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Stand : 14.05.2014
Software Version : Package 1.1.7
Document Version : 1.3
1 Limitations ........................................................................................................... 6
2 Necessary material for the installation ................................................................. 6
3 Integration of the TCP3D Controller Interface with the robot controller ............... 6
3.1 Creating a current backup ............................................................................. 6
3.2 Modifying the EIO System Parameter file ...................................................... 7
3.3 Loading the modified Backup into the robot controller ................................. 10
3.4 Loading the module into the robot controller ............................................... 10
3.5 Call and integration of the Interface ............................................................. 11
3.5 Setup status of the Communication Interface .............................................. 12
4 Starting the ABB Advintec TCP3D Controller Interface ..................................... 14
4.1 Main Menu ................................................................................................... 14
5 Menu Commissioning ........................................................................................ 15
5.1 Tool and Workobject Calibration.................................................................. 16
5.1.1 Selection Tool or Work Object Calibration ................................................ 16
5.1.2 Reading and writing the parameters ........................................................ 20
5.1.3 Teaching Positions ................................................................................... 32
5.1.4 Robot- Movements ................................................................................... 33
5.2 Tool/Wobj Calculation.................................................................................. 36
5.2.2 Writing the parameter ............................................................................... 40
5.2.3 Teaching positions.................................................................................... 48
5.2.4 Robot movements .................................................................................... 48
6 Menu Adjustment............................................................................................... 49
6.1 Menu Movements ........................................................................................ 49
6.1.1 Tool and Workobject Calibration ............................................................... 50
6.1.2 Calculation ............................................................................................... 51
6.2 Menu Backup .............................................................................................. 52
6.3 Menu TCP Controller Parameter ................................................................. 53
6.4 Menu Configuration ..................................................................................... 56
6.5 Menu Information......................................................................................... 57
6.6 Menu Language........................................................................................... 58
7 Appendix ........................................................................................................... 59
7.1 Allocation of parameters(advintec Controller SW Version: 2.2.0.7) ............. 59
7.2 Allocation I/O’s............................................................................................. 62
7.3 Examples Field Bus Configuration EIO.cfg in SYSPAR .............................. 64
7.3.1 DeviceNet Varian 1................................................................................... 64
7.3.2 ProfiNet Variant 1 ..................................................................................... 64
7.3.3 Profibus Variant 1 ..................................................................................... 65
Tables
Table 1: List of Materials.................................................................................................. 6
Table 2: Allocation of Parameters.................................................................................. 39
1 Limitations
This Version of the ABB Advintec TCP3D Controller Interface is only suitable for a
robot controller type IRC5.
Open the system parameter file EIO.cfg (Abb. 2) from the folder “SYSPAR“ with a
text editor of your choice.
Important!
In this case we are describing the field bus configuration for DeviceNet. Other
field bus systems have the same signal configuration. Only the entries in the
„EIO_UNIT“ and „EIO_UNIT_TYPE“ differ according to the field bus used and
are to be adapted accordingly.
Important:
-In the file EIO.cfg entries are added. The file may not be replaced by the tem-
plate.
Hardware configuration:
Robot : PCI DeviceNet-Card - Master
TCP Controller : Slave
Step 1
Make a note of the entries “Name” and “BusType” of the DeviceNet Interface in the
“EIO_BUS” to which the calibration system should be connected. The entries are
needed in the following configuration. An example can be seen in Abb. 4.
Name : DeviceNet1
BusType : DNET
Step 2
Add the marked text (Abb. 5) to the entry „EIO_UNIT_TYPE”. You can copy it direct-
ly from the file “advEIO.cfg”. If the entry „EIO_UNIT_TYPE” is not present in the cur-
rent EIO.cfg then you need to create it yourself.
Important!
-The entry BusType must be the same as the entry BusType in step1.
Step 3
Paste the highlighted text (Abb. 6) to the entry „EIO_UNIT“. You can copy this direct-
ly from the file „advEIO.cfg”. If the entry „EIO_UNIT” is not present in your current
EIO.cfg then you need to create it.
Important!
-The entry Bus must be the same as the entry Name in Step 1.
-Take care that the correct MAC ID is set under DN_Address
Copy the complete signal listing from “EIO_SIGNAL“ to your current signal configura-
tion. All necessary signal declarations are found in “advEIO.cfg“. If the entry
“EIO_Signal“ is not present in the current EIO.cfg , then you need to create it.
