How to connect to ABB IRC5 via FTP and upload PROG_ *.mod ?

JurajJuraj Žilina Slovakia
I am developing the Application  for ABB robot   where is possible   made the simple  trajectories   and  save as  PROG_ .mod  .  I am able send   file  on  FTP server  for example  Xlight FTP , but I do not have  experience  with  IRC5  FTP server .  Program is developed in C++ Builder  and  is use  tool  TidFTP  what is  FTP client .  If  somebody have  experience  . Could you  please  describe  how  . Whether the upload a module is  possible ? 

Answers

  • lemster68lemster68 United States ✭✭✭
    You can use FTP to transfer your program to the robot's storage.  However, it is still not in the program memory to execute until it is loading with teach pendant.  I suggest that you use Robotstudio to connect and then you can load your program into the program memory, ready to execute.
    Lee Justice
  • soupsoup USA ✭✭✭
    First check that you have the "FTP Client" option on your controller. Then search for ABB's manual that gives a good description of connecting the controller (FTP client) to an FTP server -- I can't easily find the manual on ABB's website, search "Application manual - Robot communication and I/O Control" online to find.

  • JurajJuraj Žilina Slovakia
    Hello All  thanks  for  your answer . 

    Soup  you  means that  IRC 5 do not have  the FTP Server ?  Only Client  and is necessary  do the transfer in opposite way .  
    In  second plant we have  Fanuc  Robot and there  is situation  much easier . We can send  program . ls  directly on the  robot disc . Via FTP . Client(PC) ->Server(Fanuc) .
    For ABB it looks more  complicated .   
  • soupsoup USA ✭✭✭
    You should be able to connect directly to the controller's HOME folder using an FTP client on a PC. You'd have to load the module from the HOME folder to run -- using the pendant or Load from RAPID code. RobotStudio allows you to load code directly into memory by connecting live via Controller > Add Controller. Also, RobotStudio has a FTP built-in at Controller > File Transfer. But, enter your IP, username, and password into your FTP software and give it a try.
  • lemster68lemster68 United States ✭✭✭
    You need to confirm that you have the FTP and NFS option on this robot.  I think that if you FTP your program over, then maybe you can write your program to load and run the module based off a variable.  For example, your PLC tells the robot to run Prog1, you Load diskhome \File:="Prog" + NumToStr(nProgNumber,0) + ".MOD";.  Probably should unload what was loaded also.
    Lee Justice
  • JurajJuraj Žilina Slovakia
    For  better understanding  it is  Foam Pad  line  machine  where  are produced foams for Car seat   and  on the  controller  disk is  store approximately 500 programs . 
    And yes  leamster68 have right   PLC is sending the info. witch kind of program must be  executed according  tools witch  are coming to robot area   .  I think  it should be enough send the program in correct directory  and  actual  system will  arrange others .  I hope it will work . 

    Thanks  Gentleman  after first test I will  share the results .    
  • JurajJuraj Žilina Slovakia
    Hello Gentleman's  

    Offline program is working  well . I want solved  only  one problem  .  If  I am sending  new PROG_XXX.mod   file is  written to  ABB  disc .  If I change  some points  of trajectory for example  save  and rewrite   the file  in offline PC   and after  I send it  to ABB disc .   File is not changed ( rewrite  )   Offline program  has  FTP client  and  via  FTP  are files (PROG_xxx.mod )  sent  to  ABB .  
    If I try  as  testing  the FTP server (Xlight FTP server )  on  one  PC in the LAN  everything  was working correctly . 
    Could you  help me please ,  what could by the problem ??  

  • DenisFRDenisFR FRANCE ✭✭
    Hello,
    You have to reload module to get it in execution memory.
  • JurajJuraj Žilina Slovakia
    Even is there  dynamic loading of program from  IRB disk ?   
  • lemster68lemster68 United States ✭✭✭
    How about if you delete the file via FTP before sending over the changed one?
    Lee Justice
  • JurajJuraj Žilina Slovakia
    Before there was  only  script  for  rewriting  IdFTP->Put( . Now  I am using first  check if there  is  same  PROG_xxxx.mod   if yes delete  and after  write  .   On testing  FTP  in LAN it is working  well .  Only  between  PC and IRB is  problem .  But only with rewriting .  Could by there some  set up for FTP ?  
  • lemster68lemster68 United States ✭✭✭
    When you say PC and IRB do you mean the service port connection?
    Lee Justice
  • JurajJuraj Žilina Slovakia
    It is  Lan connection  classical  RJ45  connector .  Or you means  something else ?    
  • AlexKAlexK Sweden ✭✭
    edited March 18
    When you transfer a file and overwrite an old file (update it) and it's loaded into the runtime memory you need to unload that program and load it again. Just writing it to the robot disk won't change the program in memory. ABB does not execute the file directly from the directory, it's loaded into "runtime memory", Fanuc executes the file directly.

    FANUC: Transfer PROG_1.TP to robot through FTP. Robot run that .TP file. Upload the same updated TP file and it's run directly.

    ABB: Transfer PROG_1.MOD to robot HOME directory. In RAPID or on Teachpendant you need to load that module into runtime memory or it will not run (you won't see it in the teachpendant).

    So if you transfer PROG_1.MOD to your robot, you load that module through RAPID code and run it based on the name the PLC sends. Then when you want to update that module, you need to transfer the updated program (.MOD file) to the HOME directory. Unload the old module in memory, load the new updated .MOD file into memory and run it again and it should run the updated module.

    So simplified:

    Fanuc executes the TP file.
    ABB executes a memory of the MOD file (so it's a copy of the file you upload). Updating the file on the robot will not change the module being execuded (run).

    Hope this cleared it up a bit more. I know what you are coming from having worked with FANUC as well.

    So yes, it is a bit more complicated in ABB but it's also more flexible.
    Best regards
    Alexander Källberg
  • SomeTekkSomeTekk USA
    This is something similar to what is being sought,
    it might serve as a template for your purposes.

    Filezilla Server is running on the device named
    ToolPC: with a static IP of 192.168.3.39
    and that is where the modules are located.
    The Boot Application is used to set the IRC5
    static IP address that Filezilla permits access
    for transmitting and receiving.



    Reworking of the SIO parameters will be needed for RW6 should it
    be in use.

    SIO:CFG_1.0:5:0::
    #
    COM_PHY_CHANNEL:

          -Name "COM1" -Connector "COM1"

          -Name "LAN1" -Connector "LAN"

          -Name "SER1" -Connector "SERVICE"
    #
    COM_TRP:

          -Name "TCPIP1" -Type "TCP/IP" -PhyChannel "LAN1"
    #
    COM_APP:

          -Name "StoragePlace" -Type "FTP" -Trp "TCPIP1"\
          -ServerAddress "192.168.3.39" -LocalPath "ToolPC:" -Username "IRC5"\
          -Password "XyZ" -MaxFileSize 1500



    MODULE LoadMOD

        CONST string routineSTR:="rPart1";
        CONST string stNAMES{4}:=["PART1.mod","PART2.mod","PART3.mod","PART4.mod"];


        PROC altMain()
            FOR i FROM 1 TO 4 DO
                Load "ToolPC:"\File:=stNAMES{i};
                %routineSTR%;
                WaitTime 2;
                UnLoad "ToolPC:"\File:=stNAMES{i};
            ENDFOR
            TPErase;
        ENDPROC

    ENDMODULE

    Cheers!
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