We reserve all rights in this document and in the information contained therein.

Reproduction, use or disclosure to third parties without express authority is strictly forbidden.  ABB

Release Notes for RobotStudio 4.0

© ABB 2000-2006. All Rights Reserved.

1 INTRODUCTION ..........................................................................................................................................................2

2 SUPPORTED PLATFORMS........................................................................................................................................2

3 SUPPORTED CONTROLLER VERSIONS ...............................................................................................................2

3.1 FULL SUPPORT ..........................................................................................................................................................2
3.2 LIMITED SUPPORT .....................................................................................................................................................2
4 INSTALLATION AND COMPATIBILITY................................................................................................................3

5 WHAT’S ON THIS CD? ...............................................................................................................................................3

5.1 SOFTWARE COMPONENTS .........................................................................................................................................3
5.2 LIBRARIES ................................................................................................................................................................4
5.3 OTHER ......................................................................................................................................................................5
6 NEW FEATURES ..........................................................................................................................................................6
6.1 NEW FEATURES SINCE ROBOTSTUDIO 3.2.................................................................................................................6
6.2 NEW FEATURES SINCE ROBOTSTUDIO 3.1.................................................................................................................6
6.3 NEW FEATURES SINCE ROBOTSTUDIO 3.0.................................................................................................................7
6.4 NEW FEATURES SINCE ROBOTSTUDIO 2.1.................................................................................................................8
7 ROBOTSTUDIO API ....................................................................................................................................................9
7.1 API CHANGES AND NEWS SINCE ROBOTSTUDIO 2.1..................................................................................................9
8 SOLVED LIMITATIONS .............................................................................................................................................9
8.1 SOLVED LIMITATIONS SINCE ROBOTSTUDIO 3.2 .......................................................................................................9
8.2 SOLVED LIMITATIONS SINCE ROBOTSTUDIO 3.0 .....................................................................................................11
8.3 SOLVED LIMITATIONS SINCE ROBOTSTUDIO 2.1 .....................................................................................................12
9 KNOWN LIMITATIONS ...........................................................................................................................................13

10 LICENSE MANAGER ERROR CODES ................................................................................................................16

11 HOW TO OPERATE THE DEMO STATIONS AND VBA EXAMPLES...........................................................16

11.1 DEMO STATIONS ...................................................................................................................................................16
11.2 VBA EXAMPLES ...................................................................................................................................................17
12 SETUP OF STANDARD POSITIONERS ...............................................................................................................17

No. of sh.
Prep. Fredrik Syrén 2006-05-15 Release Notes
Qual. RobotStudio 4.0 18
Resp.
dept. ATMA/RO/RAIP File Release note 4.0 RobotStudio.doc
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1 Introduction
This file contains release notes for RobotStudio 4.0. The information should be considered as
last minutes information and most up-to-date.
Visit also our web site at http://www.abb.com/roboticssoftware for more information and
updates.

2 Supported Platforms
Before you install RobotStudio, make sure your system conforms to the following
requirements:
Software requirements
Microsoft Windows 2000 Professional with Service Pack 4 or higher.
Microsoft Windows XP Professional with Service Pack 1 or higher.
$TEMP folder must exist (e.g. c:\temp).
The VRML Cad Converter requires that Microsoft Virtual Machine is installed.
Note: Windows service-packs can be downloaded from www.microsoft.com
Note: Windows XP SP2. Windows Firewall will try to block features necessary to run
RobotStudio and RobotStudioOnline properly. Make sure to unblock these features when
asked (Industrial Robot Discovery Server, RobotStudio StudioAppFramework module,
Virtual RobotController (all published by ABB)). The blocking state of a certain
program can be viewed and changed at Start/Control Panel/Windows Security
Center/Windows Firewall. Read more on www.microsoft.com

Recommended hardware
CPU: 2.0 GHz Intel Pentium 4 or faster processor
Memory: 1 GB RAM or higher
Free disc-space: 500+ MB on the system disk.
250+ MB on the installation disk.
Graphics card: High performance OpenGL-compatible graphics card with the
corresponding up-to-date drivers installed
Display settings: Screen resolution: 1280 x 1024 pixels
Colors: Windows 2000/XP 256 or higher
Mouse: Three button mouse

3 Supported Controller Versions

3.1 Full support
S4c/S4c+ with RobotWare 3.2/52, 4.0/121

3.2 Limited support

S4/S4c with RobotWare 3.0, 3.1 (3.0 is only supported for S4C). Linear jogging, View Robot
at Target, Jump to Target, robot axis configuration support and automatic setup of external axes
are not supported.
See also Known limitations for information about controller version 2.1.

