ABB OmniCore E Series Operating Manual
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ABB OmniCore E Series Operating Manual

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Summary of Contents for ABB OmniCore E Series

  • Page 1 ROBOTICS Operating manual OmniCore...
  • Page 2 Trace back information: Workspace 24A version a11 Checked in 2024-03-05 Skribenta version 5.5.019...
  • Page 3 Operating manual OmniCore Robotware 7.14 Document ID: 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved. Specifications subject to change without notice.
  • Page 4 Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damage to persons or property, fitness for a specific purpose or the like.

  • Page 5: Table Of Contents

    How to check if the robot needs calibration ............Jogging Introduction to jogging ..................Coordinate systems for jogging ................Basic settings for jogging ................... Reading the exact position .................. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 6 6.10 Service routines ....................6.10.1 Running a service routine ................. 6.10.2 Connected Services Reset service routine ........... 6.10.3 Battery shutdown service routine ............... 6.10.4 Axis Calibration service routine ..............Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 7 10.5 Reset user data ....................10.6 FlexPendant logs ....................10.7 Update FlexPendant ..................10.8 Connection log ....................10.9 Connected Services log ..................10.10 Creating a system diagnostics file ................ Index Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 8 This page is intentionally left blank...

  • Page 9: Overview Of This Manual

    The reader should: • Have read and understood the safety instructions in the product manuals for the robot. • Be trained in robot operation. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 10 Application manual - Functional safety and SafeMove 3HAC066559-001 Technical reference manual - System parameters 3HAC065041-001 Operating manual - Calibration Pendulum 3HAC16578-1 All documents can be found via myABB Business Portal, www.abb.com/myABB. Revisions Revision Description First edition. • The safety information is moved to the product manuals for the controller and the manipulator.
  • Page 11 A Footnote is added in the section FlexPendant applications on page 42 stating for what manipulators the lead-through function- ality is applicable. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 12 261. • Corrected name of UAS grant for locking the operating mode, see Locking and unlocking operating modes on page Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 13 References on page 10 The OmniCore controller on page • ABB Connected Services is the new name for ABB Ability Connec- ted Services. • Added information that the restart type Reset System does not reset the topic Communication in the system parameter configur- ation.
  • Page 14 Calibration Pendulum, CalPendulum service routine on page 196. • Added the section Calibrating the touchscreen on page • Updated the section Moving the robot on page 141. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 15: Product Documentation

    Product documentation Categories for user documentation from ABB Robotics The user documentation from ABB Robotics is divided into a number of categories. This listing is based on the type of information in the documents, regardless of whether the products are standard or optional.
  • Page 16 The operating manuals describe hands-on handling of the products. The manuals are aimed at those having first-hand operational contact with the product, that is production cell operators, programmers, and troubleshooters. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 17: Introduction To Omnicore

    This manual describes a robot without options, not a robot system. However, in a few places, the manual gives an overview of how options are used or applied. Most options are described in detail in their respective application manual. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 18: The Omnicore Controller

    The OmniCore controller contains all the functions needed to move and control the manipulator, and delivers flexibility, connectivity, and performance. The OmniCore controller gives ABB robots the ability to perform their tasks in a highly efficient manner and also increases the flexibility to incorporate the latest digital technologies.
  • Page 19 50 liter optional space inside. For more information about the OmniCore V400XT controller, see Product manual - OmniCore V400XT. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 20: The Flexpendant

    Main parts These are the main parts of the FlexPendant. xx1700001891 Connector RFID reader (functionality not yet implemented) Touchscreen Emergency stop device Joystick Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 21 If the FlexPendant freezes during operation, press the reset button to restart the FlexPendant. The reset button resets the FlexPendant, not the system on the controller. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 22 Press the Messages button for a longer duration to capture a screenshot of the current screen. For more details, see Capturing screenshots on page Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 23 SafeMove configuration is active in the controller. Note To enforce single-point of control from the FlexPendant, press and release the three-position enabling device twice. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 24 However, the left-handed users can easily adapt FlexPendant for their use. For more details, see the section Adapting the FlexPendant for left-handed users on page xx1800000045 Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 25: Robotstudio

    1.4 RobotStudio Overview of RobotStudio RobotStudio is an engineering tool for the configuration and programming of ABB robots, both real robots on the shop floor and virtual robots in a PC. To achieve true offline programming, RobotStudio utilizes ABB VirtualRobot™ Technology.

  • Page 26: Directory Structure On Omnicore

    RobotWare add-ins can add additional directories and files to the default base directory structure of your controller, so the actual default structure on your controller may have additional files and directories. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 27: Navigating And Handling The Flexpendant

    Hardware and software options This manual covers only the views of a basic RobotWare system. The details of the various options are explained in the application manuals. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 28: The User Interface

    To close an application, press and hold the application in the task bar and tap on the displayed close button. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 29 X and Y axes. Move the semi-circular bar along the circumference to jog the robot along Z axis. Axes bar Locks all axes or individual axis. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 30 The QuickSet menu button displays the QuickSet window. button Context menu The context menu button displays a menu with available options button for a selected row. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 31: Status Bar

