Release Notes

RobotStudio
6.05.02 SP1

Revision: -
The information in this manual is subject to change without notice and should not be
construed as a commitment by ABB. ABB assumes no responsibility for any errors that
may appear in this manual.

Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to persons
or property, fitness for a specific purpose or the like.

In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.

This manual and parts thereof must not be reproduced or copied without ABB's written
permission.

Additional copies of this manual may be obtained from ABB.

The original language for this publication is English. Any other languages that are
supplied have been translated from English.

© Copyright 2008 - 2017 ABB All rights reserved.

ABB AB
Robotics Products
SE-721 68 Västerås
Sweden
 Table of Contents

1 Release Information 5

1.1 General 5

1.2 System recommendation 5

1.3 Simulation Models 7

2 What’s new in RobotStudio 6.05.02 9

3 What’s new in RobotStudio 6.05.01 10

4 What’s new in RobotStudio 6.05 13

5 Late Breaking Information 19

6 Corrections 20

6.1 Corrections made in 6.05.02 SP1 20

6.2 Corrections made in 6.05.02 20

6.3 Corrections made in 6.05.01 20

6.4 Corrections made in 6.05 SP2 21

6.5 Corrections made in 6.05 SP1 22

6.6 Corrections made in 6.05 22

7 Known Limitations 24

7.1 Online 24
7.1.1 Online – Paint 24
7.1.2 Online – Integrated Vision 24

7.2 Offline 27
7.2.1 General 27
7.2.2 Conveyor Tracking 29
7.2.3 Station Viewer 30
7.2.4 MultiMove 30
7.2.5 External Axis 30
7.2.6 Network Drives and UNC Paths 30
7.2.7 RAPID 31
7.2.8 Paint 32
7.2.9 Graphics and Geometry 32

© Copyright 2017 ABB All rights reserved 3

 Table of Contents
7.3 ScreenMaker Limitations 33

8 RobotWare Compatibility 34

8.1 General 34

8.2 RobotWare 5.05 and 5.06 Compatibility 34

8.3 RobotWare 5.07 Compatibility 34

8.4 RobotWare 5.08 Compatibility 34

8.5 RobotWare 5.10 Compatibility 34

8.6 RobotWare 5.11 Compatibility 34

8.7 RobotWare 5.12 Compatibility 35

8.8 RobotWare 5.13 Compatibility 35

8.9 RobotWare 5.15 Compatibility 36

8.10 RobotWare 6 Compatibility 36

8.11 General Compatibility Limitations 36

8.12 ScreenMaker Compatibility 36

8.13 Support for future RobotWare versions 37

© Copyright 2017 ABB All rights reserved 4

 Release Notes
RobotStudio 6.05.02 SP1

1 Release Information
1.1 General

Release Name
The release name is RobotStudio 6.05.02 SP1 and the build number is 6.05.7558.2005.

Release Date
The release date is September 22nd, 2017.

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

ScreenMaker Demo Station and Project

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

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

Documentation

User documentation for RobotStudio is available from the Help button ( ) in the upper-
right corner of RobotStudio.
The complete documentation in PDF for RobotWare including RobotStudio is available on
DVD and can be ordered separately from ABB.

1.2 System recommendation

Recommended Software
Operating System
Microsoft Windows 7 SP1 32-bit edition
Microsoft Windows 7 SP1 (recommended) 64-bit edition
Microsoft Windows 10 (recommended) 64-bit edition

© Copyright 2017 ABB All rights reserved 5

 Release Notes
RobotStudio 6.05.02 SP1

Note

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

Recommended Hardware
Item Requirement
CPU 2.0 GHz or faster processor, multiple cores recommended
Memory 3 GB if running Windows 32-bit
8 GB or more if running Windows 64-bit (recommended)
Disk 10+ GB free space, solid state drive (SSD)
Graphics card1 High-performance, DirectX 11 compatible, gaming graphics card from
any of the leading vendors. For the Advanced lightning mode Direct3D
feature level 10_1 or higher is required.
Screen resolution 1920 x 1080 pixels or higher is recommended
DPI Normal size (100% / 96 dpi) up to Large size (150% / 144 dpi)
Only Normal size supported for Integrated Vision.
Mouse Three-button mouse
3D Mouse [optional] Any 3D mouse from 3DConnexion, see http://www.3dconnexion.com.

