Release Notes RW 5.61.02

ABB Robotics
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SEROP Release Notes RW 5.61.02 RP5.6x – 0xx
Department Date Filename Page
DMRO/QMPP 2014-10-09 Release Notes RW 5.61.02.doc
1/35
Author, telephone
Anders Trillkott, +46 21 344863
Table of Content
GENERAL ............................................................................................................................................................. 2
How to Migrate an Application from RW 5.15.xx to RW 5.60 ........................................................................................ 2
RELEASE INFORMATION..................................................................................................................................... 3
Release Name .................................................................................................................................................................... 3
Release Date...................................................................................................................................................................... 3
Ordering number.............................................................................................................................................................. 3
Documentation .................................................................................................................................................................. 3
Controller Hardware Support.......................................................................................................................................... 4
Restrictions in Controller Hardware Support ................................................................................................................. 5
Manipulator Support........................................................................................................................................................ 5
Language Support ............................................................................................................................................................ 5
Incompatibility RW 5.60 .................................................................................................................................................. 6
Incompatibility RW 5.61 .................................................................................................................................................. 7
New Functionality RW 5.60.............................................................................................................................................. 8
New Functionality RW 5.61............................................................................................................................................ 13
New Functionality RW 5.61.02 ....................................................................................................................................... 15
Improvements RW 5.60 .................................................................................................................................................. 16
Improvements RW 5.61 .................................................................................................................................................. 18
Information / Corrections RW 5.60................................................................................................................................ 19
Information / Corrections RW 5.60.01 ........................................................................................................................... 25
Information / Corrections RW 5.61................................................................................................................................ 26
Product Defect Document RW 5.60 PDD .............................................................................................................. 33
Product Defect Document RW 5.61 PDD .............................................................................................................. 34
Product Defect Document RW 5.61.02 PDD ............................................................................................................. 35

ABB Robotics
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General
How to Migrate an Application from RW 5.15.xx to RW 5.60

Contact local ABB for further information if needed.
· Migration Guide in RobotStudio
· Migration Tool in RobotStudio
· Technote_130415_new_main_computer
ABB Robotics
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Release Information
The information should be considered as last minutes information and most up-to-date.
For more information please visit Robot Release Information (RRI) Homepage: RRI
Contact local ABB for further information.
Release Name
The release name is RobotWare 5.61.02
The release contains following:
· RobotWare 5.61.02 build 2008
· RobotStudio 5.61.02
Release Date
Release date 2014-10-10
Ordering number
Ordering number for the RobotWare 5.61.02 DVD is 3HAC047038-001, Rev D
Documentation
See Release Notes on documentation DVD: 3HAC048193-001
ABB Robotics
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Controller Hardware Support

§ Main computer unit:
§ DSQC1000
§ Flexpandant unit:
§ SxTPU3
§ Drivesystem:
§ DriveSystem 09
§ PCI-express boards
§ DSQC1006, DeviceNet Master/Slave – 1 channel Option 709-1
§ DSQC1005, ProfiBus Master – 1 channel Option 969-1
§ Fieldbus adapters (HMS-module)

§ DSQC669, EtherNet/IP slave Option 840-1
§ DSQC667, ProfiBus slave Option 840-2
§ DSQC688, ProfiNet slave Option 840-3
§ DSQC1004, DeviceNet slave Option 840-4
§ SoftWare solution
§ EtherNet/IP m/s Option 841-1
§ Profinet m/s Option 888-2
§ Profinet slave Option 888-3
§ Serial port (RS232)

§ DSQC1003, RS232 – 1 (2) channels. Option 970-1 (COM1 free / COM2 is console output.)
ABB Robotics
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5/35
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Restrictions in Controller Hardware Support
Manipulator Support
Language Support
The following languages are supported in RobotWare.
· English
· French
· German
· Spanish
· Italian
·
1) 2)
Chinese (simplified Chinese, mainland Chinese)
· Portuguese (Brazilian Portuguese) 1)
·
1)
Dutch
·
1)
Swedish
· Danish 1)
·
1)
Czech
·
1)
Hungarian
· Finnish 1)
· Korean 1) 2)
· Japanese 1) 2)
·
1) 2)
Russian
·
1)
Turkish
·
1)
Slovenian
Notes:
1) The language is only supported in the controller and Flex Pendant
2) The language support for Asian languages (Chinese, Korean, Japanese) and Russian has some specific
limitations:
- TPWrite, TPRead, and TPPrint do not work – use English text.
- Printing error text from RAPID (instruction ErrWrite) does not work - use English text.
ABB Robotics
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Incompatibility RW 5.60
Old RobotWare keys are not supported in RW 5.60
Due to extensive option changes key strings or key files originating from earlier RobotWare releases are
not usable in RobotWare 5.60. This applies for both controller keys and drive module keys.
RAPID datatype motsetdata updated

The datatype accdata used in motsetdata has been modified.
The new component finepramp is affected by the AccSet instruction.
New structure of motsetdata:

<dataobject of motsetdata>
<vel of veldata>
<oride of num>
<max of num>
<acc of accdata>
<acc of num>
<ramp of num>
<finepramp of num>
<sing of singdata>
<wrist of bool>
<arm of bool>
<base of bool>
<conf of confsupdata>
<jsup of bool>
<lsup of bool>
<ax1 of num>
<ax4 of num>
<ax6 of num>
<pathresol of num>
<motionsup of bool>
<tunevalue of num>
<acclim of bool>
<accmax of num>
<decellim of bool>
<decelmax of num>
<cirpathreori of num>
<worldacclim of bool>
<worldaccmax of num>
<evtbufferact of bool>
Incorrect tcp calculation for robot on track

For robots on track, the TCP was always incorrectly calculated in case the track z-axis and the robot z-axis
were not perfectly aligned. A correction has been made and the TCP is now correctly calculated. In most
cases the axis are almost aligned after calibration and the error was very small.
However, for reasons of backwards compatibility, there is a CFG parameter,
use_old_track_motion_behavior, under the type MOTION_SYSTEM. If a customer has an old RAPID
program that has been generated with the incorrect behavior, then this CFG parameter should be set
(TRUE). By default the parameter is not used (FALSE).
Windows XP not supported for RCS (PDD2752)

Windows XP is not supported anymore for RCS.
Supported Windows versions are Windows 7 and Windows 8.
ABB Robotics
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Incompatibility RW 5.61
Not allowed to use "blank" connector id anymore in CFG files
A valid connector id in the EIO_BUS definition is mandatory from 5.61.
ABB Robotics
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8/35
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New Functionality RW 5.60

Change logical axis on positioner
It is now possible to change the read only Logical Axis for IRBP positioners and IRBT tracks. Use the
Change to Logical Axis parameter in type Arm in topic Motion to change it. If the value is zero the value for
Logical Axis in type Joint will be used and no change will be done
New optional argument for RAPID instruction AccSet

A new optional argument \FinePointRamp is now available for use with AccSet. The parameter sets the rate
at which deceleration decreases as a percentage of the normal value. The parameter only affects the ramp
when the robot decelerates towards a finepoint.
New RAPID function SocketPeek

A new function, SocketPeek, has been added.
It can be used to test for the presence of data on a socket, and returns the number of bytes data that can be
received on the specific socket.
Syntax:
SocketPeek '('
[ Socket ':=' ] < variable (VAR) of socketdev > ')'
A function with a return value of the data type num.
Ethernet/IP: Assembly ConfigData

Assembly Configuration Data for EtherNet/IP I/O units can now be edited in RobotStudio and Teach
Pendant.
Increased user signals for the I/O system

The number of user I/O signals are increased from 8192 to 12000.
Bosch ProfiNet Weldtimer option

In this release there is a new Spot Additional Option that can be selected when creating a spot system in the
SystemBuilder.
782-11 / Bosch Profinet MFDC.
If this option is selected a minimal installation of spot will be done for only one process with predefined
signals for only one weld equipment on Profinet I/O.
For more information about I/O mapping etc., see the Spot Options manual.
Production Monitoring / OPC support