    Indicates that the operating mode is Auto. Indicates that the operating mode is Manual. Indicates that the operating mode is Manual Full Speed. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 32 The Axis 4-6 icon is displayed here if that jog mode is selected. Indicates that the jog mode is Linear. Indicates that the jog mode is Reorient. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 33 When you tap on the QuickSet button the QuickSet window is displayed. The QuickSet window has the following tabs: • Control • • Execution • Visual • Info • Connected Services • Logout/Restart Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 34 The speed of 100% indicates that the program is running at full speed. Reset Program Sets the program pointer to main. Cancel routine Cancels the execution of a service routine. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 35 The Lead-through tab displays the settings required for the lead-through functionality. Note The Lead-through tab is available only for the CRB 15000 robot. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 36 Selects a tool from the list. Work Object Selects a work object from the list. Load Selects a load from the list. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 37 Description Run Mode Selects the program run mode. • Single: Runs one cycle and then stops the execution. • Continuous: Runs continuously. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 38 Displays the position of each axis. Colored arrows Displays the direction in which the jog stick needs to be moved for jogging the selected axis. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 39 Displays the identity of the controller. App version Displays the version information of the FlexPendant application. Options Displays the options selected in the system. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 40 Note ABB Connected Services is the new name for the functionality previously known as ABB Ability. During a period of time, both names will appear in and on our products. The Connected Services tab displays information about the Connected Services in the Connected Services Summary section.
  • Page 41 Rotate 180°: This is used to rotate the FlexPendant screen by 180°. This functionality is useful for left hand users. For more details, see the section Adapting the FlexPendant for left-handed users on page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 42: Flexpendant Applications

    Manage tool data ✓ ✓ Manage work object data ✓ ✓ The Jog application is used to jog the ABB industrial robot using an intuitive touch based user interface or using a joystick. Feature Limited App Essential App Program Pack-...
  • Page 43 ✓ Settings The Settings application is used to configure the general settings of OmniCore controller and FlexPendant. Controller configuration includes Network, ABB Connected Services, Time and Language, Backup, Restore, System diagnostics and so on. FlexPendant configuration includes background settings and programmable keys.
  • Page 44 ✓ Show motion pointer position ✓ ✓ Execute service routines ✓ ✓ Calibrate The Calibrate application is used for calibration and definition of frames for ABB robots. Feature Limited App Essential App Program Pack- Package [3120-1] Package [3120-2] age [3151-1] Mechanical unit calibration ✓...
  • Page 45 Note The file explorer supports operations on the following file formats: TXT, CFG, PNG, XML, ZIP, JPG, MOD, PGF, LOG, and MODX. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 46 Select/Deselect: Selects or clear the selection for a set of files and folders. • Remove Selected Items: Removes the selected items. • Copy Selected Items: Copies the selected items. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 47 The application SafeMove is used to configure some parts of SafeMove. See Application manual - Functional safety and SafeMove. For full SafeMove configuration, see Visual SafeMove in RobotStudio. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 48: Personalizing The Flexpendant

    2 Navigating and handling the FlexPendant 2.3.1 Introduction 2.3 Personalizing the FlexPendant 2.3.1 Introduction Overview The FlexPendant can be personalized in a number of ways. This is described in this chapter. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 49: System Information

    1 On the start screen, tap Settings. 2 Tap System. The About page displayed. On the left sidebar tap the Hardware Devices and Software Resources to access the respective information. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 50: Configuring The Identity Settings

    3 In the Robot System Name field tap Edit. 4 Type or update the name of the robot. 5 Tap Apply. The changes are saved and the name of the robot system is updated. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 51: Configuring Date And Time

    It is important to correctly define the Time Zone including the country and sub Zone, as this is used for different digital services. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 52 2.3.4 Configuring date and time Continued Note You can set the format of the time as 24-hour or 12-hour from the Time Format section. The default time format is 24-hour. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 53: Configuring The Interface Language

    5 Tap Apply. The Change language confirmation window is displayed. 6 Tap Yes. The FlexPendant is restarted and the interface language is changed to the selected language. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 54: Configuring The Default View During System Events

    FlexPendant Startup: Select this option to define the view when the FlexPendant starts. Note Tap Clear to remove the current selected view. 5 Tap Save. The changes are saved. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 55: Configuring The Joystick

    The speed then ramps up quickly when getting closer to 100% deflection. This makes it easier to jog the robot slowly. 5 Tap Apply. The Joystick settings are saved. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 56: Configuring The Display Of Event Logs

    • Fewer interruptions: Only the important event logs will be displayed. • Verbose: All the event logs will be displayed. The event logs settings are saved. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 57: Configuring The Display Of Controller Id And System Name

    Controller ID and System Name. This is the default display format. • Controller Id only: Displays only the Controller ID. • System Name only: Displays only the System Name. The settings are saved. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 58: Configuring The Default Paths

    Select folder to set default path for RAPID programs: Allows you to configure a default path for RAPID programs. 5 Tap Save. The default path settings are saved. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 59: Configuring The Programmable Keys

    • Set to 1 - sets the signal value to 1. • Set to 0 - sets the signal value to 0. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 60 The value Move PP to Main is selected in the Key Pressed list. 10 Tap Apply. The selected key is configured. 11 Configure the other keys, if needed. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 61: Adapting The Flexpendant For Left-Handed Users

    Hardware buttons and pro- No change. Hard buttons on page grammable keys Emergency stop No change. Three-position enabling No change. device Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 62: Basic Procedures

    Tap the arrow keys to change the insertion point, for instance when correcting typing errors. If you need to move... then tap... backward xx2000000923 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 63 If you need to move... then tap... forward xx2000000924 Deleting 1 Tap the Backspace key (top right) to delete characters to the left of the insertion point. xx2000000925 Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 64: Messages On The Flexpendant

    See, Messages window on page How to generate program messages is described in Technical reference manual - RAPID Instructions, Functions and Data types. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 65: Capturing Screenshots

    Use the File Transfer function in RobotStudio to access the image. The name of the file is in the format FlexPendantScreen_yyyy-MM-dd_HH-MM-ss-ms.png. Note For information regarding the FlexPendant hard buttons, see FlexPendant Main parts on page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 66: Filtering Data

