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 Corporate Research Center, Bangalore








ABB Connect
To
Microsoft Robotics Developer Studio 2008 R3
(ACM)

Version 5.13.02






User Guide




9ARD194977-001 ACM User Guide v 2.1


NOTICE
The information in this document is subject to change without notice and should not be construed as a commitment
by ABB. ABB assumes no responsibility for any errors that may appear in this document.

In no event shall ABB be liable for direct, indirect, special, incidental or consequential damages of any nature or
kind arising from the use of this document, nor shall ABB be liable for incidental or consequential damages arising
from use of any software or hardware described in this document.

This document and parts thereof must not be reproduced or copied without written permission from ABB, and the
contents thereof must not be imparted to a third party nor used for any unauthorized purpose.
.

Copyright 2010 ABB. All rights reserved.

Release: August 2010















































9ARD194977-001 ACM User Guide v 2.1


Contents
ABOUT THIS GUIDE ........................................................................................................................................................................ 4
GENERAL ......................................................................................................................................................................................... 4
DOCUMENT CONVENTIONS ............................................................................................................................................................. 4
TERMINOLOGY ................................................................................................................................................................................ 5
RELEVANT DOCUMENTATION ......................................................................................................................................................... 5
PRODUCT RELEASE NOTES ............................................................................................................................................................. 6
1 INTRODUCTION .................................................................................................................................................................... 7
1.1 GENERAL OVERVIEW .......................................................................................................................................................... 7
1.2 INTENDED AUDIENCE / USERS ............................................................................................................................................ 7
1.3 PRODUCT OVERVIEW .......................................................................................................................................................... 7
1.4 PRE-REQUISITES AND LIMITATIONS ................................................................................................................................... 7
2 ACM SERVICES ..................................................................................................................................................................... 7
2.1 ABBCONTROLLER SERVICE ............................................................................................................................................... 8
2.2 SIMULATED ABB 6 ARM SERVICE ................................................................................................................................... 10
2.3 SIMULATION ENVIRONMENT SERVICE ............................................................................................................................. 11
2.4 SIMULATED BALL CANNON SERVICE ............................................................................................................................... 11
2.5 SIMULATED FENCE SERVICE............................................................................................................................................. 12
3 ROBOT MODELS ................................................................................................................................................................. 13
3.1 ROBOT MODEL IRB 140 .................................................................................................................................................... 13
3.2 ROBOT MODEL IRB 6620 .................................................................................................................................................. 13
3.3 ROBOT MODEL IRB 120 .................................................................................................................................................... 13
4 SERVICE TUTORIALS ....................................................................................................................................................... 13
5 PRE-REQUISITES AND REQUIREMENTS .................................................................................................................... 14
5.1 HARDWARE REQUIREMENTS ............................................................................................................................................ 14
5.2 SOFTWARE REQUIREMENTS .............................................................................................................................................. 14
6 INSTALLATION ................................................................................................................................................................... 15
6.1 INSTALLING ABB SOFTWARE DEPENDENCIES .................................................................................................................. 15
6.2 INSTALLING ACM PACKAGE ............................................................................................................................................ 16
6.3 STARTING UP AND USING ACM ........................................................................................................................................ 18
6.4 USING THE ACM .............................................................................................................................................................. 20
7 APPENDIX-A TROUBLE SHOOTING ............................................................................................................................. 21
9ARD194977-001 ACM User Guide v 2.1


About This Guide

General

This Users Guide describes how the software package ABB Connect for Microsoft
Robotics Developer Studio (ACM) can be used for handling connectivity and simulation with ABB controllers and
ABB robot arms in the Microsoft RDS environment.
.




Document Conventions

This section should explain about the Conventions used and other value added information that are relating to this
Documentation.