WebWare is replaced with OPC server starting with RW 5.60.
Production monitoring - sub option of RW Arc - can be done using OPC in RW5.60.
The default for new systems is logging with OPC.
Production Screen
Production Screen is a framework for creating customized views for the FlexPendant.
Production Screen uses widgets, i.e. small custom made FlexPendant applications dedicated to specific
tasks, to construct the bigger picture of the robot cell or production line on the FlexPendant.
Widgets can easily be created using ScreenMaker or downloaded from ABB's RobotApps (TM) webpage.
Simulated weld timer selection in SystemBuilder

In this release there is a new Spot Additional Option that can be selected when creating a spot system in the
SystemBuilder. "Simulated Weld Timer I/O".
If this option is selected a minimal installation of spot will be done with predefined signals for only one weld
equipment on virtual I/O's. It is then easy to adapt the configuration to different weld timer brands other than
Bosch. The Spot Options manual has been updated with information about this configuration.
ABB Robotics
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9/35
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New robot IRB 6700

SoftWare support for new robot types:
Variants
IRB 6700 / 2.60m 200kg
IRB 6700 / 2.65m 235kg
IRB 6700 / 2.80m 205kg
IRB 6700 / 2.85m 155kg
IRB 6700 / 3.05m 175kg
IRB 6700 / 3.20m 150kg
IRB 6700 / 2.60m 175kg LeanID

New robot IRB 360 1.6m 6kg

SoftWare support for new robot type:
IRB 360 / 1.6m 6kg
IRB 360 1.6m variant with larger payload is supported in the release.
CSSDeactMoveL updated with optional argument TLoad

An update has been done to CSSDeactMoveL. Optional argument TLoad has been added.
New optional argument on function GetSysInfo

Function GetSysInfo has a new optional argument SystemName.
If using this optional argument, the name of the active system can be read.
Syntax:
GetSysInfo '('
['\'SerialNo]
| ['\' SWVersion]
| ['\' RobotType]
| ['\' CtrlId]
| ['\' LanIp]
| ['\' CtrlLang]
| ['\' SystemName] ')'
ABB Robotics
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10/35
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New function GetSignalOrigin (PDD1819)

A new function called GetSignalOrigin has been added. With this function it is possible to get information
about the origin of an I/O signal.
Syntax:
GetSignalOrigin
[ Signal':=' ] < variable (VAR) of anytype > ','
[ SignalName ':=' ] < variable (VAR) of string > ';'
Arguments:
GetSignalOrigin Signal SignalName
Signal
Data type: signalxx
The signal name. Must be of data type signaldo, signaldi, signalgo, signalgi,
signalao or signalai.
SignalName
Data type: string
The configured name of the I/O signal, or empty string is returned
in this argument.
GetSignalOrigin returns a data type called signalorigin. This data type is new.
Characteristics of signalorigin:
signalorigin is an alias data type for num and thus inherits its properties.
Program execution:
The function GetSignalOrigin returns one of the following predefined signal origins:
SIGORIG_NONE, SIGORIG_CFG, SIGORIG_ALIAS.
If SIGORIG_NONE is returned, SignalName consists of an empty string.
If SIGORIG_CFG or SIGORIG_ALIAS is returned, the argument
SignalName contain the I/O signal name according to the I/O configuration.
Example:
PROC checkiosignal(VAR signaldi mysignal)
VAR signalorigin result;
VAR string signalname;
result:=GetSignalOrigin(mysignal, signalname);
IF result = SIGORIG_NONE THEN TPWrite "mysignal is declared in RAPID and has no AliasIO coupling";
ELSEIF result = SIGORIG_CFG THEN TPWrite "mysignal is an I/O signal defined in the I/O configuration, signal name:
"+signalname;
ELSEIF result = SIGORIG_ALIAS THEN TPWrite "mysignal is connected to an I/O signal with the name "+signalname;
ELSE
TPWrite "Unknown origin: "+ValToStr(result);
ENDIF
SpotServo Equalize timing problem when getting thickness from the timer (PDD1540)
In this release a handshake sequence with I/O signals has been added to make sure that the ordered weld
program before weld actually is set in the weld timer.
Some timers use a signal to check if a valid program is selected, that is, a valid program in the program
table. If the program exists, the timer will respond with a signal back to the robot, that a valid program has
been selected and the set some other outputs, e.g. gun force, plate thickness etc.
Short description of I/O sequence:
1. Weld program group output is set.
2. New program output is set.
3. Spot will wait for the program valid signal a specific time, "diProgSelectValid".
4. If the signal is set, program execution will continue and the weld will be done, if the signal is not set an
error handler will be run with retry possibilities.
This function is configured by default if a Weld Timer Configuration Option is selected in the key, not as
standard.
If a basic Spot option is selected these signals must be added manually by customizing the swuser.sys
module and the I/O configuration.
ABB Robotics
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11/35
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SafeMove and EPS Backup/Restore/Safety aspects. (PDD1627)

Possible to restore an EPS / SafeMove configuration from a backup and download it to EPS / SafeMove
without any change of the configuration file.
A new button has been added to the Select Mechanical Unit window in RobotStudio EPS Wizard, Restore
from backup.
A new command has been added in the Configuration menu in RobotStudio SafeMove configurator,
Restore Configuration.
New error recovery for error 40634 when no AliasIO coupling (PDD1819)
A new errnum has been added, ERR_NO_ALIASIO_DEF.
When you get the event log 40634 described below, you can now handle the error in an error handler.
----------------------------------------------------------------------
"Reference Error"
Description
Task: arg1
The signal arg2 is unknown in the system.
Program Ref. arg3
Probable Causes
If the signal is defined in the RAPID program, it must be connected to the configured signal with instruction AliasIO.
Recommended Actions
All signals (except AliasIO signals) must be defined in the system parameters and cannot be defined in the RAPID
program.
Recovery: arg4
----------------------------------------------------------------------
Instructions and functions affected:
IndCnvInit
AliasIO
SetDO
SetGO
SetAO
DOutput
GOutput
AOutput
Set
Reset
InvertDO
PulseDO
GOutputDnum
WaitDI
WaitDO
WaitGI
WaitGO
WaitAI
WaitAO
WaitUntil
ProcerrRecovery
SearchL
SearchC
SearchExtJ
TPReadDnum
TPReadFK
TPReadNum
UIMsgBox
UIAlphaEntry
UIDnumEntry
UIDnumTune
UIListView
UIMessageBox
UINumEntry
UINumTune
TriggStopProc
ISignalDI
ISignalDO
ISignalGI
ABB Robotics
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12/35
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ISignalGO
ISignalAI
ISignalAO
TriggEquip
TriggIO
TriggRampAO
TriggSpeed
TriggCheckIO
WZDOSet
= on signaldi, signalgi, signalai

ABB Robotics
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13/35
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New Functionality RW 5.61

New Motors
Configurations for new type A motor are added to the utility directory.
New IRB 6700 variants

Software support for new robot types:
IRB 6700 / 2.70m 300kg
IRB 6700 / 3.00m 245kg
New robot IRB 2600 Type B and IRB 2600ID Type A

SoftWare support for new robot types:
Variants
IRB 2600 / 1.65m 20kg Type B
IRB 2600 / 1.65m 12kg Type B
IRB 2600 / 1.85m 12kg Type B
IRB 2600ID / 1.85m 15kg Type A
IRB 2600ID / 2.00m 8kg Type A
IRB 2600 variants with new motors on all axis (TYPE B) and IRB 2600ID variants with new motors on axis 1-5
(TYPE A) are supported in the release.
New robot IRB 4600 Type D

SoftWare support for new robot type:
IRB 4600 / 2.50m 20kg Type D
IRB 4600 2.50m 20kg variant with new motors on axis 4, 5 and 6 (TYPE D) is supported in the release.
Slovenian language support added to RobotWare and FlexPendant

