25.5
Robots
ABB

ABB

Using a ABB with Wandelbots NOVA offers a wide range of possibilities for automating your production processes. There are 3 things you need to know before you start:

Which ABB controller types and models are supported by Wandelbots NOVA?

Supported models

Wandelbots NOVA provides you with virtual controllers for path planning, app development and simulation purposes.

Use virtual controller

You can connect your ABB controller to Wandelbots NOVA for real-world automation.

Set up and connect ABB controller

Supported models

Omnicore, IRC5 & IRC5 Compact controller

  • IRB 1010
  • IRB 1100-4/0.475
  • IRB 1100-4/0.58
  • IRB 1200
  • IRB 1300
  • IRB 1300 0.9/11
  • IRB 1300 1.15/10
  • IRB 1300 1.40/7
  • IRB 1300 1.40/12
  • IRB 1600 1.20/6
  • IRB 1600 1.20/10
  • IRB 1600 1.45/6
  • IRB 1600 1.45/10
  • IRB 2600 1.65/12
  • IRB 2600 1.65/20
  • IRB 2600 1.85/12
  • IRB 2600ID 185 15
  • IRB 2600ID 200 8
  • IRB 4600 2.50/20
  • IRB 4600 2.05/45
  • IRB 4600 2.05/60
  • IRB 4600 2.55/40

Use virtual controller

Open the home screen

Open your cloud instance via the Developer Portal or type in your physical instance's/virtual instance's IP address to access the home screen. Get an overview on the home screen and its functionalities here.

Create a cell in the settings

Open the settings app and go to the "Cell" tab.

Add robot to your cell

If you want to start using the Wandelbots API, do so now and add a robot via the Wandelbots NOVA API.

OR add a robot to your cell in the settings:

  • Select the "Robots" tab.
  • Click to add a robot to your cell.
    If the button is greyed out, your license might not support adding more robots. Please contact your administrator.
  • Select the robot type Virtual.

    Adding a physical robot will only work after successful setup.

  • Name the robot
  • Select ABB as manufacturer.
  • Select the desired robot model.
  • Add the robot to the cell.

Congrats! You can now start to plan paths and simulate! Open Robot Pad from the home screen of your instance and get started ✨.

Set up and connect ABB controller

About setup instructions

The provided setup instructions do not replace a thorough understanding of the robot manufacturer's original operating instruction and only apply to the supported models mentioned above.

The setup instructions include the following steps:

  1. Preparing the robot for the connection with Wandelbots NOVA.
  2. Physically connecting the IPC to the robot controller.
  3. Configuring the IPC to establish communication with the robot controller.
  4. Using the ABB controller on Wandelbots NOVA.
  5. Troubleshooting common issues that may arise during the setup process.

In order to connect the ABB controller to Wandelbots NOVA, Wandelbots NOVA needs to be integrated into the robotic cell according to these cell designs.

Wandelbots NOVA only supports ABB controllers with software version 6.x.x.x or higher.

Ensure that the ABB controller you're about to connect to Wandelbots NOVA is listed in the supported models section.

Qualified user groups

Preparing a controller for the use of Wandelbots NOVA is a task that requires a certain level of expertise. The following instructions are intended for qualified user groups only.

⚠️ caution

Danger in case of insufficient qualification of users
People can be injured if unqualified user groups set up the physical robot environment.

  • Only qualified user groups designated by the operating company may set up the physical robot environment.
  • Keep unqualified user groups away from the area of risk.

If a high experience level, e.g. admin user, is recommended to complete the step, the following label will be displayed next to the header:

Admin

Prepare the ABB
Admin

info

After an EMERGENCY STOP activation, the ABB controller's SAFETY_STATE_FAULT mode is activated. To continue, press the white blinking "Motor On" button on the controller.

  1. Turn on the robot controller adhering to the robot manufacturer's original operating instructions.
  2. Create a backup of the robot controller.
  3. Ensure that the option package External Guided Motion (689-1) is present.
  4. Unload all modules with a PROC main() entry and other main entries from all tasks.
  5. Make sure controller is in AUTO mode and all safety precautions are taken.

Connect IPC to the robot controller
Admin

  1. Connect an ethernet cable to the IPC's LAN-1 port.
    The LAN-1 port corresponds to the network port enp3s0 in the IPC network settings unless configured otherwise during the Wandelbots NOVA installation process.
  2. Connect the IPC to the robot controller's X2 (service port) port.
  3. Turn on the IPC.