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4 Installation and Compatibility

When you are installing, make sure that you have administrator rights on the computer that
you are using. Note: remote installation is not supported.
Compatibility with other versions and products:
• It’s recommended to uninstall versions earlier than 2.0 of RobotStudio before you
start installation of RobotStudio 4.0. This includes uninstall of RobInstall.
• ProgramMaker/QuickTeach 4.0 or older must be un-installed before installing
RobotStudio.
• RobotStudio-S4 Lite 4.0 or older must be un-installed before installing RobotStudio.
• The station- and library- format was changed in RobotStudio 1.1.1. Stations and
libraries saved in RobotStudio 1.1.1-3.2 cannot be opened in earlier versions. Stations
and libraries saved in RobotStudio 1.1 and earlier can be opened in RobotStudio 4.0.
• All 4.0 controllers made before RobotStudio 4.0 must be cold-started. Backup of these
controllers is required before installation. You can restore them after RobotStudio has been
installed.
• It’s recommended to redefine all 4.0 controllers made before RobotStudio 4.0 to a system
based on the new virtual controller 4.0/121.
• In order to get RobotStudio, QuickTeach or ProgramMaker to run on the same
computer as WebWare please follow the instructions below.
• Log in with local administrator rights.
• Close all applications except Windows.
• Install RobotStudio, QuickTeach or ProgramMaker.
• Install WebWare.
• Configure Interlink as an Out-Of-Process Server by following these steps:
• Start the “Command Prompt” (Start-Menu ! Run… ! write cmd ! press
“OK”).
• Enter the following text in the Command Prompt window :
c:
cd\
cd program files
cd common files
cd abb automation
cd interlink
interlink –unregserver
interlink –regserver

• All virtual controller related files are by default placed in C:\Program Files\Common
Files\ABB Automation.
• RobotStudio 4.0 requires a new license.

5 What’s on this CD?

5.1 Software components
The virtual controller versions 2.1, 3.0, 3.1 3.2/52 and 4.0/121
Interlink 4.50.0015
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RobInstall 1.31
VBA 6.3
ACIS R16 SP1

5.2 Libraries
Library of robots, tools, external axes, positioners and equipment
A default robot controller version is stored for every robot. Unless other is specified this
controller version is used when the Virtual Controller is started.
This release includes the robot models according to the table below.
Note: New models and revisions of models (robots and positioners) are continuously published
on www.abb.com/robotics as they become available.
IRB Model RobotStudio model Default controller
M98 M98A M99 M2000 Library name Version
140, 140F/CR/T X IRB140_M2000.rlb 4.0/121
340, 340SA X IRB340_M2000.rlb 4.0/121
1400 X X IRB1400_M98-M2000.rlb 4.0/121
1400H X X IRB1400H_M98-M2000.rlb 4.0/121
2400 M94A IRB2400_M94A 2.1
2400/10 X IRB2400_10_M2000.rlb 4.0/121
2400/16 X IRB2400_16_M2000.rlb 4.0/121
2400L X X X IRB2400L_M98A-M2000.rlb 4.0/121
2400 X X X IRB2400_ M98A-M2000.rlb 4.0/121
4400/45 X X X IRB4400_45_M2000.rlb 4.0/121
4400/65 X X X IRB4400_60_M2000.rlb 4.0/121
4400FS X X X IRB4400FS_M98A-M2000.rlb 4.0/121
4400L/10 X X X IRB4400L10_M2000.rlb 4.0/121
4400L/30 X X X IRB4400L30_M2000.rlb 4.0/121
640 X X IRB640_M98-M2000.rlb 4.0/121
6400/2.4-120 X IRB6400_24_120_M98.rlb 3.2
6400/2.4-150 X IRB6400_24_150_M98.rlb 3.2
6400/2.4-200 X IRB6400_24_200_M98.rlb 3.2
6400/2.8-120 X IRB6400_28_120_M98.rlb 3.2
6400/3.0-75 X IRB6400_30_75_M98.rlb 3.2
6400R/2.5-120 X IRB6400R_25_120_M2000.rlb 4.0/121
6400R/2.5-150 X IRB6400R_25_150_M2000.rlb 4.0/121
6400R/2.5-200 X IRB6400R_25_200_M2000.rlb 4.0/121
6400R/2.8-150 X IRB6400R_28_150_M2000.rlb 4.0/121
6400R/2.8-200 X IRB6400R_28_200_M2000.rlb 4.0/121
6400R/3.0-100 X IRB6400R_30_100_M2000.rlb 4.0/121
6400S/2.9-120 X IRB6400S_29_120_M2000.rlb 4.0/121
6600/2.55-175 X IRB6600_255_175_M2000.rlb 4.0/121
6600/2.55-225 X IRB6600_255_225_M2000.rlb 4.0/121
6600/2.80-175 X IRB6600_280_175_M2000.rlb 4.0/121