Important!
-You have to use the same Signal labels as in the file “advEIO.cfg“, as these
are used in the software module.
-If it becomes necessary to change the Labels due to a prescribed standard,
then you need to change them in the EIO.cfg and in the file advIOCommunica-
tion.mod (Line 68 to 106).
Once you are finished modifying the backup, load it back into the robot controller.
Once the TCP Controller is connected to the bus and the bus is configured correctly,
only the green LED should light up after starting up the robot controller. The display
should show ”Measure/Circular”, when the field bus connection is working. Otherwise
”Bus Error“ will be shown on the LCD display and the configuration from section 3.2
need to be revised.
Select a suitable point in your application for calling the calibration function. For the
integration, only a single function call is necessary.
After adding the call “adv1MeaMain; “ teach a position (pLBAbove in Abb. 10) near
the start/end position of the measurement. (Abb. 11 and Abb. 12). This position
must be moved to directly before/after the measurement.
Important!
-Teach a safe path with tooldata tool0 towards the sensor (”adv1MeaMain“) and
a safe path away from the sensor
-Within the function”adv1MeaMain“the robot leaves the starting position and
executes the calibration movements. (Abb. 12).
PROC main()
!USER PATH
MoveJ pHome, vProcess, z0, UserTool \wobj:=wobj0;
!USER PATH
MoveJ pHome, vProcess, z0, UserTool \wobj:=wobj0;
MoveL p10, vProcess, z0, UserTool \wobj:=wobj0;
MoveL p20, vProcess, z0, UserTool \wobj:=wobj0;
MoveL p30, vProcess, z0, UserTool \wobj:=wobj0;
MoveL p40, v20, z0, UserTool \wobj:=wobj0;
WaitTime 3.0;
MoveL p20, vProcess, z0, UserTool \wobj:=wobj0;
MoveL p10, vProcess, z0, UserTool \wobj:=wobj0;
MoveJ pHome, vProcess, z0, UserTool \wobj:=wobj0;
ENDPROC
Center Point
Photo Sensor
Radius
Position pLBAbove
(Abb. 10) in Start-
/Endposition
Open End
Before executing the program and starting the commissioning of the system, you
should verify the status of the system.
Check the status of the I/O-unit. (Abb. 13). The status of the I/O-unit “Leoni” should
be “Running”. Otherwise revise the “EIO.cfg“.
Next you need to display the values of the group inputs. The highlighted entries in
Abb. 14 all have to display the value „30000“. If they all show the value ”12405“
change the setting for the Byte Swap in the TCPD3 Controller. After making the
change and setting the TCP Controller into measuring mode, the displayed values
should change from „12405“ to „30000“.
In case the other values are displayed, check the settings in the “EIO.cfg“ file.
In order for the controller interface to be in commissioning mode, the Boolean varia-
ble “adv1MenuMode“ (Abb. 15)
Set the robot into T1-Mode (max 250 mm/s). Then select the robot program which
contains the “adv1MeaMain”call (Abb. 16).
1. Bool Variable „adv1MenuMode“ (Abb. 15) must have the value TRUE.
2. The robot must be in T1 mode (max. 250 mm/s).
Important!
The commissioning can only be carried out in T1-Mode (max. 250 mm/s). After
a successful commissioning, the calibration is automatically carried out in all
operating modes.
5 Menu Commissioning
After selecting Commissioning in the root menu, the Commissioning Dialog (Abb.
20) will be opened. Select between Calibration and Calculation.
Calibration
Correction of existing Tool-/Workobjectdata
Calculation
Determination of absoltue Tool-/Workobjectdata
Before selecting the menu point Commissioning, you need to define all necessary
parameters for the commissioning:
NO
Current tool data of the master tool are not
overwritten and will be used.
Note!
This selection appears only when in menu configuration the variable „
adv1SensorWobj “ is set to true. Otherwise wobj0 is internally used for the robot
movements.
This option must be used if the direction z-axis from sensor- coordinate and world-
coordinate system are not equal (Abb. 23). If you must select this option, you have
define a workobject with a z-direction which is equal to sensor z-axis. This workob-
ject you have to select in the list.
