RW Cutting 5.15.01 Release Notes

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Release Notes RW Cutting

Department Date Filename Page
ABB Robotics/BU Robot Product
2013-03-13
Dealt with by, telephone
RW Cutting 5.15.01 Release Notes.doc
1/16
Andreas X Eriksson, +46 21 344534
Table of Content
GENERAL .................................................................................................................................................................... 3 Dependency of RW Cutting ..................................................................................................................................................... 3 How to Upgrade to RW Cutting 5.15.01 ................................................................................................................................. 3 Incompatibilities ....................................................................................................................................................................... 7 RELEASE INFORMATION .......................................................................................................................................... 9 Release Name ............................................................................................................................................................................ 9 Release Content ........................................................................................................................................................................ 9 Release Information ................................................................................................................................................................. 9 Release Date .............................................................................................................................................................................. 9 ORDERING AND INSTALLATION ............................................................................................................................ 10 Order procedure ..................................................................................................................................................................... 10 Delivery ................................................................................................................................................................................... 10 How to install RW Cutting .................................................................................................................................................... 10 Ordering number ................................................................................................................................................................... 10 RW CUTTING FUNCTIONALITY AND CHANGE HISTORY .................................................................................... 11 Supported Robot Models ....................................................................................................................................................... 11 Languages supported by RW Cutting .................................................................................................................................. 11 Limitations .............................................................................................................................................................................. 11 Known issues ........................................................................................................................................................................... 11 Main functions in RW Cutting 5.14.03 ................................................................................................................................. 11 New features of RW Cutting 5.15 ......................................................................................................................................... 12 New features of RW Cutting 5.15.01 .................................................................................................................................... 12 Improvement and Correction of RW Cutting 5.15.............................................................................................................. 15 Improvement and Correction of RW Cutting 5.15.01 ......................................................................................................... 16
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Corrected Product Defect Document of RW Cutting 5.15.............................................................................................. 16
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General
Dependency of RW Cutting
This release is based on RobotWare 5.15.01. It can not run on RobotWare 5.15 or early version because of new argument (MinLevel) for shape tuning in RobotWare 5.15.01. RW Cutting 5.15.01 functions Dependent BaseWare options of RW5.15.01 Base functions Laser Cutting - Standard Equipment Task WristCutCircleL/J 951-1 RW Cutting * 623-1 Multitasking 900-1 WristMove
Table. 1 dependency table
* 951-1 RW Cutting includes options: 602-1 Advanced Shape Tuning, 617-1 FlexPendant Interface
How to Upgrade to RW Cutting 5.15.01