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6600ID/2.55-185 IRB6600ID_255_185_M2000.rlb 4.0/121

6650/2.75-200 X IRB6650_275_200_M2000.rlb 4.0/121
6650/3.20-125 X IRB6650_320_125_M2000.rlb 4.0/121
6650ID/2.75-170 IRB6650ID_275_170_M2000.rlb 4.0/121
6650S/3.00-200 X IRB6650S_300_200_M2000.rlb 4.0/121
6650S/3.50-125 X IRB6650S_350_125_M2000.rlb 4.0/121
7600/2.30-500 X IRB7600_230_500_M2000.rlb 4.0/121
7600/2.55-400 X IRB7600_255_400_M2000.rlb 4.0/121
7600/2.80-340 X IRB7600_280_340_M2000.rlb 4.0/121
7600/3.50-150 X IRB7600_350_150_M2000.rlb 4.0/121
5402/3.0-15 IRB5402_30_15.rlb 4.0/121
5403/3.0-15 IRB5403_30_15.rlb 4.0/121
5400-02 IRB5400-02.rlb 4.0/121
5400-02 Process IRB5400-02P.rlb 4.0/121
5400-03 IRB5400-03.rlb 4.0/121
5400-03 Process IRB5400-03P.rlb 4.0/121
5400-04 IRB5400-04.rlb 4.0/121
5400-04 Process IRB5400-04P.rlb 4.0/121
5400-12 IRB5400_12.rlb 4.0/121
5400-12R IRB5400_12R.rlb 4.0/121
5400-13 IRB5400_13.rlb 4.0/121
5400-14 IRB5400_14.rlb 4.0/121
5400-22 IRB5400_22.rlb 4.0/121
5400-22R IRB5400_22R.rlb 4.0/121
5400-23 IRB5400_23.rlb 4.0/121
5400-24 IRB5400_24.rlb 4.0/121
540-02 IRB540.rlb 4.0/121
580-02 IRB580-02.rlb 4.0/121
580-02S IRB580-02S.rlb 4.0/121
940 (Tricept) X IRB940.rlb 4.0/121

Note: Following robots are not supported:

S4: IRB3400/1.9-30, IRB3400/2.5-10
S4C: IRB9410
S4C/S4Cplus: IRB840 and IRB8400 (gantries)
IRC5: All

5.3 Other
Help files, RAPID documentation, Demo stations, Addins and VBA examples.

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6 New features
6.1 New features since RobotStudio 3.2
Geometry ACIS R16 SP1
ACIS is upgraded from R14 SP4 to R16 SP1

VC VirtualController 4.0/121
A new version of the 4.0 virtual controller is included.

Robotics IRB66X0 ID
The following robots are now supported.
- IRB6600ID/2.55-185
- IRB6650ID/2.75-170

Robotics IRBT4003
The IRBT4003 (90 deg. and inline) tracks are now supported.

Robotics IRB5300-03
The IRB5300-03 (door openers) are now supported.

Robotics IRB4400S
The IRB4400S is now supported.

Robotics RTT Tracks

The RTT Tracks (Marathon and Bobin) are now supported.

6.2 New features since RobotStudio 3.1

Geometry ACIS R14 SP4
ACIS is upgraded from R10 SP6 to R12 SP3

VC New VirtualController 4.0/113

A new version of the 4.0 virtual controller is included.

VC Interlink 4.50.0015
A new version of Interlink is included.

CAD CATIA V5
CATIA V5 is now supported be the CAD Converter.
Note: Choose “Custom Installation” to install this feature.

