at a cold start. * when a new program is loaded. * when starting program execution from the beginning. · Modpos problems in RW Arc 5.15 (PDD1640/1658) The error occurs, when you use "Modify Position" and either the active tool or the active work object or both differ from the one(s) specified in the RAPID instruction for which you want to modify the position. Because the tool or the work object or both differ, a dialogue is shown on the FlexPendant. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 17/124 Author, telephone Anders Trillkott, +46 21 344888 That dialogue informs you, that tool, work object or both differ and asks you if you want to keep the ones specified in your RAPID program (answer: Yes) or if you want to update your RAPID program with the currently active data (answer: No). Do not answer No! If you answer no, the RAPID program line will be modified and might become corrupt. Note: Independent of your answer the value of robtarget will NOT be updated. The changes done in 5.15 regarding the Modpos Dialog will be taken back in 5.15.00.01 · Integrated Vision requires FlexPendant of type TPU3 The Integrated Vision FlexPendant application requires sxTPU3. The application will not launch correctly on earlier versions. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Release Information The information should be considered as last minutes information and most up-to-date. For more information please visit Robot Release Information (RRI) Homepage: RRI Release Name The release name is RobotWare 5.15.14 The release contains following: · RobotWare 5.15.14 build 9147 · RobotStudio 5.61.02 Release Date Release date 2017-05-12 Ordering number Ordering number for the RobotWare 5.15.14 DVD is 3HAC8531-3.102 Page 18/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 RobotWare Controller Hardware Support This list is an overview of the supported main computer units. • • • • DSQC 600 Main computer DSQC 600A Main computer DSQC 623 Main computer DSQC 639 Main computer Restrictions in Controller Hardware Support - DSQC 600 Main computer – must be equipped with minimum 256 MByte RAM memory. - In multimove applications DSQC600A are minimum. Changed Controller Hardware Support Following adapters can be mounted directly on the main computer DSQC 639. · DSQC 667 Profibus Fieldbus adapter. · DSQC 669 Ethernet/IP Fieldbus adapter. · DSQC 688 Profinet Fieldbus adapter. Following hardware support are implemented in RW 5.11 · IRC5P Controller for Paint applications · Paint TPU Teach pendant for Paint applications · DSQC 647 Safety controller for SafeMove functionality · DSQC 678 PROFINET Master/slave fieldbus Following hardware support are implemented in RW 5.11.01 · DSQC687 (PBUS) ProfibusMaster/Slave card Following hardware support are implemented in RW 5.12 · DSQC378 CC Link (Computer communication link) is now included as a standard gateway option. · SxTPU3 New FlexPendant · DSQC 678 ProfiNet Master/Slave with new firmware New version of the ProfiNet Master/Slave board with new firmware (version 2.2) that supports FastStartup Following hardware support are implemented in RW 5.12.02 · DSQC572 DeviceNet Lean Following hardware support are implemented in RW 5.12.03 · IRC5 Drive System ‘09’ Following hardware support are implemented in RW 5.13 · DSQC697 (DNET) One channel DeviceNet card Page 19/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Supported Robot Models • IRB 120 • IRB 140/140T • IRB 1400/1410 • IRB 1600/1600ID/1520ID • IRB 2400/2400L • IRB 2600/2600ID • IRB 260 • IRB 340 • IRB 360 • IRB 460 • IRB 4400 • IRB 4600 • IRB 640 • IRB 6400RF/R • IRB 6600/6600ID • IRB 660 • IRB 6620/6620LX • IRB 6640/6640ID • IRB 6650/6650ID/6650S • IRB 6660 • IRB 760 • IRB 7600 Page 20/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Ref Department Date DMRO/QMPP 2017-05-11 RP5.15 Filename Release Notes RW 5.15.14.doc Page 21/124 Author, telephone Anders Trillkott, +46 21 344888 Language Support The following languages are supported in RobotWare. · English · French · German · Spanish · Italian · Chinese (simplified Chinese, mainland Chinese) · Portuguese (Brazilian Portuguese) · Dutch · Swedish · Danish 1) · Czech · Hungarian · Finnish 1) · Korean 1) 2) · Japanese 1) 2) · Russian 1) 2) · Romania · Polish · Turkish 1) 1) 2) 1) 1) 1) 1) 1) 1) 1) Notes: 1) The language is only supported in the controller and Flex Pendant 2) The language support for Asian languages (Chinese, Korean, Japanese) and Russian has some specific limitations: - TPWrite, TPRead, and TPPrint do not work – use English text. - Printing error text from RAPID (instruction ErrWrite) does not work - use English text. Documentation See Release Notes on documentation DVD: 3HAC032875-001 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 22/124 Author, telephone Anders Trillkott, +46 21 344888 New Functionality RW 5.15 Add date to backup name for System Input Signal backup It is possible in 5.15 to choose if the date shall be added to the backup name for System Input Signal Backup. It is also possible to choose the system name as backup name instead of a predefined name. System output “Robot not moving” set for zero speed The System output “Robot not moving" is improved so the output also can be set when the robot is moving very slow or standing still e.g. that speed override is set to zero. To activate the improvement set the system parameter "Mech.Unit Not Moving Detection Level" type "Robot" topic "Motion". Test and adjust the value until the output will change at wanted speed. New functionality for changing EventPresetTime from RAPID Two new instructions ActEventBuffer and DeactEventBuffer have been added. Syntax: ActEventBuffer; DeactEventBuffer; The 2 new instructions activate and deactivate the use of the event buffer in the system. Normally you configure to use an event buffer when process signals must be set in advance when using slow process equipment’s, typical application Dispense. However, the use of an event buffer affects the cycle time for an application using finepoints, such as SpotWelding. To combine SpotWelding and Dispense, the event buffer needs to be activated/deactivated when switching between the two applications. New robot IRB 1520ID Type A Support for new robot types: Variants IRB 1520ID / 1.5m 4kg Type A IRB 1520ID variant with new gear boxes and improved tuning is supported in this release. New robot IRB 4600 Type C Support for new robot types: IRB 4600 variants with new gear boxes on axis 1 and 3 (TYPE C) are supported in the release Variants: IRB 4600 / 2.05m 60kg Type C IRB 4600 / 2.05m 45kg Type C IRB 4600 / 2.50m 20kg Type C IRB 4600 / 2.55m 40kg Type C ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 23/124 Author, telephone Anders Trillkott, +46 21 344888 IRB 6400 Rex and IRB 640 with IRC5 Support for S4C+ robot types in IRC5: Variants IRB 640 160kg IRB 6400R / 2.5m 120kg IRB 6400R / 2.5m 120kg bal. B IRB 6400R / 2.5m 150kg IRB 6400R / 2.5m 150kg bal. B IRB 6400R / 2.5m 150kg HP IRB 6400R / 2.8m 150kg IRB 6400R / 2.8m 150kg bal. B IRB 6400R / 3.0m 100kg The robots are supported in the SAC (Stand Alone Controller) option in this release. Spot GUI refactoring. In this release the Spot GUI has been refactored. The old four buttons view is removed and replaced with a single status view. This new screen shows the overall status of the current process. From here all relevant information about the equipment and spot data can be quickly accessed. It is similar to the old status screen in previous releases but it has some new features. 1. Button to the built-in manual actions in Spot. 2. Button to the configured Spot Process I/O, showing the current status of the equipment. 3. A welding progress that shows the welding progress and also the current/latest run user hook. 4. Button to the Process Event Log showing the current/latest error or warning, it stores the 20 latest spot related errors and warnings. There is also easy access to the spot process data, e.g. spotdata, gundata, simdata. Automatic check of prog_no in spotdata In this release the 'prog_no' parameter in spotdata has changed to the type dnum as default. And the size of this parameter will automatically be checked against the size of the weld program output group. As a result of this change the setup data 'MAX_PROG_NO' has been removed and is not needed anymore. Dispense GUI refactoring The RobotWare Dispense operator interface, available from the ABB menu, has been improved. It has got a somewhat new appearance with some new information and functionality. This has been done in parallel with a similar refactoring of the Spot GUI, to ensure a common look and feel. Dispense: New customizing possibilities RobotWare Dispense supports a bead oriented programming philosophy. All parameters affecting the characteristics and appearance of the bead are included in the beaddata for each beadtype. This technique separates the defining of the bead parameters from robot path teaching and simplifies off line programming as well as manual teaching and touch up. In the default beaddata version the most used data components are present. During customizing it is possible to hide (delete) components if they not are valid for the specific process or equipment. It is also possible to add some components if desired. It has since long time been possible to add components to beaddata and equipdata to be used if there is a need to set an output group with information to the process equipment. This output group is set in advance in each dispense position, according to a new time component in equipdata. It is now also possible to add a speed component to beaddata, controlling the speed during dispensing. (This was introduced in 5.14.01). It is also possible to add a TCP offset component to beaddata, controlling the distance from the TCP to the sheet during dispensing. (Introduced in 5.14.03). For more information, see the Customizing chapter in the Dispense Manual. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 24/124 Author, telephone Anders Trillkott, +46 21 344888 Force Change during Weld In this release it is possible to use different forces during the welding phase for servo guns. The gun force in Spot Servo Options can be controlled from the welding controller via group outputs. Internally in the Spot software an input group will monitored during the weld, and if the value on the input group changes, the gun force will change immediately to a lower or higher force. For more detailed information, see the Spot Options user manual. Blocking of EPS/SafeMove in Auto if no configuration When Operational mode switch is turned to Automatic mode and EPS/SafeMove is not activated, an error log 20325 takes focus on the Flexpendant unit informing the user that "Safety supervision is not active". Data type motsetdata updated The data type motsetdata has been updated with a new Boolean component evtbufferact. This component describes the settings done by ActEventBuffer and DeactEventBuffer. Instruction DeactEventBuffer sets it to FALSE and ActEventBuffer sets it to TRUE. It is by default set to TRUE. The default value (TRUE) is automatically set * at a cold start. * when a new program is loaded. * when starting program execution from the beginning. Profinet Stack Extension The following changes have been introduced: For all buses, * Increased the number of available cross connections from 100 to 300 * Increased the number of type declarations from 60 to 100 Specific for Profinet SW option, * Increased the possibility for the user to run 50 units instead of 20. Max Limit Sensor Correction The optical tracking functionality to supervise incremental correction change between two successive sensor measurements (max_incr), gives a recoverable error if the correction changes more than max_incr allows. If the optional argument "\WarnMaxCorr" in the RAPID instruction "CapLATRSetup" is present if CAP is used or "Max Correction Warning" is set TRUE in the Optical Sensor Properties for RW Arc, the recoverable error is changed to a warning and movement continues taking the measured correction. Up to RW 5.14.xx the correction was not limited if the user had chosen to convert the recoverable error into a warning. Starting with RW 5.15 this was changed in a way that, if the user had chosen to convert the recoverable error into a warning, path correction continues with an increment of "max_incr" instead. That will enable the operator to limit corrections. For "max_corr" applies the same, i.e. if the user had chosen to convert the recoverable error into a warning, the correction will never be larger than "max_corr" compared to the programmed path. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 25/124 Author, telephone Anders Trillkott, +46 21 344888 Modification of CalcJointT Function CalcJointT has been modified with a new optional argument ErrorNumber. New syntax: CalcJointT '(' [ '\'UseCurWObjPos ','] [ Rob_target ':='] ',' [ Tool ':=' ] [ '\' WObj ':=' ] [ '\' ErrorNumber ':=' ')' If using the new optional argument ErrorNumber, and the variable or persistent is set to ERR_ROBLIMIT, at least one axis is outside the working area or the limits are exceeded for at least one coupled joint. The return value from CalcJointT will be a jointtarget value corresponding to the used robtarget, but it cannot be used in any movement instruction. The difference between using the optional argument and using an ERROR handler to take care of the error is that the jointtarget will be updated if \ErrorNumber is used and ERR_ROBLIMIT is set to the variable or persistent. Example: The jointtarget value corresponding to the robtarget value p3 is stored in jointpos3. If the position can be reached, it is used, otherwise the jointtarget value is written on the FlexPendant. VAR jointtarget jointpos3; CONST robtarget p3 := [...]; VAR errnum myerrnum; jointpos3 := CalcJointT(p3, tool2 \WObj:=orb1 \ErrorNumber:=myerrnum); IF myerrnum = ERR_ROBLIMIT THEN TPWrite "Joint jointpos3 cannot be reached."; TPWrite "jointpos3.robax.rax_1: "+ValToStr(jointpos3.robax.rax_1); .. TPWrite "jointpos3.extax.eax_f"+ValToStr(jointpos3.extax.eax_f); ELSE MoveAbsJ jointpos3, v100, fine, tool2 \WObj:=orb1; ENDIF Speed Limitation and Supervision With a new system input, LimitSpeed, the speed of the robot can be reduced. The function is designed to make it easy to enter an area that is supervised by SafeMove. The limits are default max manual mode speed but can be changed by the Rapid instructions: SpeedLimCheckPoint - Set a speed limit for the check points of the robot SpeedLimAxis - Set a speed limit for an axis. A system output LimitSpeed can also be defined and it will be set when the reduced speed has been achieved. It is important to note that the LimitSpeed function by itself is not a safety rated function. When using the LimitSpeed system output as input to SafeMove to perform a change of the supervision limits the following way to work is recommended: 1. The margin between the SafeMove supervision and the axis speed set by the SpeedLimAxis function should be at least 2 degrees per second. The margin between the SafeMove supervision and the speed set by the SpeedLimCheckPoint function should be at least 10mm/s. The suggested way to achieve the margin is to reduce the LimitSpeed setting in the Rapid instruction compared to the configured SafeMove setting. 2. Since the speed is computed in different ways in the motor reference generation and in the SafeMove supervision (two channel solution) there is a possibility that SafeMove will trigger even after LimitSpeed has reported that the speed has been reduced. If this happens try to increase the margins as described in step1. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 26/124 Author, telephone Anders Trillkott, +46 21 344888 SMB1 - Serial Measurement Board A new resolver measurement board DSQC633C is being developed. It shall be 100% backwards compatible towards today's boards DSQC633A/B and shall also have support for new functions. Main features are - Smaller size. - Two Al-casing variants, one same size as that one for DSQC633A/B and another smaller one for new products. - The SMB unit denominations are 3HAC044168-001 (RMU101) for the compatible one and 3HAC043904001 (RMU102) for the new smaller one. - Lower power consumption in battery mode. - New very small 7.2V 2-cell Li with battery mode life time about 5. Recommended exchange interval 3 years. - Improved measurement performance for mechanical unites that are tuned together with DSQC633C. Fronius with Label functionality (PDD325) Now the option 650-9 Fronius TPS4000/5000 has partly the same support for label functionality as the rest of the welders. The available/supported signal is ArcEst and ArcEstLabel. The label functionality is described in the Arc manual chapter 4.5 Configurable error handling. New Functionality RW 5.15.00.01 New TRACK option for new motor to IRBT and IRT tracks Motor configuration in the TRACK-option has been changed since a new motor will be used for IRT140, IRBT4004, IRBT6004 and IRBT7004 tracks. With a new motor the track needs a new tuning to get the same motion performance. The new tuning needs new Motion configuration files in the option. A new option has been created including the new Motion configuration files. The new option is named TrackTypeA. When changing motor on an existing track, the new option has to be used and a new system with that option has to be created. An A-sign will be on the new motor to make it easy to identify the new motor on site. The option can be used with earlier versions of RobotWare, i.e. no upgrade of RobotWare is needed when motor is replaced. It is possible to load an old backup when the new system with the new option has been installed. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 27/124 Author, telephone Anders Trillkott, +46 21 344888 New Functionality RW 5.15.01 Weld Repair functionality fully automatic A new feature called WeldRepair is introduced. When welding synchronized with two or more welding robots and a positioner, weld-errors can sometimes occur in one of the welding robots. Since the motion and process is synchronized, the welding robot without weld-error will also stop and perform error-handling. Using the weld repair functionality will shut-down the arc only in the failing robot while the others are continuing its weld. The faulty seam is automatically re-welded at the error location. Weld Repair Functionality Semi-automatic When welding synchronized with two or more welding robots and a positioner, weld-errors can sometimes occur in one of the welding robots. Since the motion and process is synchronized, the welding robot without weld-error will also stop and perform error-handling. Using the weld repair functionality will shut-down the arc only in the failing robot while the others are continuing its weld. The faulty seam is automatically re-welded at the error location after the user defined service position has been executed. ESAB AnyBus support in RobotWare Arc There is now support in RW Arc for ESAB AnyBus when the PowerSource option 650-7 Standard I/O Welder is selected in the Robot Control Module key. ESAB AnyBus means that all programming of the PowerSource is done via the ESAB U82 Pendant, and that there is no integration of the PowerSource on the ABB FlexPendant. Robot - PowerSource communication is done via DeviceNet and ESAB W82 unit. The ESAB AnyBus support consists of example config files that are copied to the HOME:/Arc/ConfigTemplates/ESAB directory on the robot system during startup. The files are: ESAB_AnyBus_EIO.cfg ESAB_AnyBus_PROC.cfg ReadMe.txt The config files should be loaded from either FlexPendant or RobotStudio with the following mode: Load parameters and replace duplicates. The ReadMe.txt file also contains this information. These example files combined with the Standard I/O welder option 650-7, contains no supervision of the following error signals from the PowerSource: diWDUErrorActive diPSErrorActive diWFErrorActive It´s up to the end user to decide if these signals should be monitored and/or supervised, and implement a way to do this. This is not the responsibility of ABB. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 28/124 Author, telephone Anders Trillkott, +46 21 344888 Integrated Vision The Integrated Vision solution may be used in a wide range of applications including locating parts, measuring visual properties and reading code labels. The system supports the use of Cognex InSight smart cameras which include embedded image processing. The cameras connect to the service port of the main computer via a switch. When ordering the Integrated Vision option the controller is fitted with a switch that provides the extra ports needed for connecting up to 3 cameras. The system software consists of three parts: -Vision configuration in RobotStudio -Vision execution/coordination from RobotWare using dedicated Rapid instructions -Monitoring including camera image view from the FlexPendant. The RobotStudio PC shall be connected to the service port when configuring the vision system, but is not needed during production. The robot controller (Rapid and FlexPendant) requires the option "1341-1 Integrated Vision". System can be configured using RobotStudio Free. EtherNet/IP * When using QuickConnect a wait time must be specified before IOenable and after device power on in the Rapid program. The wait time can be found in the device EDS file. * Fieldbus Command Interface (FCI) for EtherNet/IP. * Support of Rockwell Point/IO. * Possibility to use the full range of the subnet mask. Fieldbus commands for EtherNet/IP Fieldbus commands are used to perform service requests towards an IO Unit. Fieldbus commands translate to explicit messaging as defined by CIP specification. Service requests are typically SET / GET or RESET but can be of other kind according the CIP specification. With service SET, attributes for an IO Unit can be changed in order to change the behavior of the IO Unit. A common Fieldbus command can be enabling the QuickConnect attribute. # An example of a Fieldbus command in EIO.cfg EIO_COMMAND_TYPE: -Name "Enable_QuickConnect" -UnitType "MyUnit" -DefValue "1" -OrderNr 4 \ -EN_Path "6,20 F5 24 01 30 0C,D1" -EN_Service 0x10 A Fieldbus command is performed only once during startup of the Robot Controller or for a replacement IO Unit. ProfiEnergy as official option PROFIenergy is an application profile that specifies methods and techniques to implement energy-saving functions within a PROFINET IO enabled device. The PROFIenergy device profile can be selected in combination with either 888-2 PROFINET master/slave or 888-3 PROFINET slave SW option. The option supports the Class 1 (Standby Management) Device Profile. The robot controller can act and respond to incoming PROFIenergy commands but not generate them. The option complies with the PROFIenergy Profile Specification TC3-09-0002a, version 1.1. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 29/124 Author, telephone Anders Trillkott, +46 21 344888 New robot IRB 360 8kg Support for new robot type: Variant IRB 360 / 1.13m 8kg IRB 360 variant with higher payload is supported in the release New robot IRB 1600 10 kg Support for new robot types: Variants IRB 1600 / 1.2m 10kg IRB 1600 / 1.45m 10kg IRB 1600 variants with higher payload are supported in the release. New robot IRB 6660 3.3 100kg SoftWare support for new robot types: Variants IRB 6660 / 3.3m 100kg DSQC 350B config added in media pool (PDD1603) A unit type for the DSQC350B is added in the media pool. Instruction by instruction execution doesn't weld (PDD1613) In this release a new operator dialog has been implemented. It will be shown when an e.g. SpotL is run in step by step mode. The purpose of this dialog is to inform the operator what will happen if step forward or start button is pressed. This dialog and behavior is the same for all spot options. Text from the Spot Options manual describing the sequence: The instruction is executed in two steps (Step Mode = Step Over): 1. The robot will move to the weld position. After this step it is possible to modify the position if needed. 2. If the step forward button is pressed again, an operator dialog will be shown with instructions on how to continue. It is possible to weld or skip the current position and move to next instruction. Note! To perform a weld in this position, the start button must be pressed. Program execution will stop after the current instruction is ready. To restart the program normally, the start button must be pressed again. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 30/124 Author, telephone Anders Trillkott, +46 21 344888 New Functionality RW 5.15.03 New RAPID function SocketPeek A new function, SocketPeek, has been added. It can be used to test for the presence of data on a socket, and returns the number of bytes data that can be received on the specific socket. Syntax: SocketPeek '(' [ Socket ':=' ] < variable (VAR) of socketdev > ')' A function with a return value of the data type num. Increased input/output sizes for EtherNet/IP FA The EtherNet/IP fieldbus adapter can handle 255 bytes of IO data for both input and output. Increased input/output sizes for Internal slave Internal slave in option EtherNet/IP M/S can now handle up to 509 bytes of input and 505 bytes of output data. The EDS file is updated accordingly. CSSDeactMoveL updated with optional argument TLoad An update has been done to CSSDeactMoveL. Optional argument TLoad has been added. New robot IRB 6700 SoftWare support for new robot types: Variants IRB 6700 / 2.60m 200kg IRB 6700 / 2.65m 235kg IRB 6700 / 2.80m 205kg IRB 6700 / 2.85m 155kg IRB 6700 / 3.05m 175kg IRB 6700 / 3.20m 150kg IRB 6700 / 2.60m IRB 6700 / 2.65m IRB 6700 / 2.80m IRB 6700 / 2.85m IRB 6700 / 3.05m IRB 6700 / 3.20m 175kg LeanID 220kg LeanID 200kg LeanID 140kg LeanID 155kg LeanID 145kg LeanID The first variants in the IRB 6700 family are supported in the release. WZHomeJointDef for deactivated mech units The System Parameter Ignore joint world zones have been added under Topic Motion and Type Single. If this System Parameter is set this axis will be excluded from consideration in all joint WorldZones, overriding any setting in WZHomeJointDef and WZLimJointDef. New robot IRB 360 1.6m 6kg SoftWare support for new robot type: IRB 360 / 1.6m 6kg IRB 360 1.6m variant with larger payload is supported in the release. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 31/124 Author, telephone Anders Trillkott, +46 21 344888 A new reweld mode in the spot options. In this release a new reweld mode has been added to support KSR reweld in specific Bosch weld timers. And for this a new optional signal data has been added in the SwDefTimerIO routine in Spot, it will enable a certain handshake sequence with the timer when the "Reweld" button is selected on the TPU. If this signal is configured the start weld signal will go to high when a weld error occur, this serves as a handshake to the timer to enable KSR weld mode when a reweld is done with the new signal. E.g. SwDefTimerIO ... \DOResetFaultReweld := my_reset_fault reweld_signal ...; If this signal is not configured the standard reweld mode will be used, that is, the reset fault signal to the timer will be set and start weld will be used as the start signal. Optical Tracking - Flag (PDD2513) For the Laser Tracker Calibration (LTC) FlexPendant (FP) application exists every tracking sensor type is defined using the Process configuration instance SENSOR_TYPE. One component, "Sensor is used for tracking", indicates, if the sensor is used for seam tracking, i.e. is mounted with its TCP near the robot TCP and almost parallel z-direction of the sensor tool and the robot tool, which is used during calibration. When the laser sensor calibration has been performed successfully using LTC, in manual mode a reorientation of the new sensor tool at the calibration plate origin is done to give the operator the possibility to inspect the quality of the calibration. Today the reorientation of the new sensor tool is done for all sensors. Starting with RW 5.15.03 no reorientation will be done for sensors, which are not used for tracking. This to avoid collisions and robot singularities during reorientation, as the sensor tool may differ in size and orientation very much from the robot tool used for calibration. Support for IRB 2600 on IRBT 4004 Type A (PDD2636) Files have been added to support IRB 2600 on IRBT 4004 in additional option Track-TypeA. Support for IRB 760 on IRBT 7004 Type A (PDD2637) Files have been added to support IRB 760 on IRBT 7004 in additional option Track-TypeA. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 32/124 Author, telephone Anders Trillkott, +46 21 344888 New Functionality RW 5.15.04 Servo gun synchronization does not affect Safemove synchronization (PDD1764) The servo gun axis previously affected the synchronization of Safemove even though the axis is not part of the Safemove configuration. This has now been fixed, i.e. if the servo gun e.g. loses its revolution counter it will not affect the Safemove synchronization. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 33/124 Author, telephone Anders Trillkott, +46 21 344888 New Functionality RW 5.15.06 New robot IRB 6700 SoftWare support for new robot types: Variants IRB 6700 / 2.70m 300kg IRB 6700 / 3.00m 245kg IRB 6700 / 2.70m 270kg LeanID IRB 6700 / 3.00m 220kg LeanID WeldRepair functionality In previous releases, only the ArcOK (Arc Established) signal was supervised for WeldRepair functionality. In this release, WeldRepair functionality is enabled also for the USERIO1 signal. NOTE! this change is valid only for the Standard IO welder & AristoMig Integrated welder and not for the Fronius Welders. Production Monitoring OPC support In this release, the Production Monitoring option in RW Arc has OPC support. Log to OPC must be enabled in the Process Configuration (default value). The OPC client should connect to the following variables in T_ROB1, module PM_OPC. PERS wwSeamDisp ProdMonSeamDisplacement:=["-","-","-","-","-","-",0,0,0,0,0,0,0,0,0,0,0,0,0,"-","-"]; PERS wwSeamEvents ProdMonSeamEvent:=[0,0,0,"-","-",0,"-",0,0,"-","-"]; PERS wwSeamResult ProdMonSeamResult:=[0,0,"-","-",0,"-",0,0,0,0,0,0,0,0,0,0,FALSE,"-","-"]; PERS wwCycleResult ProdMonCycleResult:=[0,0,"-","-",0,0,0,0,0,0,0,0,0,0,FALSE,"-",0,0,"-","-"]; ! BullsEye OPC ! PERS wwBullsEye ProdMonBullsEye:=[0,0,"-",0,0,0,0,0,0,0,0,0,0,0,0,0,"-",0,"-","-"]; ! Navigator OPC ! PERS wwSearchSpMsg ProdMonNavigatorSearch:=[0,0,0,0,0,0,0,0,0,0,0,"-","-","-"]; ! PERS wwMeasure1DMsg ProdMonNavigatorMeasure:=[0,0,0,0,0,0,"-","-","-"]; ! Smartac OPC ! PERS wwSMT_1D ProdMonSmartac1D:=[0,0,"-",0,0,0,0,0,0,0,"-","-"]; ! PERS wwSMT_Part ProdMonSmartacPart:=[0,0,"-",FALSE,0,0,"-","-"]; ! PERS wwSMT_Groove ProdMonSmartacGroove:=[0,0,"-",0,0,0,0,0,0,0,"-","-"]; ! TSC OPC ! PERS wwTchCleanMsg ProdMonTorchClean:=[0,0,"-","-","-","-"]; NOTE! the variables that are commented out in the module PM_OPC should be uncommented if that option is present in the Control module key. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 New Functionality RW 5.15.07 New robot IRB 1200 Support from RobotWare 5.15.07 for new robot types: Variants: IRB 1200 / 0.7m 7kg IRB 1200 / 0.9m 5kg Page 34/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 New Functionality RW 5.15.08 New robot IRB 6700 Support for new robot types: Variants: IRB 6700 / 2.60m IRB 6700 / 2.85m IRB 6700 / 2.60m IRB 6700 / 2.85m 200kg 155kg 175kg LeanID 140kg LeanID An updated variant of the IRB 6700 family with new gear box on axis 2 is supported in the release. New Motors, MUGU Configurations for new type A motor are added to the utility directory. Page 35/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 36/124 Author, telephone Anders Trillkott, +46 21 344888 New Functionality RW 5.15.09 Enable WG tracking for CAP & SI options CapAPTrSetup, IVarVal and \Track has been enabled with the Sensor Interface option New robot IRB 4600 Type D, IRB 2600 Type B and IRB 2600ID Type A SoftWare support for new robot types: Variants IRB 2600 / 1.65m 20kg Type B IRB 2600 / 1.65m 12kg Type B IRB 2600 / 1.85m 12kg Type B IRB 2600ID / 1.85m 15kg Type A IRB 2600ID / 2.00m 8kg Type A IRB 2600 variants with new motors on all axis (TYPE B) and IRB 2600ID variants with new motors on axis 15 (TYPE A) are supported in the release. IRB 4600 / 2.50m 20kg Type D IRB 4600 2.50m 20kg variant with new motors on axis 4, 5 and 6 (TYPE D) is supported in the release. New robot IRB 6650S and 7600 LeanID Software support for new robot types: Variants IRB 6650S-100/3.5 LeanID IRB 6650S-190/3.0 LeanID IRB 7600-390/2.55 LeanID IRB 7600-320/2.8 LeanID IRB 7600-290/3.1 LeanID A new variant of the IRB 6650S and 7600 family with new LeanID wrist is supported in this release. Change of dynamic model to support tilting in both X- and Y-direction. (PDD3516) It is now supported to use the system parameter Gravity Alpha to describe how the robot is oriented around the X-axis in the base coordinate system relative to the gravity. Gravity Beta is used to describe the rotation around the Y-axis. The orientation is described by first rotating around X with the Gravity Alpha parameter and then around Y in the rotated coordinates system with Gravity Beta parameter. The gravity Beta parameter is supported for all six axes ABB robots while gravity Alpha is not supported for; IRB 140 5kg IRB 1400 IRB 1600ID No Type IRB 2400 IRB 4400 IRB 6400R IRB 6400 except for IRB 6400 200/2.5 and IRB 6400 200/2.8. IRB 6600, IRB 6650 IRB 6650S IRB 7600 except for IRB 7600 325/3.1 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 37/124 Author, telephone Anders Trillkott, +46 21 344888 New Functionality RW 5.15.11 BullsEye choice to update tcp after quickcheck (PDD5601) Before if a quickcheck failed the TCP would automatically get updated. Now there is a possibility to select either to get a dialog or quit the quickcheck instead of automatically do the tcp update (still default). This is done using the be_mask mechanism that already existed in bullseye. To use the new function a new be_status have been added (BEDoFineCheck:=222). In order for this to work a be_mask needs to be defined in the rapid task: VAR be_mask BEAutoDoFineCheck:=[222,TRUE,TRUE,TRUE,5]; The be_mask record: 222 TRUE, TRUE, TRUE, 5 Do Fine Check AutoModeHide ManualModeHide VCHide Default button when not showing dialog (4 = Fail, 5 = OK) So to automatically NOT doing a finecheck when quickcheck fails the default button should be changed to 4 from the above be_mask. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 38/124 Author, telephone Anders Trillkott, +46 21 344888 New Functionality RW 5.15.14 CyclicBrakeCheck required after Servo lag error A new cfg parameter has been added in Controller/System Misc. It is called CBCReqAfterUnsyncSC. When setting CBCReqAfterUnsyncSC configuration value to 1, and SafeMove detects a "SC n Not synchronized" error (event log 20451, SC n Not synchronized), the signal PSCnCBCREQ signal (n is the drive module number) is set to 1, and the max. allowed speed will be 250 mm/s (if configured in the SafeMove configuration). Default value is 0. Graying out IO Softkeys if Enabling switch not pressed (PDD7088) New function added to block IO changes on the FlexPendant in Manual mode unless the enabling device is pressed. It is enabled using cfg-parameter "Block IO in MotorsOff" under Man-machine communication. Default value is FALSE. Set enabled to TRUE to enable the function. /CONFIG/MMC/IOVIEW_BLOCK/IOViewBlockIfMotorsOff/enabled ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 39/124 Author, telephone Anders Trillkott, +46 21 344888 Improvements RW 5.15 PM5: Flow recovery dialogue To improve usability, the selection of a work area has been skipped in the flow recovery dialogue on the flex pendant. A selected recover action will always be applied on the master work area. Advanced users can use the I/O interface to enable flow recovery with other (more unusual) selections of work areas. In the same dialogue, the flow recovery action "Next Pallet" has been renamed to "Terminate Job", indicating that the currently running job will be terminated without any further picks and places. "Terminate job" works in exactly the same way as "Next Pallet" (applied on the master work area): After the flow has been restarted, the job status is idle and the flow is ready for starting a new job. The next job can be launched from a PLC or using the flex pendant "Start job" button. IRB 6660-1.9/205 to QuickMove 2 The tuning of the Pre-machining robot IRB 6660-205/1.9 has been changed to increase the performance of machining process applications. All acceleration will be lower compared to older version and all servo gains have increased. If an upgrade of RobotWare is done a recommendation is to start with default tuning again if any tuning has been done in the system that is upgraded. I.e. all TuneServo and AccSet etc. should be back to 100% before any special customer tuning should be considered. A prerequisite to upgrade any IRB6660 is that the robot needs to have a SMB-unit of version 3HAC031851001/05 or later. If a robot with an older version of the SMB is used there is a major risk that oscillations will occur. The new tuning uses friction compensation by default. When upgrading existing systems, insert the string friction_ff_on in all instances of CFRIC_BLOCK of the MOC.cfg file of the backup. Also change the values for friction_ff_level to 0.8, 1.5, 1.5, 0.4, 0.7 and 0.3 for axis 1 to 6 respectively, and then restore the backup. When upgrading an existing IRB 6660-1.9/205 also look at RSI "Service Information System option added to IRB 6660-1.9/205" for more information about how to modify the backup before you restore it. Spot process tasks hidden In this release the spot process tasks "DA_PROCX" has been hidden on the TPU and in RobotStudio. The reason for this change is to get a cleaner look and feel on the TPU and in RobotStudio, and also to add some "ease of use" by not showing information that can confuse users. This should not have any effect on robot systems in general. Old backups should work as before, it will be possible to restore old systems. But one known limitation is that UI instructions (example, UIMessageBox) run from hidden background tasks can cause hangings because they cannot be shown on the TPU, this could be the case if these instructions are added directly in the user hooks and not in the recommended places. Note! All error handling in the spot process are run from the motion task by default, i.e. the internal and the user defined error handling (SwErrorRecover). These two methods are the recommended way to perform error recovery. Support for two tracks in the same system Now support for two tracks in the same system with TrackMotion additional option has been added. It is possible to create systems with two tracks (IRBT/IRT) in a multi move system. ROB_1 together with TRACK_1 on drive module 1 and ROB_2 together with TRACK_2 on drive module 2. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 40/124 Author, telephone Anders Trillkott, +46 21 344888 Cleanup the default user modules in spot options In this release the default user modules in the spot options has been simplified. The Spot Options manual has been updated and the version string in all user modules has been updated to "5.15.0" to reflect the changes made. This has been done: swdefine.sys - Only manual actions remains, all other code moved to the swuser and swdefusr modules. swsup.mod - Only the main routine remains, with a call to a supervision init routine in the swuser.sys module, "SupervisionInit". swdefusr.sys - Same as before, except that the "DefineUsrData" and "UpdateUsrData" routines has been moved to this module from the swdefine module. If data types have to be changed, this module needs to be customized. swuser.sys - Same as before, except that the shelf routines (SwPowerOn etc.) has moved to this module, and also some of the default supervision previously located in the swsup module. The weld contactor and water start signals are now controlled by logical cross connections instead of code. E.g. g1_weld_power = motor_on + g1_enable_curr + g1_process_fault (invert) g1_start_water = motor_on + g1_enable_curr + g1_process_fault (invert) And only the reply from the flow sensors remains as code, that is, the logic to turn the water flow off if an error occur. If the process and supervision has to be changed this module needs to be customized. Some useful paint instructions are now available in the basic DispencePac Support Following paint instructions/functions are now available in the basic DispensePac Support option: SetTmSignal GetSignal PaintBackup PaintRestore IpsSetParam In previous releases you needed also the sub option PaintTypeProdManager to make these instructions and functions available. Now only the basic DispensePac Support is needed. Extended keystring In 2012 the robot serial number was extended for some robot types. This was a necessary step to avoid running out of serial numbers. More and more robot models will turn to this extended serial number format. The PC software for robot system installation and license key generation, has until 5.15 only been able to support the old style serial number format. The old format was restricted to "2 digits dash 5 digits" e.g. 1412345. To cope with the new serial number format the license key software would up until 5.15 create an abbreviated serial number in order for other software to work as normal. This would result in a serial number e.g. 7600-123456 to be condensed to 76-23456. In 5.15 we have extended the key string format to include the full serial number. The key string file (.kxt) will after 5.15 contain a second line starting with a #-sign. Robot Studio 5.15 will automatically read this line and append to the old style key. The information in the second line will give the full serial number for the system created. As long as RobotStudio 5.15 is used, the full serial number of the system will be shown in a system created by such a key string, regardless of RobotWare version used. The new style key string file (.kxt) can be used in older versions of RobotStudio, but the full serial number will not be shown in the system created. It is also possible in RobotStudio 5.15 to manually remove the #sign and following key string characters. There is one compatibility limit. If a system is created with the new style key string it is not possible to modify or "Create from Backup" that system in RobotStudio earlier than 5.15. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 41/124 Author, telephone Anders Trillkott, +46 21 344888 RobotStudio: SafeMove configurator may cause wrong safety configuration (PDD57) When configuring zone points in the "Safe/Monitor Tool Zone" tabs the user are now able to easily see in which zone the points will be defined via an updated text. The text "Zone Definition" has been changed to: "Zone Definition in relation to the base frame" and "Zone Definition in relation to the world coordinates" depending on what have been selected in the "Mechanical Units" tab. New event log message for manipulator supervision (PDD127) A new dedicated event log message, 50444, for manipulator supervision is introduced. It is now possible to distinguish manipulator supervision from other supervision event logs, and if necessary adjust the system parameter Manipulator supervision level, in topic Motion, type Motion Supervision, to get the desired behavior of the system. Flying start/end: Possibility to have more than 2 concurrent CAP processes in the same RAPID task (PDD182) If the program pointer is much further in the RAPID program with CAP sequences than the motion pointer, which is possible for flying start/end and/or short segments and/or high speed, it must be possible to create many CAP processes in advance, i.e. before the movement is executed. Until RW 5.14, it was not possible to create more than two processes. Starting with RW 5.15 it is possible to create up to 10 processes in the same RAPID task. WeldGuide III Sensor Calibration (PDD251) The WeldGuide III sensor calibration has been improved. There is now also support for TwinWire sensor calibration. To be able to take advantage of these improvements, the WeldGuide III board needs firmware 2.8 or higher. 885-1 SoftMove and 635-5 Spot Servo Equalizing is not working correctly (PDD531) In this release it will be possible to use the standard gun arm deflection compensation in Spot Servo Equalizing (635-3) together with SoftMove (885-1) equalizing at the same time. This can be useful when the gun arm deflection is relatively big, SoftMove alone cannot compensate for the deflection of the gun during welding. Short description of functionality: During the closing of the gun the robot will be set into a soft mode, and when the gun has closed on the plates , soft mode will be deactivated. When force is applied on the gun during the weld, the standard gun arm deflection will be activated SafeMove: CBC necessary, if "Call Routine..." CBC and then "Cancel Call Rout." (PDD534) NOTE: Only affecting CyclicBrakeCheck if it is executed as a service routine. If CyclicBrakeCheck is called with "Call routine" and then a "Cancel Call routine" is done without executing any code, the CBC signals are not affected. SafeMove: CBC signals are set to 0 without any act. of limits, if a restore is exe. (PDD541) Before RW5.15, all PSCXCBCXXX signals were set to 0 when restoring a system. Now, from RW5.15, all PSCXCBCREQ signals will be set to 1 when restoring a system. Max allowed speed is 250 mm/s (if configured in the SafeMove configuration). A CyclicBrakeCheck needs to be executed. FCResetDampingTune and FCSetDampingTune clarification (PDD732) Following is implemented in documentation: FCResetDampingTune and FCSetDampingTune both affects actual damping value set up by the FCAct instruction. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 42/124 Author, telephone Anders Trillkott, +46 21 344888 SafeMove wizard - Incorrect update of the resolver offsets (PDD770) Improved the Motor Calibration tab to show the changed calibration values after you have changed tab and then get back to calibration tab again. The dialog warning about that the user might need to download calibration data has also been changed to fit the improvement. Fronius IF - Missing Message when deleting a Job (PDD812) In RW 5.15 the user is asked with a dialogue to confirm deletion of a job before the job is deleted. In earlier versions the job was deleted without confirmation. Optional parameter to specify the number of used bits for the new functions BitNegDnum and BitLShDnum (PDD818) A new optional argument Size has been added to functions BitLShDnum and BitNegDnum. New syntax: BitLShDnum?(? [Value ?:=?] ? ,? [ShiftSteps? :=?] [ \ Size := ] ?)? BitNegDnum?(? [Value ?:=?] [ \Size := ] ?)? With the new optional argument, you can limit the number of bits that should be considered when using BitLShDnum and BitNegDnum. The bits above the number used in optional argument Size will be set to 0. Example: VAR dnum myvalue; ! Read a 16 bits digital input signal myvalue:=GInputDnum(gi2); ! Value 43346 (= 0000000000000000000000000000000000001010100101010010 binary) read from gi2 ! Shift 8 steps left, only consider the 16 lowest bits result:=BitLShDnum(myvalue, 8 \Size:=16); ! result = 20992 (= 0000000000000000000000000000000000000101001000000000 binary) ! Shift 8 steps left, consider all 52 bits in a dnum result:=BitLShDnum(myvalue, 8); ! result = 11096576 (= 0000000000000000000000000000101010010101001000000000 binary) LoadIdentify improvement when ModalPayLoadMode is 0 (PDD820) This is a change that affects LoadIdentify service routine when ModalPayLoadMode is 0. ModalPayLoadMode can be found in Controller, System Misc. The LoadIdentify routine has been modified so a new loaddata can be defined even if there already is a loaddata defined in the system. User dialog: ---------------------------------Name of loaddata to copy to: load1 load2 Buttons: Define new Cancel OK ---------------------------------The "Define new" button is new in RW5.15. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 43/124 Author, telephone Anders Trillkott, +46 21 344888 110016 Unsafe flying-end (PDD906) In RW 5.14.xx and earlier you may get an error message, that the application process is interrupted (110013), even if no process supervision is active - this is corrected in RW 5.15. In RW 5.15 the "unsafe flying end" warning message (110016) is improved: the minimum distance to be given in "distance" is added in the warning text, so the user gets a hint. Improvement in Safemove (PDD908) A "Note" has been added to inform the user what the picture of "Tool Points" actually means. "NOTE: It is only the configured points that are supervised, not the volume between the Update motion supervision after system parameters change from RAPID (PDD1098) The motion supervision settings will now be updated when writing to the corresponding system parameters using the WriteCfgData instruction from RAPID. The changes will not take effect for Robot movements until a Motors On order is performed and the changes will not affect an active path. For the changes to take effect the path must be cleared using, e.g., the RAPID instruction ClearPath. To make Motion Supervision settings that affect the path immediately the instruction MotionSup shall be used. LTC: new parameter (PDD1173) A new configuration parameter is introduced for SENSOR_PHYSICAL. The parameter is called "UsedForTracking". If a sensor is mounted as usual for tracking, i.e. near the robot tool's TCP that is used in a process application (e.g. arc welding), this parameter shall be set to "true". There will be no difference compared to earlier RW releases. If a sensor is not mounted for tracking, and points in another direction than or is placed far from the robot tool TCP, then the parameter shall be set to "false". The difference during calibration is, that no visual verification of the position of the calibration plate origo (x=0, y=0 for the calibration plate work object) will be performed. This step is skipped during the calibration setup to avoid collision with the sensor. IRB360 Motion Execution Problem (DSE9325) The robot movement in wrong direction at end of tracking is now reduced. Drift of the robot after AS stop with Fc Assembly (DSE10414) This change concerns systems where the system parameter Keep contact force at stop, in type FC Application, is set to TRUE. When the force control execution is stopped because of an emergency stop, the active references will now always be stopped if the measured force is lower than 50% of the reference force. This is done to prevent the robot from drifting after restart, in cases where no contact force has been built up before the emergency stop. Motors On State PM5 (DSE10432) A new system signal, pmSystem_doMotorOnState, is added for the option Prepared for PickMaster 5, indicating motors on state for the controller. pmSystem_doMotorOnState: - Is set when the controller is in motors on state. It is reset otherwise. pmSystem_doMotorOn - Motors on system output: - Is set when the controller is in motors on state. Is pulsing if the controller is in guard stop state or if an axis is unsynchronized. It is reset otherwise. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 44/124 Author, telephone Anders Trillkott, +46 21 344888 Possible to change Collision detection only if option installed (DSE10628) Now it is only possible to change system parameters for the Collision Detection option in topic Motion if the option is installed. On the TPU the parameters will be hidden and in RobotStudio the parameters will be displayed as N/A. No error message at end of welding in coordinated mode (DSE10782) When welding synchronized, ArcX instructions should be used in the robot tasks, and in the non-welding task (external axis or robot), the corresponding ArcMoveX instructions should be used. Previously, if the corresponding ArcMoveX instructions were not used, execution would hang at the end of the weld. Now an error message (elog) is presented informing about the problem, that the corresponding ArcMoveX instructions should be used in the external axis or robot. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 45/124 Author, telephone Anders Trillkott, +46 21 344888 Improvements RW 5.15.01 PM5: 40631 Instruction error A correction has been made to avoid error 40631, indicating that too many consecutive MoveX instructions has been used with the \Conc option. The error is automatically avoided by the routines PmDoAction, PmDoMove1, PmDoMove2 and PmDoMove3. In order to avoid the error for MoveX instructions outside PmDoAction, e.g. intermediate movements, movement to home position or customized movements: Replace MoveX with PmDoMove or turn off \Conc. PM5: Stack search on a master infeeder. Now possible to run stack search on a master infeeder. A new version of PmMain.sys is required. This version is available with Palletizing PowerPac 5.15.01. Added error recovery for elog 40631 If the number of movement instructions in succession using argument \Conc has been exceeded, then the system variable ERRNO is set to ERR_CONC_MAX. This error can be handled in the error handler. Instructions affected: MoveAbsJ MoveC MoveExtJ MoveJ MoveL TriggC TriggJ TriggL TriggLIOs New arguments to speed up the advance shape tuning This concerns the automatic friction value identification in advance shape tuning. Two new arguments are added to FricIdEvaluate to be able to speed up the identification process. The values are optional, if they are omitted the behavior is unchanged. With argument OptTolerance it is possible to increase the tolerance for the search and the argument FricLevelMin will make it possible to start the search from a higher starting value. Using these arguments will speed up the identification but might give a less accurate result AristoMig Integrated option The AristoMig Integrated option now recognizes more ESAB PowerSource types. The following PowerSources have been tested by ESAB. Mig 5000i Mig 4004i Pulse Mig 6502c Mig 5002c Mig 4002c Mig 3001i Mig 6502c Important to notice that ABB only supports AristoMig 5000i. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Standard IO configurations for DN-lean in Mediapool\service\ioconfig (PDD145) The Standard IO Configuration of the mediapool now consists of separate folders for DeviceNet and DNLean. The Folders contains the CFG files listed below: Mediapool\RobotWare_5.15.1054\utility\service\ioconfig\DeviceNet d327A_10.cfg d327A_11.cfg d327A_12.cfg d327A_13.cfg d327A_14.cfg d327A_15.cfg d328A_10.cfg d328A_11.cfg d328A_12.cfg d328A_13.cfg d328A_14.cfg d328A_15.cfg d332A_10.cfg d332A_11.cfg d332A_12.cfg d332A_13.cfg d332A_14.cfg d332A_15.cfg d350B_10.cfg d350B_10s.cfg d350B_11.cfg d350B_12.cfg d350B_13.cfg d350B_14.cfg d350B_15.cfg d351A_10.cfg d351A_10s.cfg d351A_11.cfg d351A_12.cfg d351A_13.cfg d351A_14.cfg d351A_15.cfg d352A_10.cfg d352A_10s.cfg d352A_11.cfg d352A_12.cfg d352A_13.cfg d352A_14.cfg d352A_15.cfg d355A_10.cfg d355A_11.cfg d355A_12.cfg d355A_13.cfg d355A_14.cfg d355A_15.cfg d651_10.cfg d651_11.cfg d651_12.cfg d651_13.cfg d651_14.cfg Page 46/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 47/124 Author, telephone Anders Trillkott, +46 21 344888 d651_15.cfg d652_10.cfg d652_11.cfg d652_12.cfg d652_13.cfg d652_14.cfg d652_15.cfg d653_10.cfg d653_11.cfg d653_12.cfg d653_13.cfg d653_14.cfg d653_15.cfg dsqc377A_10.cfg Mediapool\RobotWare_5.15.1054\utility\service\ioconfig\DNetLean d351Lean_10.cfg d351Lean_10s.cfg d351Lean_11.cfg d351Lean_12.cfg d351Lean_13.cfg d351Lean_14.cfg d351Lean_15.cfg d651Lean_10.cfg d651Lean_11.cfg d651Lean_12.cfg d651Lean_13.cfg d651Lean_14.cfg d651Lean_15.cfg d652Lean_10.cfg d652Lean_11.cfg d652Lean_12.cfg d652Lean_13.cfg d652Lean_14.cfg d652Lean_15.cfg d653Lean_10.cfg d653Lean_11.cfg d653Lean_12.cfg d653Lean_13.cfg d653Lean_14.cfg d653Lean_15.cfg dsqc377ALean_10.cfg LAN Ethernet driver updated (PDD677) An updated Ethernet driver is included in the release. Improved LoadIdentify documentation (PDD991) The documentation regarding the LoadIdentify service routine has been improved and a Tip has been added to support the user when a 0 kg mass was identified. The same Tip/additional information has also been added to the service routine when a 0 kg mass is identified. WeldRepair functionality - StdIOWelder in SemiAutomaticMode (PDD1424) Handles number of configured weld errors correctly when in SemiAuto2 Independent mode. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 48/124 Author, telephone Anders Trillkott, +46 21 344888 Tuning position and orientation of infeeders (PDD1425) Tuning position and orientation of infeeders from the operators interface on the flex pendant has now been enabled. Before tuning, a warning text must be confirmed, since the layout on the outfeeder can be affected in an unexpected way on the outfeeder if the function is used in the wrong way. If "Limit Speed" is used together with reduced running speed (PDD1462) Activation/deactivation of the limit for the speed of checkpoints is moved to same place as the limits of axes so the response of the system input LimitSpeed will be faster. Limitation of number of layers in Operation sets in Workarea (PDD1553) The limitation for the total number of layers for all operation sets in one work area is now 32767. TPReadxx allowed in Manual Full Speed (PDD1600) The RAPID instructions TPReadFK, TPReadNum and TPReadDnum are now allowed to execute in Manual Full Speed mode again as before RW5.15. Allow service routines to execute in Manual Full Speed (PDD1600) Some Service Routines, such as Load Identification, require movements with speeds that are higher than the speed allowed in Manual Reduced Speed. It is therefore allowed to call a Service Routine from Manual Full Speed Mode and also to switch to Manual Full Speed when in a Service Routine. A limitation is that Manual Full Speed is only allowed to be used for program verification according to ISO 10218-1:2011. Therefore, Service Routines supplied from ABB, such as Load Identification, have safeguards implemented to make sure that no unexpected movements are performed in Manual Full Speed mode. Not able to take backup, it is saying XML file is missing (PDD1802) If Backup or any other function/operation fails due to an error saying that the system.xml file is missing/not installed, please restart the system (Warmstart) to recover. If it still fails, please download the system again via RobotStudio. Better error handling when reading a path file (PDD1850) If the internal buffer is too little to hold the stored path of a MultiPass run, the user did not get any information about the reason why the reading of the path file was unsuccessful. In manual mode a warning was sent. Starting with RW 5.15.01 an error message is sent if the internal buffer is too small to hold the contents of the path file you want to read. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 49/124 Author, telephone Anders Trillkott, +46 21 344888 Improvements RW 5.15.02 Improvement of Track TypeA performance Performance improved for Track TypeA compared to release 5.15.00.01 where this new type was introduced. LoadIdentify and ManLoadIdentify improvements (PDD2188/PDD2229) There have been modifications in service routines LoadIdentify and ManLoadIdentify. 1) MOVE button has been removed. When "SlowTest" has been executed, there is no need to push MOVE button to continue the execution of the service routine. When executing in manual full speed this button was a problem. 2) The speed override is checked before start of movements. It is not allowed to execute the movements with reduced speed, and it was hard to remember to change this when changing operating mode from manual reduced speed to manual full speed. When changing to manual reduced speed the speed override is set to 3%. 3) Added error handling. If a stop occurred during movements, the service routine was ended. Now a stop will be handled in an error handler, and it is possible to restart the latest movement sequence from the beginning. This is very useful when first executing the service routine in manual mode slowly, and then executing the measurements in manual full speed. If stopping the execution in the real measurements, it is not necessary to run the slow movements again. 4) Slow test movement improvements for robots (LoadIdentify only). The slow speed test has been improved in two ways: We have removed redundant movements from the sequence and we have introduced a new CFG parameter, load_id_test_speed_factor (exists under robot in cfg). The speed factor can be set between 1 and 6, where the value 1 corresponds to the original speed of the slow speed test. The default value of the speed factor is 4. 5) User Interface improvements. Some UI has been changed from using old TPReadFK to using UIMessageBox instead. IRB 6660_1.90_205 noise issue (PDD2263) A noise problem that has occurred for some IRB 6660-205/1.9 robots has been solved. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 50/124 Author, telephone Anders Trillkott, +46 21 344888 Improvements RW 5.15.03 Possibility to use stationary guns with CSS. In this release the css direction search direction is corrected when using stationary guns. If the setup data opposite_z is set to true the direction will be changed to negative z related to the tool, e.g. into the fixed tip. SafeMove CBC updates Changes that has been done in this version of CyclicBrakeCheck. 1) The WARNING level has been changed, and the test is performed with a higher torque than before. In earlier versions the difference between ERROR level and WARNING level was too small, and then it was a risk that the ERROR occurred without any WARNING notice. 2) Each time the warning 37230 is reported in the event log, a file, CBC_WARNING_REPORT.log, is updated. Information about date, time, name of the mechanical unit and the axis number is logged. WeldGuide MultiPass Storage/Replay Improvements have been made to the WeldGuide MultiPass Storage/Replay functionality. In previous releases, it could sometimes happen that there was a problem to replay a stored path with the ArcRepL instruction, if there was a process error on the first layer (when the path was stored). This is now corrected. Immediate response on the Redo Search signal (PDD2283) When setting the redo search signal, e.g. for a slip sheet stack, the robot will now always make a search from the top before the next pick. In previous releases there was one limitation: a search would not occur if a movement to pick up a slip sheet already had been executed in Rapid but not yet performed by the robot. There is now a built-in automatic handling of this scenario; the robot will stop on path and request new targets on the slip sheet infeeder. After having the new targets confirmed, the robot will search from the top of the stack before picking the slip sheet. If the robot stops on path too close to the slip sheet feeder, i.e. it has passed the first approach position just above the pick position, the pick will continue without a search. Wrong measurement channel IRBT x004 (PDD2309) The default parameters for the measurement channel have now been changed match most new track motion installations. When the configuration file now is changed to use channel 7 of the robot the majority of the tracks have the right parameters. Only the servo guns for robots on a track have a problem, they still need to use measurement_link 2 and measurement_node 1. Files for IRB 4400 have not been changed since they use the same setup as with servo gun. Reset of limit error (Q-master) for Fronius PS (PDD2362) Customers that are using Q-Master on the Fronius power source had to reset a limit error in the power source manually. Starting with RW 5.15.03, the error is reset automatically at start and restart of the weld by toggling the signal E12 "source error reset" in the power source. SoftMove offsdist parameter (PDD2827) In this release a new parameter has been added in the swdefusr.sys module, smeq_offset_dist. It should be used as a search distance when running SpotL with softmove activated, e.g. \SMEQ. Note! It is important that this distance is equal or larger than the expected tolerances of the object to be welded, since it can be located lower than nominal position. The default value of this parameter is 3mm, but it can be set in the range 1-5mm. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 51/124 Author, telephone Anders Trillkott, +46 21 344888 Support for GSDML version 2.3 (PDD2401) PROFINET Configurator Express version 1.12: Support of reading PROFINET GSDML version 2.3. However there are some limitations: 1) A parameter that is optional according to standard is regarded as mandatory by the PROFINET Configurator Express tool. The ABB DESTO device’s CI501 and CI502 have GSDML files are not possible to use with their ordinary GSDML file. Workaround: GSDML files with this problem have to be sent to ABB for conversion. 2) It seems that the import of all Siemens units with version 7.0 are failing. Workaround: Copy the failing file in the KW Configurator GSDML library by attaching "_original" at the end of the file name. (path to library: C:\Users\Public\Documents\FDCML10\Profinet\SIEMENS). Identify the failing GSDML part by importing the file into PCWORKS (by Phoenix Contact). It will show which part is causing the problem. Remove move the Identified failing part and store the file. Open the PROFINET Configurator project and select "Import device" by right clicking the device catalog. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 52/124 Author, telephone Anders Trillkott, +46 21 344888 Improvements RW 5.15.06 Motion Supervision for IRB 120 The sensitivity IRB 120 “Motion Supervision of” has been decreased to avoid false alarms. CyclicBrakeCheck update In previous releases, functionality to log warnings from CyclicBrakeCheck to a file called CBC_WARNING_REPORT.log was introduced. This functionality has been removed in RW5.15.06. Instead, a file called CBC_REPORT.log will exist in the HOME folder after execution of a CyclicBrakeCheck. The result of the 100 latest CyclicBrakeCheck runs will be stored in that file in a FIFO queue. Below you can see how it looks like and the content of it. CyclicBrakeCheck has been executed once on a single robot system. Improved cycle time if the Arc preset time is used (PDD1201) In previous releases, the functionality behind the arc preset time (found in the Arc Equipment properties in the process configuration) did not work as described in the process flow charts in the user manual. Instead it acted as a delay of the PowerOn signal. This led to increased cycle times. In this release, the arc preset time now works as described in the process flow charts. SpotServo Equalizing with SoftMove (PDD3095) In this release the SoftMove equalizing functionality has been changed and improved. Previously in some positions/orientations there was a risk that the robot could move in not only the zdirection as configured, but also in x or y direction depending on gravity influences and friction of the robot axes. This behavior has been fixed now, however with some increased stiffness of the robot as a result. ProfiNet FSU for modules Port2 (PDD3146) The possibility to configure fast startup for multiple ports for a slave device is now possible with PROFINET M/S SW (888-2) option. The fast unit startup (FSU) functionality for PROFINET M/S SW option (888-2) has been updated. It is now possible to configure FSU on units in a chained IO setup. This relates, typically, to IO units located in a toolchanger setup. Weld Guide error (PDD3230) In this release, the error messages have been improved for WeldGuide sensor errors. The error message will now inform which sensor that is the reason for the error (Current or Voltage). There will also be a stop of motion and process. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 53/124 Author, telephone Anders Trillkott, +46 21 344888 German texts for load identification have been changed (PDD3422) The English text: "Should test of measurement movements first be done with low speed in MAN/RED. SPEED before the real measurements with higher speed" with the previous German translation: "Soll ein Test der Messbewegungen mit reduzierter Geschwindigkeit ausgeführt werden, bevor die Messungen bei höherer Geschwindigkeit erfolgen?" has been changed to: "Vor Messungen mit hoher Geschwindigkeit muss ein Test der Messbewegungen mit reduzierter Geschwindigkeit ausgeführt werden." And the English text: "To be able to run in manual full speed mode for measurement movements, test in" with the previous German translation: "Zum Ausführen von Messbewegungen im Testen 100% ist zuvor ein Test im Einrichtbetrieb mit reduzierter" has been changed to: "Vor Messungen mit hoher Geschwindigkeit muss ein Test der Messbewegungen mit" Softmove equalizing functionality (PDD3423) The following improvements have been done regarding SoftMove equalizing: 1. A warning message has been added if the robot speed is lowered when using SoftMove equalizing. The css performance will be influenced negatively if the tcp speed is set too low, approx. below 100mm/s. In manual operation mode the warning message will be appear if speed is lower than 50% of the programmed speed. Auto mode - warning message if speed lower than 5% programmed speed. 2. If running spot instructions in simulated and no plate’s mode, the robot will move to the nominal position and not activate SoftMove equalizing. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Improvements RW 5.15.07 Cyclic Brake Check The cyclic brake function has been improved. Page 54/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 55/124 Author, telephone Anders Trillkott, +46 21 344888 Improvements RW 5.15.08 Adaptive Welding Instructions (PDD2433) Changes have been made to improve the behavior of Adaptive Welding at low travel speeds. In earlier RW revisions this could cause travel speed errors for very slow weld processes (below 5 ipm). Lost Communication error 71058 (IRC5 to PIB) (PDD3129) This was an overload situation. The customer use telnet communication from MC to PIB board during production. This is not supported (according to Paint) Telnet will be removed in 6.xx, But it was still solved by changing network stack priority. Modify Position in one process target (PDD3815) New CFG parameter MMC_NO_PC_MOVEMENT_CLEAR_PATH is added in and set default for all Spot Instructions. This avoids PC to step to next instructions and avoids disturbing elog messages and regain dialog after modifying position. MMC_NO_PC_MOVEMENT_CLEAR_PATH For instructions without between point, such as SpotL, the program pointer should not continue to the next instruction and a clear path is performed after modify position. The type MMC_NO_PC_MOVEMENT_CLEAR_PATH is used default in Spot systems to avoid disturbing elog messages and regain dialogs after modifying position. Example: MMC_NO_PC_MOVEMENT_CLEAR_PATH: -name "SpotL_ToPoint" -name "SpotJ_ToPoint" -name "SpotML_ToPoint" -name "SpotMJ_ToPoint" Weld Tracking Issues with Motion Planner Performance (PDD3829) Weld guide position adjustments are by default applied to the main axes (1, 2 and 3) of the robot. In some cases, in particular when robot is mounted up-side-down and when the robot is welding using a long tool, it is possible to experience a TCP-singularity and as a result large movements of axes 2 and 3 due to the weld guide adjustments. With this improvement it is possible to use the system parameter Use Six Axes Corvec in Topic Motion, Type Robot, to make the adjustment using all 6 axes of the robot. This reduces the effect of the TCPsingularity, still the normal singularities of the robot has to be avoided, for example the axis 1 singularity and the wrist singularity. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 56/124 Author, telephone Anders Trillkott, +46 21 344888 Improvements RW 5.15.09 Possible to set negative (-) height in v-shaped & triangular-shaped pattern It was not possible to set negative values in the "height" parameter of the weaving data for V-shape and triangular weaving. As a consequence it was not possible to weave "inverted", i.e. with the outmost weaving position downwards. This is now possible in RW 5.15.09. Mechanical Unit Error from IRPB logic (PDD3679) The IRBP interchange logic is improved with the latest version of BootDiscMaker. Robotstudio stops motion (PDD4141) Program execution is now less sensitive during symbol search operations from Robot Studio. Program execution may still be sensitive during symbol search operations if two or more clients (e.g. Robot Studio and FlexPendant) are doing symbol search operations at the same time. Program execution is still sensitive for symbol search operations from the FlexPendant. Process speed difference with AbsAcc and moving work object (PDD4535) When AbsAcc option is present in an application using small circles or short line movements in combinations with large reorientations of the work object, it is possible that the actual robot speed can be different from the programmed speed. An additional system parameter in MOC.cfg, absacc_speed_adjust in Topic Motion, Type Motion Planner, can be used to adjust the AbsAcc speed profile to be similar to the nominal speed profile. Introducing the parameter in a system can increase or decrease the total cycle time and may also affect the process result, therefore absacc_speed_adjust is not default active. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 57/124 Author, telephone Anders Trillkott, +46 21 344888 Improvements RW 5.15.10 More stable Rapid execution (PDD5162) The controller would under certain circumstances have lower priority execution Rapid code than handling external client requests, e.g. leading to increased cycle times and unexpected Rapid execution delays. A change has been made that will make the Rapid execution response time more stable. The change may have some inpact on the controller response to external clients. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 58/124 Author, telephone Anders Trillkott, +46 21 344888 Improvements RW 5.15.11 Date format in backup not correct (PDD6404) The format on the date in the backup (backinfo.txt) )is changed from 16-04-01 to 2016-04-01 Improvements RW 5.15.12 Thermal motor model for IRB 6700. (PDD6991) Thermal motor model is implemented for all versions of IRB 6700. LTCVerify / LTCCalibrate (PDD7108) The RAPID instructions LTCVerify and LTCCalibrate used with laser tracking cameras have been improved: · LTCVerify raises a recoverable error LTC_VERIFY_ERR when the verification does not meet the requested precision · LTCCalibrate raises a recoverable error LTC_CALIB_ERR when the verification does not meet the requested precision · For both instructions the tool that is active when the instruction is called, will be restored when the verification or calibration is finished. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 59/124 Author, telephone Anders Trillkott, +46 21 344888 Improvements RW 5.15.14 Execution of CyclicBrakeCheck (CBC) for the second robot in a MultiMove system, ends in a sys failure From the SafeMove manual: Brake check for MultiMove system: One of the motion tasks call the routine CyclicBrakeCheck to perform a brake check for all mechanical units in all tasks. Load definition should not be included when recalcuating TCP (PDD6744) In this release the load data will not be updated when running a MeasureWearL instruction with the \TipChange or \TipWear switches set. The used tool, load data will remain unchanged. LoadIdentify improvement (PDD8715) It is now possible to run LoadIdentify with speed override lower than 100% in manual operating mode max. 250 mm/s. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 60/124 Author, telephone Anders Trillkott, +46 21 344888 Information/Corrections RW 5.15 Manual Full Speed The new ISO 10218-1:2011, see reference [1] (replacing the older ISO 10218-1:2008) was given the status of Swedish Standard in January 2012. Chapter 5.7.4 now states that Manual High Speed is to be used for "Program verification only". To comply with the new standard, only the following set commands will be allowed: Start program execution, including: - Setting Run Mode to Single Cycle or Continuous - Setting Speed to 0 – 100% (The speed is always set to 3% when the Enable Device button is pressed) Step program execution, including - Setting of Step Mode to Step Into, Step Out, Step Over and Next Move Instruction Stop program execution Setting of program pointer (Debug view): - PP to Main - PP to Routine - PP to Cursor - Call Routine (Service Routine) - Cancel Call Routine (Cancel Service Routine) - Check program Set of I/O signals Simulation of I/O signals Use of some System inputs - All actions with Stop functionality - MotorOff - AckAutoMode (internal) - SafeMoveConfirmStop (internal) - LimitSpeed Use of System outputs Modify of Task Selection Panel settings Restart of the system Examples on functionality removed/blocked compared to RW5.14.03 in MANFS mode: Load, Save or Edit of RAPID program Modify of Program Data Use of System input signals - Except the ones specified above Modify of CFG parameter settings Backup/Restore Jogging Appearance of FP SDK controls: CheckBox, Led, Switch, RadioButton The RadioButton control of the FlexPendant SDK now has the same forecolor when disabled as other similar controls (e.g. Led, Switch, CheckBox, Button) of the FP SDK. CapRefresh with optional arg. \RestartDist set in mm results in a restart dist. in meters The value provided in the optional argument \RestartDist of CapRefresh was interpreted as a distance in m instead of mm. This is now corrected. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 61/124 Author, telephone Anders Trillkott, +46 21 344888 An active tracklog can cause system failure Until RobotWare 5.14.xx the following is valid regarding track log: For "At Point Trackers"(APTr) like weldguides with activated tracklog, tracking information is written to disc directly at each tracking measurement. For "Look Ahead Trackers"(LATr) like optical trackers with activated tracklog, tracking information is saved in an internal buffer. When that buffer is full, the content is flushed to disc. Disc access during tracking may take too long time thus causing problems for task execution. In 5.15 logging is changed for both APTr and LATr, which now have the same logging mechanism: 1. the internal buffer is a ring buffer 2. flushing to disc is done whenever tracking is stopped or ends 3. the internal buffer size has a default of 1000 track data entries, which can be changed using the new optional argument "\LogSize" of the setup instructions "CapAPTrSetup" or "CapLATrSetup" 4. each time the internal buffer is flushed to disc, it overwrites the data from a previous flushing in the file. External axis position not update for BullsEye If a TCP check is made with a track mounted robot where the BullsEye is mounted on the track or on the floor, it is now possible to run that check in another track position than zero. In previous releases this was not possible. Start of multimove robots from I/O The update applies to multimove robots running projects created with PickMaster 5 or Palletizing Powerpac. For single robots, the previous startup sequence can still be used. The project startup sequence from I/O is modified to avoid startup failures. Before: pmSystem_diLoadStartX was pulsed to load and start the PmProjMgr.mod for each motion task. Now: PmSystem_diLoadX is pulsed to load PmProjMgr.mod for each motion task. pmSystem_diStart is then pulsed to start the rapid execution for all motion tasks synchronously. There are also corrections in PmProjMgr.mod. Support of FTP servers The FTP client that comes with the option "FTP client" supports the following FTP servers: Serv-U, version 11.1.0.7 Distinct version 3.0 FileZilla, version 0.9.40 MS IIS Linux Ubuntu version 9.10 HP-UX version 10.20 Unable to connect to Ethernet/IP internal slave It is now possible to use multicast for the internal slave (841-1 EtherNet/IP m/s option) even if the slave is located on the LAN port. Safemove: in German language and Win 7 characters are not visible The left menu in Safemove has been resized. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 62/124 Author, telephone Anders Trillkott, +46 21 344888 Force change during weld In this release it is possible to use different forces during the welding phase for servo guns. For this functionality to work correctly, the force calibration procedure has been changed. Now also the gun position is stored in the SG_PROCESS table when performing the force calibration, squeeze_pos1 to 10. It is really important for the gun force accuracy and performance that this procedure is done properly. Therefor the SWDEFINE module has been updated to this release and must be used for this functionality to work. A SWDEFINE module from an old backup will not have this function and will not store the positions of the gun in the SG_PROCESS table. It is also very important that the gun forces used during production later on is in the range of the force calibration table in order to get an acceptable accuracy of the force. For more info on this functionality see the Spot Option manual. Backup limited to max path 100 bytes when using compress functions on the controller Backup/restore can be done using archive and compress functionality on the controller. The max path (on any file in the backup) is limited to 100 bytes when data shall be stored in an archive on the controller. The internal data representation for sensor data is changed In RW 5.15 as to be capable to handle larger values. It was changed from unsigned short to double. But the values returned by the RAPID instructions included in the sensor interface (ReadVar, WriteVar, IVarValue, ReadBlock, WriteBlock) are not changed. That means e.g. that IVarValue still returns only positive values in the connected PERS variable. Program pointer not possible to set in current routine (PDD8) We have given two pop up messages to user why he will not able to set program pointer in current routine, corresponding yes and no button. RobotStudio: SafeMove configurator may cause wrong safety configuration (PDD57) Problems with zone points not updated directly after manually entering values have been solved. The right TCP value is now shown when pressing the "Get Current TCP pos" button. In the graphical view of the zones (Safe/Monitor Tool Zone tab) the base frame object is now always showing the actual robot baseframe independent of what is selected in the "Mechanical Unit" tab. FlexPendant Explorer is disabled when controller goes to sysfail (PDD98) When controller goes to sysfail FlexPendant Explorer is disabled. This is now corrected. Strange graphic behaviour on GTPU3 (PDD142) When we have align robtargets in motion instruction, selection of instruction is not proper and some of robtarget don’t have correct value. This problem is now solved. BACKUP/RESTORE window needs to be closed after making a backup (PDD168) When you issue a BACKUP with certain backup-syspar-settings it is not possible to select a directory for a subsequent RESTORE. Selection possibility is greyed out. If you then close and re-open the BACKUP/RESTORE window the problem is gone (can be seen as workaround). Problem is also gone after controller Restart. Problem only occurs, when the system parameter BACKUP_DEFAULT -disable_name_change is set to 1 so we have enabled button for this scenario. It’s working now as per expectation. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 63/124 Author, telephone Anders Trillkott, +46 21 344888 IRC5 start-up error with DN Lean and double master (PDD169) It is now possible to use DeviceNet Lean with another DeviceNet Master. System Crash when moving into position with wrong loaddata active (PDD176) The problem when system crash when moving into position with too high loaddata active has now been solved. Certain entries in MMC.CFG not backwards compatible RW 5.14 -> RW 5.13 (PDD219) Configuration files shall not be loaded in systems running an older RobotWare version than in which they were created. Error in RAPID example Application Manual Spot options revH (PDD253) In this release the RAPID examples in the MeasureWearL chapter has been corrected. MoveJ p1,v1000,z50,ref_tool1; MeasureWearL p2,v1000,gun1\Reference,ref_tool1; tool1 := ref_tool1; ! tool1 is then used during the production. MoveL p1,v1000,z50,tool1; Calibrate,gun1\TipChg; Has been corrected to Calibrate gun1\TipChg; WeldGuide III Dwellbit error (PDD258) In previous releases, it could happen that the error message 80001 - WeldGuide_III Fault”, "Tracking did not start Check dwell bit IO Check voltage/current probe" appeared and tracking was restarted. This is now corrected. Smartac/search instruction (PDD282) When searching a seam, the start is searched, and then the end is searched. If the end search failed, the first search was cleared. This is now corrected, so the first search is not cleared. Gundata valid for all guns in the system (PDD356) In this release a new data has been added in the default spot user code. Module swdefusr.sys MAX_GUN_FORCE {SW_NOF_GUNS}:= [5000,5000,5000,5000]; It is used to supervise the maximum allowed gun force in the spot instructions. The new data replaces the old MAX_TIP_FORCE that was used before, now obsolete. The reason for this change is that the max gun force is depending on the type of gun, and if several guns are used in a system with tool changer, it is likely that the max gun force is different between these guns. Store SID data for ESAB AristoMig500i on USB connected to FlexPendant (PDD446) It is now possible to store a SID file from the AristoMig5000i FlexPendant application directly onto a USB stick connected to the FlexPendant. Possible to add more than 8 MTZ points in the Savemove configuration (PDD467) The possibility to add more than 8 MTZ/STZ points than allowed has been corrected. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 64/124 Author, telephone Anders Trillkott, +46 21 344888 RS5.14.02 VC does not start up (PDD490) When using the Virtual Controller it is easy to get a long file path for the system. Standard Windows path length limitation is 260, but the Virtual Controller cannot handle so long file paths. One reason is that is shall be possible to have directories and files in the system directory. HOME, BACKUP etc. To be able to handle e.g. a backup, restrictions are introduced. When the system is started up and the file path is too long, an Event Log Message will inform that the system path is too long and must get shorter. The controller will enter System Failure state. Wago IO module not connected any more after warm start (PDD540) A Wago unit with the extra label (/000-004) for 750-306 is a special module manufactured for ABB robots. There is known problems with these modules and the problem we got are very much similar. Most of the people that have these special modules and have got problems have replaced them with an ordinary 750306. Ways to try to get the problem solved: One way is to try and update firmware which can only be made by WAGO. Contact Peter Top at Wago Netherlands. Another way is a workaround and is to run with POLLED connection instead of COS if that’s possible. If the modules contain both analog and digital io nodes, grouping them together i.e. all analog on one module and all digital on another might solve the problem. Error: System.ArgumentNullException when loading station (PDD569) Problem to read uas grant configuration file in unix file format has been corrected. (Work around for previous releases is to change to dos file format) IRB 120 Jerky Motion (PDD603) The error geo interp. fails when switching singarea\wrist to quat. during cnv tracking has been solved. Documentation - Error 50042 (PDD622) Event log messages 50042 and 50426 have been improved to help during trouble shooting. Intensive use of TriggLIOs causes the system to crash (PDD629) The problem when using intensive TriggLIOs and the system goes to system failure has now been solved. An event log will be reported. This describes how to increase the number of internal event objects used in the instructions. To solve the problem increase the system parameter Number of Internal Event Objects in topic Motion and type Motion Planner and restart the controller. CAP Speed (PDD632) The following limitations exist for CAP with use of flying start and flying end: 1. CapX instructions take capdata as RAPID data of type PERS. That means, that the RAPID programmer has to be aware that changes in the content may have undesired effects on CapX instructions, that are already executed in RAPID but whose movements have not been executed yet. Due to flying start and flying end, i.e. zone points instead of fine points in both beginning and end of sequences of CapX instructions, the program pointer may far ahead of the motion pointer. The RAPID programmer has to consider this situation and maintain his/her own data stack for all PERS CAP data that are different for different CapX instructions. 2. The capspeeddata components "fly_start" and "fly_end" were intended to cut cycle time, but they do not work for "high" speed, because it takes too long time (0.1 - 0.5 s) to change the robot's speed. That feature will be removed: it is not improving the performance of the robot. On the contrary, it causes undesired speed variations. Customers, which do not need to use weaving, should use TrigX instructions instead until the feature is removed in a future release of RobotWare. Even if the same speed as main(speed) is used in fly_start and fly_end, the speed variations may occur.). ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 65/124 Author, telephone Anders Trillkott, +46 21 344888 Restart function after emergency stop in Dispense system (PDD687) A correction has been done to improve execution of time before events at a restart. Files for IO Bus not installed with error but bus works (PDD736) Problem is now solved. Lost unit function back to earlier behaviour (PDD758) Behavior is back to earlier releases behavior: When the PROFINET master have lost a unit it only reports lost unit. When the PROFINET master de-activates a unit no event log is shown. Incorrect window open identification in FP GUI (PDD779) When we have 6 views open and in that 6 views there is one program editor view along with custom view should be opened. When user try to launch existing program editor view from custom application, user getting pop up that " It’s not possible to have more than 6 views open." but it should open existing program editor. This is now corrected. It fails to read file information in system Home directory (PDD780) When user tries to get content of Home directory, He is not able to get because the pattern he passed is not good enough for this. Now whatever pattern he passed till home directory, able to read whole content of home directory. SafeMove wizard – Restart dialog not fully localized in French (PDD783) When downloading a Safemove configuration the restart of the system sometimes fails due to different reasons and will show a dialog telling about it, these texts have now been translated. Arc ignition wgen supervision gun fault (PDD787) Previously, if a gun fault was active at Arc process start, the Arc would ignite and then the gun supervision fault would be reported. Now, the gun fault is checked before the Arc is ignited. SafeMove wizard – Problem in the report generation (PDD792) When adding MAR, Monitoring Axis Range, sometimes the order of the Axis was not correct, this have now been solved. Also solved this issue when saving the configuration to file. Fronius IF - Wrong Value in Wirefeed Speed (PDD811) The wire feed value shown by the analog display in the monitor view was not correct. This is now corrected. Fronius IF – Runtime data is not updated (PDD815) The "Runtime Data" in the "Monitor" view of the FP application "Fronius TPS Integrated" was not updated correctly and the WireFeed showed wrong values. This is now corrected. Fronius TPS Integrated not to be used with RCU (PDD816) The option "Fronius TPS Integrated" cannot be used together with the Fronius RCU5000i. If the RCU is connected before the FP application "Fronius TPS Integrated" is started, all functionality except runtime data is disabled. If the RCU is connected to the power source after the FP application "Fronius TPS Integrated" had been started, functionality is not disabled, but all job related functionality will collide with the RCU functionality and result in unpredictable data. The user is strongly recommended to restart the FP application "Fronius TPS Integrated" after attaching an RCU to the power source. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 66/124 Author, telephone Anders Trillkott, +46 21 344888 Ordering a backup from FPU creates empty backup folder when SysInput (PDD823) When Disable backup parameter is high and user want to take a backup, in this situation backup is restricted but problem is that any empty folder of backup is created. Which give impression to the user that backup is created though it’s restricted. So Now In this backup is totally restricted and no empty folder of backup is created. Using Bosch WeldTimer Interface limits the number of I/O signals (PDD832) In previous releases the Bosch WT interface could under some circumstances interfere with the I/O screen on the TPU. The symptoms of this were that no signals could be viewed from the I/O screen. This problem has been fixed in this release. Ethernet/IP LAN Slave Communication with Rockwell PLC (PDD845) It is now possible to connect to the EtherNet/IP internal slave (option 841-1) using multicast on the LAN port. FP GUI – Not acceptable filter position in data list (PDD850) Putting Active filter Label for user to showing text when he tries to filter data. Corrections for mechanical gripper types (PDD875) Corrections for fork, claw, clamp and other mechanical gripper types. Following functionality has been corrected: * Product height tuning. * Height control of intermediate movements. * Output from rapid instruction PmGetWaHeight. Following is required to enable the corrections: Palletizing PowerPac 5.15 (or later) The rapid PmUtility module from Palletizing PowerPac 5.15 (or later). Error handling not working (PDD880) In previous releases there was a problem with an internal error handler in the ManSpot routine. An illegal RAISE was done, and the problem was discovered when the ManSpot was run from a bg-task. This problem has been fixed in this release. Ethernet/IP Master Configuration - Beckoff bus coupler BK9105 (PDD885) The problem is solved with the cfg parameter -EN_ConnectionPriority "SCHEDULE". This note can also be found in the documentation. Modify default values in SafeMove configurator (PDD909) Two default values have been changed in the SafeMove configurator in RobotStudio. 1. The default value for "Tolerance" under "Operational Safety Range (OSR)" is 10,00 deg. The value have been reduced to 5,00 deg. 2. The default value for "Maximum Axis Speed" under "Safe Axis Speed (SAS)" is 250,0 deg/s. The value have been changed to 20,0 deg./s. Uncorrect mechanical unit name that crashes the Virtual FlexPendant (PDD984) A buffer overrun in RobotCommunication runtime is corrected. It's now possible to have mechanical unit names of 32 bytes. FcPress instruction gives error 50076 (PDD986) If an FCPress1LStart instruction with argument ForceFrameRef:=FC_REFFRAME_PATH was the first force control instruction after a warm start of the controller it would give error 50076 first time. This is now corrected. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 67/124 Author, telephone Anders Trillkott, +46 21 344888 StartMove instruction locked (PDD990) If a stop occurs right after StartMove instruction has started to execute, the instruction can hang forever. This behavior has been corrected in this release. The problem seems to occur only if the robot needs to do a regain to path. When LoadIdentify results in 0 kg mass (PDD991) Following will be implemented in RW 5.15.01 documentation: In some cases the LoadIdentify service routine for a robot with unknown mass identifies a 0 kg mass. In these cases it is recommend to consider the statements below; - Check that arm loads are correctly defined and redo the identification. - If the load is very small compared with the maximum load for the Robot, a 0 kg mass can be OK. - Find the weight of the load in some other way and perform a load identification with known mass to remove the dependency on arm loads. Not possible to restart robot after AS,GS or program stop (PDD990) If the robot is stopped (with auto stop, general stop or program stop) while waiting for correct tool input signal values (e.g. to indicate gripper opened), there is a risk that the robot program gets stuck in the PmCheckToolEventInputSignals routine. This problem has now been solved. Error 20457 SC2 Changed Safety Conf. error when changing SafeMove conf. (PDD1006) The saved or downloaded Safety configuration contained in some cases parameters that should not have been added, these have now been removed. These faulty parameters only occur in cases where you have a translation and/or rotation of the robot. Backup Folder name beginning with space is not accessible anymore (PDD1061) In previous versions, when creating backup, it was allowed to give a backup name that starts with a whitespace character. This will lead to problem later. From RW 5.15, it is not allowed to give a folder name that starts with an empty space at backup. An error message will be returned and ask the user to give a new valid backup name. System failure in UNDO (PDD1067) The combination of IMeassageBox and system restart that could lead to system failure has been solved. TAF errors (PDD1081) When user is saving log file, we are showing progress bar to user so that he can understand that something is happening in background. So there was problem in maximum limit of progress bar which cause a problem to user. Right now that issue is solved. They can save log file and progress bar will appear as it should come. Instruction UIMessageBox restarts executing after Stop (PDD1092) Message boxes from normal or trap execution levels will not be shown anymore when executing service/user routines. Performance issue for pallet patterns with many products (PDD1107) A correction has been made that substantially improves the the ability to handle pallet patterns with a large number of products. The correction prevents motion supervision errors (50082) during operation. Occurrences of corner path failures (50024) are minimized. In previous releases, motion supervision error can occur during operation when using >600 products. It can also occur for only 200 products when the pallet pattern is used with safe positions. System failures and lost contact with the flex pendant may also occur. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 68/124 Author, telephone Anders Trillkott, +46 21 344888 RCS 5.13 missing Events (PDD1138) The occasional event missing problem with RCS has been solved. heat_speed problem (PDD1186) When starting the Arc welding process after scrape start with a very low process speed (<1 mm/s) during the heat phase and a normal speed during the main welding phase, the weaving pattern was not correctly applied for Robots with second generation TrueMove. This error has been corrected in RobotWare 5.15. The minimum process speed allowed in the heat phase is 0.2 mm/s. A lower speed may result in a movement without weaving. Error in system builder while creating system from backup when using IRBT (PDD1202) Improved incompatibility check for additional options. Strange files on flash disk during installation of RW5.15 (PDD1203) When creating Boot media in RobotStudio, there is a limitation which is the file path cannot be longer than 150 characters. Otherwise when installing the system from the Boot media, strange files and folders start with @@ can be created in the controller. Service Information System option added to IRB 6660-1.9/205 (PDD1261) The SIS (Service Information System) functions have now been added to IRB 6660-1.9/205. This means that supervision of Calendar Time etc. now should work. If upgrading an existing system and restoring a backup some manual actions are needed. SIS will store some values in the backup, to get these values back when restoring an old backup this has to be modified manually. First take a new backup of the new system, or save the Motion configuration to file (MOC.cfg). Copy the complete SIS_EXTERNAL section from the MOC.cfg file in the new backup to the old, and then restore the old backup. When upgrading an existing IRB 6660-1.9/205 also look at RSI "IRB 6660-1.9/205 to QuickMove 2" for more information about how to modify the backup before you restore it. Erroneous Message while editing System Parameter in RS (PDD1268) It is not possible to edit the System Input signal Backup to have the on the backup from Robot Studio. Argument 1 must be empty to set the Backup name to the . That is not possible from Robot Studio. This can be made from the Flex Pendant: - Set any value on Argument 1 - Press OK - Empty the field for Argument 1 - Press OK -> Now the backup will get the when the backup is made. Extended keystring limitations (PDD1283) The RAPID instruction IsSysId will not return the extended keystring. It will still return the old style serial number format. The backinf.txt file in backups will also only contain the old style serial number format. NFS Client: max path (PDD1310) In the NFS client the maximum length for a path is 99 characters. Note that it is the whole path that has to be included in the 99 characters, not only the server path. For example if ordering a backup towards an nfs mounted disk, all the directories created by backup, RAPID/TASK1/SYSMOD/, has to be included in the max path. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 69/124 Author, telephone Anders Trillkott, +46 21 344888 Unknown Publisher warning when installing RobotWare on Windows 7 (PDD1314) In certain situations when running the RobotWare setup on a Windows 7 system with User Account Control (UAC) enabled a warning would be displayed listing "ABB RobotWare.msi" as originating from an "Unknown Publisher" despite the file having a valid digital signature. The problem is related to Windows Installer changes in Windows 7 and the use of multiple languages in the RobotWare setup and has now been corrected. RS SafeMove does not retain STZ (PDD1378) When having a Robot configuration that has a rotation which is other than around Z axis and then uploading or loading a Safemove configuration file to make new changes, the values will be incorrect. Instead it is recommended to create a new configuration and do the changes. Dependency between ManServiceCalib and ManForceCalib not clear (PDD1447) When run for the first time it will check if the gun is force calibrated, if not, a warning message will be presented to the operator. ManForceCalib will check the status of a Boolean parameter located in the swuser.sys module, force_calib that will be set to true when a ManForceCallib has been executed successfully. If you know that the gun is already force calibrated the warning message in ManSericeCalib can be ignored. IO preferences definition window (PDD1450) In most common part we are showing safety signals as well as user signals. So we are showing the signals according configuration file what we have for signals. But as per requirement right now we are showing signals in alphabetical order. Robot and Single now possible to select when changing Base Frame (DSE6212) When changing the system parameters Base Frame Moved by (type Robot) and Base Frame Coordinated (type Single) in topic Motion it is now possible to select an instance from Robots or Singles. Active filter not displayed in IO units signals view (DSE9606) When user select unit in Input and Output view. There is list of unit.After that if he wants to filter the unit, he was not able to see current filter for units. This is now corrected. Servogun outside working area (DSE10259) It should now be possible to run the servo gun to the limit assigned under the Upper/Lower Joint Bound in the Motion configuration. FPU Motion Supervision value not updating (DSE10407) Making new event for changing cfg data and putting one menu item "Refresh" to get updated data. 50246 Linked motor error (DSE10411) In order to get the same retardation of master and follower during emergency stop the follower will now be updated with the same performance as the master. SocketMess: Handle problem when copying socketdev with GetDataVal (DSE10421) If copying a socketdev with GetDataVal and using the copied socketdev in RAPID sockets instructions/functions, a problem could occur. If closing the original socketdev with SocketClose, but continues using the copy of the original socketdev, you will get hanging RAPID sockets instructions. In RW5.15 an update has been done to handle this problem. You will get an event log (number 41605) if using a socketdev that has been copied when the original socketdev has been closed. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 70/124 Author, telephone Anders Trillkott, +46 21 344888 Incorrect rounding of SMB values (DSE10423) Earlier parameters stored on the SMB board are not the same as the calibration parameters written on the sticker on the robot. There is difference between two in rounding figure value. So a change is made in the way that both values should be same and user can not be confused with two different values. SafeMove: After Cyclic Brake Check fails (DSE10455) Reworked English text in error message 20450. Restart the controller when program is executing (DSE10502) When user running some rapid program and in between if he was doing restart then getting some pop up, which is really irritating to user and that pop up not giving any useful information. This is now corrected. DN Lean: No communication to units from other vendor (DSE10538) It is now possible to communicate with the Lenze I/O Device using DeviceNet Lean SafeMove: System failure state if revolution counter value is lost (DSE10582) Corrections have been made to avoid system failure when the revolution counter is lost. Tuning error at UINumTune and UIDNumTune in RobotStudio (DSE10598) If the instructions UINumTune and UIDnumTune are used with decimal values (increments) the tuning (increasing/decreasing) could result in an incorrect value on the virtual FlexPendant. This could occur if the PC has a locale (regional setting) other than English specified. This has been corrected. Possible to use DNum in PM (DSE10639) It is now possible to use DNum in Production Manager. Weld Repair Functionality (DSE10758) Implemented in RW 5.15. See PDD for details. Documentation will be introduced in RW 5.15.01 TFP-SDK application name in taskbar is wrong if app is started (DSE10790) When user wants to launch a view, he can directly click on view icon and launch it. He can do same thing through Rapid using UISHOW instruction. But problem is that it’s not possible to launch view through UISHOW instruction. This problem is now corrected. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 71/124 Author, telephone Anders Trillkott, +46 21 344888 Information/Corrections RW 5.15.00.01 A system or folder on the controller cannot start with the character 'å'. Due to a limitation in the VxWorks DOS file-system, a system or folder on the controller cannot start with the character 'å' (lower-case). If a system starting with 'å' is downloaded to the controller, then the download will fail. Profinet SW Slave disconnects from Network/PLC (PDD1444) Now the slave is in operation even when a lot of movement calculations are required. Limit error when initiating a SpotL using software equalization (PDD1552) A problem when using a robot with base frame and the Absolute Accuracy option together with a stationary tool has now been corrected. Program pointer on FP not consistent with program pointer in controller (PDD1640) The changes done in 5.15 regarding the Modpos Dialog will be taken back in 5.15.00.01 as it is thought to be confusing for the user. Now it should not be possible to change the RAPID instruction by answering a dialogue box on the TPU regarding WorkObject or Tool. Motion Timeout with "Restart Distance" and "Scrape Optional On" selected (PDD1654) If you had configured your RW Arc system with "Restart Distance" and "Scrape Optional On", it could happen that you got the error 110012 - "Movement-start timeout". This is now corrected. SYSFAIL when having any IDrive error from the IPS in AbsAcc robot system (PDD1721) Position messages are now disabled by default and only enabled during startup on systems with PIB safety (IRC5P). This will in turn prevent stack overflow on IRC5 systems using AbsAcc when position messages appear. Consistency check problem of PERS data defined from user record type (PDD1770) Replacing a module with an updated version is done in two steps, first is the original module is unloaded and then the new updated module is loaded. Unloading a module that contains a record definition that is referenced from another module will cause a temporary record to be created to avoid syntax error during this replace operation. The fact that the updated module contains a record which size has been altered is not discovered. If creating a backup and performing a restore operation will cause all modules to be deleted (including all temporary records) and when loading the updated module together with the referencing module, the error will be discovered. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 72/124 Author, telephone Anders Trillkott, +46 21 344888 Information/Corrections RW 5.15.01 Servo Tool Control instructions added in MMC MotionSetAdv picklist. Servo Tool Control basic instructions has been added in the MMC MotionSetAdv picklist in this release. And the old example code has been removed, no example code will be copied to the Home directory when this option is installed. The Spot Servo or Spot Servo Equalizing options should be selected and used if a more complete Servo Tool functionality is required. Restart distance may go wrong together with flying start If you use capdata.restart_dist != 0 together with flying start, and a supervision error occurs, the RAPID execution may get stuck. The error will occur, if the restart distance is longer than the distance of the path between the last robtarget before the first CAP instruction of the active CAP sequence and the position of the supervision error. PM5: Rapid lockup when starting project via I/O Correction to eliminate a previous risk of having a lockup in the rapid program when starting a project from I/O. PROFINET firmware In case the PROFINET board doesn't have a firmware that is supported by the RobotWare it has to be loaded with a supported version. Sometimes the user have to use Step7 in order to load the new version in these cases the user can get the firmware from: • On the PC where the RobotWare is installed: ...\ABB Industrial IT\Robotics IT\Mediapool\\firmvare\DSQC678_xxxx.fwl • On the IRC5 Controller: \hd0a\\firmvare\DSQC678_xxxx.fwl DSQC678_xxxx the four x is the version of the firmware Open up the subnet mask From RW5.15.01, we have removed the restriction on subnet mask. The controller now supports all valid subnet masks. Toochanger RAPID limitation This is applicable for RAPID code handling a Toolchanger setup. When connecting a device in a tool changer setup. There is need a need for a delay of minimum 500 milliseconds between power on and IoEnable in the RAPID program. The following example is applicable in RAPID. ... IoDisable unit Power off io 1 Power on io 2 Wait 500 ms IoEnable unit ... EtherNet/IP configuration data parameter The configuration parameter EN_ConfigData can only be edited via the I/O configuration file and not from the FlexPendant or RobotStudio. If the EN_ConfigData is used and a backup is taken, the full data array will be visible (even the data that is not used) in the configuration file (eio.cfg). ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 73/124 Author, telephone Anders Trillkott, +46 21 344888 HotEdit, saving of position changes The HotEdit functionality now works as designed. Write Error during Restore You can get the Event Log Error: "Operational Error 2136: Restore Error. Error during the restore step Configuration. Write Error." and not know why the restore didn´t succeed. One thing to check is if there are any open files in the targets HOME directory. It is then not possible to overwrite the files from the BACKUP´s HOME directory, and the restore operation will fail. In 5.14 and earlier releases these files have been skipped without error message and the restore have continued to its end. All files are not obvious that they are open. When working with the Virtual Controller, it can be dlls or GIF pictures. To solve the problem you can close the Virtual Flex Pendant, erase the files (or the whole HOME directory) and then make a new restore. Configuration problem with IRT 104 The motion configuration files for the IRT 104 track have now been corrected to make it possible to use the track with other robots than IRB 2400 and IRB 4400. Integrated Vision: Error 20630 when loading complex job from RAPID After loading a job that has got a complex configuration for output to RAPID, and then setting the camera to RunMode, the system may display the error message "20630 Camera job is not valid". There is a limitation in how large and complex the configuration may be, but it is not possible to give a fixed number. As a guide value, three vision tools that each produce up to 10 parts with X, Y and Angle is generally OK. More vision tools/item types may not work. Integrated Vision: Communication error if default camera settings are not used 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 open Integrated Vision in RobotStudio and 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 to reset are: Telnet port: 23 User: “admin” Password: “” They can be viewed under RobotStudio->Vision->Connect->Network settings. Integrated Vision: DHCP enabled camera does not get address It has been observed that cameras with DHCP enabled sometimes do not receive an address. The following may be attempted to work around the problem: -Warm start the controller -Power cycle the camera and the warm start the controller. If the camera receives power from the controller this is the same as power cycling the mains switch of the controller. -Assign a static IP address 192.168.125.X to the camera using Connect->Add sensor or Connect->Network settings in RobotStudio. Integrated Vision - Requires camera firmware version 4.08 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 use the newest version available shall be used. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 74/124 Author, telephone Anders Trillkott, +46 21 344888 RobotWare installation problem: Invalid Drive (DSE10507) In rare situations an error message displaying "Invalid Drive" may show up during the installation of RobotWare, and it is not possible to continue the installation. This situation should only occur when there has been a previous installation of RobotWare and there have been changes to the location of the mediapool after that installation. This error occurs because the drive letter of the hard drive may have been changed or an additional (external) hard drive may have been removed. For the RobotWare installation this means that the drive letter that the installation has been using previously for mediapool, no longer exists. To be able to proceed with the installation of RobotWare, one option is to connect the disconnected hard drive again. Another option is to search for the MediaPool and the MPPath registry keys in the registry and change the value of these to a path/location that is accessible for the computer. This path will then be used as the new mediapool. Improved German/English SafeMove text (PDD27) The proposed German text is replacing the original text in the SafeMove in 5.15.01. A translation to English is replacing the original English text. The translations to the rest of our supported languages are planned to future release. Error message when ArcXStart instruction is forgotten. (PDD530) If a weld seam is programmed without the ArcXStart instruction (ArcLStart or ArcCStart), there will now be an error message (that has to be acknowledged) informing about the problem situation. When the error message has been acknowledged, program execution in that task will be stopped. Correct way of programming: ArcLStart p1 Arc p2 ArcLEnd p3 Incorrect way of programming: Arc p2 ArcLEnd p3 CAP speed at flying start and end not used any more (PDD632) Up to RW 5.15.01 it was possible to specify different speed for flying start and flying end, i.e. approach and depart speed for flying weld. This was ment to give the user the possibility to decrease cycle time, but it resulted in problems to control the robot speed due to delays in motion control when a speed change is requested. Investigations showed, that the most efficient way, i.e. the fastest solution, is to leave speed planning to motion control without interference from the application layer (CAP). Therefore the values specified in capspeeddata for flying start and flying end are not used by the application process any more - the values are ignored. The data entries remain present in capspeeddata though for compatibility reasons. System builder from backup (Spanish) (PDD764) The System Builder has a resized label in "Create Backup from ..." dialog to fit the Spanish text. Fronius IF - Wrong default value in Burnback Correction (PDD813) When a new job was created using Fronius TPS Integrated, default values and limits where not correct. This is now corrected. Misleading error message for different system restrictions(PDD826) New elog solution, where the error messages for system restrictions is no longer misleading. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 75/124 Author, telephone Anders Trillkott, +46 21 344888 EN_INTERNAL_SLAVE mismatch (PDD847) A new EDS file for 841-1 EtherNet/IP m/s option exits. It now specifies the correct default input and output assembly sizes for communication with the Ethernet/IP adapter in the robot controller. The Device Type is changed to '43 Generic Device (key able)' due to deprecated Device Type '0 Generic Device (deprecated)'. Due to this, the new EDS file (version 1.1) is not compatible with older version of RobotWare. Weld Data Mismatch Each Other on RobotWare-Arc (PDD897) In the ArcWare FlexPendant application the name and data for welddata and weavedata did not correspond. The names in the combo box were sorted alphabetically but the data stored in another structure were not. This has now been corrected. Elog entry with ArcEquipment Classes (PDD1143) When a configured ArcWare IO-signal (defined in PROC.cfg) is not also configured in EIO.cfg, an error message is issued to the Elog. This message is now presented at startup. Scrape_start / ign_move_delay problem. (PDD1185) The combination of scrape start, ignition move delay and the new interpolator (TrueMove 2nd generation) could result in the error message 110012 (Movement start timeout). This is corrected in RW 5.15.01. EIO System Signal Backup Save not possible with unchanged parameter (PDD1215) Earlier we have to change parameter to the opposite functionality and then change them back to default and wanted function and then it is possible to save the settings. Now user can save backup the way he wants to save it. Erroneous Message while editing System Parameter in RS (PDD1268) Changed behavior for the system parameter System Input for Action: Backup: If the name of the backup should be the system name, Arg1 shall be set to the environment variable: "SYSTEM:". It will be possible to use old cfg-files ( e.g. in backups) where Arg1 is empty. In the cfg-editor from the Flex Pendant or Robot Studio the letters: "SYSTEM:" shall be used. Problem with Absolute Accuracy and path recorder (PDD1269) An issue with the path recorder together with the Absolute Accuracy option has now been solved. The robot was performing an incorrect reverse path recorder movement due to an incorrect Absolute Accuracy adjustment. Correction for extended Robot System Serial Numbers (PDD1283) A correction has been done for the Rapid function IsSysId to make sure that extended Robot System Serial Numbers are handled correctly. RW Warm Start from FPU requires 2nd acknowledgement (PDD1300) 2nd acknowledgement from Warm start is removed. Work object not connected (PDD1325) A correction has been made to avoid a failure in connecting the next work object to be tracked by the robot. The now corrected problem could occur after some time of normal operation for some system setups. RobotWare - FlexPendant - Not possible to create new Routine……… (PDD1349) When creating a new Routine inside Module on USB, It's throwing an exception. This is now corrected. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 76/124 Author, telephone Anders Trillkott, +46 21 344888 WG tracklog does not on VC if the directory name is to long (PDD1406) The track log file specified in the configuration for weldguide or optical tracking is always created in the HOME directory of the active robot system. On a controller the directory path length is limited to 80 and that is sufficient. But on a virtual controller (VC) running on a PC this often is not sufficient. Sometimes the path for the HOME directory of the active system is much longer than 80 characters. Starting with RW 5.15.01 the path length for the track log file on a VC is extended to 512. Dependency between ManServiceCalib and ManForceCalib not clear (PDD1447) In this release the ManServiceCalib service routine has been changed. When run for the first time it will check if the gun is force calibrated, if not, a warning message will be presented to the operator. ManForceCalib will check the status of a Boolean parameter located in the swuser.sys module, force_calib that will be set to true when a ManForceCallib has been executed successfully. If you know that the gun is already force calibrated the warning message in ManSericeCalib can be ignored. Hidden routines should not be shown while filtering routines (PDD1459) We have one button called search routine on debug pallete in Program editor. When user click on it, then all Routines were listed. Hidden Routines are no longer part of that list. Incorrect message after revolution counter update (PDD1476) Reported problem corrected. Strict sorting issue (PDD1514) Correction for placing in containers with strict sorting. In some usage scenarios there was a risk that a robot would place item number n+1 in a container although item number n not had been placed. This is now corrected. SpotWare : call of UpdateSpotData has no effect when rewelding (PDD1543) In this release a timing problem when updating spotdata parameters has been fixed if performed from the UpdateSpotdata user hook. It should now be possible to update data also in an error situation. Program is not restarted after PE_EndPause when it was running before Saving mode was activated (PDD1544) The robot will pause it´s program cycle during a "ProfiEnergy pause" (request). If any program is running when "PE start pause" is received. When "PE end pause" is received, the program cycle will continue its cycle. See manual for complete description. Motors On does not work in Manual mode while PE mode is active (PDD1546) If a robot is in ProfiEnergy pause mode (mode 0x1) it is possible to switch from auto to manual mode and do commissioning, then switch back to auto and return to ProfiEnergy pause mode without any additional actions taken by operator or PLC. See manual for complete description. Circle Uncertain Error with PathRecorder (PDD1547) A correction has been done to avoid "50063 Circle uncertain" at start of the PathRecorder movement backwards after that a weld restart with Restart Distance failed. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 77/124 Author, telephone Anders Trillkott, +46 21 344888 SW Equalizing CalcJountT/AbsAcc (PDD1552) In this release the problem with robots reaching work area limit has been fixed. If a SpotL was run with software equalizing functionality activated and the robot was located on a track motion, this problem could occur. Inputs and Outputs viewer on FPU exposes safety signals in several selections (PDD1564) Reported problem solved. Wrong Czech flag (PDD1575) In Control panel-> Language view we are showing language with country flag. The problem was that some of country flags like Czech etc. we’re appearing with wrong language name. This is now solved. Drive Module 2 external axis configuration (PDD1581) It is now possible to change the Drive Module system parameters for external axis in RobotStudio and on the FlexPendant. In topic Motion and type Joint parameter Use Drive Module and Drive Module Number have been added. FlexpendantView in Robotstudio not working with RobotWare 5.15 (PDD1599) The problem to get a Flexpendant View from RobotStudio is now corrected. TuneMaster - AutoTune Function (PDD1656) A problem when running the AutoTune tab in TuneMaster for external axis has now been corrected. WeldGuide 3 problem med SS Tracking (PDD1698) Problem is solved with upgrading firmware in the WGIII. Upgrade with Firmware 2.9. Upgrading from 2.5 to 2.9 works properly. Singleside tracking tracks as it should. WG3 Advanced firmware upgrade/downgrade issue. (PDD1704) Upgrade with Firmware 2.9. Upgrading from 2.5 to 2.9 works properly. pnetfbc_show cause sysdmpts to tsksup….. (PDD1741) The PROFINET show routine has been corrected. IRB 660 extended working range and linear jog (PDD1768) A problem when jogging or moving IRB 660 linear in the extended working range has now been corrected. DispensePac option not working in RW5.15 (PDD1779) PIB reset mechanism was not working during installation, if using pre-ICI (PIBfbc) communication, potentionally causing I/O configuration to become unsynchronized. This has been corrected. Not possible to enter devicenet address for io unit on IPS node via ICI bus (PDD1792) Added the possibility to edit ICI path for ICI-based EIO units through RobotStudio and FlexPendant system parameter editors. Not possible to view unit bit values in io window (PDD1793) When any unit is connected to ICI bus and if user tries to see the bit values of connected unit getting unresolved reference error. Now we have Greyout bitvalues if any unit is connected with ICI bus. Profinet KW-software (PDD1794) The PROFINET Configuration Tool v.1.1 supports GSDML files with version 2.25. The tool is now included in RobotWare 5.15.01. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 78/124 Author, telephone Anders Trillkott, +46 21 344888 ErrorMsg 20325, SafeMove safety supervision not activated (PDD1796) It can happen that Warning message 20325 is shown after a warmstart in configurations where there is a SafeMove unit mounted in one drive module and no unit in another drive module in the same system, e.g. where positioners are used. This message can be ignored when it is shown for a drive module where there is no SafeMove unit mounted. Changed message text from SafeMove to PSC because it's also used for EPS TCP speed corrected in Signal Analyzer (PDD1798) There was a problem calculating the speed in a MultiMove system. The TCP speed has been corrected in Signal Analyzer in RobotStudio. RCS stops with error -49 (PDD1799) A problem when the RCS-module stops with error -49 have now been corrected Stationary Arc (PDD1808) Stepwise execution forward / backwards in an Arcwelding program in independent mode with WeldRepair activated, could in previous release (RW5.15) lead to Stationary Arc (welding without motion). This is now corrected. Access to AliasIO signal lost after warm start (PDD1816) With instruction AliasIO it is possible to define a signal with an alias name. The signal identifier according to the program (the signal variable declared in RAPID) is updated after a power fail in most cases. However, if using signals in RECORD data types, the descriptor in the signal is not updated after a power fail. The consequences can be that wrong signals are set after a power fail. A solution is to do new alias couplings in the PowerOn event routine. Example: MODULE my_module RECORD xSignalDO string Name; bool Valid; signaldo Signal; ENDRECORD VAR xSignalDO mysignal; PROC main() ! Power fail restart will not refresh the Alias ! connection for mysignal.Signal AliasIO config_do, mysignal.Signal; Brake Release errors on IRB 52 (PDD1831) Limits for brake release supervision have been changed to avoid problems for IRB 52 when using Soft Servo. 50226 Motor reference error caused by TCP speed outputs (PDD1837) A problem when the TCP speed output was used in synchronized Multi Move system has now been corrected. Controller goes to sysfail (PDD1845) When using the Ethernet port option (905-1) for EtherNet/IP, be sure to turn of DHCP on all devices. In some cases the controller can go to system failure when starting up the robotware if there are some DHCP enabled devices connected to one of the Ethernet ports on the extra Ethernet card. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 79/124 Author, telephone Anders Trillkott, +46 21 344888 Error Handling Problem (PDD1859) In previous releases, it could happen in some situations that the built-in Weld Error Recovery could hang, and it was not possible to recover from a weld error. The error was likely to happen in a multimove setup with two or more welding robots combined with an external axis, when welding with one robot and the external axes at the time (e.g. T_ROB1 & T_POS1 welding synchronized, T_ROB2 waiting on WaitSyncTask instruction) and a process error was active. Then the Recovery menus would appear, but after the menu was acknowledged, then nothing would happen, the error handling was hanging. If welding with both robots and the external exes, then there was no problem. This is now corrected. System input Backup doesn't add date correctly (PDD1861) If using argument 5 with value 'AddDate', the system should add a date to the name of the backup. In 5.15 the date has been the date when the Robot Controller was warm started. This is solved in 5.15.01. The date will be the date when the backup is made. Strict order patch causes error 50052 (PDD1876) Strict order patch causes error 50052 when using DeviceNet Lean has been corrected. Error 40734 during executing SpotL instruction (PDD1883) During executing SpotL instruction the robot stops with error 40734. This occurs because some texts translated into Polish get too long. The error has been solved in 5.15.01 by exchanging the Polish texts that were too long with English texts. Pathrecorder with AbsAcc Robots and WeldRepair Functionality (PDD1885) An error correction has been made for the PathRecorder when run on a Robot with AbsAcc. The problem comes after a weld stop on a circle at the start of the PathRecorder move. The error message was "AbsAcc circle begins with a frame change" Saving system diagnostic may sometimes fail (PDD1889) A correction has been implemented to solve the problem that it was not possible sometimes to create a System Diagnostic. Robot locked at the end of an arc seam in a 'partially' synchronous multimove environment (PDD1917) In previous releases, it could happen that a Robot and a positioner, that welded synchronized, could get in a locked situation at the ArcXEnd instruction. From RW 5.15, there would also be an elog message that stated that the positioner task was not using ArcMoveExtJ instructions, when it in fact was. In earlier versions (RW<5.15), there was no error message, execution would just get locked at the ArcXEnd instruction. This locked situation is now corrected. Undo Aborted SpotWare (PDD1930) In RW5.15 there could sometimes be a problem with internal servo tool errors and hangings during execution of SpotL instructions when using gun arm deflection compensation. This problem has been fixed in this release. XML files get corrupted during cold-start (I-Start) (PDD1932) Fix possible corrupted XML log files at I-start on VC. During I-start on VC, the XML log files (e.g. cfgtext_registry.xml) are sometimes not correctly generated under [mySystem]/INTERNAL. This causes the system is started incorrectly and no display on Virtual FlexPendant. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 80/124 Author, telephone Anders Trillkott, +46 21 344888 Not possible to clear EthernetIP bus IP address from the system parameters when using LAN (PDD1938) When user is giving some IP Address and after that it got erased means not giving any IP address which is not accepting as valid IP. This is now corrected. FlexPendantperforms restart when backup path to long with NFS share (PDD1951) Using NFS and make backup; if the backup path is greater than NFS max path, 99 bytes, might the Flexpendat restart. This has been corrected in 5.15.01, an e-log is displayed and Flexpendant does not restart. Replicable restarts of FlexPendant (PDD1952) During heavy traffic between a camera and the Integrated Vision FlexPendant application sometimes the FlexPendant will reboot. This occurs when manipulating the camera from the FlexPendant or Robot Studio (if the FlexPendant application is running.) Cannot overwrite a SafeMove file (PDD1992) The psc_irobot_1.sxml file was write protected for safety reasons in RW5.15.0 due to there could be a potential safety hazard when copying a SafeMove setup from one system to another. WeldRepair GetProcErr() does not work correctly (PDD2010) In RW 5.15, the GetProcErr function used together with WeldRepair, did not work as expected when used in independent welding. This is now corrected. Step Backward Num Limit Errror Spotware (PDD2019) In previous releases (RW5.15) there could be a problem when running spot instruction is step backward mode. The error 41752 could occur if the program number I/O group was bigger than 23 bits. This problem has been corrected in this release. Misleading comment for different system restrictions (PDD2029) The misleading comment in error message 20293, regarding system restrictions is now corrected. Integrated vision: Always execute CamSetRunMode" after updating "Output to RAPID" configuration in RobotStudio (PDD2057) After updating the "Output to RAPID" configuration in RobotStudio it is important to run the RAPID instruction "CamSetRunMode" because this forces the controller to reload the active result configuration. If "CamSetRunMode" is not executed before the next image acquisition is performed, the results from the camera may be interpreted wrongly. Axis computer DSQC 601 firmware update failed (Revision 10) (PDD2077) In this release it is possible to use Axis computer DSQC 601 rev.10. Circle uncertain (50063) (PDD2080) There is a weakness in the path recorder: If you use a circle instruction where the path built by start point, circle point and end point is very close to a straight line, the path recorder "replay" (PathRecMoveBwd or PathRecMoveFwd) will end up with the error log message 50063 "Circle uncertain" . There are two different work around possibilities: 1. Replace the circle instruction with a linear instruction. Keep in mind, that it is no problem to have a linear instruction be synchronized with a circle instruction in an MMS coordinated movement. 2. If it is not possible to use a linear Limited ModPos in production window causes motors off (PDD2118) ModPos in production window (Synchronized ModPos) fails and causes motors off ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 81/124 Author, telephone Anders Trillkott, +46 21 344888 Instruction CamGetResult delivers already used positions even if the vision-tool is disabled (PDD2066) When disabling a vision tool during run-time results may still be produced from that vision tool even though they should not. A possible workaround can be used in this situation: -To assign the vision tools that are enabled/disabled during production to different item types. That way it is possible to sort out only the results that originate from the last image acquisition. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Ref Department Date DMRO/QMPP 2017-05-11 RP5.15 Filename Release Notes RW 5.15.14.doc Page 82/124 Author, telephone Anders Trillkott, +46 21 344888 Information/Corrections RW 5.15.02 Integrated Vision: CamGetParameter \NumVal does not work with a negative value The RAPID instruction CamGetParameter with optional argument NumVal has not worked for negative values. It gave error code 41774. That problem has now been solved. Slow speed test for LoadIdentify of palletizer A correction has been made to make it possible to run the slow speed test in the Service routine LoadIdentify for palletizer robots IRB 260, IRB 460, IRB 660 and IRB 760. ErrorMsg 20325, SafeMove safety supervision not activated (PDD1796) Error message 20325 changed from Warning to Error type. New argument in this error message that points out the Drive module that contains the non-activated EPS/SafeMove unit. This error message can only be issued for a Drive module that has a physical EPS/SafeMove unit installed. LoadID error during identification of load for IRBP-A750 (PDD2216) In RW5.15.01 there was a problem with ManLoadIdentify in some cases. If it was required to jog the external manipulator to a specific position, or if the external manipulator was of the type IRBP-B or -D this occurred, you got execution error due to reference error in the RAPID code. Drive unit firmware reflash failed (PDD2277) The firmware for the units below have been upgraded in RobotWare: DSQC676 - new revision is 73, This is a part inside the MDU 790A DSQC 663. (Control board - Not available as sparepart or mentioned in any manual) DSQC681 - new revision is 27, This is a part inside the MDU 790A DSQC 664. (Control board - Not available as sparepart or mentioned in any manual) The upgrade corrects errors in previous revision regarding downloading a corrupt firmware. The firmware will be automatically upgraded when installing the new RobotWare. Smart Positioner - Unable to return Axis 1 to Normal mode – Ref. Cal. Errors (PDD2296) Independed joint for axis one for general kinematic robot is now working. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 83/124 Author, telephone Anders Trillkott, +46 21 344888 Information/Corrections RW 5.15.03 TIG not supported by WG III Weldguide III does not support TIG welding. Tracking in blocked mode If tracking is still enabled when the weld inhibit signal is set high and WeldGuide III is used, the firmware of the weld guide needs to be updated to version 2.9 or later and the RobotWare to latest possible. Sometimes the background task "tAWSys_1" (or another number) will stop when toggling the weld inhibit signal and pressing start. This problem has been solved in RW 5.15.02 and later, it is recommended that the RobotWare is updated. 39505 Error Message confusing In Multirobot systems with more than one drive module, the error reporting for power fail in the drive module did not work properly. Power Fail in drive module power supply is supervised by the Axis computer board via some IO signals. If a power fail occurred on one drive module, an elogs(39505) is generated not only for the drive module suffered from power fail but also from all other drive modules in the system. This did of course complicate fault tracing the troublesome drive module and its power supply system. This is now corrected, only one elog is generated for the drive module suffering a power fail. The elog contains the drive module number that has the problem. Calibration lost A problem when clearing the memory in the cabinet on a IRB 260/460/660/760 has now been corrected. Not able to connect to the PROFINET internal slave IRC5 PROFINET Controller (master) to IRC5 internal PROFINET device (slave) connection is not supported. I.e. It is not possible to connect with an IRC5 PROFINET Controller (5.15.03), using option 8882, towards another IRC5 PROFINET Device using option 888-2/888-3. No support of legacy mode (PDD52) The PROFINT connection has to be of "RT Class 2". I.e. any PROFINET device must support "RT Class 2" in order to establish IO exchange of data. RS/SafeMove: Wrong calculation of STZ points in relation to..... (PDD1661) When having selected "Define the points for ToolZones in relation to the world coordinates" and then in the "Safe Tool Zone" page press the "Get Current TCP pos" button you will now get the right values of the TCP position. Circle Uncertain (2080) An error correction has been made for the PathRecorder. The problem come after a weld stop on a circle at the start of the PathRecorder move when the path built by start point, circle point and end point was very close to a straight line. The error message was 50063 "Circle uncertain". Note that when use of SingArea\Wrist can the reorientation be different from the programmed on the circle at the PathRecorder move. Limited ModPos in production window causes motors off (PDD2118) The problem with ModPos in production window (Synchronized ModPos) is now fixed. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 84/124 Author, telephone Anders Trillkott, +46 21 344888 UAS grant - Not possible to update revolution counter (PDD2170) The user is not able to update the revolution counters when he has UAS grant "Revolution counters update" only and needs the grant Calibration as well which is wrong. This is corrected in 5.15.03. Now the user can update the revolution counters with the UAS grant "Revolution counter update" only and can do calibration related tasks like Fine calibration, Base Frame calibration, Update/clear SMB data etc. with the grant "Calibration" only and if he has to do both he has to have both the grants. Problems after station change at welds without weldguide (PDD2253) The problem occurred only if Production Monitoring is used together with tracking (Weldguide or Optical Tracking). If you track on one Station of an interchange positioner, but don't track on the other station, you got the error message 50066 (Robot not active). This is now corrected. Problem in ArcWare (PDD2269) There was an error in the mmc.cfg file for ArcWare, which caused the methods ArcLStart and ArcCStart to have faulty parameter lists when programming in Robot Studio or on the FlexPendant. This is now solved Redo Search signal trigs an extra search after picking (PDD2283) An extra search could occur directly after picking a slip sheet or pallet if the Redo Search signal was triggered while the robot was picking. This is now corrected. The new search will occur at the next approach to the feeder. Safemove with hanging robot gives mismatch for STC when entering STZ page (PDD2284) When downloading a Safemove configuration to the Robot and the Robot have a rotation in the Y-axis, for example a hanging robot and then do a "Upload from controller" the Y-axis values would be all zeros and the 2D view of the Safety zone looks corrupted, this have now been corrected. IPathPos path storage does not store corrected path…. (PDD2299) Reported problem solved. Ethernet/IP LAN communication loss (PDD2349/PDD2350) Removed the linkage between TCP and IO connections that made the EtherNet/IP Master drop IO connections undesirable. Scrape-start with ign_move_delay influences weaving (PDD2363) A problem when using ign_move_delay on QuickMove/TrueMove 2nd Generation robots has been corrected. Automatic friction tuning fails in 4 robot multimove system (PDD2374) When running automatic Friction Tuning (option Advanced Shape Tuning) on a MultiMove system, the tuning would fail if not running on robot 1. That error has now been corrected. Limitations for Multipass (PDD2379) The MultiPass functionality supports up to 1000 targets when generating the replay seam of a recorded path. These targets are then played back with linear movements (ArcRepL.) When recording seams with circular (ArcC) instructions the MultiPass replay method will substitute the circular movements to a lot of very short linear movements. There is a risk that the maximum 1000 targets is reached even with a relatively short seam if using circular movements in a seam. When using circular movements with MultiPass this risk should be observed. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 85/124 Author, telephone Anders Trillkott, +46 21 344888 RobotWare ARC sets wrong IgnitionSchedule before PowerOn signal is sent to powersource (PDD2382) At start/restart of a weld always the welding schedule specified for the main phase of the welding process was set, even if an ignition phase or heat phase, which might have a different schedule, was specified. This is now corrected. FlexPendant crashes during restart after restore or loading parameter (PDD2387) A fault in the ProfiNet driver caused a pagefault when having a ProfiNet unit configured with "Regain Communication Reset" in the System Parameters but not configured in the binary configuration file. This is now corrected. Interrupts set up with IVarValue during a weld (PDD2392) After restart of a weld sequence with active weldguide, TRAP routines connected with IVarValue (Sensor Interface) were not executed. This error is now corrected. 2 Channel Fault (PDD2406) A problem that could result in system failure state has been corrected. In this state the robot loses CH1 and is unable to recover until a warm start is performed. SIS data lost when flash drive is replaced (PDD2559) SIS data, including the duty time counter for the robot, is now automatically updated from SMB when the flash drive is replaced in the main computer and a new system is installed. Previously the data had to be manually updated from SMB, using the FlexPendant menu 'Calibration', 'SMB Memory'. Ethernet/IP Master Drops Connection every 35sec (PDD2592) Reported problem solved. Error 34263 Rectifier startup error (PDD2658) A robustness improvement in the rectifier startup process has been made to Drive System 09 (high voltage). This has been a particular issue when the power grid is of low quality/disturbance type. Overshoot of axes on IRB 640 (PDD2669) The Motion configuration for IRB 640 in the Stand Alone Controller option has now been corrected to make it possible to run the robot with IRC5. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 86/124 Author, telephone Anders Trillkott, +46 21 344888 SoftMove Equalising – issues (PDD2824) 1. The deflection movement and synchronization gun vs. the robot movement has been improved in this release. 2. The stiffness parameter has been removed and replaced with a new data used to select the type of softmove mode to be used. Type 1, standard mode: Soft move is used during gun closing while the robot is set to soft state with the force offset specified in the instruction. When gun has closed, softmove will be deactivated and gun arm deflection compensation is done during weld from that new position. Type 2, search mode: Soft move is activated and the force offset is increased in small steps and the movement towards the plate is supervised, when the plates are "found" the gun will close. This mode supervises too small or too big movements. Default tcp speed is 50mm/s when approaching the target from the initial release movement. A too high speed will influence the "search" performance negatively. The gun closing will only be done when the softmove "search" is ready, this is done to prevent collision with the plates if they are located higher than nominal position. Rest of sequence same as in type 1. 3. The softmove tuning procedure has been improved, the force offset value should now be more reliable. And this procedure can be run in automatic mode that was not allowed in previous releases. All these changes has drawbacks regarding cycle time, the average cycle time per spot will be approximately 200-700ms slower than without \SMEQ data in the SpotL instruction depending on the settings. New data in swdefusr.sys: Softmove offset distance parameter has been added, smeq_offset_dist. It shall be used as a search distance when running SpotL with softmove activated, i.e. \SMEQ. Note! It is important that this distance is equal or larger than the expected tolerances of the object to be welded, since it can be located lower than nominal position. Release distance can NOT be smaller or equal to this value The default value of this parameter is 3mm, but it can be set in the range of 1-5mm. The positions shall be teached on the plates when using SoftMove Equalizing, and teach_dist shall not be used. A softmove approach speed has been added, approach_speed, default value 50mm/s Note! A higher speed value will have a negative influence on the "search" performance, but lower the cycle time. approach_speed{4} := [50,50,50,50]; Range 20-200mm/s. A softmove gun close speed has been added, gun_close_speed, default value 100mm/s Note! A higher speed value can make the moving tip collide with the plates if using softmove type 1, but lower the cycle time. gun_close_speed{4} := [100,100,100,100]; Range 20-200mm/s. Important information regarding limitations: This function should not affect the plates more than 50N to 100N during the welding sequence, however there are positions in the work area where it will be difficult to get good results, and the forces applied on plates can be higher. Not all positions or arm configurations are suitable for SoftMove Equalizing, if poor performance (e.g not reaching the position or pressing to hard) is experienced try to reorient the robot axes or gun arm configuration. Friction force may vary too much so that the force offset needed will be too high, this can deform the plate. The robot axis configuration will affect the performance and a gun configuration that allows axis 5 movement gives better performance in general. Larger robot types will have higher internal gear friction and inertia and that will affect the sensitivity, and it will be harder to find a friction value good enough. This functionality needs to tested and validated case by case to be sure about the performance since there are limitations regarding robot axis configuration vs. softmove performance. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 87/124 Author, telephone Anders Trillkott, +46 21 344888 Wrong gun force used (PDD2828) In previous releases an incorrect gun force could be used when reading data from a weld timer when the softw_equ boolean was set to true. The gun would close with no force on the electrodes, and if a close position adjustment was configured, the weld could be performed in the air. This is now corrected. Zero gun force is used during weld (PDD2829) A timing problem has been corrected in this release, sometimes an incorrect gun force could be used when reading data from a weld timer. The gun would close with no force on the electrodes, and if a close position adjustment was configured, the weld could be performed in the air. Defect report spot servo equalizing - Interrupt during spot sequence (PDD2830) In this release the problem with the "automatic reweld" after interrupting the gun opening after weld has been fixed. System Startup Errors (PDD2833) It is now possible to have DHCP on devices connected to the extra Ethernet port (Ethernet port option 9051) when using EtherNet/IP and PROFINET. Profinet generates Drive Error when I/O unit is lost and robot moves (PDD2866) A problem have been corrected to avoid error 50430 (Underrun in the Axis computer) when an I/O unit is lost and the system output TCPSpeed is used. System Input / Output configuration (PDD2875) When using the Virtual Controller and EtherNet/IP m/s it is necessary to set the bus to virtual since it is not set to virtual automatically by the system. Either set the bus type for EtherNet/IP to 'virtual' OR set the configured EtherNet/IP units to be connected to virtual bus instead of EtherNet/IP bus. SIS with External axis (positioner) (PDD2883) The service routine ServiceInfo now shows a message that no data is available for the mechanical unit if SIS is not configured. Mechanical Unit name cannot be edited in cfg editor (PDD2975) A correction has been done to make it possible to change the Mechanical Unit name in Topic Motion in RobotStudio. To edit names RobotStudio is needed since no names can be changed from the FlexPendant. System Boot wrongly sets revolution counter OK (PDD3018) A problem with revolution counter unintentionally being set to ok has been fixed. The problem occurred on system with Absolute Accuracy option and unsynchronized revolution counters. When performing an I-start( or new system installation restart) the counters were set to ok. SafeMove/EPS configuration files missing after booting a system created from a backup (PDD3044) When using the Create from Backup functionality in the System Builder on a backup from a RobotWare version prior to 5.15.03 the system may fail to install properly if it contains the options "810-1 Electronic Position Switches" or "810-2 SafeMove". The symptoms may include the event message "20269 - SC1 Motor Calibration Error" during startup. The error occurs if the Create from Backup wizard is completed early with the Finish button as soon as it becomes available. To work around this problem ensure that you complete all the dialogs of the wizard before clicking Finish. To correct an existing system that was created with this fault, run it through the Modify wizard of the System Builder (you do not need to make any actual changes). ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 88/124 Author, telephone Anders Trillkott, +46 21 344888 Information/Corrections RW 5.15.04 Not possible to Pendulum calibrate IRB 6700 Lean ID In releases RobotWare 5.15.03, 5.15.04 it is not possible to calibrate the robot model IRB 6700 LeanID. If you need to do a Pendulum Calibration, please contact your ABB service contact. Pendulum Calibrate in a MultiMove system In releases RobotWare 5.15.03 and 5.15.04 it is not possible to Pendulum Calibrate robot 2, 3 or 4 in a MultiMove system (Option 604-1 and 604-2). If you need to do a Pendulum Calibration, please contact your ABB service contact. Backup problem. Module name containing å,ä,ö. (PDD3056) In a control system of RobotWare 5.15 track, it is strongly recommended NOT using non-English letters in a file name, e.g. 'nödstop.mod'. Having non-English letters in a file name could cause incorrect copying of the file and this could lead to problem when e.g. performing backup of the system. Configure 8 servo welding guns for one robot (PDD2892) 8 servo welding guns cannot be configured for one robot by default. It's only supported to have six external axes per Motion Task. A solution to this problem is to use a Multi Move system but only one robot. Put servo gun 1-5 in Task 1 and gun 6-8 in Task 2. For all servo guns in Task 2 activate system parameter “Activate from any motion task” in Topic "Motion" and Type "Mechanical Unit". If this is done, the units can be activated from Task 1. For more information see documentation of this parameter in the System Parameters manual. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 89/124 Author, telephone Anders Trillkott, +46 21 344888 Information/Corrections RW 5.15.05 Pendulum Calibrate in a MultiMove system It is now possible to Pendulum Calibrate all robots in a MultiMove system (Option 604-1 and 604-2). It is now possible to calibrate 6700 LeanID In releases RobotWare 5.15.03, 5.15.04 it is not possible to calibrate the robot model IRB 6700 LeanID. This problem is now fixed in 5.15.05. Motion supervision - IRB 120 Max friction for IRB 120 has been increased to avoid Motion Supervision error when starting a cold robot. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 90/124 Author, telephone Anders Trillkott, +46 21 344888 Information/Corrections RW 5.15.06 Active tool will not be replaced by User dialog Until 5.14 track the user is warned about wrong tool being active, from 5.15 track Yes and No buttons are added to the dialog to replace the active tool in the Rapid instruction. From 5.15.05 we will go back to the old behavior by implementing the following user dialog. "Unable to modify the position..." "Reason: Wrong tool selected" "Change the tool in the instruction or set the desired tool in the jogging view." "OK" DispencePac: There is no timeout on telnet receive from PIB, could block other tasks. An internal timeout has been added for the IpsCommand and IpsSetParam RAPID instructions. This is to prevent a long controller lockup if the PIB is disconnected while one of these instructions is being used. RobotReferenceInterface floods error log, when sending empty string (PDD1156) No internal elog is printed for this type of error anymore. Loading programs from FTP server doesn't work... (PDD2290) It has not been possible to load a program from an FTP server if write/upload/delete permissions are turned off. It has now been solved, and it is now possible. PROFINET Configurator not able to support DESTO CI501 and CI502 /Stotz (PDD2802,PDD2313) With the PROFINET Configurator version 1.14.1 from KW Software it is possible to import ABB Stotz GSDML files. E.g. for device types specified in: GSDML-V2.1-ABB-S500-CI501-PNIO-20090407 GSDML-V2.1-ABB-S500-CI502-PNIO-20090407 GSDML-V2.25-ABB-S500-CI501-PNIO-20121120 GSDML-V2.25-ABB-S500-CI502-PNIO-20121120 GSDML-V2.25-ABB-S500-CI504-PNIO-20121120 GSDML-V2.25-ABB-S500-CI506-PNIO-20121120 Hanging SpotL (PDD2874) In previous releases a robot could hang before weld for some seconds if running a multimove system with several spot robots. This problem has been corrected in this release. UAS - 'Hide non accessible functions (PDD2885) Earlier after configuring UAS and select "Hide non accessible functions" in the flexpendant there is no different with ""Show message when trying to access protected functions". Flexpendant shows the same functions in both cases. This is now fixed. But the only side effect from this change is as follows. When the selection is changed from "Hide non accessible functions" to "Show message when trying to access protected functions" the function Edit options are enabled for tool0/Wobj0/Payload0 but those edit options are supposed to be grayed out. Though it is not harmful as the TPU shows a message when user tries to perform the edit options. Correction Filter in trackdata causes error message (PDD2891) In RW 5.15.05 and earlier you could get the error "110181 - Track max incremental corr error" with OpticalTracking Arc if you used a filter value in trackdata higher than "10". (Max value is 10). In RW 5.15.06 the max. value is checked correctly and a value higher than 10 is automatically reduced to 10 internally. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 91/124 Author, telephone Anders Trillkott, +46 21 344888 Configure 8 servo welding guns (PDD2892) It is now possible to configure 8 servo welding guns in a Single Robot system without using a MultiMove option. AWC - Tracking did not start (PDD2908) In previous RW versions, an unwanted errormessage could appear when welding and tracking with the AWC HW. The following error message appeared 10s after weld start. 