The following conventions are used for the presentation of material:

The words in names of screen elements (for example, the title in the title bar of a window, the label for a
field of a dialog box) are initially capitalized.
Capital letters are used for the name of a keyboard key if it is labeled on the keyboard. For example, press
the ENTER key.
Lowercase letters are used for the name of a keyboard key that is not labeled on the keyboard. For
example, the space bar, comma key, and so on.
Press CTRL+C indicates that you must hold down the CTRL key while pressing the C key (to copy a
selected object in this case).
Press ESC E C indicates that you press and release each key in sequence (to copy a selected object in
this case).
The names of push and toggle buttons are in brackets and boldfaced. For example, click [OK].
The names of menus and menu items are boldfaced. For example, the File menu. The following convention
is used for menu operations: MenuName > MenuItem > CascadedMenuItem.
For example: select File > New > Type.
The Start menu name always refers to the Start menu on the Windows Task Bar.



























9ARD194977-001 ACM User Guide v 2.1


Terminology

.

Term Meaning
ACM ABB Connect for Microsoft Robotics Developer Studio
FlexPendant ABBs new generation of hand held device, used together with the IRC5 robot controller
IRC5 Industrial Robot Controller. ABBs new generation of robot controller
I/O Input Output
MS RDS Microsoft Robotics Developer Studio 2008 R3
PC SDK PC SDK is an ABB software package, which enables communication with IRC5 and is used to
create PC applications that enable end-users to interact with their robot system
RAPID ABB robot programming language
RobotStudio ABB robot simulation tool for industrial robot applications. It uses real robot programs and
configurations that are identical to those used on the shop floor
Virtual controller Virtual robot technology makes it possible to run a virtual IRC5 controller on the desktop
Virtual FlexPendant A virtual representation of the FlexPendant running on the desktop
VPL Visual Programming Language available in Microsoft Robotics Developer Studio





Relevant Documentation


Category Title Description
User Guide 3HAC033734-001 ACM User Guide

ACM User Guide
Tutorial 3HAC033734-001 Connectivity ABB
controllers and MSRDS
Tutorial
CLR ACM Class Library Reference
Web Link IRB 140 Overview Information link for ABB Robot IRB 140
Web Link IRB 6620 Overview Information link for ABB Robot IRB 6620
Web Link IRB 120 Overview Information link for ABB Robot IRB 120


9ARD194977-001 ACM User Guide v 2.1


Product Release Notes

Following are applicable for ACM 5.13.2

ACM 5.13.02 has been tested on Microsoft Robotics Developer Studio 2008 R3.
It has been tested using Visual Studio 2008 Team System.
Recommended operating system is Windows 7.
RobotStudio 5.13.02 complete installation is required.
PC SDK 5.13.02 installation is required which comes along with complete RobotStudio 5.13.02
RobotWare 5.13.02has been used to update the pre built robot systems. User is required to use these
distributed systems for their applications.


9ARD194977-001 ACM User Guide v 2.1


1 Introduction

1.1 General overview
ABB Connect for Microsoft Robotics Developer Studio (ACM) has been developed for handling connectivity and
simulation with ABB controllers and ABB robot arms in the MS RDS environment. The ACM software package
consists of a main service for connectivity and several simulation services.

1.2 Intended Audience / Users
This Users Guide is intended for those who want to start using ACM for handling connectivity and simulation with
ABB controllers and ABB robot arms in the MS RDS environment.

1.3 Product Overview
The ACM is a software package consisting of services needed for orchestrating and interacting with virtual and/or
real ABB robot controllers. The main service for connectivity, the ABB Controller service enables direct operation
with the controller e.g. start, stop, load, change program, subscriptions, etc. The ACM provides several simulation
services and it also includes three robot models completely integrated to MS RDS simulation environment.

