FlexPendant Operators Manual 3HAC16590 ... - Technology

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10 Systems10.2.2. The structure of the main computer RAM memory contents10.2.2. The structure of the main computer RAM memory contentsGeneralThis section describes what the main computer RAM memory contains during normaloperation.The term “RAM memory” means the main computer primary memory, i.e. the memorymodules with which the main computer processor works during normal operation.The generic term “memory” is described in section What is “the memory”? on page 248Illustration of the RAM memoryEach part of the illustration is described in the table below.en05000014463HAC 16590-1 Revision: BContinues on next page249
10 Systems10.2.2. The structure of the main computer RAM memory contentsContinuedPartsPartFunction250RAM memoryimage.binctrl.binSMB boardControllerhard/flash diskRAPID codeConfigurationdataThe main computer memory modules, located on the computermotherboard. The processor reads and writes to this memory duringprogram execution.The size of the RAM memory may vary, but increasing the size will notimprove computer performance unless a number of hard- and softwarechanges are made to the robot system.When the system is powered OFF, intentionally or due to power failure, theimage.bin file is saved to the controller hard/flash disk.It is an internal file, created by the system during operation, usually invisibleto the user.When performing a “warm start” of the system, the complete image.bin fileis reloaded into the RAM memory. Other types of restarts may start withanother system, etc, which is described in the Operator’s manual - IRC5 withFlexPendant.This file contains, among other things:• robot identity data• calibration data• SIS data• duty timer dataThe file is stored on the SMB board on robot delivery. Data may then betransferred to the controller as detailed in the Operator’s manual - IRC5 withFlexPendant.NOTE that the ctrl.bin file is not stored in the system specific file on the hard/flash disk drive. This means that all data in the file will be retained even if thesystem software is updated or in any other way replaced.The SMB board (serial measurement board) is normally fitted on themechanical unit, and contains among other things, data from the ctrl.bin file.How to handle the data on the SMB board, moving data between SMB andcontroller, etc is detailed in the Operator’s manual - IRC5 with FlexPendant.The main mass storage unit of the control module, located in the ComputerUnit. Depending on controller version, it may be a hard disk drive or a flashdisk drive and may vary in size.It contains all necessary software for operating the robot, and is the unit onwhich the RobotWare is installed.When starting up, data is loaded into the RAM memory from the disk drive.When powering down, the image.bin file is automatically saved here.This section contains all executable RAPID code, whether written by ABB orthe customer.This data is basically the contents of the configuration files:• proc.cfg• moc.cfg• sio.cfg• mmc.cfg• sys.cfgEach file contains the settings made when creating and defining the system,options etc.The configuration files may not be changed after creation, but their contentsmay be checked as detailed in the Trouble Shooting Manual - IRC5. Whenchanging the contents of the configuration files, ABB strongly recommendsusing the tool RobotStudio Online to reduce the risk of introducing errors.Continues on next page3HAC 16590-1 Revision: B
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Operator’s manualFlexPendantIRC5M
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The information in this manual is s
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Table of Contents3.3.6 Backup and r
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Table of Contents6.9.3 Running a sp
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Table of Contents8
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OverviewContinuedPrerequisitesThe r
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Product documentation, M2004Continu
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1 Safety1.2. Applicable safety stan
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1 Safety1.3.1. Safety signals, gene
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1 Safety1.3.2.2. DANGER - Moving ma
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1 Safety1.3.3.1. WARNING - The unit
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1 Safety1.3.4. What is an emergency
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1 Safety1.3.6. What is safeguarding
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1 Safety1.4.1. Stop the system1.4 H
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1 Safety1.4.3. Extinguishing fires1
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1 Safety1.4.5. Return to the progra
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1 Safety1.5.2. For your own safety1
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1 Safety1.5.4. Safety tools1.5.4. S
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1 Safety1.5.6. Safety in automatic
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2 Welcome to FlexPendant2.2. What i
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2 Welcome to FlexPendant2.5. When t
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2 Welcome to FlexPendant2.5. When t
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2 Welcome to FlexPendant2.6. Button
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3 Get started3.2.1. Connecting a Fl
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3 Get started3.2.3. Connecting a PC
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3 Get started3.2.4. Set up the netw
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3 Get started3.3.1. About the Actio
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3 Get started3.3.2. System start up
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3 Get started3.3.3. JoggingContinue
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3 Get started3.3.4. Using RAPID pro
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3 Get started3.3.6. Backup and rest
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3 Get started3.3.8. Granting access
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3 Get started3.3.10. Installing sof
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3 Get started3.3.12. General proced
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4 Navigating and handling FlexPenda
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5 Jogging5.2.1. Restrictions to jog
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5 Jogging5.3.1. Selecting mechanica
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5 Jogging5.3.2. Selecting motion mo
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5 Jogging5.3.3. Selecting tool, wor
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5 Jogging5.3.5. Jog axis by axis5.3
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5 Jogging5.3.6. Jog in base coordin
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5 Jogging5.3.7. Jog in world coordi
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5 Jogging5.3.9. Jog in tool coordin
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5 Jogging5.3.10. Locking the joysti
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5 Jogging5.3.11. Incremental moveme
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5 Jogging5.3.12. How to read the ex
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5 Jogging5.3.13. Quickset menu, Mec
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5 Jogging5.3.13. Quickset menu, Mec
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5 Jogging5.3.14. Quickset menu, Inc
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6 Programming and testing6.2.1. The
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6 Programming and testing6.3.1. Vie
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6 Programming and testing6.3.2. Cre
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6 Programming and testing6.3.3. Edi
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6 Programming and testing6.4.2. Def
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6 Programming and testing6.4.6. Set
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6 Programming and testing6.5.2. Def
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6 Programming and testing6.5.5. Del
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6 Programming and testing6.7.1. Han
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6 Programming and testing6.8.1. Mir
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6 Programming and testing6.8.2. Mod
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6 Programming and testing6.8.3. Mov
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6 Programming and testing6.9.1. How
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Page 221 and 222: 7 Running in production7.1. Startin
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Page 229 and 230: 7 Running in production7.5.3. About
Page 231 and 232: 7 Running in production7.5.4. Start
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Page 239 and 240: 8 Handling inputs and outputs, I/O8
Page 245 and 246: 9 Handling the event log9.2. Deleti
Page 247 and 248: 9 Handling the event log9.3. Saving
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Page 265 and 266: 10 Systems10.3.9. Reflashing firmwa
Page 267 and 268: 10 Systems10.4.1. What is saved on
Page 269 and 270: 10 Systems10.4.3. Restore the syste
Page 271 and 272: 10 Systems10.5.1. Configuring syste
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Page 275 and 276: 11 Calibrating11.2. Updating revolu
Page 277 and 278: 11 Calibrating11.3. Loading calibra
Page 279 and 280: 11 Calibrating11.5. Fine calibratio
Page 281 and 282: 11 Calibrating11.6. Serial Measurem
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Page 285 and 286: 11 Calibrating11.7. 4 points XZ cal
Page 287 and 288: 12 Changing FlexPendant settings12.
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13 Descriptions of terms and concep
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Indexprograms 165filteringabout 101
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Indexaxis computer 263contactor int
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Index318
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