Z Z
X Option HAVE NOT
Y
to be used!
Y
X
Worldcoordinatesystem Sensor-Coordinatesystem
Y Z Option MUST be
Z
Y used!
X
X
Worldcoordinatesystem Y
Sensor-Coordinatesystem
YES
Current work object data of the work
object to be calibrated are saved as
master work object. During the first
commissioning, this is essential in
order to have defined work object
data.
NO
Current work object data are not over-
Abb. 26: Selection of work object to be cali-
written and will remain in use.
brated
The ABB controller interface and the TCP controller must both contain the same pa-
rameters. It is therefore necessary to synchronise the parameters on both sides. To
this end there are two methods of exchanging parameters. Parameters can be sent
from the robot to the TCP controller or vice versa.
A comfortable way is to set the values in the ABB controller interface and then trans-
fer them to the TCP controller. During re-commissioning the parameters can be read
from the TCP controller and loaded into the robot controller to minimize user input.
After setting the tool- and work object calibration, you will be prompted to select the
type of parameter transfer (
Abb. 28).
The next sequence enables the entry of parameters. The following list shows all pos-
sible entries. Corresponding to the selection of “Dimension” only the necessary pa-
rameters are requested.
The program number is the number of the tool in the Advintec TCP controller. This
defines under which tool number in the TCP controller the parameters are saved.
With this selection you can define which dimensions of the tool are to be calibrated.
In accordance with this, the calibration movements are calibrated.
The value of the maximum tolerance is entered in millimetres. This defines the maxi-
mum allowable translatory deviation of the tool which can be automatically calibrated.
This value is entered in degrees. This defines the maximum allowable rotational de-
viation of the tool which can be automatically calibrated.
In this entry you can define the main axis of the tool (working direction) which is to be
calibrated.
The selection of the calibration direction always refers to the sensor. An example is a
welding gun in a spot-welding application. In this case the top electrode can be cali-
brated from the top and the bottom electrode can be calibrated from the bottom. Se-
lect the appropriate direction for your tool.
von oben
TCP
LEONI
TCP
von unten
Abb. 34: Selection of the calibration direction Abb. 35: Definition calibration direction
This entry – Velocity TCP defines the velocity of the TCP in mm/s during the calibra-
tion. Select a velocity which is suitable for conditions in your cell (Inertia/stability of
the tool, duration of the calibration etc.).
This entry – Velocity Orientation, defines the velocity of the TCP in deg/s during the
calibration. Select a velocity which is suitable for conditions in your cell (Iner-
tia/stability of the tool, duration of the calibration etc.).
This value defines the radius of the double circles for the calibration in millimetres.
This value defines the length of the reciprocating movement required for the calibra-
tion of the tool length. This value is required for the dimensions 3D and 5D.
This value defines the distance between the upper and lower double circles required
for the 5D calibration.
12. Entry of the calibration position below the XY-axis of the sensor
This value defines how far below the XY-plane of the sensor the TCP will execute the
calibration movement (Abb. 42). The value entered should be at least as large as the
expected maximum tool offset expected during the calibration.
Abb. 41: Entry of the calibration position below the XY-plane of the sensor
TCP
XY-Plane of the
Photosensor
TCP
LEONI
Displacement
in mm
13. Entry offset of TCP for reciprocating movement off the centre of the sensor
For most tools this value can be set to zero. In the case of an arc welding torch, how-
ever, it is not desired to calibrate the wire length, but the length of the torch. In this
case you can offset the position for the length calibration in such a way that the light
barriers are interrupted by the gas nozzle and misses the wire(Abb. 44).
Recommended value:
d
Offset ≈ d: lower gas nozzle diameter
4
Gas
nozzle
TCP
Abb. 43: Entry offset of TCP for recip-
rocating movement
After entering all the parameters, you are prompted to acknowledge the transfer of
the parameters to the TCP controller (Abb. 50). During the transfer of the parameters
you are required to keep the dead man switch depressed until the next prompt.
In the end you are prompted whether you want to transfer additional, optional param-
eters. This is described in section 6.3 The commissioning described further in section
5.1.3.
Reading parameters is carried out in a similar way as sending parameters. The pa-
rameters stored in the TCP controller are transferred to the robot controller.
