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Dokumentnamn - Form title

Release Notes RW

Machining FC GUI 5.13

Ref

Avd. - Department

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Datum - Date

2010-03-30

Filnamn

Release Notes RobotWare

Machining FC GUI

v5.13.doc

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Table of Contents

TABLE OF CONTENTS...............................................................................................................................................1

GENERAL ....................................................................................................................................................................2

RobotWare versions for RobotWare Machining FC GUI 5.13............................................................................................ 2

Compatibility of project created with different versions of RobotWare Machining FC GUI .......................................... 2

RELEASE INFORMATION ..........................................................................................................................................2

Release Name ........................................................................................................................................................................... 2

Release Content........................................................................................................................................................................ 2

Release Information................................................................................................................................................................. 2

Release Date ............................................................................................................................................................................. 6

ORDERING AND INSTALLATION ..............................................................................................................................6

Order procedure ...................................................................................................................................................................... 6

Delivery..................................................................................................................................................................................... 6

Installation................................................................................................................................................................................ 7

ROBOTWARE MACHINING FC GUI 5.13...................................................................................................................7

New features of RobotWare Machining FC GUI 5.13.......................................................................................................... 7

Improvements of RobotWare Machining FC GUI 5.13 ....................................................................................................... 7

Limitations of RobotWare Machining FC GUI 5.13 ............................................................................................................ 8

CORRECTED PDDS ....................................................................................................................................................9

ABB Automation Technologies AB

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Users of RobotWare Machining FC GUI 5.13

Dokumentnamn - Form title

Release Notes RW

Machining FC GUI 5.13

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Datum - Date

2010-02-10

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Release Notes RobotWare

Machining FC GUI

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General

RobotWare versions for RobotWare Machining FC GUI 5.13

RobotWare Machining FC GUI 5.13 is based on RobotWare 5.13 or later revisions of

RobotWare 5.13.

Compatibility of project created with different versions of RobotWare

Machining FC GUI

Downward compatibility of project created with previous version

The projects created with previous versions of RobotWare Machining FC GUI can

be loaded and modified with RobotWare Machining FC GUI 5.13. No extra effort

is needed to upgrade project files/folders.

Upward incompatibility of current version project loaded with previous version

The projects created with RobotWare Machining FC GUI 5.13 can’t be loaded

and modified with previous major versions of RobotWare Machining FC GUI,

such as 5.11 or previous.

The projects created with RobotWare Machining FC GUI 5.13 can be loaded and

modified with all 5.13 revision versions of RobotWare Machining FC GUI.

Release Information

Release Name

The release name is RobotWare Machining FC GUI 5.13.

Release Content

The release contains the following deliverables:

RobotWare Machining FC GUI as additional option on the RW 5.13 DVD

o

Available in English.

Operator’s manual RobotWare Machining FC GUI 5.13

o

Available in English.

Release Information

The information should be considered as last minutes information and most up-to-date:

Please refer to RobotWare Machining FC GUI 5.13 Operator’s manual for the

usage of new functions.

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Force control works with limited functionality together with additional axes, for

example in a robot system with a robot on a track motion, the robot arm can be

force controlled while the track motion can not be force controlled. Additional

axes are not part of the force control movement, meaning that additional axes

cannot be moved by the input from the force sensor.

To avoid damaging abrasive by high contact force while approaching with cliffy

angle, there is restriction in teaching positions of last approach point and first

process point. The 2 mentioned points are indicated in concept view of a

machining path.

The actual positions of the 2 points should be taught, to ensure the tool

approaching angle to the material surface is less than 20 degrees.

The RobotWare Machining FC GUI 5.13 has an own product version, which can

be found in the left-bottom in first page. The product version for released with

RobotWare 5.13 should be 2.2XX.

When loading an existing RWMFC project from RobotWare Machining FC GUI

5.13, the currently loaded RAPID program modules can be either kept or

unloaded/deleted from controller’s memory. An advanced setting is used to

switch between the two loading behaviors. Please refer to the operation manual

for detailed information.

When loading MFC project with current user RAPID program kept, temporary

RAPID errors could be reported in the Event Log during loading process. It is

possible that the RAPID program pointer is temporarily lost during and after

loading. In this case, a PP reset operation is required before re-starting RAPID

execution.

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When loading MFC project with current user RAPID program kept, the user

modules named same with any modules in *.mfc project will be replaced. Please

check before loading, and save the user modules to be replaced.

In case that RobotWare Machining FC GUI is set to unload current RAPID

program when loading an existing mfc project, the loading from RobotWare

Machining FC GUI 5.13 can cause currently loaded RAPID program modules to

be unloaded/deleted from controller’s memory. Please backup or save the

loaded RAPID program module before loading existing RWMFC project.

Please choose to perform or cancel loading mfc project with confirmation

dialogue.

The contact indicator shows the contact behavior between tool and work piece in

conceptual model.

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In the approaching, when robot passes the last approach point, it starts to move

toward to the work piece. The robot will move to the first process point after

proper contact force is reached. During the movement from last approach point

and first process point, the contact force increases from the contact threshold to

the 100% of force set in approach parameter tab page.
In the withdrawing, when robot passes the last process point, it starts to move

away from work piece. The robot will shift to position control when the detected

force is less than the zero contact force set in withdraw parameter tab page. The

robot will move to first withdraw point with linear movement.