Slovenian language support has been added to the FlexPendant.
To enable Slovenian on the FlexPendant, a RobotWare key with the Slovenian language option is needed.
Servo gun synchronization does not affect Safemove synchronization (PDD1764)

The servo gun axis previously affected the synchronization of Safemove even though the axis is not part of the
Safemove configuration. This has now been fixed, i.e. if the servo gun e.g. loses its revolution counter it will not
affect the Safemove synchronization.
Support for IRB 2600 on IRBT 4004 Type A (PDD2636)

Files have been added to support IRB 2600 on IRBT 4004 in additional option Track-TypeA.
Support for IRB 760 on IRBT 7004 Type A (PDD2637)

Files have been added to support IRB 760 on IRBT 7004 in additional option Track-TypeA.
ABB Robotics
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14/35
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IP-settings for LAN2 and LAN3 (PDD2673)

A new script command has been added in RobotWare release 5.61. The user can use this command to set
up IP address and subnet mask for LAN2 and LAN3. Only 1 set of IP address and subnet mask can be set
for each connector.
Command: add_subnet
Usage: add_subnet –connector xx –ipAddress x.x.x.x –subnetMask x.x.x.x
connector - The connector of LAN2 or LAN3.

The value can be "LAN2", "LAN3", "X4" (connector for LAN2) and "X5" (connector for LAN3).
ipAddress - The IP address for this configuration.
If this parameter is empty, the IP settings will be cleared.
subnetMask - The subnet mask for this configuration.
If this parameter is empty, the default subnet mask '255.255.255.0' will be used.
example:
add_subnet -connector LAN2 -ipAddress 192.168.9.73 -subnetMask 255.255.255.0
add_subnet -connector X4 -ipAddress 192.168.9.73
add_subnet -connector X5
note:
1) This method should only be used for setting IP address and subnet mask for LAN2 and LAN3. It is not
applicable for other ports. This method will probably be replaced by new functions from release RW 6.0.
2) This method is only valid as script command, they cannot be executed from console window.
- Add this command in your install.cmd file or startup.cmd file or any other .cmd file which will be loaded
when the controller starts.
- Restart the controller to reload your xxx.cmd file. If your xxx.cmd file is loaded only at warm-start, you
need to do an extra warm-start to make the configuration valid.
ABB Robotics
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15/35
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New Functionality RW 5.61.02

New robot IRB1200
Software Support for new robot:
Variants:
IRB 1200 / 0.7m 7kg
IRB 1200 / 0.9m 5kg
New robot IRB 6700

SoftWare Support for new robot types:
Variants:
IRB 6700 / 2.60m 200kg
IRB 6700 / 2.85m 155kg
An updated variant of the IRB 6700 family with new gear box on axis 2 is supported in the release.
IRB 6400 Rex with IRC5 (PDD3766)

SoftWare Support for S4C+ robot types in IRC5:
Variants:
IRB 6400R / 2.5m 120kg
IRB 6400R / 2.5m 120kg bal. B
IRB 6400R / 2.5m 150kg
IRB 6400R / 2.5m 150kg bal. B
IRB 6400R / 2.5m 150kg HP/120kg
ABB Robotics
PRU Title Ref
16/35
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Improvements RW 5.60
Hidden process and supervision tasks
In this release all Spot process tasks and supervision tasks have been hidden.
There is no need to see these tasks on the TPU or in Robotstudio.
Please note that if user defined error handling is added in the optional user hooks and
UI instructions are used they will not show.
All errors must be returned to the kernel and handled the proper way.
Example:
UIMessageBox in "SwPrepare" will not be shown since the user hooks are called from the "hidden" process
tasks.
MeasureWearL and RecalcTcp

In this release the error handling for the functions RecalcTcp and MeasureWearL has been moved into the
process kernel from the swdefusr.sys user template module. This has been done as a step to simplify the
user code and to minimize the risk for incompatibilities between RobotWare releases in the future when the
functions are improved.
Important note!
The RecalcTcp function has been removed from the swdefine.sys user template module and is now
included in the process kernel. This means unfortunately that existing user modules needs to be modified
and that the old routine has to be removed and/or change the name to avoid problems if these modules are
used.
The recommendation is to use the new template user modules in this release to minimize problems with
comp ability issues. The new versions for the user modules are "5.60.0".
A warning message will be logged if the swdefusr.sys module has a version number less than 5.60.
Steps to take if the old user modules are used:

1. Remove the RecalcTcp instruction from the swdefine.sys module.
2. Replace the routines UpdateCalibData and UpdateFixTipData in swdefusr.sys with the new template
routines from 5.60.
Home icon in Flexpendant explorer is to pale

New home icon is implemented.
Improved load time for Integrated Vision TPU application

The time it takes for the Integrated Vision TPU application to start up the first time after starting the robot
controller has been significantly reduced - approximately 20s faster.
Handle all drive modules the same if max number of retries is exceeded for one DM (PDD90)
If the CBC is interrupted more than 3 times for one drive module, the test is skipped for all drive modules.
The reason why this change has been done is that you need to run tests again for all drive modules anyway
when testing the one that was interrupted.
PM3: Coordinated/Uncoordinated routines removed from RAPID template (PDD620)

The routines "Coordinated" and "Uncoordinated" are obsolete. PickMaster internally keeps track of if
motions are coordinated to a moving work object.
Improved Error Code for incoming power faults with Drive System 09 (PDD2141)
The error message for error 34263 Rectifier startup error has been improved.
ABB Robotics
PRU Title Ref
17/35
Author, telephone
Wrong measurement channel IRBT x004 (PDD2309)

The default parameters for the measurement channel have now been changed match most new track
motion installations. When the configuration file now is changed to use channel 7 of the robot the majority of
the tracks have the right parameters. Only the servo guns for robots on a track have a problem, they still
need to use measurement_link 2 and measurement_node 1. Files for IRB 4400 have not been changed
since they use the same setup as with servo gun.
Reset of limit error (Q-master) for Fronius PS (PDD2362)

Customers that are using Q-Master on the Fronius power source had to reset a limit error in the power
source manually.
Starting with RW5.60, the error is reset automatically at start and restart of the weld by toggling the signal
E12 "source error reset" in the power source.
Impossible to import 2.3v GDS files with Profinet Configurator 1.1 (PDD2401)
PROFINET Configurator Express version 1.12:
Support of reading PROFINET GSDML version 2.3.
However there are some limitations:

1)
A parameter that is optional according to standard is regarded as mandatory by the PROFINET Configurator
Express tool.
The ABB DESTO devices’ CI501 and CI502 have GSDML files are not possible to use with their ordinary
GSDML file.
Workaround:
A GSDML file with this problem has to be sent to ABB for conversion.
2)
It seems that the import of all Siemens units with version 7.0 are failing.
Workaround:
Copy the failing file in the KW Configurator GSDML library by attaching "_original" at the end of the file
name. (path to library: C:\Users\Public\Documents\FDCML10\Profinet\SIEMENS).
Identify the failing GSDML part by importing the file into PCWORKS (by Phoenix Contact). It will show which
part is causing the problem.
Remove move the Identified failing part and store the file.
Open the PROFINET Configurator project and select "Import device" by right clicking the device catalog.
ABB Robotics
PRU Title Ref
18/35
Author, telephone
Improvements RW 5.61
Speed reduced by SpeedRefresh can be raised from FlexPendant (PDD2210)
The functionality of speed override generated with instruction SpeedRefresh and changing speed from the
FlexPendant has been separated.
Two different values are stored and the product of these two values and the programmed speed will be the
speed that is used in the movement instructions.
The only way to affect the speed override component set by SpeedRefresh is to move PP to main, load a
new program or order a new speed with SpeedRefresh instruction.
SpeedRefresh is used to change the movement speed for the ongoing robot movement in current motion
program task. The setting from FlexPendant is however a system behavior.
The reason for this change was that it was possible to increase the speed very much from the FlexPendant
by reducing the speed with for example 1%. The value set from the FlexPendant did override the value set
from SpeedRefresh.
Multiple Hardware groups in systembuilder (PDD2597)