    Note When filtering I/O signals there are more options than other types of data. For example, you can filter data by Name or Type Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 67: Searching The Settings

    Select the desired settings result to navigate to the corresponding settings window. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 68: Granting Access For Robotstudio

    If you want to reject access, tap Deny. Note If you have granted the access and want to revoke it, tap Deny. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 69: Logging On And Off

    2 Type a valid username using the soft keyboard. 3 Tap on the Password field and type password for the selected user using the soft keyboard. 4 Tap Log in. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 70 The current active user is logged off from the controller and the Log in to controller window is displayed. Handling users and authorization levels Read more on how to add users or set the authorization in Operating manual - RobotStudio. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 71: Changing The User Password

    6 In the Confirm New Password field type the same password that you typed in the New Password field. 7 Tap Change Password. The new password is validated and saved. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 72: Calibrating The Touchscreen

    The Reset touch calibration confirmation window is displayed. 5 Tap OK. The touchscreen calibration values are reset to the default values and the FlexPendant is automatically restarted. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 73: Updating The Applications

    2.5 Updating the applications 2.5 Updating the applications Overview The FlexPendant applications are updated using the Update option. For more details, see Updating the FlexPendant applications on page 275. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
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  • Page 75: Omnicore Controller Operating Modes

    The Keyless Mode Selector is only a part of the robot. It is the responsibility of the integrator to do a risk assessment of the robot system. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 76: Changing Operating Modes

    The operating mode change works only in the sequence Auto <> Manual (Manual Reduced Speed) <> Manual FS (Manual Full speed). It is not possible to change the operating mode directly from Auto to Manual FS. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 77: Locking And Unlocking Operating Modes

    Use the following procedure to configure a temporary PIN-code: 1 On the FlexPendant status bar, tap the QuickSet button. The Control Panel window is displayed. 2 Tap the Lock button. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 78 Use the following procedure to configure a permanent PIN-code: 1 On the FlexPendant status bar, tap the QuickSet button. The Control Panel window is displayed. 2 Tap the Lock button. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 79 Selector grant resets the permanent PIN-code. Unlocking the operating mode If the operating mode is locked you can unlock it using a temporary or a permanent PIN-code. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 80 4 Tap OK. The operating mode is unlocked. Note The temporary PIN-code is reset every time the user unlocks it. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 81: Calibration

    FlexPendant. Detailed information about calibration, revolution counter update, and so on can be found in the respective robot product manual. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 82: How To Check If The Robot Needs Calibration

    For IRB 14050 when you select update the revolution counters, you are recommended to perform the calibration. Updating the revolution counters is described in the product manual for the robot. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 83 Do not attempt to perform the fine calibration procedure without the proper training and tools. Doing so may result in incorrect positioning that may cause injuries and property damage. Always consult a qualified service technician. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 84 This page is intentionally left blank...

  • Page 85: Jogging

    On YuMi robots without SafeMove the enabling device is disabled, hence, not used. There might be restrictions to how you can jog, see section Restrictions to jogging on page Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 86 Axis-by-axis motion mode moves one robot axis at a time. It is then hard to predict how the tool center point moves. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 87 Additional axes are not affected by the selected coordinate system. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 88: Coordinate Systems For Jogging

    For programming a robot, other coordinate systems, like the work object coordinate system are often the better choices. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 89 To determining the positions of a number of holes to be drilled along the edge of the work object. • To create a weld between two walls in a box. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 90 Following is an example of tool coordinate system in use: • Use the tool coordinate system when you need to program or adjust operations for threading, drilling, milling, or sawing. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 91 If you jog in the base coordinate system for the inverted robot, movements will be very difficult to predict. Choose the shared world coordinate system instead. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 92 Please check your plant or cell documentation to determine the physical orientation of any additional axes. The illustration shows the movement patterns for each manipulator axis. xx0300000520 Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 93: Basic Settings For Jogging

    Move the mechanical unit out of a hazardous position. • Move robot axes out of singularities. • Position axes for fine calibration. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 94 3 In the Joystick Movements section, navigate to the Increment Mode list, and select the increment type. 4 Jog the selected axis. The robot axis is moved according to the selected increment mode. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 95: Reading The Exact Position

    Reading the exact position This procedure describes how to read the exact position. 1 On the start screen, tap Jog. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 96 Enable the Display Orientation Values option to configure the Orientation fomats. The Orientation format can be set to: • Quaternion • Euler angles The Presentation angle unit can be set to: • Degrees • Radians Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 97: Incremental Movement For Precise Positioning

    Choose between Small, Medium, Large or User increments. Select the User option and tap Edit to define the values within in a certain range for each robot. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 98: Restrictions To Jogging

    If the weight of tools and payloads is not set, then overload errors might occur when jogging. Loads for additional axes controlled by specific software (dynamic models) can only be set in programing. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 99: Lead-Through

    Note The Lead-through lock section is disabled for the Axis 1-6 mode. 4 Gently pull the robot arm to the desired position. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 100 Use the following procedure to align the robot to a coordinate system: 1 In the Lead-through page select the a mode in the Lead-through Mode section. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 101 When using lead-through, the path planner is not updated until the program is resumed/restarted or jogging is used. For example, this means that World Zones supervision is not accessible when using lead-through. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 102: Motion Supervision

    4 In the Enable for selected task option slide the bar and enable it. 5 In the Sensitivity section slide on the bar and select sensitivity. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 103 Non motion execution. Starting the program incorrectly may cause serious injury or death, or damage the robot or other equipment. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 104: Align Tool

