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— ROBOT WARE ADD -IN

User Manual

StateMachine Add-In 1.1

Contents

Requirements ...................................................................................................................................................... 2

Overview .............................................................................................................................................................. 2 RAPID Modules and Configurations ......................................................................................................................... 3 State Machine Illustration ......................................................................................................................................... 6

Example 1: ............................................................................................................................................................... 6 Example 2: ............................................................................................................................................................... 6

System Installation ............................................................................................................................................. 7 Step 1: Controllers ........................................................................................................................................................ 7 Step 2: Products .......................................................................................................................................................... 8 Step 3: Licenses ........................................................................................................................................................... 9 Step 4: Options ........................................................................................................................................................... 10 Step 5: Confirmation ................................................................................................................................................. 11

RobotStudio Simulation ................................................................................................................................... 12 Step 1: Add System .................................................................................................................................................... 12 Step 2: Configuration (Optional) ............................................................................................................................ 12 Step 3: Simulation ...................................................................................................................................................... 12

External Resources ........................................................................................................................................... 13 Documentation ........................................................................................................................................................... 13 Open Source Resources ............................................................................................................................................ 13

Acknowledgements .......................................................................................................................................... 14

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Requirements • RobotWare 6.09 or higher (less than RobotWare 7.0).

• One or more ABB robots.

Overview This RobotWare Add-In provides a state machine implementation, which listens for changes in certain

IO-signals. Most of the IO-signals are coupled with requesting transitions into different states. State

transitions are only made if allowed, and this depends on the currently active state.

If the Add-In has been selected during system installation, then several RAPID modules and

configurations will be loaded into the system. Each motion task in the system receives its own instances

of the modules that are loaded for such tasks. An optional watchdog implementation can be selected

during system installation. The watchdog is loaded into a separate task for multitask systems, and into

the main task for non-multitask systems.

Several core modules and configurations are always loaded. Additional modules and configurations

might also be loaded depending on specifications of the system. For example:

Robot(s):

• Single robot.

• Multiple robots.

• Dual armed robot (IRB14000).

RobotWare Options:

• Multitasking (623-1).

• Externally Guided Motion (689-1).

• Leadthrough.

RobotWare Add-Ins:

• StateMachine option: Watchdog.

• SmartGripper (only versions 3.52, 3.53, 3.54, 3.55 and 3.56 are currently supported).

The combination of the RAPID modules and configurations compose several services, which are

intended to provide ease-of-use of a subset of the robot controller’s functionalities.

The state machine implementation is intended to be used in combination with external component(s),

which are using Robot Web Services 1.0 (RWS1) and (optionally) Externally Guided Motion (EGM) for

communication with the robot controller. An external component can for example be a C++ program

executing on a user’s own computer.

In short: RWS1 is an interface for general communication (e.g. reading/writing IO-signals and RAPID

program data, starting/stopping the RAPID program, reading robot controller status etc.). On the other

hand, EGM is an interface used for specialized communication (e.g. streaming motion references for

direct motion control).

There are several other options for communication between external components and ABB robot

controllers, but as mentioned earlier, this Add-In is intended to be used with RWS1 and (optionally) EGM.

See the External Resources section for some useful information concerning usage of RWS1 and EGM.

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RAPID Modules and Configurations

The following tables specify the RAPID modules and the configurations loaded by the Add-In. The tables

also indicate the dependencies for each item. Noteworthy information is highlighted in red. The “_X”

suffix depends on either the number of robots in the system, or the selected options.

Table 1: RAPID modules.

Dependency Module Comment

Core TRobMain.mod The StateMachine’s main loop.

Core TRobUtility.mod Provides utility features.

Core TRobRAPID.mod Facilitates execution of RAPID routines.

Core TRobSystem.sys Facilitates execution of system specific RAPID routines.

Core TRobSystemExample.sys Examples of system specific RAPID routines and data.

Watchdog TRobWatchdog.mod Watchdog, for watching external status signals (used in

non-multitask systems).

Watchdog TWatchdogMain.mod The watchdog’s main loop, for watching external status

signals (used in multitask systems).

EGM TRobEGM.mod Facilitates execution of EGM RAPID routines.

SmartGripper TRobSG.mod Facilitates execution of SmartGripper RAPID routines.

Table 2: Configurations (communication domain).

Dependency Type Instance (first attribute) Comment

EGM Transmission

Protocol

ROB_X The robot controller’s EGM

settings. Important for a user to

update with the correct remote

IP-addresses after installation.

Table 3: Configurations (controller domain).

Dependency Type Instance (first attribute) Comment

Core

EGM

SmartGripper

Automatic

Loading of

Modules

TRobX.mod/TRobX.sys Indicates which RAPID module are

loaded into motion task(s).

Watchdog Event Routine Quick Stop When a quick stop event occurs,

then a routine is executed to

reset the watchdog’s status.

Watchdog Task T_WATCHDOG Specifies a watchdog task (used

in multitask systems).

Watchdog Automatic

Loading of

Modules

TWatchdogMain.mod Loads the watchdog task’s main

RAPID module (used in multitask

systems).

Table 4: Configurations (motion domain).