The systembuilder would previously show 2 option groups named "Hardware". One of these have now
been renamed to "Fieldbus Adapters"
TestDI, MoveLDO, MoveJDO and MoveCDO updated with recoverable error (PDD2646)
Function TestDI and instructions MoveLDO, MoveJDO and MoveCDO can now have recoverable errors.
Errors that can be handled in an ERROR handler when system variable ERRNO is set:
ERR_NO_ALIASIO_DEF if the signal variable is a variable declared in RAPID. It has not been connected
to an I/O signal defined in the I/O configuration with instruction AliasIO.
ERR_NORUNUNIT if there is no contact with the I/O unit.
ERR_SIG_NOT_VALID if the I/O signal cannot be accessed (only valid for ICI field bus).
Backup and Restore: Updated error logs (PDD2768)

The error logs in backup/restore regarding "Too long path" has been updated to be more descriptive.
MAX_GUN_FORCE value changed after gun calibration (PDD2848)

The service routine ManForceCalib does not calculate the maximum force for the gun anymore.
It will instead use the value specified in MAX_GUN_FORCE, and it will be possible to change the default value in
MAX_GUN_FORCE to another value from the routine if needed, e.g 5000 - > 4500.
Improved error message when loading old configuration files (PDD2957)

The error message shown when loading a configuration file with a version older than supported by RobotWare
has been improved to better reflect the error.
ProfiNet FSU for modules Port2 (PDD3146)

The possibility to configure fast startup for multiple ports for a slave device is now possible with PROFINET M/S
(888-2) option.
ABB Robotics
PRU Title Ref
19/35
Author, telephone
Information / Corrections RW 5.60

Start button need to pressed twice to get the regain dialog
Limitation in RW5.60:
When user has jogged away the robot from original position and after that user wants to resume running
the program he has to press start button twice to get the regain path dialog.
DispensePac Support
Changes of the DispensePac Support option has been done in RW 5.60:
1. Only ICI protocol available (for the PIB communication).
2. Paint Rapid instructions available as in 5.15
3. The possibility to select the sub option "PaintTypeProductionManager" is now removed from the system
builder. This sub option is not necessary anymore when desired paint instructions are available directly in
the basic DispensePac Support option.
Other info:
The PIB board shall be connected (as before) to a switch connected to the service port on the RAC
computer.
QuickMove / TrueMove 2nd generation used for all robots

QuickMove / TrueMove 2nd generation is used for all robots in this release and QuickMove / TrueMove first
generation is no longer supported, see technote_071015_QT2 for more detailed information.
Use MechUnitLoad to set external load on TRACK

The RAPID instruction MechUnitLoad can now also be used to set an additional load during execution on an
ABB IRBT track with dynamic model. The load used by the dynamic model will be the sum of this load and
the arm load specified in the system parameters.
Medar Interface option removed

The software option Medar Interface has been removed in this release.
With the new main computer the support for Media Interface functionality via the serial link has been
removed.
DNLean removed from Bosch Weldtimer Options

It is not possible to select DeviceNet Lean bus type for Bosch weld timers in this release.
DeviceNet Lean has been removed and is not supported anymore.
SwErrorInfo hook removed

Since the use of user hook SwErrorInfo is very limited, it has been removed from the template code in this
release. This has been done with the aim to simplify the application. However the call (Info button) to this
routine from the built in error handling will still be done for some time to keep backward comp ability in
(RW5.xx).
PickMaster 3: 16 work areas with each robot

Cannot run more than 16 work areas with each robot.
CamGetParameter \NumVal does not work with a negative value

The RAPID instruction CamGetParameter with optional argument NumVal has not worked for negative
values. It gave error code 41774.
That problem has now been solved.
ABB Robotics
PRU Title Ref
20/35
Author, telephone
CamGetResult does not return value

When calling CamSetRunMode immediately after CamLoadJob it may happen that
acquiring an image and calling CamGetResult does not return a target. The issue is related to timing - it has
not been observed for small jobs with little output, such as finding a single part generating only X,Y and
angle.
The problem can be avoided by adding a "Waittime" between CamLoadJob and CamSetRunMode. The
time needed may depend on the job size, but 1.0s typically solves the problem.
Add & replace large CFG files

Loading large CFG files from RobotStudio might cause network communication timeout. RobotStudio might
lose the connection for a couple of seconds and the FlexPendant might restart.
Changes in Spot Options

In this release the default template code and I/O configuration has been changed for the SpotPack options.
1. The default signal names have been changed from, e.g. g1_start_weld to doStartWeld, and this applies
for all signals.
This has been done to make it easier to understand the function of the signals. All the configurations are
described in chapter 6 I/O Configuration and SpotPack configurations in the Spot Options manual.
2. The user routines SwCloseGun and SwOpenGun has been removed from the default swuser module, this
has been done to simplify the code, since they are not used. However they are still called by the kernel, so it
is possible to add them if needed.
Shutdown restart function is not available anymore

The Shutdown function is not available in 5.60. Thus the alternative "Shutdown shut down the main
computer" has been disabled (i.e. greyed out) in the Advanced restart list. This list is activated from the
menu "Restart/Advanced..."
Firewall calls, open a port, returns error if the firewall is disabled

The firewall function is disabled in RobotWare 5.60.
Please ignore all firewall-related errors/elogs.
SysFail when USB stick removed during backup.

If the NFS client option is installed on the robot controller but not configured, i.e. not used, and a backup is
performed on a USB stick, the controller can end up in sysfail if the USB stick is removed during the backup
procedure.
Calibration lost
A problem when clearing the memory in the cabinet on an IRB 260/460/660/760 has now been corrected.
ABB Robotics
PRU Title Ref
21/35
Author, telephone
Calibration Pendulum - Changed procedure in 5.60

Calibration using USB-dongle for a DSQC1000-based system, i.e. RobotWare 5.60 or higher
1. Switch of the power of the system.

2. Insert the USB-dongle into a USB-port on the controller. The USB-dongle is delivered with the
Levelmeter.
3. Power on the system
Note! If you just plug in the USB-dongle nothing will happen. You will not be able to continue the calibration.
The serial device (the USB-dongle) used by the calibration is initiated upon start of the system and if the
USB-dongle is not present the device is not initiated.
4. Do the calibration
5. Switch of the power of the system.
6. Pull out the USB-dongle from the USB-port on the controller
7. Power on the system
Note! If you just pull out the USB-dongle the system will hang!! To get it up and running you need to turn off
the power. As the link between the controller and its power supply is broken the system will continue to run
on the UltraCap power. The controller will finally power down when the UltraCap has run out of power. This
can take 2-3 minutes. You must wait until this prolonged power-down is finished. Then you can do Power on
to start the system. If you Power on to early the system will remain in the hang state.
See the complete description in Operating manual - Calibration Pendulum - 3HAC16578-1
Error when creating a new rapid data of an own record with dnums (DSE10375)
When a user creates a record with dnum data type, an exception "of out of range" is generated.
This is now solved.
No Diagnostics File in VIRC5 (DSE6852)

The diagnostic item is disabled under control panel for a virtual robot controller.
Saved error logs does not show additional options selection (PDD58)
Earlier when user saves a log file it was not possible to see additional option, what is selected during
building of system.
This is now corrected.
RW Some encrypted data not grayed-out (PDD1244)

A change is made when module is encoded than data inside the module is encrypted and all data will be
gray out.
Earlier behavior is for view only and no view module which encrypted data.
WG III VC Simulator code (PDD1404)