1.4 Pre-Requisites and Limitations
For software requirements and license see table in section 5.2
Some knowledge about ABB robot systems is good and recommended, but it is not a mandatory
requirement.
The Articulated Arm contract provided by MS RDS is not supported by Simulated ABB 6 Arm.
ACM supports execution of several controllers at a time but not multi move
Up to 3 simulated ABB 6 arms with motion can be presented at the same time.
Simulated ABB 6 arm works only in conjunction with virtual controllers and not with real controllers
When using several mechanical units in a simulation, then the name of each mechanical unit has to be
provided.
Supports only one RAPID task per controller.
Subscription only supports persistent RAPID data (Global or local in a module). Analog I/O signal
subscription is supported through RAPID data subscription.

.

2 ACM Services
Enables communication with an ABB robot controller system and allows accessing and performing several
operations for retrieving and setting of data. The service is configured by setting an initial configuration or by a
manifest; the only property that works for this purpose is the System Name property, when left empty the ABB
Controller service tries to Connect for a system running in a virtual controller on the PC.

Note-If the System Name property is invalid (not referring to an existing controller) the service will connect
to the first found virtual controller.










9ARD194977-001 ACM User Guide v 2.1


2.1 ABBController Service
The ABB Controller service provides the following operations:
AddDigitalSignalSubscription - Add subscription for a specific digital signal. Supports notification.
Input:
Name, string - Name of the digital signal.

AddRapidSubscription - Add subscription for a specific RAPID variable. Supports notification.
Input:
Module, string - Name of the RAPID module.
Name, string - Name of the RAPID variable.

Get - Get operation receives the current state of the ABB Controller service.
Result output:
ActiveSubscriptions, array of strings - Lists signal names of all active RAPID variable and digital signal
subscriptions.
Connected, bool - Status indicates when ABB Controller service is running.
DigitalInputSignals, array of strings - Lists names of all digital input signals in the ABB robot controller system.
DigitalOutputSignals, array of strings - Lists names of all digital output signals in the ABB robot controller system.
LoadedModules, array of strings - Lists names of RAPID modules loaded in the ABB robot controller system.
LoadedProgram, string - Name of the currently loaded RAPID program in the ABB robot controller system.
Modules, string array - Lists available RAPID modules in the Path\Home\Rapid folder, see Path.
Path, string - Path is the location in the file system where the ABB robot controller system is running (Virtual
Controller feature).
Programs, array of strings - Lists names of available RAPID programs in the Path\Home\Rapid folder, see Path.
RapidTaskRunning, bool - Status indicates when the loaded RAPID task is running.
SystemName, string Name of the currently running system in the ABB robot controller. When the name is empty
or not valid the service will try to Connect for a virtual controller instead.
Version, string - Version information of the ABB robot controller system.

GetActi veMechanicalUnit - Get information about the actual mechanical unit.
Result output:
Name, string - Name of the mechanical unit.
NoOfAxes, int - Number of axes in the mechanical unit.
Tool, string - Name of the current tool.
WorkObject, string - Name of the current work object.

GetDigitalSignal - Receive the value of a digital signal.
Input:
Name, string - Name of the digital signal.
Result output:
Name, string - Name of the digital signal.
Value, bool - Value of the digital signal.

GetRapidData - Receive the value of a RAPID data in a RAPID module.
Input:
Module, string - Name of the RAPID module.
Name, string - Name of the RAPID data.
Result output:
Module, string - Name of the RAPID module.
Name, string - Name of the RAPID data.
Value, string - Value of the RAPID data.

GetSystemInfo - Get information about the ABB robot controller system.
Result output:
Id, Guid - Id of the ABB robot controller system.
IPAddress, string - IP address of the ABB robot controller system.
Name, string - Name of the ABB robot controller system.

ListRapidData - Receive the names of RAPID data in a RAPID module.
Input:
Name, string - Name of the RAPID module.
9ARD194977-001 ACM User Guide v 2.1


Result output:
Items, array of strings - RAPID data names.
Module, string - Name of the RAPID module.

LoadRapid - Load a RAPID module or program by name to the ABB robot controller system. Has
support for notification.
Input:
Name, string - Name of the RAPID module or program.