Entry sequence:
8. Send Parameters
You are prompted to teach the first position of the TCP (Abb. 53) in
the centre of the sensor. Confirm with OK and jog the TCP as shown
in Abb. 54. The integrated LEDs in the M12 connector on the sensor
light up as soon as the position is reached.
After having reached this position, resume the execution of the pro-
gram by pressing the start button on the teach pendant (Abb. 52).
Abb. 52: Start-
Button
Photo sensor
Abb. 53: Position center of sensor Intersection
You are prompted to teach the second position “open end of sensor” (Abb. 55). Jog the
TCP in the same XY-plane towards the open end of the sensor (Abb. 56), (Abb. 57).
After having reached this position, resume the execution of the program by pressing the
start button on the teach pendant (Abb. 52). After this you are prompted to acknowledge
the calculation of the calibration movements (Abb. 58).
Photosensor
Intersection
Open End of
Photo sensor Abb. 58: Acknowledge calculation of calibration move-
Abb. 57: Open end of light barrier view 2 ments
Confirm the prompt about the parameters previously entered. A message informs
that the TCP will be moved to the starting point of the calibration (Abb. 59). Confirm
the message with OK.
After the TCP reaches the starting point, you are prompted whether you want the ro-
bot to do a dry run of the calibration movements (Abb. 60). This movement is also
carried out with a TCP velocity of 10mm/s. In this case no communication takes place
between the robot controller and the TCP controller.
It is possible to skip this dry run and proceed directly with the sequences for the
commissioning – Vector- and Reference Movements. (Abb. 61).
After carrying out or skipping the dry run, the actual commissioning begins consisting
of the Vector move and the reference move. The dialog can be skipped by selecting
“NO” (Abb. 61). In this case the Vector- and Reference moves can be carried out at a
later stage via the menu point “Movements”
For an automated commissioning, select „YES“ and depress the start button. The
Vector- and Reference Moves follow.
You can leave the main menu by selecting „END“(Abb. 17). After this, the next time
the calibration program is executed, the calibration process will be carried out auto-
matically instead of showing the commissioning menu. The system is now ready for
automatic calibration of the tool.
Calculation
Before you execute the commissioning of the tool calculation, you have to define all
needed parameter:
Note!
This selection appears only when in menu configuration the variable „
adv1SensorWobj “ is set to true. Otherwise wobj0 is internally used for the robot
movements.
This option must be used if the direction z-axis from sensor- coordinate and world-
coordinate system are not equal (Abb. 66). If you must select this option, you have
define a workobject with a z-direction which is equal to sensor z-axis. This workob-
ject you have to select in the list.
Z Z
X Option has NOT
Y
be used!
Y
X
Worldcoordinatesystem Sensor-Coordinatesystem
Y Z Option MUST be
Z
Y used!
X
X
Worldcoordinatesystem Y
Sensor-Coordinatesystem
Select from the list of the existing tools (Abb. 64). the tool which shall be used for the
move instruction.
Select from the list of the existing workobjects (Abb. 64). the tool which shall be cal-
culated.
For a detailed description of the parameter please read the documentation of the ad-
vintec tcp3d Controller.
The program number is the number of the tool in the Advintec TCP controller. This
defines under which tool number in the TCP controller the parameters are saved.
This entry – Velocity TCP defines the velocity of the TCP in mm/s during the calcula-
tion. Select a velocity which is suitable for conditions in your cell (Inertia/stability of
the tool, duration of the calibration etc.).
This entry – Velocity Orientation, defines the velocity of the TCP in deg/s during the
calculation. Select a velocity which is suitable for conditions in your cell (Iner-
tia/stability of the tool, duration of the calibration etc.).
In this entry you can define the main axis of the tool (working direction) which is to be
calibrated.
This entry defines the maximum rotational shifting of physically tool around the dou-
ble circles.
This entry defines the maximum translational shifting of the robot movements (Dou-
ble circle and pendulum movements).
This value defines the radius of the double circles fort he calibration in millimetres.
This value defines the length of the reciprocating movement required for the calibra-
tion of the tool length. This value is required for the dimensions 3D and 5D.
This value defines the distance between the upper and lower double circles required
for the 5D calibration.
10. Entry of the calibration position below the XY-axis of the sensor
This value defines how far below the XY-plane of the sensor the TCP will execute the
calibration movement (Abb. 42). The value entered should be at least as large as the
expected maximum tool offset expected during the calibration.