Reported problem solved.
IO filter virtual/non virtual/all does not work on most common signals (PDD1451)
There is filter in I/O view where we user can filter the signal according to virtual or non-virtual signal across
all type like DI, DO, AI, AO etc.
This filter is also for Most common signal also but it's not working the way it should. It's listing wrong signal
for virtual filter and showing empty screen for Non virtual filter.
Changes are made which will cover this problem and listing the signal according to filter
(Virtual/NonVirtual/All) for most common signal.
ABB Robotics
PRU Title Ref
22/35
Author, telephone
SysDiagnostic dialog does not close if saving on USB memory (PDD1482)

When user trying to save the data on USB by making temp directory as write protected. On that time system
diagnostic window is not closing properly.
Virtual flexpendant problem (PDD1597)

In Control panel-> Language view we are showing language with country flag.
The problem is that some of country flag like Czech and Portuguese etc. are appearing with wrong
language name.
So when user has change this wrong country flag with language he is getting blank screen on VFP.
SafeMove and EPS Backup/Restore/Safety aspects (PDD1627)

Possible to restore an EPS / SafeMove configuration from a backup and download it to EPS / SafeMove
without changing the pin code. The checksum values can sometimes change due to rounded decimal
values in the file.
New dialog texts are not translated.
Toggle key mode change: Linear/Reorient problem (PDD1630)

After a revolution counter loss when we update the revolution counter for new value and try to change
motion mode from linear to reorient through hard button then nothing is happening.
SafeMove: Wrong calculation of STZ points (PDD1661)

When having selected "Define the points for ToolZones in relation to the world coordinates" and then in the
"Safe Tool Zone" page press the "Get Current TCP pos" button you will now get the right values of the TCP
position.
Wrong LookAhead / Max. Speed with Optical Tracking for 6D sensors (PDD1825)
The values for "Look Ahead" and "Max. poss. tracking Speed”, which are result of each calibration of
optical sensors performed with LTC, were wrong for 6D sensors.
Mirroring of program, module or routine - Original program, module or routine lost (PDD1835)
When users perform operation of mirroring on module then original data is lost and only mirrored data is
saved.
Taking a backup saves now original mirror data in home folder so it can be reused if needed.
Controller goes to sysfail when using DHCP (PDD1845)

It is now possible to have DHCP on devices connected to the extra Ethernet port (Ethernet port option 905-
1) when using EtherNet/IP and PROFINET.
Circle Uncertain (PDD2080)

An error correction has been made for the PathRecorder.
The problem come after a weld stop on a circle at the start of the PathRecorder move when the path built
by start point, circle point and end point was very close to a straight line.
The error message was 50063 "Circle uncertain".
Note that when use of SingArea\Wrist can the reorientation be different from the programmed on the circle
at the PathRecorder move.
Profinet SW slave doesn't work correct sometimes when using DSQC612 (PDD2092)
It is now possible to have DHCP on devices connected to the extra Ethernet port (Ethernet port option 905-
1) when using EtherNet/IP and PROFINET.
ABB Robotics
PRU Title Ref
23/35
Author, telephone
Path recovery and multi layer (PDD2093)

When using Weld Guide the user should be aware that PathRecovery does not work in conjunction with
MultiPass because of collision risk.
The manual has been updated to inform of this limitation.
SIS with External axis (positioner) (PDD2209)

The service routine ServiceInfo now shows a message that no data is available for the mechanical unit if
SIS is not configured.
ServoRobot Sensor Reset (PDD2275)

For ServoRobot sensors the variable LTAPP__RESET was not implemented correctly - reset of the sensor
did not work.
UAS problem with Backup/Restore and Delete files (PDD2280)

The text for the uas backup grant shown in the grant viewer has been updated with:
"The grant gives full FTP access to the current systems BACKUP and TEMP directory"
Redo Search signal trigs an extra search after picking (PDD2283)

An extra search could occur directly after picking a slip sheet or pallet if the Redo Search signal was
triggered while the robot was picking.
This is now corrected. The new search will occur at the next approach to the feeder.
Safemove with hanging robot gives mismatch for STC when entering STZ page (PDD2284)
When downloading a Safemove configuration to the Robot and the Robot have a rotation in the Y-axis, for
example a hanging robot and then do an "Upload from controller" the Y-axis values would be all zeros and
the 2D view of the Safety zone looks corrupted, this is now corrected.
Mirroring no longer works in 5.15. (PDD2340)

When user performs mirroring operation for whole program then there is no problem but perform the
mirroring across the module then nothing is happening.
Automatic friction tuning fails in 4 robot multimove system (PDD2374)

When running automatic Friction Tuning (option Advanced Shape Tuning) on a MultiMove system, the
tuning would fail if not running on robot 1. That error has now been corrected.
Limitations for Multipass (PDD2379)

The MultiPass functionality supports up to 1000 targets when generating the replay seam of a recorded
path.
These targets are then played back with linear movements (ArcRepL.)
When recording seams with circular (ArcC) instructions the MultiPass replay method will substitute the
circular movements
to a lot of very short linear movements. There is a risk that the maximum 1000 targets is reached even
with a relatively short seam if using circular movements in a seam.
When using circular movements with MultiPass this risk should be observed.
RobotWare ARC sets wrong IgnitionSchedule before PowerOn signal is sent to powersource (PDD2382)
At start/restart of a weld always the welding schedule specified for the main phase of the welding process
was set, even if an ignition phase or heat phase, which might have a different schedule, was specified.
ABB Robotics
PRU Title Ref
24/35
Author, telephone
MU/GU MOC.cfg file error use_brake_relay (PDD2390)

The default use_brake_relay parameter has been removed in the Motion configuration files for Motor Units
and Gear Units in the utility directory in RobotWare. This should be used to tell the robot controller which
brake relay the external axis is using if it has a brake relay. If no brake relay is defined for some of the units
in the system the controller will never go to control off after program stop (release brakes). The reason for
this is related to safety, the mechanical unit could fall if it does not have any brake.
2 Channel Fault (PDD2406)

A problem that could result in system failure state has been corrected. In this state the robot loses CH1 and
is unable to recover until a warm start is performed.
Titles in Chinese error texts (PDD2410)

In the titles of the error texts 40278 and 40279 "意常" was changed to "异常".
SIS data lost when flash drive is replaced (PDD2559)

SIS data, including the duty time counter for the robot, is now automatically updated from SMB when the
flash drive is replaced in the main computer and a new system is installed.
Previously the data had to be manually updated from SMB, using the FlexPendant menu 'Calibration', 'SMB
Memory'.
DeviceNet autoconfig does not work correct for unit declaration (PDD2633)
Automatic Configuration and Bus Scan functions for DeviceNet do not work in RW 5.60.
Devicenet slave field bus adapter address is 10 which conflicts with standard I/O cards (PDD2662)
Changed default address of DeviceNet fieldbus adapter slave to 20, no address conflict with other default
DeviceNet units will occur.
ForceControl Recovery-Function doesn´t work when SpdChg with SpindleCurrent (PDD2725)

Force Control speed change functionality without force sensor. I.e. spindle current etc is used as feedback
has a defect when it goes in to recovery mode. Program pointer gets lost and a move of program pointer is
needed.
The proposed work-around until a solution is presented is to set some values in the Motion configuration:
PMC Sensor Setup->Type of Sensor Interface = ATI Standard
PMC Sensor Setup->fx 1 = 1
SafeMove configurator throws exception when external axis joint bounds are large (PDD2884)
The theoretical maximum value for Upper and Lower Joint Bound is +/-1256637 in a cfg files. Because of
an accuracy limit of 6 figures this value is rounded to +-1256640 when used in e.g. the SafeMove
configuration. If the maximum value is used and exception will occur.
Workaround is to lower the value so that the rounded number is lower than 1256637.
Serial communication ports are wrongly viewed as alternative in TCP/IP configuration (PDD2917)
When configuring TCP the serial ports COM1, COM2 and SER1 can show up in the dropdown control.
They are not valid choices and shall not be selected.
IP-address and Gateway-address not visible when DHCP is active (PDD2946)