ResetProgramPointer - Reset the program pointer for a RAPID program in the ABB robot controller
system, next execution of the RAPID program starts from the beginning. Has support for notification.


SetDigitalSignal - Assign a value to a digital signal. When a digital signal subscription is set, see
AddDigitalSignalSubscription, a notification will arrive when the value of the digital signal changes.
Input:
Name, string - Name of the digital signal.
Value, bool - Value to be assigned to the digital signal.
Notification output: Name, string - Name of the digital signal.
Value, bool - Value contains the new value.

SetRapidData - Assign a value to a RAPID variable in a RAPID module. When a RAPID variable
subscription is set, see AddRapidSubscription, a notification will arrive when the value of the RAPID data
changes.
Input:
Module, string - Name of the RAPID module.
Name, string - Name of the RAPID variable.
Value, string - Value to be assigned to the RAPID data.
Notification output:
Module, string - Name of the RAPID module.
Name, string - Name of the RAPID data.
Value, string - Value contains the new value.

StartStopRapidTask - Start or stop the RAPID task in the ABB robot controller system. Has support for
notification.
Input:
Start, bool Start(true) or stop(false) of execution of the RAPID task in the ABB robot controller system. For
examples on how the controller services are used from VPL.


Simulation services
The simulation services give support for three different robot models, a predefined environment, a fence and ball
cannon. These services are configured by setting an initial configuration or by manifests. Texture files are located
in the folder store\media. Here follows a list of the services with respective operations:
















9ARD194977-001 ACM User Guide v 2.1


2.2 Simulated ABB 6 Arm Service
This service supports three models of ABB robot arms, namely IRB140, IRB6620 and IRB120. Please see short
description of these robots at the end of this section.


The Simulated ABB 6 Arm service provides access to the following operations:

Connect Connect the simulated ABB 6 arm to an ABB robot controller system. When left empty, the first
available virtual robot controller in the computer is used.
Input:
SystemName, string - Name of the ABB robot controller system.
MechanicalUnit, string - Name of the mechanical unit, e.g. ROB_1.
Get - Returns the state of the simulated ABB 6 arm.
Result output:
InsertEntity, bool - When true the entity is inserted in simulation at start of service.
Position, Coordinate - Position of ABB 6 arm.
RobotModel, string - Current robot model (IRB140, IRB6620 or IRB120).
SimulateCable, bool - When true a simulate cable is inserted as part of ABB 6 arm, works currently only with
IRB6620.

Replace - Sets the state of the simulated ABB 6 arm service.
Input:
InsertEntity, bool - When true the entity will be inserted in simulation at start of service.
Position, Coordinate - Position for ABB 6 arm.
RobotModel, string - Robot model to be used (IRB140, IRB6620 or IRB120)
SimulateCable, bool - When true a simulate cable will be inserted as part of ABB 6 arm, works currently only with
IRB6620.



Note:
After a couple of simulations using the Simulated ABB 6 Arm you might observe a strange behavior with
the arm (e.g. arm not moving). You might then have to restart the system running in RobotStudio station.
For more information about it see the appendix 1 for trouble shooting.












9ARD194977-001 ACM User Guide v 2.1


2.3 Simulation Environment Service
Simulation Environment service helps to create a simulation environment with ground, sky, initial view angle and a
light source in the simulation engine.



SkyLightingTexture, string - Lighting texture file of sky.
SkyVisualTexture, string - Texture file of sky.
SunDirection, Coordinate - Direction of sunbeam.
SunPosition, Coordinate - Position of sun.

Replace - Sets the state of simulated environment service.
Input:
CameraLookAtPoint, Coordinate The point the camera will be set to look at.
CameraPosition, Coordinate - Position for camera.
GroundTexture, string - Texture file to be used for ground.
SkyLightingTexture, string - Lighting texture file for sky.
SkyVisualTexture, string - Texture file for sky.
SunDirection, Coordinate - Direction for sunbeam.
SunPosition, Coordinate - Position for sun.