In case that the “X” button (close current view) of RWMFC GUI view is pressed

by chance, the current editing MFC project is saved as “Restore”. The current

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editing process data will be saved with this project. If a recover of editing project

is necessary, the project named “Restore” can be reloaded.

Release Date

The release date is 2010-04-10.

Ordering and installation

Order procedure

To order RW Machining FC GUI, do the following:

Mark 877-1 Machining FC GUI in the specification form. The Machining FC GUI

can only be effect when 661-2 Force Control Base is also selected for baseware

support.

Delivery

The RobotWare Machining FC GUI deliverables are delivered in the following ways:

ABB Automation Technologies AB

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RobotWare Machining FC GUI option will be delivered on the RobotWare DVD.

Manuals are delivered together with all other IRC5 manuals.

RobotWare Machining FC GUI key will be delivered together with the robot.

Also,
RobotWare Machining FC option is available at

ABB Solutions bank in the RW 5.13 DVD

RobotWare Machining FC documentation is available at:

ABB Library/ Robotics/ Software Products/ Application Software/ Foundry

Software/ RobotWare Machining FC

Installation

RobotWare Machining FC GUI needs to be installed on the IRC5 upon delivery. To install

RobotWare Machining FC GUI:

1.

If there is previous installation of RobotWare Machining FC GUI in the PC, please

uninstall the previous version from “Control Panel”. The different version of

RobotWare Machining FC GUI can NOT be kept in PC at the same time.

2.

The installation script

Setup.exe

in directory “RW 5.13 DVD/Additional

Options/RobotwareMachiningFCGUI/” will install RwMachiningFCGUI in the

Mediapool.

3.

In RobotStudio Online/System Builder, build a system with RobotWare Machining

FC GUI (RobotWare Machining FC GUI is accessed by adding an additional

option key for RobotWare Machining FC GUI). In the system builder option list

make sure to select the additional option

o

RWMACHININGFCGUI

4.

Download the RobotWare Machining FC system to the IRC5 controller.

5.

Launch FlexPendant.

RobotWare Machining FC GUI 5.13

New features of RobotWare Machining FC GUI 5.13

There are no new features in comparison to RW MFC GUI 5.12 versions.

Improvements of RobotWare Machining FC GUI 5.13

There is a small improvements in FC GUI 5.13 than RW MFC GUI 5.12.

1.

When save project to a exist folder, a hint dialog will appear to remind user for

overwriting.

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Limitations of RobotWare Machining FC GUI 5.13

There are some known limitations with RobotWare Machining FC 5.13 release. They are

listed as the following.

1. Learning a reverse direction path:

when try to create a project, the system needs to

teach and learn a path along the surface of the work piece, the system can not

support a reverse path(shown in picture below)

2. Learning along tool Z direction:

when try to create a project, the user needs to

teach and learn a path with defined direction tool, see the picture below. In the

learning scenario, the system can learn in the case where with tool Z direction in Tool

A and Tool B, but the system can not learn in the case where with tool Z direction in

Tool C.

3. Loading/Saving program outside of HOME directory:

RobotWare Machining FC

5.13 limited project folder to “Systemxxx/HOME/MachiningFC/MFC Projects” for easy

management. It does not support to save / load a project to a folder not under the

said directory.

4. Exported path module is not renamed/unloaded when path name changed:

RobotWare Machining FC does not supporting automatically renaming of exported

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path module according to new input path name. The user should manually delete the

exported path module if a new export operation of the path needs to be performed,

otherwise the ambiguous reference name error is reported due to some RAPID data

are named same in the previous and new exported path module.

5. Loading an existing RWMFC project from RobotWare Machining FC GUI 5.13

can cause the current loaded RAPID program modules to be unloaded / deleted

from controller’s memory.

Please backup or save the loaded RAPID program

module before loading existing RWMFC project.

Corrected PDDs

All Corrected PDDs:

PDR No.

Description

Status

DSE7992

5.10.01 RW Machining FCGUI changed comp. to

5.10 without notice.

Fixed

DSE8129

ReleaseNotes are not at all similar to

RobotWare Release Notes.

Fixed.

DSE8262

GUI shows error message with VC.

Fixed

DSE8355

Exported RAPID program has the wrong force

direction in path frame.

Fixed

DSE8376

Support information of installed GUI in control

panel is not correct.

Fixed

DSE8383

Path can be deleted without warning message.

Fixed

DSE8418

User RAPID module is unloaded when loading a

new MFC project.

Fixed

DSE8728

Release notes contains wrong message.

Fixed

DSE8730

Program name checking is wrong.

Fixed

DSE8821

Corrected PDDs is not liested in release notes.

Fixed

DSE8771

RW5.12RC FC Machining GUI/ Deleting path1

Fixed

DSE8544

Switching Motion mode in MachiningFC GUI

2.1.01.0

Fixed

DSE9207

Release Notes RW Machining FC GUI 5.12.02RC Fixed

DSE9765

Release Notes RW Machining FC GUI 5.13RC

Fixed

DSE8562

Overwrite without hint when save project

Fixed