How to control ABBs motor units in Robotstudio?

Dahniel

Hi! I'm doing a thesis where I will use an ABB motor unit, MU.
In Robotstudio, RS, I would like to control the MUs speed, the degree and so on. So far I can only control the MU by making it a mechanical unit and then controlling the external axis by ordering the MU to turn a certain amount of degrees.
I tried Independent movement such as IndAMove IndRMove, but I fail to make it work.

This is the error message that I get:
System1/RAPID/T_ROB1/Module1(30,9): Option is missing(161): The instruction IndRMove requires the option Independent. 2019-03-27 17:37:45 General

I did try to find information about Independent movement online, but none of the hits I got on google where working, they are all dead.
Is there anyone out there that has some knowledge or hints about this?

Best regards
/Dahniel

lemster68

Go back into your system with system builder, add the independent axis option.

lemster68

No, not there, installation manager, system builder, or whichever is appropriate for your RW version.

Anders S

Here should the media pools for RW 5 be installed: 
C:\Program Files (x86)\ABB Industrial IT\Robotics IT\MediaPool

But probably is your system using RW 6.xx, and in that case should you use Installation Manager, not System Builder.

Anders S

Yes, correct.

Anders S

Add these settings:



//Anders

lemster68

Go back into your configuration like you posted yesterday.

Dahniel

Hi Lemster
I did this already (I think). Plesae see attached picture.

Dahniel

Thank you for your reply, I am very grateful for your time and your patience.

RS ask me for a "Controller Key which I don't think I have.



When I check the Virtual Key option, i can't choose the RobotWare Version, it is just blank (see pic below).
I assume I should browse to a certain folder in to be able to choose the RobotWare Version, but I can't find the correct folder.

C:\Program Files (x86)\ABB Industrial IT\Robotics IT\RobotStudio 6.08 and then what?

Dahniel

Yes I realized that this morning. Thx!!
I guess this is what you mean.

Dahniel

Hi, I still have a problem.

The following is my procedure.

1.       Create empty station

2.       ABB library: IRB140 and MU80

3.       Installation manager

4.       Create new system

5.       Name the system, next

6.       Add, Motor and GearUnits 6.08, OK, Next

7.       Added Licence(s) RobotWare and MotorAndGearUnits, next

8.       System options, check Independent axis
          Drive Modules, no changes
          Applications, no changes
          next

9.       Confirmation, Apply

10.   Install will update the controller with your selections and install  Product(s) / License(s)., Yes

11.   Error message popup:
        Unhandled exception was encountered.
        Object reference not set to an instance of an object.
        Do you want to Retry, else the application will be closed?

What am I doing wrong?

Dahniel

Thanks so much! Unfortunately, it's still the same error message.

Anders S

What version of RobotStudio do you have?

Dahniel

6.08

Dahniel

For some reason I don't get the error message any longer.
So now I created a system from Existing system. So far so good.
But ofcourse I ran in to trouble when I simulated.

Dahniel

Dahniel

Thank you so much guys!!!