The IP-address and Gateway-address in system information is no longer shown when DHCP is selected,
i.e. the controller WAN port gets its IP address from an external DHCP server. It is shown only when Fix IP-
address is selected.
ABB Robotics
PRU Title Ref
25/35
Author, telephone
Information / Corrections RW 5.60.01

Not possible to calibrate IRB6700 LeanID
The work area for axis 5 and 6 have been increased to make it possible to calibrate IRB6700 leanID
ABB Robotics
PRU Title Ref
26/35
Author, telephone
Information / Corrections RW 5.61

Double node for camera on FlexPendant
The FlexPendant Explorer displays double devices for a camera, used with the Integrated Vision-
functionality. This has now been fixed.
TuneMaster for test signal logging

A new version of TuneMaster has been added, when starting the application Log Signals can be selected.
This version can log test signals as TestSignalViewer does but has no limit for the log time
(TestSignalViewer can only log 25s.).
There is no user documentation in 5.61 release, but some information may be found in the Info-button in
the Log Signals program.
Controller does not detect cameras in Motors On state

The controller does not detect cameras that appear or disappear on the network after it has been set to
Motors On state.
If for example a PLC is used to set the controller to Motors On immediately after start up, cameras may not
be detected. One possible way to detect cameras before allowing the controller to go to Motors On is to
wait for the camera disk to be detected by calling "OpenDir directory,CamGetName(mycamera)"
continuously until it no longer returns the error ERR_FILEACC. Example:
PROC WaitForCamera(VAR cameradev cam)

VAR bool camFound:=FALSE;
VAR dir directory;
VAR string camDirName := "";
camDirName := CamGetName(cam) + ":";
WHILE camFound <> TRUE DO

CloseDir directory;
OpenDir directory, camDirName;
TPWrite "Camera found!";
RETURN;
ENDWHILE
ERROR
IF ERRNO=ERR_FILEACC THEN
ResetRetryCount;
WaitTime 5.0;
RETRY;
ENDIF
ENDPROC
Obsolete Medar interface files removed

RobtWare 5.60 still contained files related to the obsolete option Medar Interface - these have now been
removed.
RobotReferenceInterface floods error log, when sending empty string (PDD1156)

This behavior was changed in 5.60.
No internal elog is printed for this type of error anymore.
Wrong Message with Blocking of EPS/SafeMove in Auto if no configuration (PDD1396)

Message 20235 changed to fit any type of Safety Controller
UAS grants (PDD2170)

Now it is possible to update revolution counters with Revolution counter Update Grant only.
ABB Robotics
PRU Title Ref
27/35
Author, telephone
Problems after station change at welds without weldguide (PDD2253)

The problem occurred only if Production Monitoring is used together with tracking (Weldguide or Optical
Tracking).
If you track on one Station of an interchange positioner, but don't track on the other station, you got the
error message 50066 (Robot not active).
Loading programs from FTP server doesn't work if….. (PDD2290)

It has not been possible to load a program from an FTP server if write/upload/delete permissions are turned
off.
It has now been solved, and it is now possible.
Scrape-start with ign_move_delay influences weaving (PDD2363)

A problem when using ign_move_delay on QuickMove/TrueMove 2nd Generation robots has been
corrected.
Save all error logs at Flexpendant lasts 60 sec (PDD2488)

From RW 5.15 onwards the number of Elogs that can be saved from TPU is increased from 150 to 1000.
Hence the time taken will be different compared to earlier. However there are two aspects to it as explained
below.
1. If the text in the Elog is less (like one liner) with 1000 Elogs it roughly takes 10-15 seconds
2. If the text is more in the Elog (like 3 to 5 lines) with 1000 Elogs it roughly takes 35-40 seconds.
The summary is the more the text in the Elog and the more the number of Elogs the more time it takes to
convert the XML file into a readable format which is string in this case (we are using string.format method
for this).
Optical Tracking - Flag Sensor (PDD2513)

For the Laser Tracker Calibration (LTC) FlexPendant (FP) application exists every tracking sensor type is
defined using the Process configuration instance SENSOR_TYPE.
One component, "Sensor is used for tracking", indicates, if the sensor is used for seam tracking, i.e. is
mounted with its TCP near the robot TCP and almost parallel z-direction of the sensor tool and the robot
tool, which is used during calibration.
When the laser sensor calibration has been performed successfully using LTC, in manual mode a
reorientation of the new sensor tool at the calibration plate origin is done to give the operator the possibility
to inspect the quality of the calibration.
Today the reorientation of the new sensor tool is done for all sensors.
Starting with RW 5.15.03 no reorientation will be done for sensors, which are not used for tracking. This to
avoid collisions and robot singularities during reorientation, as the sensor tool may differ in size and
orientation very much from the robot tool used for calibration.
Problem with EPS-Configuration in multimove if EPS.... (PDD2524)

Now we support version 1.1.0 independent on were the EPS hardware is located in a multimove system.
The version 1.1.0 was before only available if EPS was located on Robot 1
RS / SafeMove: Visible area of SafeMove functions (PDD2561)

The visual area to the right of the menu tabs in Safemove that had issues in 5.60, this has now been solved
and everything is shown in the correct way.
Double routine created when saving calibration positions (PDD2585)

In RW 5.60 When teaching a tooldata, wobjdata or positioner base frame and save the calibration positions
the Save is executed twice resulting in creation of two modules instead of one.
This is corrected now. Now the save happens only once and only one module is created.
Control Panel IO preference list is always reset to an empty list (PDD2628)

In control panel-->I/O, when user is selecting signals it's appearing in most common signal in I/O view.
What user has selected last time in control panel--> I/O now retained.
ABB Robotics
PRU Title Ref
28/35
Author, telephone
DeviceNet autoconfig does not work correct for unit declaration only (PDD2633)
Automatic Configuration and Bus Scan functions for DeviceNet have been corrected.
Automatic Configuration is now only attempted on units which are actually found during Bus Scan.
CMOS battery status cannot be seen in FPU in 5.60 (PDD2656)

The carrier board on the new main computer in the controller with RobotWare release 5.60 or later version
installed does not support the possibility to read the CMOS battery voltage level.
Therefore the CMOS battery status cannot be displayed in the System Info window on FP.
Not possible to add GSDML files to KW Software Konfigurator (PDD2666)

With the PROFINET Configurator version 1.14.1 from KW Software it is possible to import ABB Stotz
GSDML files. E.g. for device types specified in:
GSDML-V2.1-ABB-S500-CI501-PNIO-20090407
Lockup when USB to serial port converter is removed at a running system (PDD2699)
The system crash when removing USB-serial adapter has been corrected.
User interface localization for Integrated Vision (PDD2704)

In RobotWare 5.60 the localized resources for the Integrated Vision user interface were missing and the
option would only display in English. This has now been corrected.
Add a command for camera disconnection (PDD2712)

Solved.
SpotWare Combi not all signals defined (PDD2771)

In this release the default I/O configuration for the Bosch WT is corrected.
RS / SafeMove: New message regarding -Numeric Signature- only in English (PDD2780)

Messages regarding Restore configuration and Numeric Signature(s) are now translated.
Shutdown restart is not implemented in DSQC1000 (PDD2890)

Shutdown restart is not implemented in DSQC1000. So shutdown is now removed from the Advanced restart list.
Configure 8 servo welding guns for one robot (PDD2892)

8 servo welding guns cannot be configured for one robot by default. It's only supported to have six external axes
per Motion Task.
A solution to this problem is to use a Multi Move system but only one robot. Put servo gun 1-5 in Task 1 and gun
6-8 in Task 2.
For all servo guns in Task 2 activate system parameter “Activate from any motion task” in Topic "Motion" and
Type "Mechanical Unit". If this is done, the units can be activated from Task 1.
For more information see documentation of this parameter in the System Parameters manual.
Correction Filter in trackdata causes error message (PDD2891)