80001 {"T_ROB1 WeldGuide Fault", "Tracking did not start", "Check dwell bit IO", "Check voltage/current probe", ""} This error message is intended for WGIII only. This is now corrected. Switch from language on FlexPendant does not work (PDD2962) Earlier when you want to change from English to Spanish or the other way around on the FlexPendant the restart command that the FlexPendant needs to be restarted to activate the new language was not coming. This is now fixed. StackOverflow in combination with WeldRepair (PDD2964) Internal improvements in the ProgramServer has been made to minimize the risk of getting the error 40222 Limit Error, StackOverflow when running advanced errorhandling with WeldRepair active. Spot singularity EQ Multimove (PDD3020) In previous releases there could be a problem when calculating the gun deflection movement in MMS systems when welding at the same time. This has been corrected in this release. RW/SafeMove: Basic SM configuration files are missed.... (PDD3044) When using "Create from Backup" functionality in the System Builder on a backup from a RobotWare version prior to 5.15.03 the system may fail to install properly if it contains the options "810-1 Electronic Position Switches" or "810-2 SafeMove". The symptoms may include the event message "20269 - SC1 Motor Calibration Error" during startup. The error occurs if the Create from Backup wizard is completed early with the Finish button as soon as it becomes available. This problem has been fixed. The system will be correctly created no matter when the user completes the wizard. ICC with two indexing conveyors (PDD3060) Problem that occurred on an ICC system, using two indexing conveyors, and setting "Time before indexing move" to 0.5s on both conveyors, is now solved. The maximum value of that parameter "Time before indexing move" is also increased to 1.0s. Stationary tool not working with IRB 360 (PDD3063) Stationary tool not working with IRB 360 problem has been solved. Correction of Chinese translation (PDD3084) The Chinese translation of the term "trap" has been changed from 陷阱 to 中断, as 中断 is the term that should be displayed on the FlexPendant in this context. DeviceNet: Explicit messaging (PDD3087) It is now possible to use class, instance and attribute ids > 127 in explicit message accesses on DeviceNet. SpotServo (stop during weld can result in that the gun is closed) (PDD3090) In some rare cases when the robot was stopped after weld, before the gun was opened, at restart the gun could still be closed leading to (in the worst case) that the gun could break when the robot was moved away. This unusual behavior has been corrected in this release. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 92/124 Author, telephone Anders Trillkott, +46 21 344888 Cyclic Brake Check data for MU motors (PDD3101) Regarding Cyclic brake check for MU motors: Before running Cyclic brake check for ABB MU motors the parameter "Max static arm torque" needs to be set in the configuration. (Configuration/Motion/Brake). The parameter should define the maximum static torque (Nm on motor side) for the brake to hold when motor is in off state. The value is depending on customer specific mechanical unit design and load data. Be sure that the torque is lower than the mechanical brake capacity. SafeMove and additional axis: Basically the SafeMove option only supports ABB track motion units. Non ABB track motion units, non ABB positioners, and other external axis may be supported by the SafeMove option but this needs to be verified case by case. Internal method for fine calibration from RAPID cause’s axis speed error for external axis (PDD3111) It is now possible to do fine calibration in motors on state with external axes, without getting speed errors. Not possible to copy folder to another one where a folder with same name exists (PDD3138) It is now possible to copy a folder to a location where already a folder with same name exists. Unable to restart Flow after setting redo search (PDD3144) Correction for a problem occurring when ordering a redo search while the robot was moving towards the search stack. TPU message not translated for Modpos on jointtarget (PDD3147) Earlier the message "Don't Show this dialog again" is not translated into other languages (from English) in the Modpos dialog. This is now fixed Not possible to update rev. counter with UAS grant update rev. counter only (PDD3161) In RW 5.15.04 it was not possible to update revolution counters with UAS grant "Revolution counter update" only when Flexpendant is configured to "Hide non accessible functions". As a result the Calibration view becomes empty. This is now fixed. Now the Calibration view shows the mechanical units available in the system and it is possible to update the revolution counters. RobotWare installation failure (PDD3170) The RobotWare installer previously contained an outdated version of Microsofts MSXML component that in rare cases could cause installation failures on Windows Vista or later. This has been corrected. For older RW following workaround can be used: To install RobotWare without the MSXML component you must copy the file "RobotWare_No_MSXML.mst" use the following line: setup.exe /V"TRANSFORMS=RobotWare_No_MSXML.mst" Change setup.exe to the path of the setup file in case you are not running the mst-file from the same directory. System Output Motion Supervision Triggered can now handle Picker collisions (PDD3192) System Ouput Motion Supervision Triggered can now handle 50444 (Motion supervision - loose arm detection triggered) Motion inaccuracies when moving via multiple repeating joystick deflections (PDD3250) Using a work object with a not so good normalized user frame quaternion could cause problems during jogging. The handling of jogging with such work objects has been improved. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 93/124 Author, telephone Anders Trillkott, +46 21 344888 Optical Tracking - Reference Error after Restart (PDD3298) When using Optical Tracking on two robots running in synchronized mode, restarting the program after a stop would result in error 50366, "Reference Error". This error has now been corrected. PN generates Drive Error when IO unit is lost and robot moves (PDD3236 / PDD3260) There was an error with handling unit state changes on PROFINET. This has been corrected so that refma/motion is not affected and "Refma underrun" should not occur because of unit state changes. TPU does not connect with the controller - ROBRSP ERROR (PDD3401) A console printout has been removed to not slow down the controller. Strange effects in MultiMove System incl. UNDO handler (PDD3427) In this release the instructions MoveExtJ, SearchExtJ and ArcMoveExtJ has been blocked for use in an UNDO handler. Event log 41524 is triggered if any movement instruction is executed in an UNDO handler. No movement instructions are allowed in UNDO handlers. The UNDO handler should be used for cleaning up and resetting the system. For example, closing a file or resetting of synchronized coordinated movements. If a mechanical unit should be moved to a certain position at a program start or when calling a routine, this must be done either in the START event routine or in the beginning of the routine, not in an UNDO handler. Booting a FlexPicker ends up with mismatch between controller and SMB data (PDD3456) When performing an I-start of an IRB360 installed controller, the system will start up uncalibrated since SMB data is not automatically read into the controller. The workaround is to read the data from SMB to controller. Use Flexpendant and navigate to: Calibration/SMB Memory/Update.../. Make the choice "Update cabinet with SMB memory data". Wrong CSS direction if stationary tool (PDD3474) Problem 1. In previous releases if a stationary tool was used together with SoftMove equalizing, the "soft" movement would be done in the wrong direction, that is, away from the fixed tool tip and not against the tip. This behavior has been corrected in this release, now the "soft" direction will be decided by the robhold data in the used tooldata. Example: If robhold in the tooldata used is set to "true" the soft movement will be done in the positive z-direction away from the fixed tip and towards the object to be welded. But if robhold is set to "false" the soft movement will be done in the negative z-direction against the fixed tip on the stationary gun. Problem 2. If a tilted workobject with a zero position far out was used, the internal calculation would be incorrect. In this release the workobject uframe transdata when running spot instructions is zeroed internally since it is not relevant for the css direction, which only should be done in the tool z direction. Wrong softmove tuning offset distance from plates (PDD3474) In this release the softmove tuning offset distance has been corrected, it should be done from the release distance. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 94/124 Author, telephone Anders Trillkott, +46 21 344888 Information/Corrections RW 5.15.07 LoadIdentify update regarding loading of files (PDD3546) In service routines LoadIdentify and ManLoadIdentify, RAPID modules are loaded into the program memory during execution with instruction Load. In RW5.15.02, the CheckRef optional argument was added to check if there were any unsolved references after loading the RAPID modules used for load identification. Now, the CheckRef optional argument has been removed again, because it could cause a problem for users that load and unload modules themselves. The loading of the modules are now the same as before RW5.15.02. Simtype 1 does not read timer data. (PDD3634) In RW5.15.06 if running with sim_type = 1, the timer inputs groups was not checked if they was configured. This has been corrected in the release, if running with sim_type = 1 the spot sequence will be as follows: 1. Weld program I/O is set. 2. Program valid I/O will be checked. 3. Timer I/O groups will be checked, force, thickness and tolerance if configured. 4. Weld sequence will then continue without any preweld checks and perform a simulated weld for the specified simulation time in simdata. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 95/124 Author, telephone Anders Trillkott, +46 21 344888 Information/Corrections RW 5.15.07.01 Error 39412 i.e. Too many missed reference updates when using Drive system 04 (PDD3737) Using external axis with Drive system 04 could in some situation give error 39412 Too many missed reference updates. The problem is now corrected. Wrong value for group signals (PDD3814) A problem regarding group I/O signals is now corrected. The logical and physical group value didn't always match. The error may occur when a group signal is updated at the same time as a digital signal, both located on the same I/O unit. This situation can, e.g., occur when the group is changed from Rapid and the digital signal is updated via an I/O trigged move instruction or a delay/pulse instruction. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 96/124 Author, telephone Anders Trillkott, +46 21 344888 Information/Corrections RW 5.15.08 Drop offsets A drop offset defines a height from where a products or slipsheet shall be placed. The correction requires usage with Palletizing PowerPac 5.61.01 or later ICI scaling does not work if minimum logical or physical value is specified. DispencePack: A bug in the scaling of analog ICI signals has been corrected. If a mininum logical or physical value were specificed in EIO configuration, this would cause the signal value to get a fake offset. Step mode execution in spotware. In previous releases there was problems with step mode execution, if a position was modified the PP would move to the next instruction, missing the opportunity to weld the modified position. This issue can be solved if needed, by adding the following mmc configuration in the public mmc.cfg. MMC_NO_PC_MOVEMENT_CLEAR_PATH: -name "SpotL_ToPoint" -name "SpotJ_ToPoint" -name "SpotML_ToPoint" -name "SpotMJ_ToPoint" QTracker unit does not connect to DeviceNet Lean A bug was fixed in DeviceNetLean which prevented the DeviceNetLean controller from connecting to DeviceNetLean slaves. The bug occurred only stochastically when issuing FieldBus Commands. ServoRobot Sensor Reset (PDD2275) For ServoRobot sensors the variable LTAPP__RESET was not implemented correctly - reset of the sensor did not work. This is now corrected in RW 5.15.08. DN_Lean communication problems at Multimove-Pickerline with PickMaster 3.4 (PDD2397) Several fixes to the communications state machine in DeviceNet Lean were implemented in order to better handle communication errors. DeviceNetLean software problem (PDD2639) Error conditions during unit startup are now corrected. Lost communication with IO-unit Q-track (PDD2672) Significant improvements have been made to the error handling during the startup and running of DeviceNet Lean. Not possible to copy folder to another one where a folder with same name exists (PDD3138) There was a problem while overwriting the files while performing Copy operation in 5.15. This is now corrected. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 97/124 Author, telephone Anders Trillkott, +46 21 344888 Softmove Support in RAPID editor in RobotStudio (PDD3510) When programming CSS instructions from RobotStudio, these instructions were not known to RobotStudio, and "Wrong number or arguments to CSSAct" was visible in the RobotStudio RAPID editor. You got no suggestions of arguments to use for the CSS instructions either. The RAPID program could however be executed. The problem with programming CSS instructions from RobotStudio has been fixed in this release. Robot back-up, properties date (PDD3511) There is a probelm with the date and time in the 'flex pendant explorer' that it always shows 1st January 1601 and the time is 00:00. This problem is now solved. System with active conveyor never applies brakes (PDD3542) The problem reported of brakes never applied with conveyor tracking has been solved. SpotML required to weld with one Gun (PDD3611) In this release a problem with deactivating previous processes in SpotWare has been solved. Robot P-Starting when using AliasIO command (PDD3662) When a large string was used in instruction AliasIO in the argument FromSignal, this caused the controller to restart. The string needed to be larger than 32 characters to get this problem. This problem has now been solved and you get a proper event log. TCP Speed problem regarding system failure (PDD3669) When using system output TCP Speed the system sometimes entered "System Failure State" without any good explanation. This problem is now corrected. SoftMove, incorrect behavior when add Instruction CSSAct at TPU (PDD3687) When programming CSSAct from the FlexPendant, no suggestions of the SoftDir were visible. This has been corrected in this release. RefPoint error 50366 when jogging SafeMove robot with lost counters (PDD3712) Triggered Reference Error 50366 for some stops in unsynchronized state is now solved. Profinet unit data wrongly copied to another unit (PDD3754) A problem where the robot controller was connected to a Profinet Coupler device is corrected. The problem occurred when the other side of the Coupler, e.g., a PCL, was disconnected. The input signals are then supposed to be set to a predefined value, but that wasn't always the case. It sometimes took the input values from the previously configured Profinet device. IO events at zero time (PDD3787) IO events at zero time were not executed when desired. This is now fixed. Dispensing system running abnormal by using RW5.15+IPS 4.50+DispensePac Support (PDD3807) The IEEE1588 time synchronization is now initialized even if no IP-address is set to the LAN port. Robot pick failure. Picking in front of objects. (PDD3842) The problem has been solved in this release. Systems having RW5.15.02 does not have this problem. It is recommended to upgrade a system having RW5.15.03 or later if: * The system uses DeviceNet Lean or multiple DeviceNet buses * The robot sometimes misses a pick (or place) on the conveyor by picking in front of the object. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 98/124 Author, telephone Anders Trillkott, +46 21 344888 IRB 5350 axis 3 movement error (PDD3922) Transmission ratio for axis 3 has been corrected. RAPID-programs need to be verified to ensure that no collisions will occur. The full stroke is now 350 mm (before 358 mm). Problem with trigger distance (PDD4047) A bug was fixed in DeviceNetLean which prevented the DeviceNetLean controller from connecting to DeviceNetLean slaves. The bug occurred only stochastically when issuing FieldBus Commands. Error code 50065 with gantry robot (PDD4066) Robot configuration validation for gantry robots is updated to avoid error 50065 before reaching the actual defined workspace for the robot. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 99/124 Author, telephone Anders Trillkott, +46 21 344888 Information/Corrections RW 5.15.09 50026 Close to singularity error on gantry A problem generating 50026 close to singularity error on gantry has been corrected. Brake relay for conveyors The problem reported when brakes are set on robot when stopping PickMaster has been solved for new installations. Before restoring backups with conveyors -use_brake_relay "rob1_brake" should be replaced by -use_brake_relay "dummy_relay" for all conveyors in the MOC.cfg file in the Syspar directory. DSQC630 Panel Board cannot download correct FW If the Panel board loses its firmware the board will return "?" as the revision. This will point out to an fw-file that does not exist and therefore the panel board will not be able to upgrade and startup. It is now corrected to be pointed to an existing fw-file. Program execution stuck forever on WaitWobj without any error message (PDD2373) A bug in the DeviceNet Lean driver was fixed. The communication does no longer stop randomly at short intervals. This was mostly observed in picking applications, but can occur in all communications involving the DeviceNet Lean bus. CAP Refresh update Issues (PDD3752) The CapRefresh did not update the parameters for the current segment immediately, (such as PRE phase time). From RW 5.15.09 the weave parameters are updated with the CapRefresh. The Weave blocking parameter doesn't have any effect with this fix. StartMoveRetry Error handler Issues of CAP regain of motion on process ArcWare (PDD3761) There was an extra delay between the RESTART and AT_RESTARTPOINT events by one second in the CAP system. That delay is now removed. If a delay is needed by the process the motion_delay can be used. CAP I-PathPos quits if interrupted and then restarted (PDD3786) IPathPos events stopped after a program stop. From RW 5.15.09 they restarts after the process has been restarted Multimove Error 41801 (PDD4102) A correction has been made to avoid situation where a system reset is needed when error 41801 occur. Problems with 360 Conveyor tracking pure horizontal motion upstream (PDD4191) To improve the behavior of robot when moving conveyor upstream with conveyor speed 0.5 m/s it is recommended to load use Prxcombase.sys from options\cnv directory . At start of Rapid program use : PrxSet_coord_finep_speed 0.7; To reset to default behavior if needed use : PrxCoord_finep_speed_reset; WeldRepair No of Retry (PDD4193) In previous releases, an additional arc retry was done even if the configured number of retries was set to zero. This is now corrected. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 100/124 Author, telephone Anders Trillkott, +46 21 344888 Devicenet lean Lost communication (PDD4337) A bug in the DeviceNet Lean driver have been fixed. The communication does no longer stop randomly at short intervals. This was mostly observed in picking applications, but could occur in all communications involving the DeviceNet Lean bus. IPATHPOS positions not related to defined WOBJ - failed to read path event (PDD4509) In a semi coordinated system where the workobject is held by a positioner or robot the robot target received from IPathPos was wrong calculated. The joints from the positioner were missing in the calculations. This is now corrected. Improved program execution robustness when performing symbol search (PDD4539) Program execution is now less sensitive during symbol search operations from Robot Studio. Program execution may still be sensitive during symbol search operations if two or more clients (e.g. Robot Studio and FlexPendant) are doing symbol search operations at the same time. Program execution is still sensitive for symbol search operations from the FlexPendant. Problem when taking a SYSDIAG during production (PDD4554) When performing a system diagnostics on a GTPU version 3, a dialog stating that the GTPUServices application will be shutdown could sometimes occur. This is now corrected. Increasing value for mac RAM usage main computer (PDD4599) Every start of a sequence of CapL/CapC instructions (also used by ArcLStart/ArcLStart) caused a minor RAM memory leak. For Rapid programs running many short sequences with high frequency for a long period of time, the memory leak could lead to a system running out of memory. The problem is now corrected. ReadRawBytes lead to system failure state (PDD4629) During some specific circumstances, out of the control of customers, ReadRawBytes could cause a system crash leading to a system in system failure state. The problem is now solved. Loosing contact with Allen-Bradley (PDD4648) Reported issue solved. RCS irc5.cfg additional_file extension (PDD4693) The maximum number of additional configuration files that can be attached to a specific ManipulatorType in irc5.cfg is increased from 6 to 12 additional files. TPU USB Fault (PDD4701) Saving elog to an USB-device mounted on the Flex Pendant failed with a File Handling Error. This has now been solved. 110017 Process data buffer full (PDD4706) Prefetch buffer in CAP has been increased to now allow 40 instructions to be prefetched. MAX_CORR value for 5.15 (PDD4721) A system with a WeldGuide will now react when reaching a MAX_CORR limit. The value for MAX_CORR is refreshed with each instruction and not only with the first. Possible system crash when logging enabled in cap (PDD4742) Logging is made from a low prio thread and if an entry was queued for write but the process was done and closed before it was written an memory access error could occur. This is now fixed. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 101/124 Author, telephone Anders Trillkott, +46 21 344888 Regain movement taking too long time (PDD4748) For a robot coordinated to a work object held by a robot mounted on a track, stepwise execution and regain movements could take very long time. This error has now been corrected. CBC gives Brake error motor axis 7 (IRBT) (PDD4891) Motion configuration for IRBT (19.7 and 19.9) have been updated to avoid brake errors for axis seven for long tracks and cables. System Failure with auto reset condition and Undo (PDD4930) Going to auto using an auto reset condition when the program pointer did not originate from main (e.g. after moving pp to routine) and the active routine had an Undo handler, would leave the program pointer in an invalid state. When starting program execution at that point, without first moving program pointer to main, would cause the system to enter system failure state. The problem is now corrected. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 102/124 Author, telephone Anders Trillkott, +46 21 344888 Information/Corrections RW 5.15.10 IRB 2600 on IRBT 4004 A correction have been done in the Motion configuration for IRBT 4004 in combination with IRB 2600 to avoid error 50055, Joint load too high when braking the track. Missing files on PIB Backup (Paint Backup/DispencePac) When using any IPS related RAPID instruction like "IpsCommand", "IpsSetParam", etc. this would introduce a 5 second timeout on the telnet connection between main computer and IPS. Doing a backup of IPS later on would cause problems if the backup operation against IPS took more than 5 seconds, resulting in missing files. This has been fixed by removing this timeout when it is no longer required. Restart of CAP process (PDD5302) After skip forward in Arc error handler or using CapNoProcess the speed for the skip distance could be the active speed even when the process resumed. If CapRefresh with arguments was executed in a Restart event routine this didn't always affect the current CAP process as expected when the process was resumed. Randomly differing weldspeed (PDD5394) Fixed problem with weld speed not set correctly if using very short segments. Stand Alone Controller cannot use TuneMaster (PDD5425) Configuration files for Stand Alone Controller (SAC) have been updated to make it possible to tune external axes with TuneMaster (External Axis version). Test Signal 5 does not go high in force loop (PDD5427) Test signal 5 used for gun tuning doesn’t work in RW 5.15.07.01 to 5.15.09 for IRC5 systems with Drive system 04. In 5.15.10 we have fixed the issue so the test signal will change to 1 as it should. Stop at end of instruction system input no longer stop in Undo handlers (PDD5492) Moving the program pointer from a function with an Undo handler, while having a stop at end of instruction system input pending, did stop in the Undo handler. The stop in the Undo handler sometimes cause strange system behaviors, e.g. system failure states. The problem is now corrected. SysFail when doing Symbol Search on different RAPID tasks simultaneously (PDD5494) The controller could under certain circumstances go to system failure state, if there were at least two RAPID windows opened in RobotStudio showing modules in different RAPID tasks. Examples of such circumstances were when the network communication was lost and reestablished or at system startup. This is now corrected. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 103/124 Author, telephone Anders Trillkott, +46 21 344888 Motion planner configuration order (PDD5528) The order which motion planners are configured in the system has a great impact. For normal operation all motion planners must be configured in ascending order. I.e. motion_planner_1 through motion planner_6. In a system configure with a no-robot in drive module 2 and a robot on drive module 3 this situation will occur by itself. In such a system you must either reconfigure the system so that the no-robot drive is last, or make the following workaround. 1. Take a backup 2. Manually edit moc.cfg, to make sure motion_planners are sorted by name. motion_planner_1 through motion_planner_6. 3. Restore backup Large profinet configuration renders SYSFAIL (PDD5825) In Robotware revisions earlier than 5.15.10 configurations of large ProfinetSW networks could cause system to fail at startup, with no apparent reason. Limited movement with force control assembly on multimove system (PDD5904) Using Force control assembly on robot 2,3 or 4 in a multimove system could in worst case caused an unexpected limited movement that trigged the safety system to stop the robot. This could happen when in control on and had force control activated on rob2,3 or 4 but no move instruction running and not jogging the robot so after the BrakeOnTime expired the small unexpected limited movement could occur. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 104/124 Author, telephone Anders Trillkott, +46 21 344888 Information/Corrections RW 5.15.11 Wrong firmware is displayed "Profinet board" under "System Info" shows some board information and one of them is firmware version. When upgrading firmware and the display the "Profinet board" under "System Info" it shows the firmware version it had when the robot controller was started. In order to see the correct version of PROFINET firmware the controller has to be restarted. CBC handles output signals in a wrong way after upgrade to RW5.x (CBC1.4) (PDD4924) Safemove signal PSC1CBCOKSM did not always reflect changes of PSC1CBCOK as the manual described during CBC run. The signal is now updated as expected. Spontaneous Sysfail whith 7-axis track (PDD5493) Somtimes the system would spontaneously sysfail when jogging a 7-axis robot. This is now corrected. 37231 Brake Performance Error (PDD6071) A problem with Brake Performance Error on IRBT tracks in combination with the function Cyclic Brake Check has been solved. Robot move immediately after engaging enabling device (PDD6014) If a joystick connection got bad, the robot could in some cases start to move directly when pushing the enabling device. This problem is now corrected. Portuguese SpotWelding text corrected (PDD6256) The Portuguese SpotWelding text describing a gun timeout was too long and caused problems when running spot welding in Portuguese. This text has now been shortened. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 105/124 Author, telephone Anders Trillkott, +46 21 344888 Information/Corrections RW 5.15.12 Adaptiv arc welding and first weave issue (PDD6778) When using adaptiv arc welding functions like ArcAdaptLStart there was a chance that the first weave didn't continue as expected by the parameters. The result would be that TCP did a jump in position and continue to weld if the first weave changed. Now the TCP dosn't get this strange jump in position and make the weave changes smoother during first weave. RobotWare Arc WeldRepair -Geometric interpolation failed (PDD6872) A bug has been corrected that could cause elog 50376, 'Geometric interpolation failed', for synchronized movement involving zones. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Information/Corrections RW 5.15.13 Corrupt encrypted modules (PDD7238) If RAPID is executing with encrypted modules and a backup is initiated at this time, this may result in corrupted backup data if the encrypted modules are included in the backup. This is now fixed. Avoid this issue in previous RW-releases by not taking backups while running production. Note: In order to avoid extra delays in performance critical parts of the Rapid program, use the System Input "Disable Backup". Multimove installation not correct (PDD7410) In Robotware 5.15.12 some robot installation scripts was not complete for robot 2 and 3. The affect was that the affected robot wasn't found in the system after the installation. This has now been corrected. Page 106/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 107/124 Author, telephone Anders Trillkott, +46 21 344888 Information/Corrections RW 5.15.14 Wrong Elog when loading a new safety configuration with CBC The wrong elog was created when loading a new safety configuration with CBC activated, 20483(CBC soon requiered) instead of 20484(CBC needs to be done). This has now been corrected. Commutation Service Routine Defective (PDD131) The Commutation service routine will now turn commutation mode of when e.g. moving the PP. Intermittent device loss of profinet devices (PDD5444) In RW 5.15.13 and earlier releases, the profinet SW option, could intermittently loose contact with IO units. This is corrected. Tool opening failed 50251 (PDD7280) Corrections have been done to avoid errors Tool opening failed 50251 and Servo Tool Error 50248. Problem with fetching data from SMB into CONTROLLER (PDD7310) AbsAcc version 2 is now supported for RW5.15.14 and for customers requiring optimal AbsAcc performance. An upgrade to RW5.15.14 is in that case needed. AbsAcc version 2 contains an improvment of the underlying models, thus improving accuracy. Note1: A robot backup generated from a RW system older than RW5.15.14 will automatically overwrite the version 2 information Note2: An upgrade to version 2 will slightly change the positioning of the robot. Note3: If restoring backup of the system after the RW upgrade, install the original absacc.cfgAFTERrestoring the backup. Recommended action for obtaining AbsAcc 2 functionality: Install system with RW5.15.14 Restore backup from old system if desired Install original “absacc.cfg file Push data to SMB Recommended action for retaining previously used AbsAcc functionality after RW upgrade: Install system with RW5.15.14 Restore backup from old system if desired Suppress automatic change of start position for LTC (PDD7839) LTC optimizes the start position for laser tracker calibration to cut down the time it takes to recalibrate or to check a sensor. That means, that the start position teached by the user is changed by LTC. Sometimes it is desirable to keep the position teached by the user. For this reason a new boolean has been added in the system module that is generated during sensor definition with LTC. The system modules are named "LTC__sensornameData.SYS", e.g. LTC__DigiSData.SYS for a sensor called "DigiS" in LTC. In this module the boolean (TASK PERS) "LTC__sensorname_X_Keep_cal_Start" with X 1, 2 or 3 for the calibration identity (e.g. LTC__DigiS_1_Keep_cal_Start for calibration identity 1) is added, one for each calibration identity, with a default value FALSE. If the customer wants to prohibit automatic optimization of the start position, that boolean has to be set to TRUE before the calibration is started from LTC. If a system with optical sensors that were calibrated using LTC is upgraded from a RobotWare earlier than 5.15.14, the boolean is not present in the system module, which was created by LTC. In this case the customer should after the startup of the system with the new RobotWare version and before the restore of the backup re-create all sensors in LTC, take a backup and copy the line defining the boolean from the new system module into the corresponding system module in the original backup. After this, the modified backup can be restored. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Page 108/124 Author, telephone Anders Trillkott, +46 21 344888 Safemove1 Safety controller numerical signature empty (PDD7924) In the TPU view on Control Panel -> Safety Controller you can see the numerical signature for the safety configuration. If the safety controller was not present on Robot 1 but Robot 2,3 or 4 the Numerical Signature would say "-" or the wrong signature. This has now been corrected. ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Product Defect Document RW 5.15 PDD Program pointer not possible to set in current routine PDD8 RobotStudio: SafeMove configurator may cause wrong safety configuration PDD57 FlexPendant Explorer is disabled when controller goes to sysfail PDD98 Strange graphic behaviour on GTPU3 PDD142 BACKUP/RESTORE window needs to be closed after making a backup before a restore PDD168 IRC5 startup error with DN Lean and double master PDD169 System Crash when moving into position with wrong loaddata active PDD176 Flying start/end: Possibility to have more than 2 concurrent CAP processes PDD182 Certain entries in MMC.CFG not backwards compatible RW 5.14 -> RW 5.13 PDD219 WeldGuide III Sensor Calibration PDD251 Error in RAPID example Application Manual Spot options revH PDD253 WeldGuide III Dwellbit error PDD258 Smartac/search instruction PDD282 Gundata valid for all guns in the system PDD356 Store SID data for ESAB AristoMig5000i on USB connected to the FlexPendant PDD446 Possible to add more than 8 MTZ points in the SafeMove configuration PDD467 RS5.14.02 VC does not start up PDD490 SoftMove Improvements for Spot PDD531 SafeMove: CBC necessary, if "Call Routine..." CBC and then "Cancel Call Rout. PDD534 Wago IO module not connected any more after warm start PDD540 SafeMove: CBC signals are set to 0 without any activation of limits, if a restore is executed. PDD541 Error: System.ArgumentNullException when loading station PDD569 IRB 120 Jerky Motion PDD603 Documentation - Error 50042 PDD622 Intensive use of TriggLIOs causes the system to crash PDD629 Restart function after emergency stop in Dispense system PDD687 Operation Set Complete signal PDD717 FCResetDampingTune and FCSetDampingTune clarification PDD732 Files for IO Bus not installed with error but bus works PDD736 Lost unit function back to earlier behaviour. PDD758 SafeMove wizard - Incorrect update of the resolver offsets PDD770 Incorrect window open identification in FP GUI PDD779 It fails to read file information in system Home directory PDD780 SafeMove wizard - Restart dialog not fully localized in French PDD783 Arc ignition when supervision gun fault PDD787 SafeMove wizard - Problem in the report generation PDD792 Fronius IF - Wrong Value in Wirefeed Speed PDD811 Fronius IF - Missing Message when deleting a Job PDD812 Fronius IF - Runtime Data is not updated PDD815 Opt. Para. to specify the nr. of used bits for the new functions BitNegDnum and BitLShDnum PDD818 LoadIdentify improvement when ModalPayLoadMode is 0 PDD820 Ordering a backup from FPU creates empty backup folder when SysInput PDD823 Using Bosch WeldTimer Interface limits the number of I/O signals PDD832 Ethernet/IP Lan Slave Communication with Rockwell PLC PDD845 IRC5 - FlexPendant GUI - Not acceptable filter position in data list PDD850 Corrections for mechanical gripper types PDD875 Error handling not working PDD880 Ethernet/IP Master Configuration - Beckoff bus coupler BK9105 PDD885 110016 Unsafe flying-end PDD906 Improvement in Safemove PDD908 Modify default values in SafeMove configurator PDD909 Incorrect mechanical unit name that crashes the Virtual FlexPendant PDD984 FcPress instruction gives error 50076 PDD986 StartMove instruction locked PDD990 When LoadIdentify results in 0 kg mass PDD991 Page 109/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Error 20457 SC2 Changed Safety Configuration error when changing SafeMove config Upgrading of PickMaster 5 systems Backup Foldername beginning with space is not accessible anymore System failure in UNDO TAF errors Instruction UIMessageBox restarts executing after Stop Update motion supervision after system parameters change from RAPID Performance issue for pallet patterns with many products RCS 5.13 missing Events LTC: new parameter heat_speed problem Robot can get locked when changing thickness of the plates in a soft equalize system Error in system builder while creating system from backup when using IRBT Strange files on flash disk during installation of RW5.15 Service Information System option added to IRB 6660-1.9/205 NFS Client: max path Unknown Publisher warning when installing RobotWare on Windows 7 Robot and Single now possible to select when changing Base Frame Active filter not displayed in IO units signals view Servogun outside working area FPU Motion Supervision value not updating 50246 Linked motor error Drift of the robot after AS stop with Fc Assembly SocketMessaging: Handle problem when copying socketdev with GetDataVal Incorrect rounding of SMB values Motors On State PM5 Restart the controller when program is executing DN Lean: No communication to units from other vendor SafeMove: System failure state if revolution counter value is lost Tuning error at UINumTune and UIDNumTune in RobotStudio Possible to change Collision detection only if option installed Possible to use DNum in PM Weld Repair Functionality TFP-SDK application name in taskbar is wrong if app is started PDD1006 PDD1023 PDD1061 PDD1067 PDD1081 PDD1092 PDD1098 PDD1107 PDD1138 PDD1173 PDD1186 PDD1187 PDD1202 PDD1203 PDD1261 PDD1310 PDD1314 DSE6212 DSE9606 DSE10259 DSE10407 DSE10411 DSE10414 DSE10421 DSE10423 DSE10432 DSE10502 DSE10538 DSE10582 DSE10598 DSE10628 DSE10639 DSE10758 DSE10790 Page 110/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Product Defect Document RW 5.15.00.01 PDD Profinet SW Slave disconnects from Network/PLC Limit error when initiating a SpotL using software equalization Program pointer on Flexpendant not consistent with program pointer in controller Motion Timeout with "Restart Distance" and "Scrape Optional On" selected Sudden syntax error in program. SYSFAIL when having any IDrive error from the IPS in AbsAcc robot system PDD1444 PDD1552 PDD1640 PDD1654 PDD1658 PDD1721 Page 111/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Product Defect Document RW 5.15.01 PDD RobotWare installation problem: Invalid Drive Improved German SafeMove text Standard IO configurations for DN-lean in Mediapool\service\ioconfig Error message when ArcXStart instruction is forgotten. CAP speed at flying start and end not used any more LAN Ethernet driver updated System builder from backup (Spanish) Fronius IF - Wrong default value in Burnback Correction Misleading errormes. for diff. syst. Restrictions EN_INTERNAL_SLAVE mismatch Weld Data Mismatch Each Other on RobotWare-Arc Elog entry with ArcEquipment Classes Scrape_start / ign_move_delay problem. EIO System Signal Backup Save not possible with unchanged parameter Erroneous Message while editing System Parameter in RS Problem with Absolute Accuracy and path recorder Correction for extended Robot System Serial Numbers RW Warm Start from FPU requires 2nd acknowledgement Work object not connected RobotWare - FlexPendant - Not possible to create new Routine in new Module….. WG tracklog does not on VC if the directory name is to long WeldRepair functionality - StdIOWelder in SemiAutomaticMode Tuning position and orientation of infeeders Hidden routines should not be shown while filtering routines If "Limit Speed" is used together with reduced running speed Incorrect message after revolution counter update Strict sorting issue Indication of Weave issues with IRB 4600 SpotWare : call of UpdateSpotData has no effect when rewelding Prog. is not restarted after PE_EndPause when it was run. before Saving mode was active. Motors On does not work in Manual mode while PE mode is active Circle Uncertain Error with PathRecorder Limitation of number of layers in Operation sets in Workarea Inputs and Outputs viewer on FPU exposes safety signals in several selections Wrong Czech flag Drive Module 2 external axis configuration FlexpendantView in Robotstudio not working with RobotWare 5.15 TPReadFK allowed in Manual Full Speed DSQC 350B config added in media pool Instruction by instruction execution doesn't weld TuneMaster - AutoTune Function WeldGuide 3 problem med SS Tracking WG3 Advanced firmware upgrade/downgrade issue. pnetfbc_show cause sysdmpts to tsksup……. IRB 660 extended working range and linear jog DispensePac option not working in RW5.15 Not possible to enter devicenet address for io unit on IPS node via ICI bus Not possible to view unit bit values in io window Profinet KW-software TCP speed corrected in Signal Analyzer RCS stops with error -49 Not able to take backup, it is saying XML file is missing Stationary Arc Acces to AliasIO signal lost after warm start 50226 Motor reference error caused by TCP speed outputs DSE10507 PDD27 PDD145 PDD530 PDD632 PDD677 PDD764 PDD813 PDD826 PDD847 PDD897 PDD1143 PDD1185 PDD1215 PDD1268 PDD1269 PDD1283 PDD1300 PDD1325 PDD1349 PDD1406 PDD1424 PDD1425 PDd1459 PDD1462 PDD1476 PDD1514 PDD1516 PDD1543 PDD1544 PDD1546 PDD1547 PDD1553 PDD1564 PDD1575 PDD1581 PDD1599 PDD1600 PDD1603 PDD1613 PDD1656 PDD1698 PDD1704 PDD1741 PDD1768 PDD1779 PDD1792 PDD1793 PDD1794 PDD1798 PDD1799 PDD1802 PDD1808 PDD1816 PDD1837 Page 112/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Better error handling when reading a path file Error Handling Problem System input Backup doesn't add date correctly Strict order patch causes error 50052 Error 40734 during executing SpotL instruction Pathrecorder with AbsAcc Robots and WeldRepair Functionality System built on 64bit Windows OS cannot save system diagnostics Robot locked at the end of an arc seam in a 'partially' synchronous multimove environment Undo Aborted SpotWare XML files get corrupted during cold-start (I-Start) Not possible to clear EthernetIP bus IP address from the system param. when using LAN FlexPendantperforms restart when backup path to long with NFS share WeldRepair GetProcErr() does not work correctly LoadID error during identification of load for IRBP-A750 Step Backward Num Limit Errror Spotware Misleading comment for different system restrictions Axis computer DSQC 601 firmware update failed (Revision 10) PDD1850 PDD1859 PDD1861 PDD1876 PDD1883 PDD1885 PDD1889 PDD1917 PDD1930 PDD1932 PDD1938 PDD1951 PDD2010 PDD2216 PDD2019 PDD2029 PDD2077 Page 113/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Product Defect Document RW 5.15.02 PDD ErrorMsg 20325, SafeMove safety supervision not activated LoadId needs additional modifications LoadID error during identification of load for IRBP-A750 LoadId needs an improvement if it gets interrupted IRB 6660_1.90_205 noise issue Drive unit firmware reflash failed Smart Positioner - Unable to return Axis 1 to Normal mode - Reference Calculation Errors PDD1796 PDD2188 PDD2216 PDD2229 PDD2263 PDD2277 PDD2296 Page 114/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Product Defect Document RW 5.15.03 PDD RS/SafeMove: Wrong calculation of STZ points in relation to..... PDD1661 Circle Uncertain PDD2080 Limited ModPos in production window causes motors off PDD2118 UAS grant - Not possible to update revolution counter PDD2170 Problems after station change at welds without weldguide PDD2253 Problem in ArcWare PDD2269 Redo Search signal trigs an extra search after picking PDD2283 Safemove with hanging robot gives mismatch for STC when entering STZ page PDD2284 IPathPos path storage does not store corrected path…… PDD2299 39505 Error Message confusing PDD2300 Wrong measurement channel IRBT x004 PDD2309 Ethernet/IP LAN communication loss PDD2349 Ethernt/IP Drops Communication PDD2350 Scrape-start with ign_move_delay influences weaving PDD2363 Automatic friction tuning fails in 4 robot multimove system PDD2374 Limitations for Multipass PDD2379 RobotWare ARC sets wrong IgnitionSchedule before PowerOn signal is sent to powersource PDD2382 FlexPendant crashes during restart after restore or loading parameter PDD2387 Interrupts set up with IVarValue during a weld PDD2392 Support for GSDML version 2.3 PDD2401 2 Channel Fault PDD2406 SIS data lost when flash drive is replaced PDD2559 Ethernet/IP Master Drops Connection every 35sec PDD2592 Support for IRB 2600 on IRBT 4004 Type A PDD2636 Support for IRB 760 on IRBT 7004 Type A PDD2637 Error 34263 Rectifier startup error PDD2658 Overshoot of axes on IRB 640 PDD2669 SoftMove Equalizing – issues PDD2824 SoftMove offsdist parameter PDD2827 Wrong gun force used PDD2829 Zero gun force is used during weld. PDD2829 Defect report spot servo equalizing - Interrupt during spot sequence PDD2830 System Startup Errors PDD2833 Profinet generates Drive Error when I/O unit is lost and robot moves PDD2866 SIS with External axis (positioner) PDD2883 Mechanical Unit name cannot be edited in cfg editor PDD2975 System Boot wrongly sets revolution counter OK PDD3018 Page 115/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Product Defect Document RW 5.15.04 PDD Servo gun synchronization does not affect Safemove synchronization PDD1764 Page 116/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Product Defect Document RW 5.15.06 PDD Improved cycle time if the Arc preset time is used PROFINET Configurator unable to import Stotz gsdml file v2.25 PROFINET Configurator not able to support DESTO CI501 and CI502 Hanging SpotL UAS - 'Hide non accessible functions Correction Filter in trackdata causes error message Configure 8 servo welding guns AWC - Tracking did not start Switch from language on FlexPendant does not work StackOverflow in combination with WeldRepair Spot singularity EQ Multimove RW/SafeMove: Basic SM configuration files are missed.... ICC with two indexing conveyors Stationary tool not working with IRB 360 Correction of Chinese translation DeviceNet: Explicit messaging SpotServo (stop during weld can result in that the gun is closed) SpotServo Equalizing with SoftMove Internal method for fine calibration from RAPID causes axis speed error for external axis Not possible to copy folder to another one where a folder with same name exists Unable to restart Flow after setting redo search ProfiNet FSU for modules Port2 TPU message not translated for Modpos on jointtarget Not possible to update rev. counter with UAS grant update rev. counter only RobotWare installation failure System Output Motion Supervision Triggered can now handle Picker collisions Weld Guide error Profinet master/slave SW issue - REFMA UNDERRUN Motion inaccuracies when moving via multiple repeating joystick deflections PN generates Drive Error when IO unit is lost and robot moves Optical Tracking - Reference Error after Restart TPU does not connect with the controller - ROBRSP ERROR German texts for load identification have been changed Softmove equalizing functionality Strange effects in MultiMove System incl. UNDO handler Wrong CSS direction if stationary tool PDD1201 PDD2313 PDD2802 PDD2874 PDD2885 PDD2891 PDD2892 PDD2908 PDD2962 PDD2964 PDD3020 PDD3044 PDD3060 PDD3063 PDD3084 PDD3087 PDD3090 PDD3095 PDD3111 PDD3138 PDD3144 PDD3146 PDD3147 PDD3161 PDD3170 PDD3192 PDD3230 PDD3236 PDD3250 PDD3260 PDD3298 PDD3401 PDD3422 PDD3423 PDD3427 PDD3474 Page 117/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Product Defect Document RW 5.15.07 PDD LoadIdentify update regarding loading of files Simtype 1 does not read timer data. PDD3546 PDD3634 Page 118/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Product Defect Document RW 5.15.07.01 PDD Error 39412 in tracks Sporadic IO communication problems PDD3737 PDD3814 Page 119/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Product Defect Document RW 5.15.08 PDD ServoRobot Sensor Reset DeviceNet-Lean communication problems at Multimove-Pickerline with PickMaster 3.4 Adaptive Welding Instructions DeviceNetLean software problem Lost communication with IO-unit Q-track Lost Communication error 71058 (IRC5 to PIB) Not possible to copy folder to another one where a folder with same name exists Softmove Support in RAPID editor in RobotStudio Robot back-up, properties date System with active conveyor never applies brakes SpotML required to weld with one Gun Robot P-Starting when using AliasIO command TCP Speed problem regarding system failure SoftMove, incorrect behavior when add Instruction CSSAct at TPU RefPoint error 50366 when jogging SafeMove robot with lost counters Profinet unit data wrongly copied to another unit IO events at zero time Dispensing system running abnormal by using RW5.15.+ IPS4.50+Disp.Pac Supp. Modify Position in one process target Weld Tracking Issues with Motion Planner Performance Robot pick failure. Picking in front of objects. IRB 5350 axis 3 movement error Problem with trigger distance Error code 50065 with gantry robot PDD2275 PDD2397 PDD2433 PDD2639 PDD2672 PDD3129 PDD3138 PDD3510 PDD3511 PDD3542 PDD3611 PDD3662 PDD3669 PDD3687 PDD3712 PDD3754 PDD3787 PDD3807 PDD3815 PDD3829 PDD3842 PDD3922 PDD4047 PDD4066 Page 120/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Product Defect Document RW 5.15.09 PDD Program execution stuck forever on WaitWobj without any error message Mechanical Unit Error from IRPB logic CAP Refresh update Issues StartMoveRetry Error handler Issues of CAP regain of motion on process ArcWare CAP I-PathPos quits if iterrupted and then restarted Multimove Error 41801 Robotstudio stops motion Problems with 360 Conveyor tracking pure horizontal motion upstream WeldRepair No of Retry Devicenet lean Lost communication IPATHPOS positions not related to defined WOBJ - failed to read path event Process speed difference with AbsAcc and moving work object Improved program execution robustness when performing symbol search Problem when taking a SYSDIAG during production Increasing value for mac RAM usage maincomputer ReadRawBytes lead to system failure state Loosing contact with Allen-Bradley RCS irc5.cfg additional_file externsion TPU USB Fault 110017 Process data buffer full MAX_CORR value for 5.15 Possible system crash when logging enabled in cap Regain movement taking too long time CBC gives Brake error motor axis 7 (IRBT) System Failure with auto reset condition and Undo PDD2373 PDD3679 PDD3752 PDD3761 PDD3786 PDD4102 PDD4141 PDD4191 PDD4193 PDD4337 PDD4509 PDD4535 PDD4539 PDD4554 PDD4599 PDD4629 PDD4648 PDD4693 PDD4701 PDD4706 PDD4721 PDD4742 PDD4748 PDD4891 PDD4930 Page 121/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Product Defect Document RW 5.15.10 PDD More stable Rapid execution Restart of CAP process Randomly differing weldspeed Stand Alone Controller cannot use TuneMaster Test Signal 5 does not go high in force loop Stop at end of instruction system input no longer stop in Undo handlers SysFail when doing Symbol Search on different RAPID tasks simultaneously Motion planner configuration order Large profinet configuration renders SYSFAIL Limited movement with force control assembly on multimove system PDD5162 PDD5302 PDD5394 PDD5425 PDD5427 PDD5492 PDD5494 PDD5528 PDD5825 PDD5904 Page 122/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Product Defect Document RW 5.15.11 PDD CBC handles output signals in a wrong way after upgrade to RW5.x (CBC1.4) Spontaneous Sysfail whith 7-axis track BullsEye choice to update tcp after quickcheck 37231 Brake Performance Error Portuguese SpotWelding text corrected Date format in backup not correct PDD4924 PDD5493 PDD5601 PDD6071 PDD6256 PDD6404 Product Defect Document RW 5.15.12 PDD Adaptiv arc welding and first weave issue Thermal motor model is implemented for all versions of IRB 6700 LTCVerify / LTCCalibrate RobotWare Arc WeldRepair -Geometric interpolation failed PDD6778 PDD6991 PDD7108 PDD6872 Product Defect Document RW 5.15.13 PDD Corrupt encrypted modules Multimove installation not correct PDD7238 PDD7410 Page 123/124 ABB Robotics PRU Title SEROP Release Notes RW 5.15.14 Department Date DMRO/QMPP 2017-05-11 Ref RP5.15 Filename Release Notes RW 5.15.14.doc Author, telephone Anders Trillkott, +46 21 344888 Product Defect Document RW 5.15.14 PDD Commutation Service Routine Defective Intermittend device loss of profinet devices Load definition should not be included when recalcuating TCP Graying out IO Softkeys if Enabling switch not pressed Tool opening failed 50251 Problem with fetching data from SMB into CONTROLLER Suppress automatic change of start position for LTC Safemove1 Safety controller numerical signature empty LoadIdentify improvement PDD131 PDD5444 PDD6744 PDD7088 PDD7280 PDD7310 PDD7839 PDD7924 PDD8715 Page 124/124