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

© Copyright 2017 ABB All rights reserved 6

 Release Notes
RobotStudio 6.05.02 SP1

1.3 Simulation Models

Robot Libraries
IRB Variant IRB Variant IRB Variant
120 3kg/0.58m 4400S 30kg 6700 200 kg/2.8m SW
120T 3kg/0.58m 4450S 30kg 6700 205 kg/2.8m MH3
1200 5kg/0.9m BTM (./FGL/*FPL) 4600 20kg/2.5m 6700 205 kg/2.8m
1200 5kg/0.9m STD (./FGL/*FPL) 4600 20kg/2.5m Type C 6700 140 kg/2.85m MH
1200 7kg/0.7m BTM (./FGL/*FPL) 4600 45kg/2.05m Type C 6700 140 kg/2.85m SW
1200 7kg/0.7m STD (./FGL/*FPL) 4600 60kg/2.05m 6700 155 kg/2.85m MH3
140 5kg/0.8m Type A/B 4600 60kg/2.05m Type C 6700 155 kg/2.85m
140 5kg/0.8m Type C 460 6700 220 kg/2.65m MH
140 6kg/0.8m Type C 4600 40kg/2.55m 6700 220 kg/2.65m SW
140T 5kg/0.8m Type C 4600 40kg/2.55m Type C 6700 235 kg/2.65m MH3
1400 Type A/B 4600 45kg/2.05m 6700 235 kg/2.65m
1400H Type A/B 6400R 200kg/2.5m 6700 175 kg/2.6m MH
1410 6400R 200kg/2.8m 6700 175 kg/2.6m SW
1520ID 6400R 120kg/2.5m 6700 200 kg/2.6m MH3
1600 5kg/1.2m 6400R 150kg/2.8m 6700 200 kg/2.6m
1600 5kg/1.2m Type A 6400R 150kg/2.8m 6700 220kg/3.0m MH
1600 5kg/1.45m 6400R 100kg/3.0m 6700 220kg/3.0m SW
1600 5kg/1.45m Type A 640 6700 245kg/3.0m MH3
1600 6kg/1.2m 660 180kg/3.15m 6700 245kg/3.0m
1600 6kg/1.45m 660 250kg/3.15m 6700 270kg/2.7m MH
1600 7kg/1.2m 6600 175kg/2.55m 6700 270kg/2.7m SW
1600 7kg/1.2m Type A 6600 175kg/2.80m 6700 300kg/2.7m MH3
1600 7kg/1.45m 6600 225kg/2.55m 6700 300kg/2.7m
1600 7kg/1.45m Type A 6600ID 185kg/2.55m 6700 Inv 210kg/2.9m MH6
1600 8kg/1.2m 6620 150kg/2.2m 6700 Inv 210kg/2.9m SW6
1600 8kg/1.45m 6620LX-150/1.9m 6700 Inv 245kg/2.9m
1600 10kg/1.2m 6640 130kg/3.2m 6700 Inv 245kg/2.9m MH3
1600 10kg/1.45m 6640 180kg/2.55m 6700 Inv 270kg/2.6m MH6
1600ID 4kg/1.5m 6640 185kg/2.8m 6700 Inv 270kg/2.6m SW6
1660ID 4kg/1.55m 6640 205kg/2.75m 6700 Inv 300kg/2.6m
1660ID 6kg/1.55m 6640 235kg/2.55m 6700 Inv 300kg/2.6m MH3
2400 10kg 6640ID 170kg/2.75m 7600 150kg/3.5m
2400 16kg 6640ID 200kg/2.55m 7600 325kg/3.1m
2400L 6640 150kg/2.55m DP6 7600 340kg/2.8m
2600 12kg/1.65m 6640 165kg/2.8m DP6 7600 400kg/2.55m
2600 20kg/1.65m 6640 185kg/2.75m DP6 7600 500kg/2.55m
2600 12kg/1.85m 6640 200kg/2.55m DP6 7600 500kg/2.3m
2600ID 8kg/2.0m 6650 125kg/3.2m 7600 150kg/3.5m MH3
2600ID 15kg/1.85m 6650 200kg/2.75m 7600 325kg/3.1m MH3
260 6650ID 170kg/2.75m 7600 340kg/2.8m MH3
340 6650S 125kg/3.5m 7600 400kg/2.55m MH3
360 1kg/1130 Std No axis 4 6650S 200kg/3.0m 7600 500kg/2.55m MH3
360 1kg/1130 Wash-down No axis 4 6650S 90kg/3.9m 7600 390kg/3.1m MH6
360 1kg/1130 Standard 6650S 100kg/3.5m MH6 7600 320kg/2.8m MH6
360 1kg/1130 Wash-down 6650S 190kg/3.0m MH6 7600 390kg/2.55m MH6
360 1kg/1130 Stainless 6650S 100kg/3.5m SW6 7600 390kg/3.1m SW6
360 1kg/800 Std No axis 4 6650S 190kg/3.0m SW6 7600 320kg/2.8m SW6
360 1kg/800 Wash-down No axis 4 6650S 125kg/3.5m MH3 7600 390kg/2.55m SW6
360 1kg/800 Std 6650S 200kg/3.0m MH3 760
360 1kg/800Wash-down 6650S 90kg/3.9m MH3 8700 475kg/4.2m MH6
360 3kg/1130 Std No axis 4 6600 100kg/3.35m 8700 475kg/4.2m SW6
360 3kg/1130 Wash-down No axis 4 6660 130kg/3.1m 8700 550kg/4.2m MH3
360 3kg/1130 Standard 6660 205kg/1.9m 8700 550kg/4.2m
360 3kg/1130 Wash-down 6700 145 kg/3.2m MH 8700 630kg/3.5m MH6
360 3kg/1130 Stainless 6700 145 kg/3.2m SW 8700 630kg/3.5m SW6
360 1kg/1600 Standard 6700 150 kg/3.2m MH3 8700 800kg/3.5m MH3
360 6kg/1600 Standard 6700 150 kg/3.2m 8700 800kg/3.5m
360 8kg/1130 Standard 6700 155 kg/3.05m MH 910SC 3kg/0.45m
4400 45kg 6700 155 kg/3.05m SW ‘ 910SC 3kg/0.55m
4400 60kg 6700 175 kg/3.05m MH3 910SC 3kg/0.65m
4400L 10kg 6700 175 kg/3.05m **940
4400L 30kg 6700 200 kg/2.8m MH 14000
** requires the StandAlone Controller mediapool that is available for download from Add-Ins tab / RobotApps / RobotWare Add-Ins

Note
All simulation models in the table are installed with RobotStudio, but only the robots in
the current product range are displayed in the ABB Library gallery. To import any
other robot you need to browse to the file on disk.