In RW 5.60 you could get the error "110181 - Track max incremental corr. error" with OpticalTracking Arc if you
used a filter value in trackdata higher than "10". (Max value is 10).
In RW 5.61 the max. value is checked correctly and a value higher than 10 is automatically reduced to 10
internally.
SafeMove configurator throws exception when external axis joint bounds are large (PDD2894)
When user defined axis joint bounds are too large for a single axis an exception was thrown, this is now taken
care of and the default maximum value(s) are set, the user is informed via dialog popup.
ABB Robotics
PRU Title Ref
29/35
Author, telephone
DHCP IP address not viewable (PDD2946)

When a robot controller is configured with DHCP, the IP-address and Subnet Mask of WAN configuration will be
viewable for the user in System Information window. Since there is no Default gateway for a DHCP configuration,
this field will be empty or unspecified.
Display of mechanical unit truncated (PDD2953)

When user is giving long names of mechanical unit, In quickset window it's not displaying the whole name.
This is now corrected with tooltip.
Mechanical Unit name cannot be edited in cfg editor (PDD2975)

A correction has been done to make it possible to change the Mechanical Unit name in Topic Motion in
RobotStudio. To edit names RobotStudio is needed since no names can be changed from the FlexPendant.
Electronically linked motors (PDD3008)

Wrong order of mechanical units in the configuration file for two axes that is electronically linked caused the
control of slave axis to fail. This has been corrected and now the order of mechanical units does not matter.
System Boot wrongly sets revolution counter OK (PDD3018)

A problem with revolution counter unintentionally being set to ok has been fixed. The problem occurred on
system with Absolute Accuracy option and unsynchronized revolution counters. When performing an I-start( or
new system installation restart) the counters were set to ok.
CSS in combination ModalPayLoadMode equal to 0 (PDD3043)

Using ModalPayLoadMode equal to 0 in combination with CSS instructions/functions could result in a faulty
calculated load attached to the mechanical interface of the robot.
ModalPayLoadMode equal to 0 makes it possible to use the total load optional argument in all movement
instructions.
The symptom of this error was that the robot was slowly moving when it was supposed to stand still.
The problem was detected when testing SpotWare Servo Equalizing.
SM configuration files are missed after booting RW on a new flash disk. (PDD3044)
When using the Create from Backup functionality in the System Builder on a backup from a RobotWare version
prior to 5.15.03 the system may fail to install properly if it contains the options "810-1 Electronic Position
Switches" or "810-2 SafeMove". The symptoms may include the event message "20269 - SC1 Motor Calibration
Error" during startup. The error occurs if the Create from Backup wizard is completed early with the Finish button
as soon as it becomes available.
In RW 5.61, this problem has been fixed. The system will be correctly created no matter when the user
completes the wizard.
ICC with two indexing conveyors (PDD3060)

Problem that occurred on an ICC system, using two indexing conveyors, and setting "Time before indexing
move" to 0.5s on both conveyors, is now solved.
The maximum value of the parameter "Time before indexing move" is also increased to 1.0s.
Stationary tool not working with IRB 360 (PDD3063)

Stationary tool not working with IRB 360 problem has been solved
Problem with RW 5.60 (PDD3065)

During I-start on VC, the system XML files (e.g. cfgrules_registry.xml, cfgtext_registy.xml or elogtext_registry.xml
) are sometimes incorrectly generated under [mySystem]/INTERNAL. This causes the system crashes or the
system is started incorrectly and no display on Virtual FlexPendant.
Incorrect chinese translation of “Trap” (PDD3084)

An incorrect translation of the word “Trap” in Chinese on the FlexPendant has been corrected.
ABB Robotics
PRU Title Ref
30/35
Author, telephone
DeviceNet: Explicit messaging (PDD3087)

It is now possible to use class, instance and attribute ids > 127 in explicit message accesses on DeviceNet.
Unable to restart Flow after setting redo search (PDD3144)

Correction for a problem occurring when ordering a redo search while the robot was moving towards the search
stack.
TPU message not translated for Modpos on jointtarget (PDD3147)

When user want to modify position with modify position dialog, text is not converted to other languages except
English.
RobotWare installation failure (PDD3170)

The RobotWare installer previously contained an outdated version of Microsofts MSXML component that in rare
cases could cause installation failures on Windows Vista or later.
This has now been corrected.
Not possible to create UnitType DP_Internal_Slave_FA (PDD3343)

In RW 5.61/5.60 it is only possible from RS and TP to define one unit type for PROFIBUS Internal Slave FA
which must have the exact name "DP_Internal_Slave_FA".
Additional unit types for PROFIBUS Internal Slave FA can be defined directly in the EIO.CFG file.
lt Message Description during Go Offline (PDD3348)

The text is now.
"AbsAcc is removed from {0} since it will result in incorrect robot movement for a virtual controller"
Strange effects in MultiMove System incl. UNDO handler (PDD3427)

In this release the instructions MoveExtJ, SearchExtJ and ArcMoveExtJ has been blocked for use
in an UNDO handler.
Event log 41524 is triggered if any movement instruction is executed in an UNDO handler.
No movement instructions are allowed in UNDO handlers.
The UNDO handler should be used for cleaning up and resetting the system. For example, closing
a file or resetting of synchronized coordinated movements.
If a mechanical unit should be moved to a certain position at a program start or when calling a
routine, this must be done either in the START event routine or in the beginning of the routine, not
in an UNDO handler.
Booting a FlexPicker ends up with mismatch between controller and SMB data (PDD3456)
When performing an I-start of an IRB360 installed controller, the system will start up uncalibrated
since SMB data is not automatically read into the controller.
The workaround is to read the data from SMB to controller. Use Flexpendant and navigate to:
Calibration/SMB Memory/Update.../.
Make the choice: "Update cabinet with SMB memory data".
ABB Robotics
PRU Title Ref
31/35
Author, telephone

Calibration
Support for propeller calibration for IRB6650S and IRB6620LX
ABB Robotics
PRU Title Ref
32/35
Author, telephone

Support for second generation Compact Controller
RobotWare 5.61.02 now includes support for the second generation Compact Controller.
FP SDK App - Not possible to switch language (PDD3770)

In RobotWare Releases 5.60, 5.61, 5.61.01 and 5.61.02, having a FlexPendant SDK application using
multiple languages with the language files in format ".ext1.ext2", e.g. TpsMyTxtMessage.resource.dll, will
have problem when changing language via System Settings/Language for the Flexpendant/System, the
application will always run with English. The workaround for this problem is to change the language file to
format ".ext", e.g. TpsMyTxtMessage_resource.dll.
Debug string too long (PDD3783)

In this release a problem with a too long debug text has been corrected.
Note! This was only a problem if the spot debug log was activated.
Wrong value for group signals (PDD3814)

A problem regarding group I/O signals is now corrected. The logical and physical group value didn't always
match.
SW_TUP task stops with strange errors (PDD3823)

In this release a problem has been fixed regarding the startup order of the spot process tasks.
UAS - Default user only (PDD3493)

A correction has been implemented to solve the problem that Default User with only UAS grant "Backup
and save" cannot create a backup of the system.
FlexPendant fails to come up after power down with SMB communication lost (PDD3909)
If the SMB communication was lost and the system was restarted the FlexPendant did not come up.
This problem has now been fixed.
TAF error locks up pendant illegal syntax (PDD3971)

It is now possible to try to start a program with syntactic and semantic error, flexpendant is showing the
correct error instead of locking up.
ABB Robotics
PRU Title Ref
33/35
Author, telephone
Product Defect Document RW 5.60 PDD