    5 Continue holding the three-position enabling device and tap and hold the Press and Hold Align button. The tool is aligned to the selected coordinate system. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 105: Working With Smartgripper

    Overview SmartGripper is a RobotWare option that is used for facilitating the operation and programming of the ABB smart gripper. When you select the SmartGripper Support option in the System Options while creating a system using the Modify Installation function, the SmartGripper tab is displayed in the Jog application. Also, the settings for configuring the gripper is displayed in the Settings application.
  • Page 106 Allows you select the type of gripper. Firmware upgrade Displays the current version details of the gripper firmware. Enable/Disable Power to Enables/Disables the power to the gripper. Gripper Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 107 Current state Indicates the state of the gripper. For details about the gripper states, see Returned value in IRB 14050 gripper Product manual. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 108 SmartGripper settings. This can be configured only from RobotStudio now. For more information of the camera module, see the Application manual of Integrated Vision. xx2000001342 Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 109: Gripper Configuration

    5 Tap the Calibrate button. When the button color turns blue from gray, the gripper is calibrated and the status is updated. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 110: Smart Gripper Function

    8 Tap the On or Off button in the Blow Off section to start or stop the suction tool dropping down the objects. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 111: Programming And Testing

    6 Programming and testing 6.1 Introduction 6 Programming and testing 6.1 Introduction Overview This chapter provides you information about creating programs and testing those programs. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 112: Before You Start Programming

    For more details about the RAPID language and structure, see Technical reference manual - RAPID Overview and Technical reference manual - RAPID Instructions, Functions and Data types. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 113: Programming Concept

    Instead, you should save the program folder again and overwrite the old version, or rename the program. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 114 Starting programs on page 224. Saving a program This section describes how to save a loaded program to the controller hard disk. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 115 This section describes how to rename a loaded program. 1 On the start screen, tap Code, and then select Modules from the menu. 2 On the Context menu, tap Rename. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 116 You can only delete a loaded program. 1 On the start screen, tap Code, and then select Modules from the menu. 2 On the Context menu, tap Delete. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 117 6 Programming and testing 6.3.1 Handling of programs Continued 3 In the Delete Program confirmation window, tap OK to delete, or Cancel to keep the program intact. xx1900000225 Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 118: Handling Of Modules

    1 On the start screen, tap Code, and then select Modules from the menu. 2 On the Context menu, tap Load Module. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 119 1 On the start screen, tap Code, and then select Modules from the menu. 2 Tap Save as on the Context menu for the module. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 120 1 On the start screen, tap Code, and then select Modules from the menu. 2 Tap Change Declaration on the Context menu for the module. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 121 1 On the start screen, tap Code, and then select Modules from the menu. 2 Tap Delete on the Context menu for the module. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 122 6.3.2 Handling of modules Continued 3 The Delete Module confirmation window is displayed: xx1900000231 4 Tap OK. The selected module is deleted and removed from the module list. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 123: Handling Of Routines

    1 On the start screen, tap Code, and then select Program editor from the menu. 2 Tap Routines in the menu to the right. xx1900000232 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 124 4 The Create New Routine page is displayed: xx1900000254 Complete the routine declaration by entering the following information: • Routine Name Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 125 This section describes how to define parameters in a routine. 1 On the start screen, tap Code, and then select Modules from the menu. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 126 The Change Declaration page is displayed. 4 If no parameters are shown, tap the Edit button next to the Parameters field. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 127 1 On the start screen, tap Code, and then select Program Editor from the menu. 2 Tap View Routines on the Context menu for the module. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 128 The changes to the routine are saved. How to make all declarations is detailed in section Creating a new routine on page 123. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 129 This section describes how to delete a routine from memory. 1 On the start screen, tap Code, and then select Program Editor from the menu. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 130 2 Tap View Routines on the Context menu for the module. 3 Tap Delete on the Context menu for the routine. The Delete Routine conformation window is displayed. 4 Tap OK. The selected routine is deleted. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 131: Handling Of Instructions

    For the block instructions (FOR, IF, CompactIF, TEST, and WHILE), tap the menu next to an expression, and select Modify Expression to edit it. 6 Tap Apply. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 132 To update the position argument with the current position values, the Update Position function is used. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 133 The following image and table provides information regarding edit options and its description. xx2100000046 Edit options Description Cuts a selected instruction and save it in clipboard. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 134 The edit options window is displayed. 5 Tap Copy. 6 Tap and select the instruction after which you want to paste the copied instruction. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 135 3 Tap on the instruction that you want to shift. 4 Tap Edit. The editing options window is displayed. 5 Tap Change to <shift instruction name>. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 136 6 Programming and testing 6.3.4 Handling of instructions Continued The selected instruction is changed to its shift instruction. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 137 Edit selection with keyboard It is possible to open a selected instruction in editor for editing. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 138: Example: Add Movement Instructions

    For the first and last instruction, select the instruction and tap Edit Instruction. Then change the Zone to Fine. 8 Tap Apply. The program is saved. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 139 MoveL *, v50, fine, tool0; MoveL *, v50, z50, tool0; MoveL *, v50, z50, tool0; MoveL *, v50, z50, tool0; MoveL *, v50, fine, tool0; End Proc; Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 140: Program And Motion Pointers

    The cursor indicates a complete instruction or any of the arguments. The cursor is shown as blue highlighting of the program code in Program Editor of Code. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 141: Debugging The Program

    For collaborative robots, after selecting a programmed position, you need to just press and hold the Go To button to move the robot. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 142 Note For service routines the code is not displayed. 4 Tap QuickSet and run the routine. 5 Tap Cancel Call Routine. The selected routine is cancelled. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 143: Data Types