© Copyright 2017 ABB All rights reserved 7

 Release Notes
RobotStudio 6.05.02 SP1

Robot Libraries Paint

Variant
52 short vertical arm
52 std vertical arm
540-12 std arm
580-12 std arm
580-12 short arm
5300-12 left
5300-12 right
5320-1500
5320-2000
5350/01 Type Left
5350/01 Type Right
5350/02 Type Left Side Left
5350/02 Type Left Side Right
5350/02 Type Right Side Left
5350/02 Type Right Side Right
5400-12 std arm
5400-13 std arm
5400-14 std arm
5400-22 process arm
5400-23 process arm
5400-24 process arm
5400-12 std arm axis 2 +60 deg
5400-13 std arm axis 2 +60 deg
5400-14 std arm axis 2 +60 deg
5500 35A b_00 / b_80
5500 35B b_00 / b_80
5500 ProArm 35A b_00 / b_80
5500 ProArm 35B b_00 / b_80

Track Libraries
RobotStudio is distributed with the following track types that are available in the Track folder
of the ABB Library.
Track family Length
IRBT2005 2 m to 21 m
IRBT4003 1.7 m to 10.7 m
IRBT4004 1.9 m to 19.9 m
IRBT6003 1.7 m to 10.7 m
IRBT6004 1.7 m to 19.7 m
IRBT7003 1.7 m to 10.7 m
IRBT7004 1.7 m to 19.7 m
RTT_Bobin 1.7 m to 11.7 m
RTT_Marathon 1.7 m to 11.7 m
Paint Rails 2 m to 20 m
left and right versions
IRB5350 Rail 3 m to 10 m
left and right versions
Elevated Rail 3 m to 10 m
left and right versions

© Copyright 2017 ABB All rights reserved 8

 Release Notes
RobotStudio 6.05.02 SP1

2 What’s new in RobotStudio 6.05.02

Overview
RobotStudio 6.05.02 is a quality release that does not contain any new features.

© Copyright 2017 ABB All rights reserved 9

 Release Notes
RobotStudio 6.05.02 SP1

3 What’s new in RobotStudio 6.05.01

Overview
This section describes the new features of RobotStudio 6.05.01

Show safety report for EPS controllers

The safety report for an already configured controller equipped with Electronic Position
Switches (EPS) can be displayed from the EPS Wizard.

Prevent I/O signals from being changed unless enabling device is pressed
To avoid mistakes it is now possible to prevent the user from setting I/O signals in manual
mode unless the enabling device is pressed.
The function is configured by the new parameter Block IO in MotorsOff under Man-machine
communication in the Configuration Editor. The parameter is available in RobotWare
6.05.01 onwards. The default value is FALSE. Set Enabled to TRUE to enable the function.

The setting disables the FlexPendant and RobotStudio buttons for changing I/O signals on a
real controller. For a virtual controller, the setting is ignored by RobotStudio.

© Copyright 2017 ABB All rights reserved 10

 Release Notes
RobotStudio 6.05.02 SP1

Both options
greyed out

Both options
greyed out

Model for MU 250 added to ABB Gallery

The new motor unit, the MU 250 is available as a 3D model in the ABB Gallery of
RobotStudio.

Files and folders and be read and written to any place on the controller disk with Jobs
The Job-actions ‘Read File or Directory’ and ‘Write File or Directory’ have been
extended to allow files to be read or written to any location of the controller disk. You can
build up the path by using the replacement strings as in the screenshot below.

© Copyright 2017 ABB All rights reserved 11

 Release Notes
RobotStudio 6.05.02 SP1

© Copyright 2017 ABB All rights reserved 12

 Release Notes
RobotStudio 6.05.02 SP1

4 What’s new in RobotStudio 6.05

Overview
This section describes the new features of RobotStudio 6.05.

Cable simulation
RobotStudio 6.05 comes with a physics engine that can be used to simulate cables.

VR assisted programming with HTC Vive

The VR support has been extended with three ways of programming paths
• Free target creation.
o Simply create the targets where you want them by clicking the trigger button
on the hand control.
• Motion recording
o The path can be created by recording the motion of the hand control. The
motion is then approximated by piecewise linear motion segments defined
by the automatically created targets. (This function requires the VR Paint
Prototype Add-in available via RobotApps)
• Lead-through teaching.
o Jog the robot with one hand control and create the targets by clicking on the
hand control where you want them. In this way, reachability is guaranteed.
There is also an elevator function by which you can reach higher or lower.

