Bypass Robotstudio using Python

jaarancibia

Hello ABB comunity

 I'm an electrical engineering student, from the Andes University of Chile, doing my thesis. I'm working with an ABB IRB140, and I have to install the drivers in to the IRC5 to use the robot with Python. I was following the instructions in this link https://github.com/robotics/open-abb-driver ;  to bypass Robotstudio  using Python. 

The problems that I'm having, can not install the programs in to the robot, because Rapid editor it's giving me errors in the Socket functions. I've read that I need to use the PC Interface option and the Multitasking, but I can not find information about those items. So, just that I know what I have to do right now is install or activate, PC Interface, multitasking, and then make a new system to install Server.mod and Logger.mod in to the IRC5. Can you guide me to do this?

Thanks for your respond.

Joaquín Arancibia

PerSvensson

First you need a new key which includes the PC interface option (it's not for free) contact your ABB salesmen.

Then you have to generate a new system using the new key and download it to the controller using System builder in RobotStudio.

jaarancibia

Thanks for your respond.

Yesterday I found that we have the PC Interface and Multitasking, I found the information following this:

ABB --> System Info --> System Properties --> Control Module -->Options  (By BigM)

Now I have to install the drivers into de IRC5. But i don't know how, can you help me please.

Thanks for the respond

Joaquín

PerSvensson

Hi

The Wiki describes pretty good what to do except for that it's described with an old version of RS

For the server.mod the ribbon isn't called Online anymore it's called "Controller"

For the logger.mod

1. Select Configuration Editor\Controller

2. Select "Task"

3. Right click in the right window,where you already have a task called T_ROB1, and select "new task..."

4. Give the task a name ex. Logger and set Type to Normal

5. Restart the controller

6. When the controller have restarted and the you are connected to it again you should have 2 task's in the browser to the left, T_ROB1 and Logger

7. Right click on Logger and select "Load Module..." and browse for the logger.mod

Now you should be ok

Niklas Skoglund

Hi Joaquin,

did you get it to work? Thanks Per for helping out.

On this forum we quite often get questions like "how can I control the robot using PC-SDK/socket etc" from students. I guess that the intention is to develop control algorithms or other applications in thesis projects. If you want to share what your project is about it would be interesting.

As far as I know this is the first time ROS is discussed in the forum and I hope your findings can be valuable to other users.

I just have a small question about topic heading. RobotStudio is our tool for programming and configuring the robot controller. If you use another simulation package you are "bypassing" RobotStudio, but I think what you are doing is more bypassing the built in motion control and support functions in the robot controller itself. Or maybe both?

jaarancibia

Niklas Thanks for your interest. I think what I did, was bypass robotstudio. Let me tell you how things worked, because I finished my project, The two programs that you have to install in the ABB, were like normal routines to the robot. The hardest part was configure my computer, to install ROS and allow the communication between the robot and my computer. Then just I had to run the communication command in any programming software, and then work directly with the robot. I have some videos to share later. If you need any help, please ask, I would help anyway. And about your questions, yes, I was able to bypass RobotStudio, because you just use it to install the programs in to the IRC5, then I never needed to use it again. Regards!