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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 951-1 RW Cutting *

Laser Cutting

- Standard Equipment Task

623-1 Multitasking

WristCutCircleL/J 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

o 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 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.

o Step 1 – Backup the old system.

o Step 2 – Build new system from the backup.

o 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 o 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 can’t 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 can’t 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 Step 4 – Restore backup

o 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.

Also, RW Cutting documentation is available at ABB website:

Product Guide/ Robotics/ Software Products/ Application Software/ Cutting Software

How to install RW Cutting

a) Click “ABB RobotWare Cutting 5.15.01.exe” to install RW Cutting b) RW Cutting will be installed under the folder“\MediaPool\CUTTING”. c) 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 can’t parse cut instruction with function call as argument. E.g. below cut instruction can’t 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 can’t 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 Features comments

General Cutting Cutting process signals and event routines, No equipment class.

Extendable base for other cutting process

Laser Cutting - Single task

All laser cutting process data and functions, e.g. speed modulation, Concise laser equipment interfaces

For simple laser cutting system

Laser Cutting – Standard Equipment Task (Multi-task)

All above features Standard laser equipment interfaces, Standard laser equipment operator HMI. Equipment class template files

For advanced laser cutting cell

Table 3 Configuration Info

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

(mm/s)

CutSpeed

(mm/s)

Same meaning.

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 Same meaning when value =0,

both disable the power speed

modulation.

The difference of both power

control methods, see below

pictures

LsCuttingData.CutProgram CutProgram Same meaning.

Porgram (schedule) number of the

laser system during cutting

process.

LsCuttingData.GasType GasType Same meaning.

The gas type No during the cutting

phase.

LsCuttingData.GasFlow GasFlow Same meaning.

GasFlow defines the gas flow or

pressure to be used during the

cutting phase.

LsCuttingData.HC_StandOff

(mm)

HC_CutHght

(mm)

Same meaning.

Distance between the nozzle and

the cutting surface during the

cutting phase.

LsCuttingData.HC_LockOn HC_LockOn 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.

LsCuttingData.HC_CharCurve HC_CharCurve Same meaning

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Selects the laser head

characteristic curve.

LsCuttingData.Kerf

(mm)

Kerf

(mm)

Same meaning

Kerf width compensates for

material that is removed by the

cutting process.

LsPierData.GasType PierGasType Same meaning

The gas type No. during the

piercing phase.

LsPierData.GasFlow PierGasFlow Same meaning

GasFlow defines the gas flow or

pressure to be used during the

piercing phase.

LsPierData.PurgeTime

(s)

PurgeTime

(s)

Same meaning

Time that gas flows before the

robot reaches the pierce point.

LsPierData.PowerLevel

(% percentage)

PierCutPower

(w)

Laser power during the piercing

phase.

PierCutPower :=

LsCutParams.CutPower*

LsPierData.PowerLevel/100; Or GetPierPower(LsCutParams cutParams)

LsPierData.PierceTime

(s)

PierceTime

(s)

Same meaning

Time to pierce through the

workpiece.

LsPierData.CutProgram New data.

Porgram (schedule) number of the

laser system during piercing

process.

LsPierData.HC_StandOff HC_PierCutHght Same meaning

Distance between the nozzle and

the cutting surface during the

piercing phase..

LsPierData.HC_LockOn HC_PierLockOn 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 won’t 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) PDD1241

RW5.15RC RWCutting Ilc tuning ignores PDispSet PDD1258

Robotware-Cutting for IRB1410_advance shape tuning error PDD1386