The sub-option sequence of RW Cutting 5.15.01 has been changed, there is a warning during create a new 5.15.01 system from an old backup. o Press OK after warning message is shown.
Fig. 1 Warning of build system from old backup
Select the correct sub-option manually.
Fig. 2 Sub-option list
Because new laser table is introduced, one argument of LsCutX instruction is changed. An upgrade tool is provided to upgrade user program of RW Cutting 5.14.03 or 5.15 to RW Cutting 5.15.01.
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o o o o Step 0 Preparation: Backup old Cutting folder in Mediapool in case old system is still needed. Install new RobotWare 5.15.01 and RW Cutting 5.15.01. Step 1 Backup the old system. Step 2 Build new system from the backup. Step 3 Upgrade user program modules with the upgrade tool Purposes 1. Auto create new laser cutting table(s) based on old LsCutData 2. Auto replace LsCutData with LsTableConf in user program modules How 1. Run Mediapool\CUTTING\LaserCutting\tool\UpgradeToolFor5_15_01.exe
Fig. 3 Welcome to the upgrade tool
2. Input the original folder(where is the old backup) and target folder(where to put the new upgraded backup)
Fig. 4 Select original backup and copy it to the new folder
All backup files/sub-folders will be copied into the new backup folder.
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3. The tool will automatically load all tasks and their LsCutData definitions in the selected backup system as below. User should decide which task to upgrade and which LsCutData variables to build the new table.
Fig. 5 Select task and old variables need to upgrade.
4. The main information of a new creating table can be found in below step. User can edit the table name and the max laser power for the new table. Note: user can still press Back to modify the selected task and LsCutData variables for the table. But, in case user press Next, upgrade will be really done. The new table files will be created. Those rapid program files will be modified. And all things cant undo. Note: the new created table will automatically be put into the correct folder.
Fig. 6 Table Preview
5. This step, user can check the upgrade result information. It contains: the created table name, replaced data ( old LsCutData variables name and new LsTableConf
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variables name ), modified rapid files name and modified LsCutX instructions number.
Fig. 7 The upgrade result
6. The upgrade tool cant cover everything and below step show user what they need to do manually.
Fig. 8 The manually operations
Result
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The laser table file MyTable.mod will be created according to selected LsCutData values.
The LsCutData objects definition will be replaced with LsTableConf. And new variable name is table name + _ + old variable name.
In those Laser cutting instructions, old arguments are replaced with new ones. In left, cdvDefault -> MyTable_cdvDefault.
Table 2 Upgrade result
o o
Step 4 Restore backup Step 5 User has to manually upgrade LsProcUser.sys or LsProcCont.mod Replace all LsCutData with LsCutParams Change LsCutData components to LsCutParams components, see the comparison table of new data types in the section of New features of RW Cutting 5.15.01.
Incompatibilities
RW Cutting does not work together with option 633-1 Arc and any sub-options of Arc.
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As mentioned before, RW Cutting 5.15.01 does not support user program of old version, upgrade tool should be used in this case.
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Release Information
Release Name
The release name is RW Cutting 5.15.01
Release Content
The release contains following products:

Installation package of RW Cutting 5.15.01 as additional option on the RW 5.15.01 DVD Application Manual RW Cutting 5.15.01 on Document DVD: 3HAC043508-001_RevA
Release Information
The information should be considered as last minutes information and most up-to-date. For more information please see the product website: http://inside.abb.com/product/seitp327/3cacae30055854dbc1257a2d00327501.aspx
Release Date
2013-04-12
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Ordering and installation

Order procedure
To order RW Cutting, do the following:
Mark 951-1 RW Cutting in the specification form.
Delivery
The RW Cutting deliverables are delivered in the following ways:

RW Cutting additional option will be delivered on the RobotWare DVD. Manuals are delivered on the Document DVD. RW Cutting additional option key will be delivered together with the controller. Product Guide/ Robotics/ Software Products/ Application Software/ Cutting Software
Also, RW Cutting documentation is available at ABB website:
How to install RW Cutting

a) b) c) Click ABB RobotWare Cutting 5.15.01.exe to install RW Cutting RW Cutting will be installed under the folder\MediaPool\CUTTING. RW Cutting virtual key is available under the folder\MediaPool\CUTTING
Ordering number
Ordering number for the RW Cutting Manual is 3HAC043508-001
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RW Cutting functionality and change history

Supported Robot Models
RW Cutting is available for IRC5 and all ABB 6-axis robots RW Cutting will not improve the motion performance for large robots, IRB 66xx / IRB76xx
Languages supported by RW Cutting

RW Cutting supports the language below:

English Chinese
Laser equipment HMI can be customized to any language with RobotStudio ScreenMaker
Limitations
RW Cutting is not available as MultiMove system RW Cutting is not designed for cutting application with high contact forces As a general rule of thumb, typically no improvement of motion performance can be achieved for circle diameters less than 3 mm or for cutting speed above 400 mm/s. The unique conditions (robot, tools, material, fixtures, etc) in the cutting application will determine the overall performance
Known issues
1. RW Cutting HMI Shape Tuning cant parse cut instruction with function call as argument. E.g. below cut instruction cant be parsed. LsCutCircleJ 2, Offs(p2, 10, 0, 0), v1000, 10, Arc3_r3_o3, iCW, cdv_Shape, tLaser; 2. RW Cutting HMI Shape Tuning Define frame cant save vector result into a CONST variable.
Main functions in RW Cutting 5.14.03