CAD Inventor Series 9

Inventor 9 is now supported by the CAD Converter

CAD Pro/Engineer Wildfire

Pro/Engineer Wildfire is now supported by the CAD Converter

Robotics IRB5400 Enhanced robot family

The enhanced paint robot family is now supported.
- IRB5400-12
- IRB5400-12R
- IRB5400-13
- IRB5400-14
- IRB5400-22
- IRB5400-22R
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- IRB5400-23
- IRB5400-24

Robotics IRB6650 Shelf

The IRB6650 Shelf robots are now supported.
- IRB6650S/3.00-200
- IRB6650S/3.50-125

Robotics IRBT4003
The IRBT4003 (90 deg. and inline) tracks are now supported.

Robotics IRBT6003
The IRBT6003 (90 deg. and inline) tracks are now supported.

Robotics IRBT7003
The IRBT7003 (90 deg. and inline) tracks are now supported.

6.3 New features since RobotStudio 3.0

GUI Spanish language
RobotStudio is now available in Spanish.

Geometry ACIS R12 SP3

ACIS is upgraded from R10 SP6 to R12 SP3

VC New VirtualController 4.0/100

A new version of the 4.0 virtual controller is included.

VC New VirtualController 3.2/52

A new version of the 3.2 virtual controller is included.

Robotics Irb5400-02 Process Arm

The Irb5400-02 manipulator with process arm is now supported

Robotics Irb5400-03 Process Arm

The Irb5400-03 manipulator with process arm is now supported

Robotics Irb5400-04 Process Arm

The Irb5400-04 manipulator with process arm is now supported

Add-in AVI Capture Add-in

A new Add-in has been added to the Plus+Pac. The AVI Capture add-in is
built on the Camtasia Screen Recorder SDK and enables fast and easy screen
capturing from RobotStudio.
See documentation for more information.

Add-in Hose Simulation Add-in

A new Add-in has been added to the Plus+Pac. With the Hose Simulation add-
in you can easily attach hoses to any Parts of a station, including robots and
static surroundings. During simulation the hoses dynamically deform and are
adjusted according to the positions of the attachment points and surrounding
equipment.

The accuracy of the hose simulation depends on a number of factors, such as

the properties of the hose and the complexity of the RobotStudio station. We
can not guarantee that the hose simulation seen on the screen is identical with
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how the hose will behave in reality, which it probably isn’t, but we believe
that it will give the user a better understanding of potential cabling problems
in the real station.

Add-in Path Configurator Add-in

A new Add-in has been added to the Plus+Pac. The Path Configurator helps
you set the robot's axis configuration for reaching the targets in the path,
which results in better movements throughout the paths.
See documentation for more information.

GUI Snap Modes

A new snap mode has been added which combines the snap modes mid, end
and center into one single mode. The system will snap to the nearest mid, end
or center point. This will minimize the number of mouse interactions required
to perform certain tasks. Also, by holding down the Alt key and hovering the
cursor over objects you will get a “preview” of the current snap point.

GUI Insert Action Intruction

An Apply button has been added to the Insert Action Instruction dialogue.

Robotics Keeping WObj’s position when changing Robot World

An option has been added making it possible to keep workobjects positions
when changing the Robot World.

GUI Create Path from Curve

A list box has been added to the Create Path from Curve dialogue making it
easier to select the curves.
Note: It’s still possible to multiselect curves in the graphics or in the object
browser and to select the “Create Path from Curve” command form the
context menu.

GUI Create Targets

In the Create Target dialogue it.s now also possible to select in which
workobject targets should be created. It.s now also possible to also possible to
create targets normal to a specified surface.

The user will now also be notified whether external axis values and robot
configurations have been stored or not.

Robotics Conveyor Tracking

It’s now possible to work against the conveyor in a .Teach Mode., which
enables you to create and teach targets at any desired position of the conveyor.

6.4 New features since RobotStudio 2.1

Robotics Irb6600/2.80-175 now supported
The Irb6600/2.80-175 manipulator is now supported.

Robotics Irb6650/3.20-125 now supported

The Irb6650/3.20-125 manipulator is now supported.

Robotics Irb7600/2.80-340 now supported

The Irb7600/2.80-340 manipulator is now supported.