RobotWare documentation on the web

Premium users of RobotStudio, i.e. those that hold a subscription, will have access to
RobotWare documentation on the web. Use the link available on the Help section of the File
tab.

© Copyright 2017 ABB All rights reserved 13

 Release Notes
RobotStudio 6.05.02 SP1

Adjust robtargets
The function Adjust Robtargets has been available in RobotStudio from before. It can be
used to re-compute robtargets after calibration of tooldata or workobjects. Previously it had
some limitations some of which are eliminated in 6.05:
o Inline targets
o Undo
o Change markers that indicate changed lines
o RAPID modules in task and as separate files in HOME folder or RAPID files
browser
o Targets used in one modules but defined in another module

Automatic loading of instruction templates for common processes

Instruction templates for Spot, Cap, Disp and Paint, Conveyor Tracking and MultiMove are
automatically loaded when a virtual controller with any of these options are detected. This
means they will not have to be loaded manually to enable programming and analysis of the
corresponding instructions in the 3D offline programming environment.

Simplified definition of instruction templates for custom move instructions

The instruction template manager has been redesigned to simplify use of custom move
instructions.

© Copyright 2017 ABB All rights reserved 14

 Release Notes
RobotStudio 6.05.02 SP1

Make configuration parameters part of default configuration

Configuration files (*.cfg) that are saved in the SYSPAR folder of the system will be loaded
on a system reset (I-start). An option has been added to automatically copy configuration
files from a backup to this folder during Unpack&Work. This may be of interest for complex
setups with many background tasks which is the case for e.g. paint systems.

Automatic configuration of local I/O devices

When a new local I/O device is added to the controller, RobotStudio will detect the new
device and provide the possibility to automatically configure the device and its I/O signals.

© Copyright 2017 ABB All rights reserved 15

 Release Notes
RobotStudio 6.05.02 SP1

New download page for addins

The RobotApps page has been re-made to allow more information to be displayed for each
product. The user can filter the search results by tags.

Improved user feedback on RobotWare version when restoring backup

Both the current RobotWare version and the backup version will be displayed when doing
restore on backup.

Graphics performance improved for high-end graphics card users

Computations are moved from the CPU to the GPU which will unload the CPU and
maximize the performance of the graphics card. This will increase the graphical overall
performance of RobotStudio. The change affects users running on high-end graphics cards,
for instance users of HTC Vive or Oculus Rift.

© Copyright 2017 ABB All rights reserved 16

 Release Notes
RobotStudio 6.05.02 SP1

Include safety settings when restoring backup

Safety settings such as the safety configuration file can be restored with the regular restore
function in 6.05 by selecting the checkbox “Include safety settings”.

Floating windows
With RobotStudio 6.05, windows can be made floating and placed anywhere on your
screens. This is particularly useful if you are using multiple screens.

Visualization of predicted collisions

Collision Avoidance is a feature of the YuMi that prevents mechanical damage. The robot
controller predicts collisions and will stop before they occur. RobotStudio can visualize the
predicted collision in the graphical 3D environment. The function works offline for virtual
robots and online for real robots.

© Copyright 2017 ABB All rights reserved 17

 Release Notes
RobotStudio 6.05.02 SP1

Defining the arm angle for the YuMi.

Each YuMi arm has 7 degrees of freedom (DOF). The 7th DOF of the YuMi is parametrized
by the so-called arm angle. The AutoConfiguration function will help you define the arm
angle and arm configurations automatically.

Export geometry in STL format

The STL format can describe tessellated/triangular surfaces. It is widely used for e.g. 3D
printing. The STL format is very basic and does not describe color, texture or surface
topology. RobotStudio has been able to import the STL format but has lacked the capability
to export it until 6.05.

Modify Position
The Modify Position function adjusts the RAPID code to match the current robot position.
You can do it offlne for virtual robots and online for real robots.

© Copyright 2017 ABB All rights reserved 18

 Release Notes
RobotStudio 6.05.02 SP1

5 Late Breaking Information

Overview
This section describes changes and additions done after the Operating Manual was
finalized.

PROFINET: New version of GSDML files needed

Robotware 6.05.01 introduces several new functions including CIP safety adapter,
PROFIsafe F-host and a certified PROFINET stack, as well as bug corrections. Please see
the RobotWare release notes for details.

The new PROFINET stack introduces a configuration incompatibility to the PLC

communication, i.e. a new version of the GSDML file is needed. Due to this, PROFINET
users not in need for any of the new functions nor any of the bug corrections is
recommended to not upgrade to RobotWare 6.05.01. Note that RobotStudio can be
upgraded to the 6.05.01 version without affecting GSDML incompatibility.

Rollback to previous version of the geometry component (ACIS)

The geometry and CAD conversion functions of RobotStudio is provided by the ACIS. Due
to quality problems with CAD conversion in RobotStudio 6.05 we have rolled back to the
6.04.01 version of the CAD components in 6.05.01.

© Copyright 2017 ABB All rights reserved 19

 Release Notes
RobotStudio 6.05.02 SP1

6 Corrections
Overview
This section describes the corrections made.

6.1 Corrections made in 6.05.02 SP1

ID Title
PDD9196 Visual SafeMove for 2nd generation fails for additional drive module without TCP robot

Visual SafeMove has been extended to allow support for drive modules that are
configured to run mechanical units that are not TCP robots. In 6.05.02 and earlier,
this was not possible and gave rise to en error.