Dependency Type Instance (first attribute) Comment

EGM External Motion

Interface Data

ROB_X For applying filter to EGM motion

references.

EGM External Motion

Interface Data

ROB_X_RAW For using raw (non-filtered) EGM

motion references.

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Table 5: Configurations (I/O system domain).

Dependency Type Instance (first attribute) Comment

Core Signal RUN_RAPID_ROUTINE Used by an external component

to request the execution of a

RAPID routine.

Core Signal OUTPUT_STATIONARY_ROB_X Indicates if a mechanical unit is

moving or not.

Core Signal Output OUTPUT_STATIONARY_ROB_X Internal signal output (indicates

if a mechanical unit is moving or

not).

Watchdog Signal WD_EXTERNAL_STATUS Used by an external component

to set its status. Periodically

checked by the watchdog (if

activated and set to do so).

Watchdog Signal WD_STOP_REQUEST Used by an external component

to request a stop of the system.

The stop is handled by the

watchdog (if activated).

Watchdog Signal WD_STOP_TRIGGER Used by the watchdog to signal

a stop of the system.

Watchdog Signal WD_STOP Internal signal (used to stop the

system).

Watchdog Signal Input WD_STOP Internal signal input (used to

stop the system).

Watchdog Cross

Connection

WD_STOP_CC Internal cross-connection (used

to stop the system).

EGM Signal EGM_START_JOINT Used by an external component

to request start of EGM joint

motions.

EGM Signal EGM_START_POSE Used by an external component

to request start of EGM pose

motions.

EGM Signal EGM_START_STREAM Used by an external component

to request start of EGM position

streaming (i.e. no motions).

EGM Signal EGM_STOP Used by an external component

to request stop of EGM motions.

EGM Signal EGM_STOP_STREAM Used by an external component

to request stop of EGM position

streaming.

SmartGripper Signal RUN_SG_ROUTINE Used by an external component

to request execution of a

SmartGripper routine.

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Table 6: Configurations (man-machine communication domain).

Dependency Type Instance (first attribute) Comment

Core Most Common

I/O Signal

RUN_RAPID_ROUTINE For ease-of-access.

Core Most Common

I/O Signal

OUTPUT_STATIONARY_ROB_X For ease-of-access.

Watchdog Most Common

I/O Signal

WD_EXTERNAL_STATUS For ease-of-access.

Watchdog Most Common

I/O Signal

WD_STOP_REQUEST For ease-of-access.

EGM Most Common

I/O Signal

EGM_START_JOINT For ease-of-access.

EGM Most Common

I/O Signal

EGM_START_POSE For ease-of-access.

EGM Most Common

I/O Signal

EGM_START_STREAM For ease-of-access.

EGM Most Common

I/O Signal

EGM_STOP For ease-of-access.

EGM Most Common

I/O Signal

EGM_STOP_STREAM For ease-of-access.

SmartGripper Most Common

I/O Signal

RUN_SG_ROUTINE For ease-of-access.

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State Machine Illustration

The following is an illustration of some different states, and how the state transitions are made.

Figure 1: Sketch of the state machine and some state transitions. The EGM section is only included if the

EGM option exists in the system.

Example 1: When the IO-signal RUN_RAPID_ROUTINE goes from 0 to 1, and the state machine is in the idle state,

then the program will attempt to execute the desired RAPID routine (specified by setting RAPID

variable(s) beforehand). If the RAPID routine has been added to the list of known routines, then the state

machine enters the corresponding state and executes the routine. If the routine is non-blocking, then

the state machine doesn’t change state.

Note: There are a few predefined RAPID routines in the TRobRAPID.mod module, and additional user

routines are recommended to be added in the TRobSystem.sys module.

Example 2: If using EGM, then when either of the IO-signals EGM_START_JOINT, and EGM_START_POSE goes from 0

to 1, and the state machine is in the idle state, then the program will start the desired EGM motion

session. The robot controller starts by sending out a feedback message to the external EGM server.

If no reply is sent by the EGM server, then a timeout occurs, and the robot controller ends the EGM

motion session, and the state machine goes back to the idle state.

If the EGM server replies with motion references, then the robot moves according to the references. The

EGM motion session continues until either the predefined EGM conditions are met, a timeout occurs or

the IO-signal EGM_STOP goes from 0 to 1. When the EGM motion session ends, then the state machine

goes back the to idle state.

Note: The TRobEGM.mod module contains several parameters that should be updated to meet the

needs of the user.

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System Installation Installation of a virtual controller is used as an example. The installation process for a real robot

controller is practically identical, with a few differences that are highlighted in red.

The StateMachine Add-In is assumed to have been added to RobotStudio, so that it is available during

system installation. This can be verified by looking at: RobotStudio → Add-Ins tab → Check if

“StateMachine <version>” is included in the Installed Packages list.

Installation Manager 6 is used to install the system: RobotStudio → Controller tab → Installation

Manager → Installation Manager 6.

Step 1: Controllers

Under the Virtual tab, add a new virtual controller system, name the system, and press Next.