5.14.03 is the first version of RW Cutting. User interfaces o Intuitive user interface for online programming o Standard cutting and laser equipment interfaces o HMI - Quick argument checking & editing Customizable operator interface made by Screen maker o General laser equipment operator interface o Cell logic (support by Production Manager) Shape generation o Library of pre-defined shapes and cut instructions (Circle, Slot, Rectangle, Hexagon, CAD)
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o Free-Form Cut Instructions (Linear, Circular) o Automatic optimization and interaction to other cutting components Equipment interfaces o Standard Laser Equipment functions controlled from dedicated equipment classes o General cutting process interface for customized cutting equipment Advanced shape tuning automatic friction compensation o Automatic tuning for optimum motion performance for a specific shape at a specific location ILC Iterative Learning Control o Shape perimeter adjustment & compensation Speed modulation o Laser power can be modulated by TCP speed
There are 3 configurations of Cutting system. Configuration General Cutting Laser Cutting - Single task Laser Cutting Standard Equipment Task (Multi-task) Features Cutting process signals and event routines, No equipment class. All laser cutting process data and functions, e.g. speed modulation, Concise laser equipment interfaces All above features Standard laser equipment interfaces, Standard laser equipment operator HMI. Equipment class template files
Table 3 Configuration Info
comments Extendable base for other cutting process For simple laser cutting system For advanced laser cutting cell
New features of RW Cutting 5.15

There is no new feature added in RW Cutting 5.15 compared with 5.14.03.
New features of RW Cutting 5.15.01

Laser cutting parameter table o A laser table is a set of laser cutting process knowledge, it contains the best practices of laser experts. It can be reused and easy to be handled by operators. It is very helpful to manage the cut quality independently to the robot program. TPU HMI - checking & editing laser table in TPU. PROC Configuration new attribute of Laser Equipment Setting Active Laser Cutting Table indicate the active table name Change of Rapid instructions: LsCutX Replace argument: LsCutData with LsTableConf. Be able to control accelerate/decelerate rate according to laser table parameter.
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New Rapid data types for the laser table: LsCuttingData, LsPierData Below is the comparison between new data types and old LsCutData New Data Type Old LsCutData Description LsCuttingData.CutSpeed CutSpeed Same meaning. (mm/s) (mm/s) TCP speed during the cutting phase LsCuttingData.PowerLevel (% percentage) CutPower (w) Laser power during the cutting phase.
CutPower := LsCutParams.CutPower* LsCuttingData.PowerLevel/100;
Or GetCuttingPower(LsCutParams cutParams)
LsCuttingData.MinPowerLevel (% percentage)
MinCutPower (w)
The Min Laser power during the power speed modulation. MinCutPower :=
LsCutParams.CutPower* LsCuttingData.MinPowerLevel/100;
LsCuttingData.CriticalSpeed (mm/s)
SpeedToPowerFactor
LsCuttingData.CutProgram
CutProgram
LsCuttingData.GasType
GasType
LsCuttingData.GasFlow
GasFlow
LsCuttingData.HC_StandOff (mm)
HC_CutHght (mm)
LsCuttingData.HC_LockOn
HC_LockOn
LsCuttingData.HC_CharCurve
HC_CharCurve
Same meaning when value =0, both disable the power speed modulation. The difference of both power control methods, see below pictures Same meaning. Porgram (schedule) number of the laser system during cutting process. Same meaning. The gas type No during the cutting phase. Same meaning. GasFlow defines the gas flow or pressure to be used during the cutting phase. Same meaning. Distance between the nozzle and the cutting surface during the cutting phase. Same meaning If the value is set to True, the cutting head will be locked after it finds the cutting surface during the cutting phase. Same meaning
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Selects the laser head characteristic curve. Same meaning Kerf width compensates for material that is removed by the cutting process. Same meaning The gas type No. during the piercing phase. Same meaning GasFlow defines the gas flow or pressure to be used during the piercing phase. Same meaning Time that gas flows before the robot reaches the pierce point. Laser power during the piercing phase. PierCutPower :=
LsCutParams.CutPower* LsPierData.PowerLevel/100;
Or GetPierPower(LsCutParams cutParams)
LsCuttingData.Kerf (mm)
Kerf (mm)
LsPierData.GasType
PierGasType
LsPierData.GasFlow
PierGasFlow
LsPierData.PurgeTime (s) LsPierData.PowerLevel (% percentage)
PurgeTime (s) PierCutPower (w)
LsPierData.PierceTime (s) LsPierData.CutProgram
PierceTime (s)
LsPierData.HC_StandOff
HC_PierCutHght
LsPierData.HC_LockOn
HC_PierLockOn
Same meaning Time to pierce through the workpiece. New data. Porgram (schedule) number of the laser system during piercing process. Same meaning Distance between the nozzle and the cutting surface during the piercing phase.. Same meaning If the value is set to True, the cutting head will be locked after it finds the cutting surface during the piercing phase.
Table 4 Comparison table of new data types
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Fig. 9 Power Control in Old versions
Fig. 10 New Power Control in this version
Improvement and Correction of RW Cutting 5.15