6.2 Corrections made in 6.05.02

ID Title
PDD9034 Visual SafeMove doesn't exclude ext. axis from configuration if a safety configuration
file is opened with an excluded drive module.
PDD9052 Visual SafeMove cannot handle configurations with an excluded drive module.
PDD9085 Visual SafeMove: Unsupported function mappings

Two function mappings (‘GeneralStop’ and ‘AutoStop’) were incorrectly displayed in

the Safe I/O Configurator of Visual SafeMove. These did not have any effect since
they are unsupported and will be introduced in a forthcomning release. They will not
be displayed in RobotStudio 6.05.02.
- Visual SafeMove: Incorrect checksum displayed for ‘Generate Report’

Previously, the displayed report did not show the correct checksums. This has been
fixed. The function has also changed names to ‘Show Report’.

6.3 Corrections made in 6.05.01

PDDs
ID Title
PDD5502 Icons missing in Smart Component > Recently Used menu
PDD6405 Event log does not match with events on GTPU
PDD7568 Simulation - Record Application - movies will be played faster than recorded
PDD7568
PDD7897 SetBrush Data with not transer to station
PDD7925 Invert argument not exported in EIO Signal data editor in RobotStudio 6.04.00.01
PDD7930 Scara Models are Incorrect in RS 6.X
PDD8171 Safemove virtual stations not working after upgrade to RS 6.04.01
PDD8207 Cannot load huge stations (> 5 GB) "A local file header is corrupt"
PDD8265 Error when transfering file to controller "RobotStudio 6.04.01"
PDD8305 RS6.04.01 Right click on profinet device freezes RS and VC communication
PDD8327 External Axis Wizard versions scattered in Add-In tab Gallery
PDD8387 Physics "grab hand tool" stays on while adding a physics joint
PDD8408 Simulation setup - Unwanted error message : 'Procedure not found'

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 Release Notes
RobotStudio 6.05.02 SP1

PDD8417 Scara Not Available on Full Size Controller

PDD8450 RS 6.05 RC1 - IV - Inconsistent camera connection status
PDD8468 Go Offline - Restore backup failed
PDD8474 After loading of UAS template passwords cannot be changed
PDD8495 RS6.05RC1 activation of visualization for predicted collision (YuMi) not correct
PDD8524 RS 6.05 RC1 - HMI table header not moved by elevator
PDD8579 RS 6.05 RC3 - Sync to RAPID not in the right controller
PDD8590 Home folder disappears in browser if default user has no "Read access to controller
disc" grant - PDD8590
PDD8610 Problem with export geometry to Step - PDD8610
PDD8611 Exception when reconnecting to robot - PDD8611
PDD8615 Function Clear list recent stations and controllers are not working Robot studio 6.05
RC 3 - PDD8615
PDD8618 Unpredictable behavior of Logic gate in Smart component - PDD8618
PDD8619 Tooltip blocking buttons in RobotStudio - PDD8619
PDD8633 Cannot jog track in VR view
PDD8724 RS / Visual SafeMove: Function -Read current values- doesn't read correct value of
the external axis.
PDD8725 RS / Visual SafeMove: The values of the upper arm enclosure changes to a wrong
position at writing the config to the controller.
PDD8746 Program Module Created ERROR in Robotware 6.05.
PDD8747 RobotStudio 6.05 crashes with STEP import (RS6.04.01 does not)
PDD8762 Visual SafeMove for SafeMove1 ends in an exception error by using function -
Reduce number of vertices -.
PDD8770 Cad Exoprt in Catia format gives a exeption error in Robot Studio 6.05
PDD8780 RS/Visual SafeMove: Different protected checksums before and after writing the
safety configuration.
PDD8796 No Controllerconfiguration file under Robotstudio 6.05
PDD8816 Function to cut parts by using cutting planes work not correct under Robot Studio
6.05 SP1 [REGRESSION]
PDD8830 Cables doing crazy things using physics
PDD8836 Unable to restore Pack&Go of station with MultiMove systeem with two robots on a
dual carriage track
PDD8846 RS/Visual SafeMove: New PROFIsafe parameter -fParIndex- doesn't alllow
communication via ProfiNet, if configuration is updated.
PDD8877 Import of geometry configuration file for Visual SafeMove may give a "List of capacity
reached error"
PDD8889 Robot Studio crashes when changing I/O System Device filter
PDD8906 System from layout is not working for IRB5500 + Elevated rail
PDD8947 RS6.05-Crash while importing specific step-file -

6.4 Corrections made in 6.05 SP2

ID Title
8171 Visual SafeMove 1st generation: Incorrect number of axes in safety configuration file for
four-axes palletizer robots.

RobotStudio wrote the wrong number of axes to the configuration file when configuring
SafeMove 1st generation with Visual SafeMove (“4” instead of “6”).
8724 Visual SafeMove 2nd generation: Function -Read current values- doesn't read correct
value of the external axis.