For a real robot controller, use the Network tab and find your controller. If it doesn’t show up, make

sure that there is a network connection to the physical controller. Add a new system (remove an old

system if required to free up memory), name the system, and press Next.

Figure 2: Create a new system.

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Step 2: Products

Add the RobotWare product and the StateMachine Add-In, as well as any additional products. Do this by

pressing Add… and find the desired products. If the StateMachine Add-In doesn’t show up in the list,

abort the installation and add it to RobotStudio’s installed packages.

Figure 3: Add products.

Figure 4: Find the product in the list.

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Figure 5: Press Next after all desired products has been added.

Step 3: Licenses

For a virtual controller, then a preadded virtual license is used by default. Press Next to continue.

For a real robot controller, the license list will be empty. Press Add… to add the license(s) for your

physical robot controller. Press Next to continue.

Figure 6: Add licenses.

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Step 4: Options

Add the desired system options (e.g. 689-1 Externally Guided Motion (EGM)), and robot type(s), and

application options (e.g. the StateMachine Watchdog).

For a real robot controller, the options included in the license(s) should have automatically been

selected. Add any additional desired (open) application options.

Figure 7: Select system options.

Figure 8: Select robot type(s).

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Figure 9: Select application options.

Step 5: Confirmation

Verify that all the desired settings have been made, then press Apply. Wait until the system installation

has been finished. Finally, close the Installation Manager.

For a real robot controller, verify that all the desired settings have been made, then press Apply.

Follow the instructions and wait until the system installation has been finished (can take a while).

Finally, close the Installation Manager.

Figure 10: Confirm and apply the settings.

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RobotStudio Simulation To simulate the virtual controller, installed in the previous section, it needs to be added to a RobotStudio

station.

Step 1: Add Virtual Controller

Follow these steps to add the virtual controller to a RobotStudio station.

1. RobotStudio → File tab → New → Create an Empty Station, or a Solution with an Empty Station.

2. RobotStudio → Home tab → Virtual Controller → Exisiting Controller...

a. Find the virtual controller → Press Ok.

b. Wait until the virtual controller has been added to the station.

Step 2: Configuration (Optional)

If using EGM, then it is important to update the UDP communication configuration(s).

• RobotStudio → Controller tab → Configuration → Communication → Transmission Protocol →

Update all the ROB_X instances (X depends on the number of robots in the system).

o The type must be UDPUC.

o The Remote Address (to the external EGM server) is important to set correctly.

o The Remote Port Number (to the external EGM server) is important to set correctly.

After the configuration(s) has been updated, and the controller has been restarted, then the controller’s

EGM client(s) should be able to communicate with the external EGM server(s).

Step 3: Simulation

Start a simulation by etiher:

• RobotStudio → Simulation tab → Press Play.

• RobotStudio → RAPID tab → Program Pointer → Set Program Pointer to Main in all tasks → Press

Start.

When the simulation has started, then the state machine will begin with initialization, and then enter an

idle state. Trigger a state request by, for example, setting any of the following IO-signals from 0 to 1:

• RUN_RAPID_ROUTINE.

• Only available if using EGM:

o EGM_START_JOINT.

o EGM_START_POSE.

o EGM_STOP.

• Only available if using SmartGripper:

o RUN_SG_ROUTINE.

Tips:

• Trigger IO-signals manaully with the I/O Simulator.

o RobotStudio → Simulation tab → I/O Simulator.

o It is useful to create a User List (Filter → User List → Edit Lists... → Add desired IO-

signals).

• Activate the Operator Window (to see printouts from the state machine RAPID program).

o RobotStudio → Controller tab → Operator Window.

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External Resources

Documentation

See the online documentation (http://developercenter.robotstudio.com/webservice/api_reference) for

a detailed description of Robot Web Services 1.0 (RWS1).

See the Application manual - Externally Guided Motion for a detailed description of Externally Guided

Motion (EGM).

Open Source Resources

Two open source C++ communication libraries can be used together with systems based on the

StateMachine Add-In. And they are abb_librws and abb_libegm, for RWS1 and EGM communication

respectively. The abb_librws library provides a user-friendly interface, which has been designed

especially for this Add-In.

The libraries are available on GitHub:

• https://github.com/ros-industrial/abb_libegm.

• https://github.com/ros-industrial/abb_librws.

Figure 11: Overview sketch of robot controller, and the RWS1 and EGM C++ libraries. The StateMachine

Add-In sets up the robot controller with RAPID modules and necessary system configurations.

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Acknowledgements The core development has been supported by the European Union's Horizon 2020 project SYMBIO-TIC

(http://www.symbio-tic.eu).

The SYMBIO-TIC project has received funding from the European Union's Horizon 2020 research and

innovation programme under grant agreement no. 637107.

Figure 12: Logo of SYMBIO-TIC.

The distribution process has been supported by the European Union's Horizon 2020 project ROSIN

(http://rosin-project.eu).

The ROSIN project has received funding from the European Union's Horizon 2020 research and

innovation programme under grant agreement no. 732287.

Figure 13: Logo of ROSIN.

The opinions expressed in this document reflects only the author's view and reflects in no way the

European Commission's opinions.

The European Commission is not responsible for any use that may be made of the contained

information.