2.4 Simulated Ball Cannon Service


Result output:
InsertEntity, bool - When true the entity is inserted in simulation at start of service.
DiffuseColor, Color - Diffuse color of ball cannon.
ElevationAngle, float - Elevation angle of ball cannon.
FirePower, float - Fire power of ball cannon.
Position, Coordinate - Position of ball cannon.
RotationAngle, float - Rotation angle of ball cannon.
Get - Returns the state of the
simulated environment.
Result output:
CameraLookAtPoint, Coordinate The point
the camera is looking at.
CameraPosition, Coordinate Position of
camera.
GroundTexture, string - Name of texture file of
ground.
Simulated ball cannon service is a simple two axis ball cannon.
Simulated Ball Cannon provides access to following operations:

Fire - Fire a ball from the ball cannon.

Get - Returns the state of the ball cannon service.

9ARD194977-001 ACM User Guide v 2.1


Texture, string - Texture file of ball cannon.
BallDiffuseColor, Color - Diffuse color of cannon ball.
BallLifeRange, float - Distance after which cannon ball is removed from the scene. Ball remains in the scene, when
value is set to 0.
BallMass, float - Mass of cannon ball.
BallRadius, float - Radius of cannon ball.
BallTexture, string - Texture file of cannon ball.

SetElevationAngle - Set the elevation angle.
Input:
ElevationAngle, float - Elevation angle for the ball cannon.

SetFirePower - Set the fire power.
Input:
FirePower, float - Fire power for ball cannon.

SetRotationAngle - Set the rotation angle.
Input:
RotationAngle, float - Rotation angle for ball cannon.

2.5 Simulated Fence Service
Simulated Fence service helps to create fences within the simulation engine. Simulated Fence provides access to
the following operations:
Get - Returns the state of the simulate fence service.
.

ContactNotification - Notifies when a contact has occurred.



















Result output:
InsertEntity, bool - When true the entity is inserted in simulation
at start of service.
DiffuseColor, Color - Diffuse color of fence.
Height, float - Height of fence.
Kinematic, bool - True indicates a kinematic entity.
Length, float - Length of fence.
Position, Coordinate - Position of fence.
RotationY, float - Rotation angle round y-axis (in radians).
Texture, string - Texture file of fence.
Width, float - Width of fence
9ARD194977-001 ACM User Guide v 2.1


3 Robot Models
Here a follows a short description of the robots model that are simulated in the ACM. For a complete set of
descriptions and areas of application for these robots, please refer the following links
IRB 140 IRB 6620 IRB_120

3.1 Robot model IRB 140



3.2 Robot model IRB 6620












3.3 Robot model IRB 120

Small Robot
Payload: 3 kg
Reach: 0.58 m
Number of axes: 6









4 Service Tutorials

In addition to this users guide, tutorial with code are provided in ACM\Documentation\3HAC033734-001
Connectivity ABB controllers and MSRDS tutorials. This tutorial illustrates the basic needs for three main classes
of services for connectivity between the ABB robot controller system and MS RDS. Understanding these three
different types is the basics for building own services for specifics or particular needs. The examples contain:

Event driven sensor service, an event driven service is invoked when a certain event has taken place in the
robot controller, e.g., when a certain variable changes.



Small Robot
Payload: 5 kg
Reach: 0.81 m
Number of axes: 6

Large Robot
Payload: 150 kg
Reach: 2.20 m
Number of axes: 6


9ARD194977-001 ACM User Guide v 2.1


Polling sensor service, a polling sensor service utilizes a timer interrupt on a computer node and polls for
certain events on the robot controller, e.g. a certain I/O.


Actuator service, an actuator service performs a write operation towards an ABB controller initiated from
the computer node.





