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Supported Controller Model(s)
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Controllers
IRC5
ABB IRC5 is the current controller series that runs Robotware software
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GSD File: xxxx to do
Robot Controller Configuration
RobotStudio - Software requirements
ABB RobotStudio is a proprietary Windows application with a long list of features, including offline programming and robot simulation. RobotStudio is also the recommended application for installing the required scripts/configuration for interfacing with the RTR Controller.
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Robot Controller Configuration
Navigate to the controller tab on the top panel.
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The left panel should display on the left panel.
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Network Configuration
Under Configuration, navigate to Communication. In Transmission Protocol, right-click and add a new protocol. Fill in the field as follows:
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In this example, we use the service port of the ABB robot, which has a fixed IP (192.168.125.1). You can use any other ethernet port in the robot controller where the IP address and port numbers can be changed to your preference. The same IP address and port number must be set in the Appliance Web Application:
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Multitasking Setup
Next, double-click on Controller under the Configuration tab. Add a new task called “RTRCommandServer” and fill in the remaining fields as follows:
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In this example, change the name T_ROB1 to RTRMotion on both locations. |
EGM Setting Setup
Under Motion, edit External Motion Interface Data and add the following profile “RTR_EMID”:
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The “Default Proportional Gain” must be set to 0, otherwise, the robot may drift when moving to goal positions.
Installing RTR RAPID API + Scripts
The final configuration step is to set up the automatic loading of RTR Rapid modules. To do this, we need to add the RTR RAPID scripts to the HOME directory. In the top menu under the Controller tab, press File Transfer, and transfer the provided RAPID folder to the HOME directory. You will need to Request Write Access to do this.
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Everything is now set up. RTR_MotionModule.mod is the included RTR example script for getting started with the RTR RAPID API.
RTR RAPID API
The RTR RAPID API is provided by rtr_egm.sys system module file. It provides the following intended public functions:
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RTRMove() - initiates EGM motions commanded by the RTRController. On entry, this function will block until an AcquireControl command is sent by the RTRController. Afterward, the RTRController is in full control of the robot. Send a ReleaseControl command from the RTRController to exit the function.
call RTRMove() again to allow the RTRController to regain control of the robot
RTRShutdown() - Cleanup/reset all parameters set by RTRSetupEGM and RTRMove
Task-manager setup (eg. PLC)
PLCs can act as task-manager to send move commands to robots via the RTR controller.
PLC HW Configuration (Siemens TIA Portal)
Install the GSD files from above.
Configure the IP address and connect the ABB GSD to the network system.
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