Configure the IPC's network settings

  1. Open https://<ipc-ip-address>:9090, e.g. https://172.345.538.2:9090, in a browser on your personal computer.
    If the IPC is not connected to the same network as your personal computer, you can connect a keyboard, a mouse and a display to the IPC. Then open localhost:9090 in a web browser.
    ⚠️

    Only one personal computer is allowed to connect to the instance's IP address. In case multiple personal computers control a physical robot, e.g. via API and the RobotPad, simultaneously, the robot will not move.

    • Close all applications on other personal computers and try again.
    • Unplug the robot's ethernet cable from the physical instance and wait a couple of minutes to restart Wandelbots NOVA foundation services. Plug it into the LAN port again and try again.
  2. Log in with the user credentials created during the Wandelbots NOVA installation.
    The IPC's settings are displayed. A popup prompts you to enable administrative access.
  3. Enable administrative access and enter the admin password.
  4. Select the Network tab in the sidebar.
    The IPC's network settings are displayed.
  5. Toggle the button next to the enp3s0 port (corresponding to the IPC's LAN-1 port) to enable network activity.
  6. Click "edit" next to the IPv4.
    The IPv4 menu opens.
  7. Set the address dropdown to "Manual".
  8. Add the X2 port's IP address (always 192.168.125.1) but change the last digit to a number between 2 and 255, e.g. 192.168.125.5.
  9. Set the prefix to 255.255.255.0 (will automatically change to 24).
  10. Delete the prefilled gateway value.
  11. Save the settings.

Wandelbots NOVA can now connect to the robot.

Use ABB controller on NOVA

  1. Open your cloud instance via the Developer Portal or type in your physical instance's/virtual instance's IP address to access the home screen.
  2. Open the settings app and go to the "Cell" tab.
  3. Select the "Robots" tab.
  4. Click to add a robot to your cell.
    If the button is greyed out, your license might not support adding more robots. Please contact your administrator.
  5. Select the robot type Physical.
  6. Name the robot.
  7. Select ABB as the manufacturer.
  8. Enter the X2 port's (service port) IP address or LAN3 (X5)' IP address as the host that you've gathered during the physical robot setup.
  9. Enter the IPC's LAN-1 port's IP address as the EGM Server IP address.
    The EGM Server port is automatically displayed.
  10. Enter the controller port.
    Default values are 80 for IRC5 and 443 for Omnicore controllers.
  11. Do not tap Add yet!
  12. Set the robot to one of the operating modes: Manual or automatic.
    First time connecting to the robot? You need to set the automatic mode. This also applies in case you changed the EGM Server IP address or the EGM Server port.

Manual mode

  1. Set the robot controller's key switch to manual operating mode.
  2. In the settings, tap Add. Keep the original robot control panel at hand.
    Wandelbots NOVA is now configuring the robot controller. During the configuration, you have to grant writing rights via the original robot control panel.
  3. Grant every writing rights request on the original robot control panel.
    Upon successful configuration, the robot controller will be restarted automatically if required.
  4. Acknowledge all errors in the robot's control panel before continuing.
  5. Press and hold the Dead Man's Switch on the robot control panel.
  6. Activate Motion Groups using post /cells/{cell}/motion-groups/all to set the robot as active. Can also be done in Robot Pad by using the switch in the task bar.

Automatic mode

  1. Set the robot controller's key switch to automatic operating mode.
  2. In the settings, tap Add.
    Wandelbots NOVA is now configuring the robot controller. Upon successful configuration, the robot controller will be restarted automatically if required.
  3. Activate Motion Groups using post /cells/{cell}/motion-groups/all to set the robot as active. Can also be done in Robot Pad by using the switch in the task bar.

Troubleshooting

Find the X2 port IP address

In the NOVA settings, this IP address is called Host.

Using the original robot control panel

  1. Open System Info → Controller Properties → Network connections → Service port.
    The X2 port's (service port) IP address as well as its subnet are displayed. You'll need this IP address to add the ABB to the virtual cell on Wandelbots NOVA.

Find the LAN3 (X5) port IP address

In the NOVA settings, this IP address is called Host.

Using RobotStudio

  1. Open RobotStudio and connect to the robot.
  2. Go the Controller tab.
  3. Go to Configuration > Communication > IP settings.
    The LAN5 (X5) port's IP address as well as its subnet are displayed. You'll need this IP address to add the ABB to the virtual cell on Wandelbots NOVA.

Find the EGM server IP address

This EGM server address required in the settings is the IP address you created in the IPC's network settings for LAN-1 port during this step.

RobotsFANUC