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 Release Notes
RobotStudio 6.05.02 SP1

The external axes values was not correctly read when updating the synchronization
position.
8725 Visual SafeMove 2nd generation: The values of the upper arm enclosure changes to an
incorrect position.

The Online Monitor sometimes displayed the upper arm geometries of a robot in the
wrong location. The problem could appear after a warm start. A workaround was to
close and re-open the Online Monitor.
8762 Visual SafeMove 1st generation: The function Reduce number of vertices fails

The function Reduce number of vertices previously returned an error message but is
fixed in SP2.

6.5 Corrections made in 6.05 SP1

ID Title
Unable to build system from back-up.

Installation manager from RobotStudio 6.05 was not able to install a system from
backup if the backup system contained an add-in that had a dependency to
8719 RobotWare. This issue affected both real and virtual controllers.

6.6 Corrections made in 6.05

PDDs
ID Title
1463 Offset positon by two points creates wrong offset
2134 RobotStudio File Tab, Print, Print Settings, Printer Properties grayed out
2135 RobotStudio - Confusing Behaviour of File Tab, Print
2653 Usability improvements
4420 Robtarget adjust
5032 Issue with robot with uncoordinated track in RobotStudio
5682 Backup to controller via RS shows duplicate entries
5768 ABB Robot Library for old robots
5781 Encrypted module looks and behaves differently in HOME folder versus Task folder
6000 Can't create system from backup, missing RW
6259 Robotstudio: Wrong axis label for YuMi
6269 external axis YuMi in RS ignores general unit settings for decimals
Show path for several own instructions - instruction template - export process definition
6281 together with instruction
6378 Improvement for "Instance Editor"
6475 RobotStudio Test Editor slow to react and inconsistent
6691 Additional options for 'pack and go' or 'unpack and work'
6775 Wrong name of routines shown in Rapid editor when closing - foulding the Proc
6870 Exception C0048425 in RS
7110 RobotStudio needs improved behaviour in Solution with Station and Robot Controller
7132 Pos out of reach error
7369 Jobs Allow execution state Running not explained in help
7494 RobotStudio should be able to export geometries as STL too
7568 Simulation - Record Application - movies will be played faster than recorded

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7575 Auto Condition Reset shows extra Yes

Signal disappears during input if a filter is used in the I/O Signal Data Editor in
7577 RobotStudio
7587 IO signal data editor did not suport cutting out text of the grid into the clipboard
7588 Text filtering of IO signal data editor is not be executed if ENTER-button is pressed
7639 Integrated Vision - Camera Emulator - selection of firmware not documented
7645 Exception C0048425
7650 Comparison tool's Backinfo checkbox toggling demonstrates strange behavior
7651 Comparison tool's main page does not work with mouse-scrolling
7652 Path Return Region mode name Manual missing
7653 Save Event Logs Jobs pops several windows with same message
7654 Save Assessment Data Jobs pops several windows with same message
7683 RobotStudio HTC Vive VR startup order problem
7684 RobotStudio HTC Vive VR - if headset loses tracking 3D view is lost
7685 RobotStudio Docs missing detail on Oculus Rift and HTC Vive
7686 RobotStudio HTC Vive VR headset support not mentioned in Options settings
7705 Set program pointer not working in hidden routines.
7706 RobotStudio .NET exception: Unable to connect to the remote server
7773 Problem in station with IRBPA
7812 Unhandled exception in RS6.04
7844 File Transfer problem RS 6... RW 5...
7906 Robot Studio CRASHES with no log when selecting single curve
7935 Drag and drop not possible when task is not active
7950 RS unhandled exception when clicking on Documents/Station
7955 Bug with autofill in RAPID editor
7993 Problems with interpolating path
8014 Collition does not trig input on robot controller
RS/Visual SafeMove replaces a defined PROFIsafe output in the function mappings
8137 through a global signal by itself.
8161 Cannot start Visual SafeMove if external axes with more than 1 joint
8162 Not possible to integrate a permanent active L-Positioner in Visual SafeMove
File transfer in RobotStudio delete existing files on the hd0a if folders are copied to the
8182 robot controller
8186 Sync to RAPID error in RobotStudio
RS/Visual SafeMove has a timeout error at writing the safety configuration to the
8253 controller.

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

7.1 Online

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

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

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

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

FlexPendant Viewer running with automatic reloading

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

7.1.1 Online – Paint

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

Go Offline does not work for Paint systems

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

7.1.2 Online – Integrated Vision

Remaining error – New Emulators

New camera models have been added to the camera emulator option in RobotStudio
6.04.01. Some of these new models are not yet fully compatible. Our recommendation is to

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choose a camera model from the 7000 series which is fully compatible with Firmware
version 4.10.2.

Emulated cameras not discovered when controller in Motors On

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

Information – Integrated Vision only works on 32-bit installations

It is not possible to use Integrated Vision in the 64-bit version of RobotStudio.

Information – Camera firmware version and update

The minimum firmware version to be used with Integrated Vision is 4.08. If this version is not
available for a specific camera model, then the newest version available shall be used.
There are two important things to know before upgrading a sensor
• The user must make sure to first backup the files on the camera. This can be done
using the Rapid snippets for camera backup/restore, or the FlexPendant Explorer.
• The latest available firmware version may vary across sensor types. However, when
the firmware update utility presents the latest available version it shows the
firmware with the highest version number which may not apply to the sensor to be
updated. However, the appropriate firmware will be applied.