Abb. 79: Entry of the calibration position below the XY-plane of the sensor
This value defines the translational deviation to the last iteration in the measurement
sequence. Input 0 deactivates this option.
This value defines the translational deviation to the last iteration in the measurement
sequence. Input 0 deactivates this option.
With this value you can add an angle offset tot he calculated rotation around the tool
direction.
If you select “No” the rotation around tool direction is equal to the rotation around the
z-axis from the flange (tool0).
If you select “yes” the x-axis (if tool direction is z) of your tool will be parallel orientat-
ed to the sensor side. This means that rotation around tool direction can be defined
with tool orientation in the sensor (Teaching the positions). Details you can read in
the documentation of the advontec tcp controller.
Confirm the transmission of the parameter tot the advintec TCP Controller with „Ok“
Teaching of the two needed robot position is analog to Chapter 5.1.3 Teaching Posi-
tions.
The Execution of the robot movements is analog to Chapter 5.1.4 Robot- Move-
ments.
The result of each measurement (Abb. 86) will be displayed while the measurement
is in operation.
After a successful tool calculation the tooldata will be displayed and stored in the as-
sociated tooldata variable (Abb. 87).
6 Menu Adjustment
In this menu you can select the manually execution of the movements for Tcp Cor-
rection and Tool Calculation.
Note
The Movements based on the last successful parameter transmission and path cal-
culation.
This Application can be used for repeating commissions without input the same pa-
rameter again. Also a not successful commissioning can be repeated if the parameter
transmission and path calculation are valid.
In the menu “Movements” (Abb. 89) you can start the respective movements: Vector-
, Reference-, Path Adjustment, or Measurement move independently of each other.
Prerequisite is that the transmission of parameters between the robot controller and
the TCP controller was previously carried out.
The user action for each type of movement is the same.
First select the desired type of movement. Then confirm the selection with “OK”. To
carry out the movement, depress the start button (Abb. 52). After completing the
movement successfully, the menu is displayed again.
Before the robot movement starts you have to confirm the notation (Abb. 91) which
is on displayed screen. After that press start (Abb. 52) to execute the robot move-
ment.
On older TCP controllers that do not support this feature, the var-
iable must be set to FALSE. Parameters will not be transferred
and must be set to the same values on both the robot controller
and the TCP controller in order to achieve correct calibration val-
ues.
adv1SensorWobj If this value is true, you can define a separate workobject for the
2014_07_18_AbbTcpControllerInterface_Package_1_1_7_en.docx 56/65 Document Version: 1.3
Created by: LR, Date: 14.05.2014 Software Package 1.1.7
Business Unit Industrial Solutions
robot movements. Otherwise the default workobject is wobj0.
adv1PathAdjustment If this value is true, an automatic Path Adjustment Move will be
execute in commissioning sequence if the movements. This
movement looks like movement of the Reference Move.
adv1MenuMode If this value is set to TRUE, the interface will display the commis-
sioning menu when the interface is called. If it is set to FALSE
then a calibration will be carried out without displaying the com-
missioning menu.
adv1ExtQuit If this value is set to TRUE, the robot stops after an incorrect
measurement. After getting a reset signal the robot continues in
the program sequence. If the value is set to FALSE this mode is
deactivated.
Tabelle 2: list of possible settings
In the menu Information (Abb. 101), you will find information about the controller in-
terface such as the software version, the commissioning and the I/O configuration.
Software Version
Displays the software version of the module adv1Measurement.mod und advIO-
Communication.mod
Tool/Wobj Calibration
Displays the last parameters that were transferred during the previous commission-
ing.
Tool/Calculation
Displays the last parameters that were transferred during the previous commission-
ing.
IO-Configuration
Status of the I/O-Configuration
Here you can select the desired language and confirm your selection with „OK“.
7 Appendix
The signals declarations for the section EIO_SIGNAL are not described here. These
are independent of the field bus and are described in Section 3.2.
Hardware Assembly
Robot : PCI DeviceNet Master Card
TCP Controller : Slave
Hardware Assembly
Robot : PCI ProfiNet Card Slave
CP1616 : Master
TCP Controller : Slave
Hardware Assembly
Robot : PCI Profibuscard Master
TCP Controller : Slave