    For the data type robtarget the option Update Position is also displayed. This option helps you to update the position argument with the position values of the selected robtarget. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 144: Creating New Data Instance

    Scope: Set the accessibility for the data instance from the following options: Global - reachable by all the tasks. Local - reachable within the module. Task - reachable within the task. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 145 6 Tap Apply. The new data instance is created. Note Creation of new data type is described in the manual Operating manual - Integrator's guide OmniCore. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 146: Editing Data Instances

    3 Tap Delete on the context menu for the data instance that you want to delete. 4 Tap Yes. The selected data instance is deleted. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 147 A copy of the selected data instance is created. Note The copied data instance has the same values as the original, but the name is unique. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 148: Tools

    The controller continuously monitors the load and writes an event log if the load is higher than expected. This event log is saved and logged in the controller memory. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 149 6 Programming and testing 6.6.1 What is a tool? Continued Illustration en0400000803 Tool side Robot side Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 150: What Is The Tool Center Point

    A typical moving TCP can be defined in relation to, for example the tip of a arc welding gun, the center of a spot welding gun, or the end of a grading tool. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 151 In some applications a stationary TCP is used, for example when a stationary spot welding gun is used. In such cases the TCP can be defined in relation to the stationary equipment instead of the moving manipulator. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 152: Creating A Tool

    Note In the Mass field under Initial Value tab, make sure to provide the mass of the attached tool in kg units. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 153 The created tool is not useful until you define the tool data (TCP coordinates, orientation, weight, and so on). For more details, see Editing the tool data on page 159 LoadIdentify, load identification service routine on page 198. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 154: Copying A Tool

    3 Tap OK. A copy of the selected tooldata is created. Note The copied tooldata has the same values as the original, but the name is unique. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 155: Defining The Tool Frame

    2 Tap on the context menu of the tool that you want to edit, and select Define. The Tool TCP Definition window for the selected tool is displayed. xx1900000353 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 156 7 Select a point and tap Modify to modify the positions. 8 Tap Next. The Tool TCP Definition, Calibration Result window is displayed. 9 Tap Finish to save the calibration. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 157 How to define elongator points on page 158. 5 If, for some reason, you want to redo the calibration procedure described in step 1-4, tap Cancel. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 158 Verify that the tool tip stays very close to the selected reference point as the robot moves. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 159: Editing The Tool Data

    5 In the Declaration, Initial Value, and Current Value tabs edit the parameters according to your requirement. 6 Tap Apply. The changes are saved. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 160 Z axis of tool0. Editing the tool definition Action Instance Unit Enter the cartesian coordinates of the tool [mm] tframe.trans.x center point's position. tframe.trans.y tframe.trans.z Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 161 If necessary, enter the tool's moment of inertia. [kgm tload.ix tload.iy tload.iz Tap Save to use the new values, Cancel to leave the definition unchanged. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 162: Deleting A Tool

    If the deleted tool, work object, or payload is referenced by any program, those programs need to be edited before executing. If you delete a tool you cannot continue the program from the current position. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 163: Setup For Stationary Tools

    The world reference tip must, in this case, be attached to the robot. Define and use a tool with the reference tip’s measurements when you create approach points. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 164 You should enter the reference tip’s tool definition manually to minimize errors when calculating the stationary tool’s coordinate system. You may enter the stationary tool’s definition manually. en0400000990 Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 165: Work Objects

    Payloads are important when working with grippers. In order to position and manipulate an object as accurate as possible its weight must be accounted for. You must choose which one to use for jogging. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 166: Creating A Work Object

    Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 167: Copying A Workobject

    3 Tap OK. A copy of the selected wobjdata is created. Note The copied wobjdata has the same values as the original, but the name is unique. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 168: Defining A Work Object

    The message Modified is displayed for the selected point. Repeat this step for each point. 5 Tap Next. The Define Object frame tab is displayed. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 169 The Results tab is displayed. 9 Verify the calculation result. If any change is required tap the Back button and redefine the parameters. 10 Tap Finish. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 170: Defining The Work Object Coordinate System

    How to define the user frame on page 171. 5 Tap Next. The Workobject Definition, Define Object frame window is displayed. 6 Select the Object Methods to be used. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 171 3 Select the point in the list. 4 Tap Modify to define the point. 5 Repeat steps 2 to 4 for the remaining points. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 172 1 In the Object Methods drop down menu, select User defined with 3 points. 2 See steps 2 to 4 in the description of How to define the user frame on page 171. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 173: Editing The Work Object Data

    The cartesian coordinates of the position of the user uframe.trans.x frame uframe.trans.y uframe.trans.z The user frame orientation uframe.rot.q1 uframe.rot.q2 uframe.rot.q3 uframe.rot.q4 Note Editing work object data can also be done from the Code window. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 174: Deleting A Work Object

    2 Tap on the context menu next to the workobject that you want to delete and select Delete. The Delete Data confirmation window is displayed. 3 Tap Yes. The selected work object is deleted. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 175: Setup Stationary Work Object

    The Edit Data page is displayed. 3 Tap the Current Value tab. 4 Set the value in robhold field to TRUE. 5 Tap Apply The changes are saved. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 176: Payloads

    Payloads are important when working with grippers. In order to position and manipulate an object as accurate as possible its weight must be accounted for. You must choose which one to use for jogging. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 177: Creating A Payload

    The controller continuously monitors the load and writes an event log if the load is higher than expected. This event log is saved and logged in the controller memory. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 178 Setting the value for ModalPayLoadMode The ModalPayLoadMode is defined in RobotStudio. See Operating manual - RobotStudio. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 179: Copying A Payload