Information – The spreadsheet view

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

Information – Calibration board without fiducial

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

Information - Use default camera settings

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

Information – User Credentials

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

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Remaining error – Save image on camera

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

Remaining error - Connect button greyed out for no reason

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

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

User tip - Removing cameras from configuration

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

User tip – Viewing all cameras present on the network

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

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

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7.2 Offline

7.2.1 General

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

FlexPendant and RAPID applications run with logged in user rights

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

Compatibility of RobotStudio Library and Stations with older RobotStudio versions

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

TrueMove path visualization fails for customized zone data.

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

Backup fails for RobotStudio solutions with SafeMove or Electronic Position Switches
Backups are automatically created for virtual controller systems that are part of a
RobotStudio solution when saving the station. For virtual controller systems with the
RobotWare options SafeMove or Electronic Positioning Switches the backup will fail since
these systems contain files that are read-only. As a result, an error message is presented in
the output window: “<System name>: Backup failed”. The station will be successfully saved
but there will be no backup created.

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Workaround: Ignore the error message “<System name>: Backup failed” and create a
manual backup whenever needed. The RobotStudio Option “Enable automatic backup of
controllers in solution” that is available in” RobotStudio Options -> Robotics -> Virtual
Controller” can be de-selected to disable the backup function.

IRB 14000 cannot be combined with any other robot

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

The Work Envelope function does not support IRB 14000

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

The 2D work envelope fails for certain robot models

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

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

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

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

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

Updates of instruction template and code snippets

RobotStudio will not automatically update the user files for instruction templates and code
snippets files in the folders:
…\My Documents\RobotStudio\Instruction Templates
…\My Documents\RobotStudio\Code snippets
Workaround: The user has to manually copy the latest files from
%ProgramFiles%\ABB Industrial IT\Robotics IT\RobotStudio 5.xx\Instruction
Templates,
and
%ProgramFiles%\ABB Industrial IT\Robotics IT\RobotStudio 5.xx\Code
Snippets
to the data folder.

IO signals configured with access level ‘DEFAULT’

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

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

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

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

Information message starting system with IRB260/460/660/760

Starting a system with IRB260/660 gives you an error message: ‘The number of joints is
different between the library model and the controller configurations’. The reason is that the
IRBx60 is modeled with six joints in RobotStudio of which two are locked, but has four joints
in the VC

Path handling of instructions with multiple joint targets

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

Event Manager: Simulation cannot be triggered by analog system signals

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

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

Incorrect values

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

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

EIO_SIGNAL:

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

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

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

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

7.2.3 Station Viewer

Memory problem when doing Save As Viewer or Record to Viewer with large stations
RobotStudio may run out of memory (OutOfMemory exception) when doing Save As
Viewer or Record To Viewer if the station is very large.
Workaround: Use the 64-bit version of RobotStudio and create a 64-bit viewer by ticking
the checkbox in the Save As Viewer file dialog.

7.2.4 MultiMove

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

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

7.2.5 External Axis

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

7.2.6 Network Drives and UNC Paths

RobotStudio on computers with roaming user profiles

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

Virtual Controller does not support UNC paths

UNC paths cannot be used to locate Virtual Controller systems. Using UNC paths for VC
systems will cause the log message ‘Failed to initialize FW upgrade framework’ to appear

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when the system starts. Subsequent attempts to work with the VC such as synchronizing
RAPID data will fail.

Creating and starting systems located on a network drive

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

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

Note

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

7.2.7 RAPID

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

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

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

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

Global robtargets cannot be made local through Synchronization to VC

Global robtargets cannot be changed to local through Synchronization to VC, the option is
disabled (PDD 3140).

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Workaround: Change the robtargets to module local in the RAPID Editor and Synchronize
to station.

Error Message: Sync. to Station completed with errors

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

7.2.8 Paint

Lack of Virtual Controller support for the Paint systems

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

7.2.9 Graphics and Geometry

*For SolidWorks 2015 onwards only 64-bit Operating System is supported.

The 32-bit version of RobotStudio is not supported.

Some CAD converters not available in Premium trial license

No trial license available for CAD converters for DXF/DWG, JT, NX, Parasolid, Solid Edge,
and SolidWorks.

Enforce selected graphics device for PCs with multiple graphics cards
For best performance when running RobotStudio on a PC with multiple graphics cards,
RobotStudio can be configured to use a specified device. By this option you can ensure
maximum performance. This is useful for e.g. Lenovo W540 that has both an integrated Intel
graphics device and a discrete NVIDIA card.
Open the file RobotStudio.exe.config that is located in the folders
C:\Program Files (x86)\ABB Industrial IT\Robotics IT\RobotStudio 6.0\Bin64
and
C:\Program Files (x86)\ABB Industrial IT\Robotics IT\RobotStudio 6.0\Bin
and uncomment the line
<add key="GraphicsDeviceType" value="Discrete"/>
Valid values are 'Discrete', 'Integrated' and 'Warp' (software renderer).
Note that there are two different files, one for the 32-bit version, and another for the 64-bit
version.