Robotics Irb940 (Tricept) now supported

The Irb940 manipulator is now supported.
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Geometry ACIS R10 SP6

ACIS is upgraded from 6.3.6 to R10 SP6

Simulation Event Table improvements

/GUI The event table has been improved with a function that makes it possible to
have different behavior each cycle in a cyclic simulation. It has also been
enhanced with more drop down lists to make it easier to enter values to the
table
See documentation for more information.

Robotics Support of the new generation positioners from Laxå (Pluto)

In RobotStudio 3.0 it’s possible to set up, program and simulate the new
generation of positioners from Laxå.

Robotics Conveyor tracking support

It’s now possible to configure and simulate conveyor tracking.
See documentation for more information.
Note: The virtual controller must be of version 4.0.70 or higher.

Process In-line Targets

Targets It’s now possible to define targets as in-line.
See documentation for more information.

VC New VirtualController 4.0/80

New VC 4.0/80 that supports Windows 2000 and XP is included

GUI New GUI for external axis set up

The user interface for mapping of external axis has been simplified and is now
done on one single page. It also has a lot more logic to it minimizing the risk
of entering incorrect values.
See documentation for more information.

GUI Start Controller

It’s now possible to start the controller from the Setup Controller dialogue.

GUI Progress Bar

A progress bar will now monitor the loading of a station.

GUI Current Controller

The status bar now shows the name of the running controller.

GUI Cursor
The graphical window cursor has been re-designed in order to make it more
visible.

GUI Labels
It’s now possible to have the names of targets, paths and frames displayed in
the graphics.

GUI Coordinates showed when performing free hand move

The coordinates of an object will be showed during free hand move.

Process Copying Paths

Targets When copying a path you will now be asked whether you want to create new
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targets or not.

GUI Modify position of a Work object

It’s now possible to choose mode, RPY or Quaternion, when entering
coordinates in the “Modify Workobject“ dialogue.

VC Stop Virtual Controller

A tool that stops all Virtual Controller related processes is included in the
installation. It should be used in the event of a hanging controller or if the
controller hasn’t shut down properly.
The “Stop Virtual Controller.exe” can be found in the \Program Files\ABB
Robotics\RobotStudio folder.

IRBP New positioners

A set of new positoners have been added to the installation including
predefined controllers (for different robot/positioner combinations) to be able
to run simulations with coordinated motion for positioners C, K, L, R and 1 A

GUI Italian language

RobotStudio is now available in Italian. The on-line documentation for
ProgramMaker and QuickTeach is however still in English as well as all the
manuals. The Italian version of these will be supplied as a service pack as
soon as they become available.

7 RobotStudio API
The RobotStudio API uses the Microsoft’s® Visual Basic for Applications (VBA) version 6.3.
There is an online help for RobotStudio API showing the RobotStudio Object Model as well as
explaining the methods, properties and events for each object. The help can be reached from
RobotStudio’s Help menu.
RobotStudio has passed the compliance testing of “Featuring Microsoft Visual Basic for
Applications”.

7.1 API changes and news since RobotStudio 2.1

RobotStudioProject.vba
The storage of the RobotStudioProject.vba has been changed to C:\Documents and
Settings\”Current User”\Local Settings\Application Data\ABB Robotics\

8 Solved limitations
8.1 Solved limitations since RobotStudio 3.2
DSE6377 Show/Blank browser error when having a part and a path with same name
This problem is now resolved

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DSE6383 View Tool at Target doesn't support tools with multiple frames
This problem is now resolved

DSE5452 Working limits for linear move doesn't care about robot world nor active TCP
This problem is now resolved

DSE6291 RobotStudio crashes when running simulation

Clicking on the 'start simulation' button from the toolbar causes RobotStudio to close
immediately with an exception in a specific station.
This problem is now resolved.

DSE6272 The conveyor setup wizard calculates a wrong base frame for the VC
This problem is now resolved.

DSE5450 Baseframe position of robot library of IRB940 is incorrect

This problem is now resolved.

DSE5460 Not possible to find any solutions for IRB940

This problem is now resolved.

RobotStudio crashes when MoveAbsJ is selected as active process and moving along
path
This problem is now resolved.

DSE5461 IRB640 doesn't handle configuration correctly

This problem is now resolved.

8.2 Solved limitations since RobotStudio 3.0

DSE 5376 Target generated as “NoName” in the Virtual Controller
This problem is now resolved.

CQ 3793 Error when changing View Settings

The error created when changing View Settings and applying them to All views is now
resolved.