Changes in RestartCutProcess Allow restart code to handle both "Laser cut activated" and "Head activated" not only Laser cut activated Add "Raise TimeOut" to stop restart if process doesn't start correctly Add missing call of cwPurgeProcess for single-task cutting Changes in Equipment UI of Laser Cutting fix bug can't copy TpsViewLaserStdEqu.dll to HOME during creating the new system replace wrong text "Head Control" by "Laser Control" in standard equipment UI of Laser Cutting Multi-task add Equipment UI dll for Laser Cutting - single task Changes in Equipment class template files add Basic_Head_Control \LockDelayTime to lock the head control after a period of time(second), used in readjust the Cut height/standoff during cutting. Remove the hidden attribute of cut instructions in MMC due to defects of RS5.15, hidden instructions cannot be synchronized correctly. So all cut instructions are visible new in Procedure Call list on the TPU compared to 5.14.03 Add new argument TLoad for all MoveX instructions in RS template files
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Because MoveX has new new argument TLoad in RW5.15. Two RS Template files ProcessDefinitions_LsCut.xml and ProcessDefinitions_LsCut.xml are updated for this change.
Improvement and Correction of RW Cutting 5.15.01

Improve the friction tuning Quick tuning setting can save 20%~50% tuning time compared to previous version dependent on the cut speed and the dimension of the shape. o Support MaxLevel / MinLevel to define a smaller data range for advance shape tuning. RW Cutting 5.15.01 can not run on RobotWare 5.15 or early version because they do not have the new argument MinLevel. o Set the higher speed (v200) for back movement during tuning. Provide 5 global Friction Data to save tuning time when share the same tuning value between several shapes who locate closely in the same area. o TPU HMI Advanced setting in Shape Tuning list view No error flag when multi-shapes share one global FricData o PROC configuration - new setting Tuning Process Info, to define the global fricdata name o During tuning, the first feature will tune the global Fricdata and other features wont tune it but use its value directly. Provide sharp corner solution Sharp corner function can make a smaller sharp corner( its minimum corner radius is 0.2 mm) for LsCutHexL /LsCutHexJ /CutHexL /CutHexJ / LsCutRectL /LsCutRectJ /CutRectL /CutRectJ ( for Hex, the original value is 1 mm; for Rect, the original value is 0.7 mm ). o In case Radius >= 1 ( for Rect, Radius > 0.7 ), those above cut instructions keep the existing behavior. o In case 0.2 < Radius < 1 ( for Rect, 0.2 < Radius < 0.7 ), the new sharp corner function will introduce 2 short lines(0.2 mm) instead of the old small arc for each corner. o In case Radius < 0.2, raise an error as before.
Corrected Product Defect Document of RW Cutting 5.15

RW5.15RC RWCutting leadout path is not working (only in tuning mode) RW5.15RC RWCutting Ilc tuning ignores PDispSet Robotware-Cutting for IRB1410_advance shape tuning error PDD1241 PDD1258 PDD1386

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RW Cutting 5.15.01 Release Notes

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Release Notes RW Cutting

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