RobotStudiotm 6.

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Transfer
 The information in this manual is subject to change without notice and should not be construed as a
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Contravention will be prosecuted.
Additional copies of this manual may be obtained from ABB at its
then current charge.

© Copyright 2017 ABB All right reserved.

ABB AB
Robotics Products
SE-721 68
Västerås Sweden

2017-05-05 ABB
1. Transfer .................................................................................................... 4
1.1. Open and Edit a Program Module ...................................................................... 4
1.2. Restoring the Modified Backup .......................................................................... 6
1.3. Comparing and Transferring Data ...................................................................... 8
Transfer

1. Transfer
Overview
In this module we will simulate working with a virtual controller and a program created
offline to show how the program can then be transferred into the real controller once the
offline programming has been completed. First we will work with the Rapid Editor to adjust a
program, then we will set up a relationship to transfer the program between an offline (virtual
controller) and an online (simulated real controller).

1.1. Open and Edit a Program Module

Overview
The editor in RobotStudio gives you the ability to work with and even create RAPID
programs with syntax checking without the need to be connected to a controller. (virtual or
real (online))
All file types are supported here such as .mod, .sys, and .cfg. Here we will start by importing
an existing program module from a robot backup.

1. Make sure no station is opened in RobotStudio and open the file modDeburr.mod from:
Courseware\Systems\IRB4600_backup_online\RAPID\TASK1\PROGMOD

2. Next we will add some instruction to the procedure DeburrPart.

3. Add the instructions SetDO doStartSpindle,1; and WaitDI diSpindleRunning,1; first in the
PROC DeburrPart and SetDO doStartSpindle,0; and WaitDI diSpindleRunning,0; last in
the PROC.

Note that as you type instructions you will see a red underscore. This indicates that the
program is constantly being checked for syntax. This happens even when we are not
connected to a controller.

TIP! Refer to the RobotStudio training module “Programming and Simulating I/O
Signals” for tips and hints on how to work with the RAPID editor.

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Note: The editor is also looking at all related files in a particular backup.
4. Double click on tSpindle in one of the instructions. Here you will see where that particular
data has been declared in the system.

5. Right click on tSpindle and select Go To Definition. Notice that the module where this
information is declared is now opened.

6. Close both modules and save the modified modDeburr module. (Replace the original file
by answering yes to the question “Do you want to save to file?)

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1.2. Restoring the Modified Backup

Overview
Here we will simulate the result of restoring a backup into a real (online) controller.

To Prepare
Use Unpack&Work to open the Pack&Go file Deburr Station IRB4600_Online.rspag from
the Courseware > Stations folder. Unpack it to a new folder myTransferSolution_Online at
courseware\Solutions\Module_6\myTransferSolution_Online.

Restore the Backup

1. In the Controller Tab restore the backup that was saved in the previous step 4 on page 5.

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2. Answer yes to the following question. The reason for this is that you are now using a virtual
key and a virtual controller in RobotStudio versus the actual key/controller if you were
connected to the real robot. Also the Robotware version differ.

3. Play the simulation from the Simulation Tab or the Home Tab. You will notice that the
tool does not follow the edge of the part. (as the work object differs between the CAD
model in the station and the actual position taught in the real world) If you want to see the
path the robot is following go back to the Rapid Tab and synchronize to the station. Ensure
the path DeburrPart is selected.

4. Save and close the station.

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1.3. Comparing and Transferring Data

Overview
Here we will start up a station with a virtual controller to represent the programming
environment in which the robot program was created in. We will then set up a relationship
between this offline (virtual) controller and a simulated online controller (also virtual in this
case) to show how programs can be transferred between the virtual (offline) and real (online)
world.

Preparations
Use Unpack&Work to open the Pack&Go file Deburr Station IRB4600_Offline.rspag from
the Courseware > Stations folder. Unpack it to a new folder myTransferSolution_Offline at
courseware\Solutions\Module_6\myTransferSolution_Offline.

Start the Online Controller

In this next step we will connect to another virtual controller. In this case for the purpose of
this training module, which is to simulate a connection to a real (online) controller.
1. In the Controller Tab open up the Add Controller icon and click on Start Virtual
Controller in order to start a virtual controller. This will enable us to start another
controller within RobotStudio but it will not be part of the currently open station.
(thus simulating a connection to an online controller)

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2. Select the controller that was used in the “Online” station in section 1.2. It should be
at myTransferSolution_Online\Systems. You may have to add a system pool in order
to point to the correct file.

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3. Once the Online system is started you will notice the two systems on the Controller
Tab yet only one system (offline) is running in the station. (Home Tab)

Creating a Relation
1. In the Controller Tab click on the Create Relation icon.

2. Name the relation DeburrTransfer. Set the first controller as

IRB4600_offline_system (Station). Set the IRB4600_online_system (Local) as the
second controller.

This relationship represents a situation where the program was done within the
RobotStudio environment (Offline in a station) and is being transferred into a live
controller (Online) that is connected to the computer via the service port or a on a
network. The “owning” controller must always be the VC.

3. Click OK.
4. The relationship tab will open however once you expand the nodes you will see that
“access is denied – write access is required.”

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5. Select the online controller and then click on the Request Write Access icon so we
have write access to the IRB4600_online_system controller.

6. We now have the option to compare the program between the two controllers by
clicking on the Compare button. Also note we are given notice that there are lines
that are different between the two.

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There are two ways to compare the programs. Source with Target and Target
with Result.

Source with Target will show you all the differences between the Source System
(system you are transferring from) and the Target System (system you are
transferring to).

Target with Result will show you the before and after (a preview) of the Target
System prior to making the transfer.

7. Select Source with Target. All of the differences between the two programs
are highlighted. Red indicates differences between two lines of code while
purple indicates code that is present in one system but not in the other. You
can page down to the next difference by clicking the up/down arrows as well
as show only differences.

In this example we are seeing a motion instruction that exists in the target
controller that is not present in the source controller.

8. Close the Rapid compare tab and this time select Target with Result.

Note the differences.

9. In the Relation tab, click on Transfer now to complete the transfer based
upon the default settings.

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10. Check the wobjdata box to include workobjects to the transfer.

11. Compare Source with Target in the CalibData module, notice the difference
in the wobjdata. This comparison is highlighting the different workobject
orientation we observed back on page 7 of this Module.

12. Transfer again to also update the workobject.

13. Close the station and remove the system IRB4600_online_system from the
Controller browser.

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14. Reopen the Deburr Station IRB4600_Online.

15. Test run the simulation again and note the change in the orientation of the
work object. The tool should now follow the path on the edge of the part.
16. Close the station.

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© Copyright 2017 ABB All right reserved.

ABB AB
Robotics Products
SE-721 68 Västerås
Sweden

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