CQ 3790 Add-in causes a crash

The problem that some add-ins caused a crash when closing RobotStudio is now resolved.

CQ 3787 Problems programming Stn 2

The problems regarding programming station 2 in some arc welding stations are now
resolved.

CQ 3784 Deleting the active robot

DSE5359 The error that was created when deleting the active robot from a station containing
several robots is now resolved.

CQ 3766 Minimize TPU

DSE5301 The problem that the TPU only could be minimized once from RobotStudio/QuickTeach
is now resolved.

CQ 3764 The value of robhold not always correct

Setting the robhold value to “True2 didn’t take effect in the dialogue although the setting
was actually made. This problem is now resolved.

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CQ 3758 Synchronization with non coordinated Track

When the robot is configured for non-coordinated track-motion, it.s now no longer
necessary to place the track in the 0-position before synchronizing to and from the VC.

CQ 3756 Shut down of Virtual Controller

When closing a station or shutting down the virtual controller from RobotStudio the user
will now be notified if there are any other actors accessing the Virtual Controller, e.g. IO
Simulator or ProgramMaker. The user can then choose to close these as well for a
complete shutdown of the virtual controller.

CQ 3744 Add-ins in Italian version

It was not possible to launch add-ins from the Italian version. This problem is now
resolved.

CQ 3741 RobotStudio hangs after controller restart

Pressing the OK button in the setup controller dialogue a second time just after the
controller has been restarted will cause the system to go into a non-responding state. This
problem is now resolved.

CQ 3740 Check marks in Simulation/Collision menu

The check marks in the collision menu weren’t visible, making it hard to see the actual
mode. This problem is now resolved.

CQ 3736 Create border failed

Create border along edge failed if UCS was set to other than default. This problem is now
resolved.

CQ 3679 Sync with Action Instructions

Synchronization from the virtual controller to the station could under some circumstances
put action instructions in the wrong order. This problem is now resolved.

CQ 3477 ModPos does not change tool when required although a warning is given
When ModPos'ing a target and the active tool is changed, then the target instruction is not
updated with the changed tool, only the target position is modified. This problem is now
resolved.

CQ 3447 Edit Externals

The preview command in the edit externals dialogue could create an error, especially if no
controller was started. This problem is now resolved.

DSE 5353 Problem with Kinematic Modeler add-in

The problem regarding defining a tool with two frames is now resolved.

8.3 Solved limitations since RobotStudio 2.1

CQ 2938 Can't create tool at pos 0,0,0
It was not possible to create a tool at pos 0,0,0 when using the create tool wizard.

CQ 3198 Delete work object error

When you deleted a work object, no other work object was set as active and the deleted
work object was still selected in the combo box.

CQ 3207 Incorrect handling of work object in the "Create path from curve" dialog
It’s now possible to select which work object that should be used during path creation.

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CQ3113 Unreadable selection of robot tools

It was more or less impossible to select desired tool when using the "Tool at target"
function in a cell containing several tooldata.

CQ 3283 Set View Center should be available from context menu

It’s now always available for selection.

CQ 3282 ProgramMaker is always the active window/on top

It’s now possible to see other applications without first having to minimize
ProgramMaker.

CQ 3293 IO Simulator should always be on top

The IO Simulator used to end up behind RobotStudio when activating the RobotStudio
window.

CQ 3328 Tools with multiple TCP-frames

If you attached a tool with more than one tcp-frame defined to a robot, only one of these
frames would then be available for selection. This is now corrected.

CQ 3416 Wrong working range for Irb340

Working range in z-direction changed from 230mm to 250mm according to product
documentation.

CQ3474 JumpToTarget when having room fixed tcp

The robot did not jump to the correct position when having room fixed tcp (MoveTo
worked fine).

CQ 3524 Wrong initialization of axis 6 cursor in "Mechanism Status" dialog

It was placed at the extreme left.

CQ 3528 Attaching a robot to a mechanism not controlled by the robot affects its motion
The problem was due to the fact that it was assumed that the mechanism was configured
for the robot.

9 Known limitations
ROL IODisable and IOEnable Instructions
1003149 The RAPID instruction IODisable and IOEnable are not supported.