    3 Tap OK. A copy of the selected loaddata is created. Note The copied loaddata has the same values as the original, but the name is unique. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 180: Editing The Payload Data

    TCP or work object. Thus it is possible to use the same payload loaddata for any robhold or stationary tool being active. This saves the time (for example, during commissioning). Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 181 6.8.4 Editing the payload data Continued For more information about PayLoadsInWristCoords, see Technical reference manual - System parameters and Technical reference manual - RAPID Instructions, Functions and Data types. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 182: Deleting A Payload

    If the deleted tool, work object, or payload is referenced by any program, those programs need to be edited before executing. If you delete a tool you cannot continue the program from the current position. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 183: Testing

    4 Press and hold the thumb button. If Start was pressed, the program execution continues as long as you hold the thumb button. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 184 If the button is released, the program execution will stop immediately. 5 If the three-position enabling device is released, intentionally or by accident, the procedure must be repeated to enable running. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 185: Running The Program From A Specific Instruction

    Make sure that no personnel are in the safeguarded space. Before running the robot, read the safety information in the product manual for the controller. 3 Press the Start button on the FlexPendant. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 186: Running A Specific Routine

    2 Tap Debug and then PP to Routine to place the program pointer at the start of the routine. 3 Press the Start button on the FlexPendant. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 187: Stepping Instruction By Instruction

    Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 188 (circular), the circular point (p30) and the speed are taken from the MoveC instruction. The motion pointer will indicate p40 and the program pointer will move up to MoveL p10. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 189 (MoveL p20). pressing the Forward the robot will move to p20 with the speed v1000. button again Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 190: Service Routines

    2 The available service routines are displayed. 3 Select the routine according to your requirement. 4 In the confirmation window tap Yes. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 191 However, it is not possible to save more than one interrupted movement each time as wanted, if the service routine would be called from an error handler with StorePath and RestoPath. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 192 Service Information System, ServiceInfo service routine on page 197. For more information about StorePath and RestoPath, see Technical reference manual - RAPID Instructions, Functions, and Data types. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 193: Connected Services Reset Service Routine

    3 Tap Yes. 4 Press the START button on the FlexPendant. A confirmation page is displayed with operator messages. 5 Tap Reset. The software agent is reset. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 194: Battery Shutdown Service Routine

    This will make it easier to recover after the sleep mode. Related information How to start a service routine is described in Running a service routine on page 190. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 195: Axis Calibration Service Routine

    6.10.4 Axis Calibration service routine Description of the service routine Axis Calibration is a standard calibration method for calibration of ABB robots and is the most accurate method for the standard calibration. The following routines are available for the Axis Calibration method: •...

  • Page 196: Calibration Pendulum, Calpendulum Service Routine

    Calibration Pendulum is described in full in the manual Operating manual - Calibration Pendulum. Specific information for each robot is described in the robot’s product manual. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 197: Service Information System, Serviceinfo Service Routine

    Status OK indicates that no service interval limit has been exceeded by that counter. Status NOK indicates that service interval limit has been exceeded by that counter. Related information Running a service routine on page 190. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 198: Loadidentify, Load Identification Service Routine

    Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 199 The optimum value for the configuration angle is either +90 degrees or -90 degrees. 30° 30° 30° 30° en0500001537 Configuration 1 (start position) Configuration angle Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 200 The upper arm load is defined, if the tool mass is to be identified. • The axes 3, 5, and 6 are not close to their corresponding working range limits. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 201 5 Tap OK to confirm that current path will be cleared and that the program pointer will be lost. 6 In the operator message window, tap Tool or PayLoad. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 202 14 The setup for load identification is now complete. To start the motion, switch to Automatic mode and Motors On. Then tap Move to start the load identification movements. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 203 1 On the start screen, tap Operate, and then select Service Routines from the menu. 2 Tap LoadIdentify. 3 Press the three-position enabling device. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 204 If the load identification is planned to be run in manual full speed, then the slow test is required before the actual measurement can start. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 205 The tool and/or payload data can be set manually if the load is small (10% or less of the maximum load) or symmetrical, for example if the tool load is symmetrical around axis 6. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 206 - The inertia around the x-axis. • - The inertia around the y-axis. • - The z-coordinate for the center of mass. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 207 In fact, only the following parameters are possible to identify: • Iz, the inertia around the z-axis. • m, the total mass. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 208 IRB 365 or IRB 390. The main differences are: • The used axes are: • 3 (for all robot models) Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 209 • m, the total mass. See the resulting loaddata from LoadIdentify for a 5-axis delta robot in the following figure. xx2100002620 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 210 The product manual for the robot contain information on how and where to mount the loads. How to define the system parameters for arm loads is described in Technical reference manual - System parameters. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 211: Brake Check Service Routine

    FlexPendant and do not use the instructions VelSet, AccSet, SpeedRefresh, or any other instruction that affects the motion performance in trap routines or event routines. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 212 The following formula should be used: Max Static Arm Torque = (M*L*g)/n Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 213 Max Static Arm Torque = Tbrake min/1.35 Tbrake min for ABB motor units can be found in the product specification for the specific motor unit, see Product specification - Motor Units and Gear Units. For more information about parameter Max Static Arm Torque, see topic Motion, type Brake in Technical reference manual - System parameters.
  • Page 214 Description of the EIO.cfg file EIO:CFG_1.0:6:1:: EIO_SIGNAL: -Name "BCACT1" -SignalType "DO" -Name "BCOK1" -SignalType "DO" -Name "BCWAR1" -SignalType "DO" -Name "BCERR1" -SignalType "DO" Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 215 During the first brake check test Signal Signal state BCOK BCERR BCWAR BCACT Interrupted brake check test, program pointer still in BrakeCheck routine Signal Signal state BCOK Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 216 Max Static Arm Torque defined in on motor side. A warning limit is set with a higher torque value (depending on the brake). Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 217: Cyclic Brake Check Service Routine