5 Pre-Requisites and Requirements
The ACM package and required software need to be installed and configured.
These can be downloaded from the following website

http://www.abb.com/product/ap/seitp327/049ffeb82687791ec12574b9004958cf.aspx

.
5.1 Hardware Requirements
Following table gives details of recommended hardware items

Item Description
CPU Intel Core 2 Duo 2.2 GHz
RAM 4 GB
Graphic Card NVIDIA Quadro

5.2 Software Requirements
The complete development environment has been tested on a system running on Microsoft Windows 7 and with
Visual Studio Team System 2008. The following table depicts the required software products, versions and
licenses. The ABB Software versions all belong to the official ABB Robot Software release 5.13.02





Note!
During installation of the following software components choose the complete installation option.



Product Version License Required
MS RDS 2008 R3 No
RobotStudio * 5.13.02 No
Robotware 5.13.02 Comes with RobotStudio
PC SDK 5.13.02 Comes with RobotStudio

* Free evaluation of full functionality for a period of 30 days. After that period only basic functionality is available
without activation. The ACM dependency is already satisfied with basic functionality.




9ARD194977-001 ACM User Guide v 2.1








6 Installation
6.1 Installing ABB Software dependencies
ABB Software is available at the website:

http://www.abb.com/product/ap/seitp327/049ffeb82687791ec12574b9004958cf.aspx

Download RobotStudio 5.13 or higher from the above mentioned location

Then install complete software on default location. Robotware 5.13.02 is distributed along with ACM package Install
Microsofts Software Before installing ACM, make sure you have installed following software
Microsoft Visual Studio 2008
Microsoft Robotics Developer Studio 2008 R3
The ACM Package
Link for ACM 5.13.02 can be downloaded from web page ACM 5.13.02 Download



Folder ACM 5.13.02 contains the source code required for the connectivity and simulation services for accessing
and operating the ABB robot controller system from MS RDS.

On installation of MS RDS on Windows 7 a folder C:\Users\<user>\Microsoft Robotics Dev Studio 2008 R3 is
created. Copy the folder ACM inside the folder-Microsoft Robotics Dev Studio 2008 R3. Your folder structure
shall look as shown below in Figure 6.1



Figure 6.1 Folder Structure for ACM



NOTE: Make sure that folder ACM is not Read Only . To check right click on folder ACM and select
Properties and uncheck Read Only .


9ARD194977-001 ACM User Guide v 2.1





In more detail the package consists of:
Binaries for
o ABB robot meshes
Located at: ..\ACM\Models
o ACM services
Located at: ..\ACM\bin
o Build dependencies
Located at: ..\ACM\Extern

Documentation
Located at: ..\ACM\Documentation, containing:
o Service tutorial.
o 9ARD194977-001 ACM User Guide, this document.
Class Library Reference

Runtime configuration files and manifests
Located at: ..\ACM\Config
Robot stations and systems for running VPL examples etc
Located at: ..\ACM\Systems
Media files
Located at: ..\ACM\Media
Source code for
Connectivity services
Located at: ..\ACM\Connect
Simulation services
Located at: ..\ACM\Simulate
RAPID examples
Located at: ..\ACM\ACM_Rapid
Tutorials
Located at: ..\ACM\Tutorials
VPL examples and Tutorials
Located at: ..\ACM\VPL Examples,

Videos

Video clips show the creation and start of robot controller systems, the use of ACM, ABB Controller and Robots
interacting within the MS RDS environment.
Located at: ..\ACM\Videos
.