IOF Disable simulated board

1002453 All I/O units are simulated and therefore they are not possible to disable.

IOF DSQC351, DSQC350, DSQC352 I/O Boards

1003084 All gateways are simulated, just as all other boards are. No simulations of field busses are
IOF made. This means that they are acting as digital board.
1003114
IOF Backup/Restore
1002378 Making restore from a previously backed up controller configuration can sometimes fail.
It has been observed that program modules or the I/O configuration are not restored.
Workaround: Load the missing parameter files manually from TeachPendant or redo
Restore. Note! Please report if you experience problems on backup/restore.

AWD Sensor interface

1003009 It’s not possible to use the Sensor interface option. This option requires additional
hardware connected to the controller.

RSE 1003 Screen not updated when starting the Teach Pendant
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Sometimes the TPU screen is not updated when the Teach Pendant is started up.
Workaround: Press any button to redraw the screen.

RSN 1006 Simulation requires Auto mode

Please allow approximately 15-30 seconds for the controller to reach Auto mode when
controller is started, before executing the robot program.

RSN 1007 Don’t restart a new controller before the old one has shut down
Please allow approximately 5 seconds for the controller to shut down before starting a
new controller.

RSN 1025 Execution time of logic instructions is not supported

The execution time for logical instructions is not simulated. This will result in shorter
cycle times compared to the real cycle time. This mean for example that for a RAPID
Wait times instruction the simulated time will be close to zero independent of the
programmed wait time.

RSN 1035 Search

It is not possible to use the Sensor interface option. This option requires additional
hardware connected to the controller.

RSN 1038 Array of robtargets, tooldata and workobjects are not supported
RAPID programs containing arrays of tooldata, robtargets and workobjects are not
supported, i.e. they will not be synced to the station.

CQ 1657 RobotStudio is case sensitive

RobotStudio is case sensitive and will not treat e.g. ROBTARGET and Main as robtarget
and main.
Workaround: Change capital letters to lowercase letters.

DSE 3875 CAD Converter does not accept filenames with 2 dots
The CAD Converter does not accept filenames with 2 dots.
Workaround: Remove one dot. Example: Rename filename.new.igs to filename_new.igs

CQ 1683 CAD Converter does not show remaining demo time

The CAD Converter does not show how many days that remain of the free license time.

Restart VC from TPU requires also restart of VC from RobotStudio

If the VC is restarted from the TPU, the VC must be shutdown and started again from
RobotStudio. It is recommended to always restart the VC from RobotStudio.

CQ 1794 Edit program may freeze the Virtual Controller

If you edit the RAPID program from ProgramMaker the Virtual Controller may freeze in
Manual mode.
Workaround1: Open the TPU, press E-stop Off, then press Motors On and finally set the
VC to Auto.
Workaround2: Shutdown and start the Virtual Controller from RobotStudio.
Workaround3: Always open the RAPID program File/Import

MMC Filename of programs must not exceed 16 characters

1009347 When a program is saved (*.prg or *.mod) the filename must not exceed 16 characters.
and MMC The Virtual Controller does not support Filenames with more than 16 characters.
1008552
User defined motion instructions with only circular motion type not supported
User defined motion instructions with only one type of motion, circular, is not supported.

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CQ 2512 Jogging with MechStatus may cause VC to crash

Jogging linear in the MechStatus window may cause the VC to crash if the robot is
repeatedly moved outside joint-limits.

Data from VirtualController not updated

When selecting Edit Instruction or Instruction Template, the list-boxes for e.g. speed- and
zone-data are sometimes empty.
Workaround: Go to the Program menu and execute Refresh once before opening these
dialogues.
Note: It takes a while for RobotStudio to read all data in the virtual controller. The
reading is finished when the Play-button in RobotStudio becomes active.

CQ 2881 Synchronization with non coordinated Track

When the robot is configured for non-coordinated track-motion, the track must be on the
0-position when synchronizing to and from the VC.

Program in VC must be syntactically and semantically correct when synced

Existing program in VC must be syntactically and semantically correct when synced. This
is to ensure that correct RAPID instructions are created when a path is synced from the
station to the VC.

SUP Downloading a VC-key to RC causes pagefault

1007504 If a key.id created for a VC is downloaded to the controller, the root script cannot load the
file and will crash and the installation will fail. This will only occur if download is done
with a 3rd party ftp-client. RobInstall handles this case.

Add-ins only available in English

Add-ins to RobotStudio (for instance the Plus+ Pac) are only available in English

1010189 PaintWare and Irb5xx-robots are not fully supported in VC 3.2 and earlier
PaintWare and simulation of Irb5xx robots are not fully supported in VC3.2 and earlier.