    Cyclic Brake Check is active. Note The RAPID function IsBrakeCheckActive can be used to check if Cyclic Brake Check is active. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 218 It is recommended to configure the maxim- um value in Max CBC test interval (h) as 8 hours. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 219 ! Call to the predefined service routine CyclicBrakeCheck CyclicBrakeCheck; ENDIF ..ENDPROC Brake maintenance Brake maintenance is a feature in the Cyclic Brake Check functionality. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 220 If the Cyclic Brake Check is interrupted more than 3 times, a new cyclic brake check is required. Only reduced speed can be used until a new Cyclic Brake Check is performed. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 221: Wrist Optimization Service Routine

    For advanced users, it is also possible to use the do the wrist optimization using the RAPID instruction WristOpt, see Technical reference manual - RAPID Instructions, Functions and Data types. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 222: Skiptaskexec Service Routine

    The SkipTaskExec service routine is used for debugging if there are problems with synchronizing tasks during Multitasking. It also makes it possible to run a program in automatic mode and exclude one task from the execution. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 223: Running In Production

    The content in this section applies to a robot and not a robot system. It is the responsibility of the integrator to provide a safety and users manual for the robot system. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 224: Basic Procedures

    Recently used programs section. tap the Load Program button if there is no list of recently used programs. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 225 2 The selected program is loaded. 3 Tap Advanced and select Reset Program Pointer to Main. The program pointer is set to main. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 226 If the robot system encounters program code errors while the program is running, it will stop the program and the error is logged in the event log. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 227: Stopping Programs

    Execute the next instruction without completing the move. by pressing the Forward but- ton again. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 228: Using Multitasking Programs

    All the active tasks are started. 5 Stop program execution by pressing the Stop button on the FlexPendant. All the active tasks are stopped. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 229 The folders and files available in the selected device are displayed. 4 Navigate and choose the required program file. Note The supported file format is .pgf 5 Tap Load. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 230 In Operate, there is one tab for each task. To switch between viewing the different tasks, tap on the tabs. To edit several tasks in parallel, use the Program Editor in Code. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 231: Returning The Robot To The Path

    Tap Yes to return to the path and continue the program. • Tap No to return to the next target position and continue the program. • Tap Cancel to cancel the program. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 232: Using Motion Supervision And Non Motion Execution

    When non motion execution is activated it can be executed in: • manual mode • manual full speed mode • auto mode Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 233 Non motion execution. Starting the program incorrectly may cause serious injury or death, or damages the robot or other equipment. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 234: Managing Dashboards

    Once a card is created you can associate the card to dashboards. For more details, Assigning cards to dashboard on page 235. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 235 4 Navigate to the Associated Dashboards section and tap Associate. The Select Dashboards page is displayed with a list of available dashboards. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 236 4 Tap on the delete icon next to the card that you want remove from the selected dashboard. The card is deleted from the Associated Cards section. 5 Tap Apply. The changes are saved. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 237: Managing Positions

    Go To position on page 243. CAUTION Changing programmed positions may significantly alter the robot’s movement pattern. Always make sure the changes are safe for both equipment and personnel. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 238: Teach Position

    3 In the program click and select the position that needs to be updated. 4 Using joystick jog the robot to a new position. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 239 The elements available in the array are displayed. 2 Using joystick jog the robot to a new position. 3 Select the element. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 240 1 Tap on the position argument that has array data and that needs to be edited. 2 Tap Teach Position. The elements available in the array are displayed. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 241 In example B the robot is stopped on path in position P10. The robot is jogged off path to the new position (P10x) and the position P10 is modified. xx0800000175 Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 242 P20x) to P30 without returning to the previous planned path (via the old P20). The new planned path from P20 (P20x) to P30 is calculated using these two positions and position P10. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 243: Go To Position

    The robot is moved from the current position to the selected programmed position. Note For collaborative robots, after selecting a programmed position, you need to just press and hold the Go To button to move the robot. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 244: Working With Displacements And Offsets

    MoveL Offs(p10, 100, 50, 0), v50... Define the offset for the position with the following expressions: 1 Original position / starting point Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 245 You can tap on Change Data Type and the other buttons available on the expression editor to fine tune the selected instruction. 8 Tap Apply. The changes are saved. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 246: Detaching And Attaching A Flexpendant

    1 On the status bar, tap the QuickSet button. 2 Tap the Logout/Restart tab. 3 In the FlexPendant section, tap Detach FlexPendant. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 247 4 Tap Detach. A popup window with 30 seconds countdown timer is displayed. xx1900000404 5 When the countdown is progressing, detach the FlexPendant. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 248 Attach the connector to the controller and tighten the locking ring or screws. CAUTION Make sure that the emergency stop device is not pressed in before attaching the FlexPendant. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 249: Handling Inputs And Outputs, I/O

    8 Handling inputs and outputs, I/O 8.1 Introduction 8 Handling inputs and outputs, I/O 8.1 Introduction Overview The inputs and outputs signals can be managed using the I/O application or RobotStudio. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 250: Viewing Signal Lists

    4 Select the category of the signal that you want to view. The signals of the selected category are displayed. You can use the search box to quickly filter and view a particular signal. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 251: Setting Signals As Favorite Signals

    The favorite signals are listed under the Favorite Signals category on the Signals page. To view a selected category of signals, use the procedure Viewing signal lists on page 250. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 252: Simulating The Signals And Changing The Signal Values