No Diagnostics File in VIRC5 DSE6852
Error when creating a new rapid data of an own record with dnums DSE10375
Saved error logs does not show additional options selection PDD58
Handle all drive modules the same if max number of retries is exceeded for one dm PDD90
RW Some encrypted data not grayed-out PDD1244
WG III VC Simulator code PDD1404
IO filter virtual/non virtual/all does not work on most common signals PDD1451
Home icon in Flexpendant explorer is to pale PDD1274
SysDiagnostic dialog does not close if saving on USB memory PDD1482
SpotServo Equalize timing problem when getting thickness from the timer PDD1540
Virtual flexpendant problem PDD1597
SafeMove and EPS Backup/Restore/Safety aspects. PDD1627
Toggle key mode change : Linear/Reorient problem PDD1630
SafeMove: Wrong calculation of STZ points PDD1661
Wrong LookAhead / Max. Speed with Optical Tracking for 6D sensors PDD1825
Mirroring of program, module or routine - Original program, module or routine lost PDD1835
Controller goes to sysfail when using DHCP PDD1845
Circle Uncertain PDD2080
Profinet SW slave doesn't work correct sometimes when using DSQC612 PDD2092
Path recovery and multi layer PDD2093
Improved Error Code for incoming power faults with Drive System 09 PDD2141
SIS with External axis (positioner) PDD2209
ServoRobot Sensor Reset PDD2275
UAS problem with Backup/Restore and Delete files PDD2280
Redo Search signal trigs an extra search after picking PDD2283
Safemove with hanging robot gives mismatch for STC when entering STZ page PDD2284
Wrong measurement channel IRBT x004 PDD2309
Mirroring no longer works in 5.15. PDD2340
Automatic friction tuning fails in 4 robot multimove system PDD2374
RobotWare ARC sets wrong IgnitionSchedule before PowerOn signal is sent to powersource PDD2382
MU/GU MOC.cfg file error use_brake_relay PDD2390
Impossible to import 2.3v GDS files with Profinet Configurator 1.1 PDD2401
2 Channel Fault PDD2406
Titles in Chinese error texts PDD2410
SIS data lost when flash drive is replaced PDD2559
Devicenet slave field bus adapter address is 10 which conflicts with standard I/O cards PDD2662
Windows XP not supported for RCS PDD2752
ABB Robotics
PRU Title Ref
34/35
Author, telephone
Product Defect Document RW 5.61 PDD

Loading programs from FTP server doesn't work….. PDD2290
Problem with EPS-Configuration in multimove if EPS.... PDD2524
RS / SafeMove: Visible area of SafeMove functions PDD2561
Double routine created when saving calibration positions PDD2585
Multiple Hardware groups in systembuilder PDD2597
Control Panel IO preference list is always reset to an empty list PDD2628
DeviceNet autoconfig does not work correct for unit declaration only PDD2633
Support for IRB 2600 on IRBT 4004 Type A PDD2636
Support for IRB 760 on IRBT 7004 Type A PDD2637
TestDI, MoveLDO, MoveJDO and MoveCDO updated with recoverable error PDD2646
Not possible to add GSDML files to KW Software Configurator PDD2666
Lockup when USB to serial port converter is removed at a running system PDD2699
Add a command for camera disconnection PDD2712
Backup and Restore: Updated error logs PDD2768
SpotWare Combi not all signals defined PDD2771
RS / SafeMove: New message regarding -Numeric Signature- only in English PDD2780
MAX_GUN_FORCE value changed after gun calibration PDD2848
Correction Filter in trackdata causes error message PDD2891
SafeMove configurator throws exception when external axis joint bounds are large PDD2894
DHCP IP address not viewable PDD2946
Display of mechanical unit truncated PDD2953
Improved error message when loading old configuration files PDD2957
Mechanical Unit name cannot be edited in cfg editor PDD2975
Electronically linked motors PDD3008
System Boot wrongly sets revolution counter OK PDD3018
Stationary tool not working with IRB 360 PDD3063
Problem with RW 5.60 PDD3065
Incorrect chinese translation of 'Trap' PDD3084
DeviceNet: Explicit messaging PDD3087
ProfiNet FSU for modules Port2 PDD3146
TPU message not translated for Modpos on jointtarget PDD3147
RobotWare installation failure PDD3170
lt Message Description during Go Offline PDD3348
Strange effects in MultiMove System incl. UNDO handler PDD3427
ABB Robotics
PRU Title Ref
35/35
Author, telephone
Product Defect Document RW 5.61.02 PDD

Debug string too long PDD3783
Wrong value for group signals PDD3814
UAS - Default user only PDD3493
SW_TUP task stops with strange errors PDD3823
FlexPendant fails to come up after power down with SMB communication lost PDD3909
TAF error locks up pendant illegal syntax PDD3971

Release Notes RW 5.61.02

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Release Notes RW 5.61.02

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ABB Robotics

PRU Title Ref

How to Migrate an Application from RW 5.15.xx to RW 5.60 ........................................................................................ 2

Release Name .................................................................................................................................................................... 3

Controller Hardware Support.......................................................................................................................................... 4

Restrictions in Controller Hardware Support ................................................................................................................. 5

Language Support ............................................................................................................................................................ 5

Incompatibility RW 5.60 .................................................................................................................................................. 6

Incompatibility RW 5.61 .................................................................................................................................................. 7

New Functionality RW 5.60.............................................................................................................................................. 8

New Functionality RW 5.61............................................................................................................................................ 13

New Functionality RW 5.61.02 ....................................................................................................................................... 15

Improvements RW 5.60 .................................................................................................................................................. 16

Improvements RW 5.61 .................................................................................................................................................. 18

Information / Corrections RW 5.60................................................................................................................................ 19

Information / Corrections RW 5.60.01 ........................................................................................................................... 25

Information / Corrections RW 5.61................................................................................................................................ 26

Information / Corrections RW 5.61.01 ........................................................................................................................... 31

Information / Corrections RW 5.61.02 ........................................................................................................................... 32

Product Defect Document RW 5.60 PDD .............................................................................................................. 33

Product Defect Document RW 5.61 PDD .............................................................................................................. 34

Product Defect Document RW 5.61.02 PDD ............................................................................................................. 35

How to Migrate an Application from RW 5.15.xx to RW 5.60

Release date 2014-10-10

Ordering number for the RobotWare 5.61.02 DVD is 3HAC047038-001, Rev D

Controller Hardware Support

§ DSQC1005, ProfiBus Master – 1 channel Option 969-1

§ Fieldbus adapters (HMS-module)

§ DSQC667, ProfiBus slave Option 840-2

§ DSQC688, ProfiNet slave Option 840-3

§ DSQC1004, DeviceNet slave Option 840-4

§ Profinet m/s Option 888-2

§ Profinet slave Option 888-3

§ Serial port (RS232)

Restrictions in Controller Hardware Support

RAPID datatype motsetdata updated

New structure of motsetdata:

Incorrect tcp calculation for robot on track

Windows XP not supported for RCS (PDD2752)

New Functionality RW 5.60

New optional argument for RAPID instruction AccSet

New RAPID function SocketPeek

Ethernet/IP: Assembly ConfigData

Increased user signals for the I/O system

Bosch ProfiNet Weldtimer option

Production Monitoring / OPC support

Simulated weld timer selection in SystemBuilder

New robot IRB 6700

IRB 6700 / 2.60m 175kg LeanID

New robot IRB 360 1.6m 6kg

CSSDeactMoveL updated with optional argument TLoad

New optional argument on function GetSysInfo

New function GetSignalOrigin (PDD1819)

SafeMove and EPS Backup/Restore/Safety aspects. (PDD1627)

= on signaldi, signalgi, signalai

New Functionality RW 5.61

New IRB 6700 variants

New robot IRB 2600 Type B and IRB 2600ID Type A

New robot IRB 4600 Type D

Slovenian language support added to RobotWare and FlexPendant

Servo gun synchronization does not affect Safemove synchronization (PDD1764)

Support for IRB 2600 on IRBT 4004 Type A (PDD2636)

Support for IRB 760 on IRBT 7004 Type A (PDD2637)

IP-settings for LAN2 and LAN3 (PDD2673)