Problems when undoing Boolean operations on Geometry

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

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Out of memory
The application might fail when out of memory due to the import of very large ACIS files or
load of very large stations.
Workaround: Use the 64-bit version that can handle more memory. Ensure that you have
enough memory installed on the PC, see System Requirements.

7.3 ScreenMaker Limitations

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

File changes to FlexPendant applications does not load the changes until a FlexPendant reset
With RobotWare 6.0x the controller's restart will no longer reset the FlexPendant memory.
This was part of an effort to improve the restart time of the controller.
This means that after placing a new FlexPendant application file(s) on the FlexPendant unit,
you need to manually reset the FlexPendant for it to reload its assets.
To manually reset the FlexPendant you need to use the reset button on the FlexPendant's
backside. (See Operating Manual – IRC5 with FlexPendant, 3HAC16590)

Dynamic update of Rapid Data

The switch from Manual Mode to Auto Mode causes the RAPID boolean data bound to the
enabled property of control change to value TRUE. This behavior is noticed when the mode
is changed from a different screen and not on the screen where the control is bound to
RAPID boolean data. An additional side effect is that the enabled property of RunRoutine
button has been disabled as similar behavior was seen.

Running Routine with Movement

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

PictureBox control as a Widget

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

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8 RobotWare Compatibility
8.1 General

Supported RobotWare versions

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

8.2 RobotWare 5.05 and 5.06 Compatibility

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

8.3 RobotWare 5.07 Compatibility

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

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

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

Note

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

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

Online
FlexPendant Viewer does not work RobotWare 5.07

8.4 RobotWare 5.08 Compatibility

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

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

8.5 RobotWare 5.10 Compatibility

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

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

8.6 RobotWare 5.11 Compatibility

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

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

8.7 RobotWare 5.12 Compatibility

RobotWare 5.12 and its revisions of are supported with the following limitations:
Paint backups from RW 5.12.01 not compatible with RW 5.12.02 or later
Restoring a paint system backup from RobotWare 5.12.01 will cause SysFail for RobotWare
5.12.02 or later
Workaround: Add the following parameters to the configuration files
EIO.CFG:
EIO_SIGNAL:

-Name "doMainInMC" -SignalType "DO" -Unit "SysComm" -UnitMap "44"

-Name "A1HVErrNo" -SignalType "GO" -Unit "SysComm" -UnitMap "150-151"\

-Access "ALL"

-Name "A1HVEn" -SignalType "DO" -Unit "SysComm" -UnitMap "155"\

-Access "ALL"

EIO_CROSS:

-Res "A1HVEn" -Act1 "HVEnabled"

SYS.CFG:
CAB_TASK_MODULES:

-File "INTERNAL:/pntrapid/T_ROB1/cycinfo.sys" -ModName "cycinfo"\

-Task "T_ROB1"

-File "INTERNAL:/pntrapid/csvlkup.sys" -ModName "csvlkup" -AllTask \

-Hidden

8.8 RobotWare 5.13 Compatibility

RobotWare 5.13 and its revisions of are supported with the following limitations:
Paint backups from RW 5.12.02, 5.12.03 or RW 5.13 or 5.13.01 not compatible with RW
5.13.02 or RW 5.13.03
There are several changes in the configuration database for I/O (EIO.CFG) and Controller
(SYS.CFG) that will cause System Failure if an old backup is loaded. There are also
changed in installed RAPID modules. To create a compatible configuration, proceed as
follows:
1. Create and start a VC with a RobotWare 5.13.03 system containing the same
options as your original backup, but do not load the backup.
2. Save the EIO.CFG and SYS.CFG to file.
3. Compare the saved files with the corresponding files of your backup. (You can
use a text file comparison tool for simplification.)
4. Add your system-specific configuration to the general configuration files saved
from the 5.13.01-system using a text editor.
5. Replace the files of the original backup with the corresponding modified
configuration files.
6. Go through the RAPID modules of the backup and remove the default modules
(i.e. those that are not changed by the user).
7. Load the backup and restart the system. You are done.

© Copyright 2017 ABB All rights reserved 35

 Release Notes
RobotStudio 6.05.02 SP1

8.9 RobotWare 5.15 Compatibility

Signal Analyzer Online

The feature Signal Analyzer Online requires RobotWare 5.15.03 or later.

8.10 RobotWare 6 Compatibility

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

8.11 General Compatibility Limitations

RAPID Profiler
The profiler will be able to create a log file for the profiler automatically for RobotWare 5.14
or later. For RobotWare 5.13 or earlier, the log file must be created manually using the
RAPID Spy command (SpyStart/SpyStop).

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

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

8.12 ScreenMaker Compatibility

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

© Copyright 2017 ABB All rights reserved 36

 Release Notes
RobotStudio 6.05.02 SP1

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

8.13 Support for future RobotWare versions

RobotStudio 6.05.02 supports all future minor revisions of RobotWare 6.05, but no future
major releases. For example, RobotStudio 6.05.02 will support RobotWare 6.05.03 (if, and
when available) but not RobotWare 6.06 or later.

© Copyright 2017 ABB All rights reserved 37