    If there is a cross connection created between two signals, changing the value of one signal automatically changes the value of the corresponding cross connected signal. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 253 For an analog signal, in the Value column, tap on the number pad icon, type a value using the number pad within the allowed range, and then tap OK. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 254: I/O Devices

    Configure Allows you to configure the selected I/O device. Note The Configure option is available only for the network type EtherNet IP. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 255 3 Tap Browse and select the firmware from the location it is stored. 4 Tap Upgrade. The firmware for the selected EtherNet IP I/O device is upgraded. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
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  • Page 257: Handling The Event Log

    Open the event log to: • view the current event logs. • study specific event log in detail. • manage the log entries. The log can be printed from RobotStudio. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 258: Accessing The Event Log

    2 Select a category in the list to filter the event logs. 3 Tap a log entry. The selected event log message is displayed. Note Tap the Back button to go back to the Event Log list. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 259: Saving Log Entries

    3 Select a location and select a folder to store the file. 4 In the File name text box, type a name for the file. 5 Tap Save. The log entries are saved. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 260: Clearing The Log Entries

    1 Tap the Event log icon on the status bar. 2 Select Clear all from the context menu. A confirmation window is displayed. 3 Tap OK. The log entries in all the domains are deleted. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 261: Install, Update, Restart, And Other Configuration

    10 Install, update, restart, and other configuration 10.1 Introduction Overview This chapter provides information about installing a RobotWare system, updating the FlexPendant applications, backup the system, and other configuration. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 262: Install Robotware System

    Overview For information about how to install a new RobotWare system, or how to update an existing RobotWare system, see Operating manual - Integrator's guide OmniCore. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 263: Restart

    2 On the Backup & Recovery menu, tap Restart. The restart dialog is displayed. xx1900000123 Select Controller or FlexPendant. 3 Tap Restart. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 264 1 Tap on the QuickSet button and select Logout/Restart. The Logout/Restart page is displayed. 2 In the FlexPendant section tap Restart FlexPendant. The Restart window is displayed. 3 Tap OK. The FlexPendant is restarted. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 265: Backup And Restore Systems

    SYSPAR/ sc_op_mode_pin.enc hwsettings.rsf scimageversion system.xml system.guid template.guid version.xml vnextsystem.xml xx1900000318 ADDINDATA ADDINDATA contains a number of sub-directories used for the RobotWare add-ins. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 266 The current value of a PERS object in a installed module is not stored in a backup. • UAS, Certificates and SW installed in RobotWare System are not included in the backup. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 267 10 Install, update, restart, and other configuration 10.4.1 What is saved on backup? Continued Related information Technical reference manual - System parameters. Operating manual - RobotStudio. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 268: Backup The System

    The name may contain the date, or the system name etc. See information about backups in section Type System Input in Technical reference manual - System parameters for detailed information. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 269 General RAPID, with action value QueueBackup set to TRUE. Then the backup will be queued until the signal is reset. Disable Backup and QueueBackup are described in Technical reference manual - System parameters. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 270: Important When Performing Backups

    If a fault occurs during the backup, for example full disk or power failure, the whole current backup is deleted to make sure that only valid fully saved backups are present on the disk. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 271: Restore The System

    If the backup location is USB or another disc, the backup file is allowed only in the TAR format. 4 If required select the Safety Settings options. 5 Tap Restore. The restore is performed, and the system is restarted. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 272: Reset User Data

    1 On the start screen, tap Settings, and then Backup & Recovery. 2 On the Backup & Recovery menu, tap Reset user data. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 273 4 Tap Reset. A confirmation message is displayed. 5 Tap OK. The controller is restarted and the system is updated according to the selected reset data settings. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 274: Flexpendant Logs

    4 To change the storage path, in the Location field tap Browse and select the required folder. 5 Tap Save. The FlexPendant log is saved in the selected folder. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 275: Update Flexpendant

    3 Tap on the menu button next to an update. xx2000002046 4 Tap Install this update. The selected update is installed and the FlexPendant is restarted. Continues on next page Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 276 After a restart if the FlexPendant detects a new version of applications in the system, it displays the following message. Tap Install to update the FlexPendant applications. xx2000002047 Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 277: Connection Log

    5 To change the storage path, in the Location field tap Browse and select the required path. 6 Tap Save. The current connection state of the connectivity module is saved in the selected location. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 278: Connected Services Log

    5 Tap Save. The Connected Services log is is saved in ZIP format in the selected path and a confirmation message is displayed. 6 Tap OK. Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.

  • Page 279: Creating A System Diagnostics File

    10.10 Creating a system diagnostics file When do I need this? The diagnostic file can be useful when contacting ABB technical support personnel for troubleshooting. The diagnostic file contains the setup and a number of test results from your system. For more information, see Technical reference manual - Event logs for RobotWare 7, section Instructions, how to correct faults - Filling an error report.
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  • Page 281: Index

    FlexPendant, 246 about, 85 displacements additional axes, 98 about, 244 axes in independent mode, 98 work object, 168, 170 non calibrated mechanical units, 98 Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 282 186 deleting, 182 running service routines, 190 display definitions, 180 run button, 23 editing, 180 identifying, 198 selecting, 93 screenshot, 65 personalizing, 48 search settings, 67 Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 283 221 teach position, 238 write access three-position enabling device, 21, 23 granting, 68 thumb button message, 64 using, 24 rejecting, 68 tool center point Operating manual - OmniCore 3HAC065036-001 Revision: R © Copyright 2019-2024 ABB. All rights reserved.
  • Page 286 SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics & Discrete Automation 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 2019-2024 ABB. All rights reserved. Specifications subject to change without notice.

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