Virtual Controller 2.1

Due to startup problem on some PC configurations the virtual controller 2.1 is no longer
fully supported. Since VC 2.1 will run without problem on most PC, we provide VC 2.1
to be used as is.

Virtual Controller cannot read compressed cfg-files

The VC cannot read compressed cfg-files

Independent move is not supported

The VirtualController does not support axes with independent movement

Limited user rights installing and using RobotStudio

You must have administrator permission to install and use RobotStudio

CQ 3087 It’s not possible to synchronize routines belonging to system modules

The synchronization engine doesn’t allow system modules to be synchronized.

Virtual Controller startup

You might experience problems starting the virtual controller (it takes a long time) or
aborting the startup procedure. This occurs on computers having a virus scan active
(McAfee 4.5.1). To correct this problem you will have to exclude a folder from the virus
check. Open the VirusScan Console and configure it to exclude the following folder (you
must have RobotStudio running): C:\Documents and Settings\All Users\Application
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Data\ABB Automation\ .

Only one virtual controller at a time

It is not possible to have more than one controller running at a time in RobotStudio.

WebWare and RobotStudio 3.0

To have full compatibility between WebWare 3.0 and RobotStudio 3.0 you need to have
WebWare 3.0 SP1 or later release installed.

Configuration parameter Cfx for 6600 &7600 robots

Note that you must define the corresponding robot as “Current” in the Virtual Robot
Browser to be able to see the Cfx value.

“Move Along Path” wont update data in the Virtual Controller

The “Move along Path” command will not update data in the Virtual Controller. If you
modify data in the station that once have been synchronized you need to update the
Virtual Controller by synchronizing again before executing “Move along Path”.

10 License manager error codes

The following, most common, error numbers are reported by the license manager:
Error Description
number
-1 The license file cannot be opened.
-2 Invalid license file syntax.
-5 The license file does not contain the requested license.
-8 Bad encryption code.
-9 The host ID in the license does not match the machine on which the software is running.
-10 The license has expired.
-21 The version requested is greater than the highest version supported in the license file.
-30 The license file cannot be read.
-76 Internal FlexLM error.
-88 System clock has been set back.
-99 The internal checksum on a decimal license has indicated the license has been typed in
incorrectly.
-111 License is neither date locked nor node locked.

11 How to operate the demo stations and VBA examples

A number of demo stations and VBA examples are included in the RobotStudio distribution.
For all demo stations, VirtualController 3.2 and 4.0 is required.

11.1 Demo stations

In the directory ...\ABB Robotics\Stations you will find a number of example stations.
rsFlexArcR.stn – Coordinated external axis.
rsGlue.stn – Stationary tool + grip and release of part
rsLaserCut.stn – Laser cutting.
rslDeburr.stn - Deburring
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rslFlexArc250S.stn – FlecArc Compact welding station

rslPaint.stn - Paint
rslPress.stn – Press brake tending
rslSpot.stn – Spot welding
2xInjection_machines.stn – Unloading rubber injection machines.
For each example station, load the station and wait for its controller to start. Go to the File
menu, select Import/Program, and open the program found in the Programs folder that has the
same name as the station. Press the Play button. Watch the robot move!

11.2 VBA Examples

In the directory ...\ABB Robotics\Library\VBA you will find a station, VBAExamples.stn, with
examples of VBA scripts. Open the station, press Alt+F8, select “Macros in <All Standard
Projects>” and run a macro.
Macros:
Extrude.TestExtrude Shows an example of how to extrude objects.
FenceWizard.RunWizard An example using modeling functions for creating a fence.
RSE.xxx Macros that shows how menus in RobotStudio can be
manipulated.
In the directory RotController there is a station, Rotate.stn, that shows how to extend the
object-model with a new controller class to be used in simulation. Open the station and press
the play button. Watch the pyramid rotate

12 Setup of standard positioners

The picture below describes correct combinations of options for ABB Flexible Automation
standard positioners
X = Mandatory option
O = Optional option
For more information, please see the documentation or contact your nearest ABB Support
Center.
Note: A set of predefined controllers (4.0/80) for different robot/positioner combinations are
included in the installation. E.g: The controller C250K_1400 should be used in a station with a
IRB1400 and a IRBP250K.

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