6.2 Installing ACM Package

Now the ACM binaries need to be copied or built into the right folders:
Start the program Start->Programs-> Microsoft Robotics Dev Studio 2008 R3->DSS Command Prompt and
change to the ACM directory, with cd ACM, then:

To copy the ACM binaries to the correct folders:

Run the setup.cmd script in that location and the pre-built binaries will be placed in correct folders, see following
Figure 6.2



9ARD194977-001 ACM User Guide v 2.1




Figure 6.2
After successful installation following message shall appear in DSS Command Prompt window as shown in Figure
6.3


Figure 6.3 Message after successful installation

To build or rebuild the ACM binaries,

CAUTION: This step is only necessary when changes have been made to ACM Source Code

i. The project settings need to be set correct by running dssprojectmigration ., without the quotes in the DSS
Command Prompt.

ii. Run build.cmd (for building the binaries) or run rebuild.cmd (for rebuilding the binaries) in the DSS Command
Prompt.

To verify the successful installation of ACM, start the program Start-> Microsoft Robotics Dev Studio 2008 R3->
Visual Programming Language 2008 R3.
ACM Services shall appear in services window in VPL as shown in Figure 6.4



Figure 6.4 ACM Services
9ARD194977-001 ACM User Guide v 2.1


6.3 Starting up and using ACM
Using the ACM involves two major steps, first start the ABB robot system dependencies that set up and start the
virtual controller and secondly proceed with using the connectivity and simulation services. Refer to the
RobotStudio manual and integrated help, regarding how stations and robot systems are created and how
RobotStudio is used.
Starting up ABB dependencies
In order to run the ACM simulation an ABB robot system needs to be started. Two predefined robot systems and
two predefined RobotStudio stations that use these systems are provided the ACM package.

To start an existing ABB robot controller system, perform the following steps:

i. Start RobotStudio first and then
Start the following program:

Start->Programs->ABB Industrial IT->Robotics IT->RobotStudio 5.13.02->RobotStudio



Figure 6.5 RobotStudio Button (the orange round button)




ii. Open the desired robot station
Click the RobotStudio Button (the round button in the top left corner, see figure 5.1), select Open in the menu,
then use the browser to locate the...\ACM\Systems folder. Select station and click the Open button.

iii. If following message is shown, click on Yes, otherwise continue with step vi.



Figure 6.5 Robot Studio Message

iv. Click on Browse... button and browse to the...\ACM\Systems folder and click on OK
9ARD194977-001 ACM User Guide v 2.1




Figure 6.6 selecting the system

v. Then choose the right system, here System6620 and click on Select button.

vi. Start the virtual FlexPendant
Select the Offline tab, and click Virtual FlexPendant in the Virtual Controller group, see figure 6.7



Figure 6.7 RobotStudio acti vi ty ribbon.


vii. The ABB robot controller system is now in a well defined state. Following steps shows how to load and start
running a program in the robot controller system.

1. Select a RAPID program and start it from the Virtual FlexPendant.
Click on Load Program button in lower left corner of the Virtual FlexPendant. Then browse for a RAPID
program in the ACM_Rapid folder and click on OK.

2. Set Run Mode to Continuous in the Virtual Controller group.

3. Start the program. Start running the RAPID program with a mouse by clicking on the "Start" button on the Virtual
FlexPendant.












9ARD194977-001 ACM User Guide v 2.1


6.4 Using the ACM
Now is the moment to start using ACM. One way of learning how to use the package is by studying and running the
provided VPL examples, these are described in VPL Example.txt under the folder .\ACM\VPL Examples and VPL
Tutorials are also given in \ACM\VPL Examples\ABBController Tutorial.zip file
To run the VPL examples, use the following steps:

i. Start VPL
Start VPL by running following program:
Start->Programs->Microsoft Robotics Dev Studio 2008 R3->Visual Programming Language

ii. Open an ACM example
Click on File->Open, browse to..\ACM\VPL Examples, choose an example and click on Open.

iii. Start the example:
The example is started by clicking on Run->Start.

iv. Enjoy!

The examples within the tutorial are Visual Studio based. The source code for the services is found in the folder-
\ACM\Tutorials










































9ARD194977-001 ACM User Guide v 2.1



7 Appendix-A Trouble Shooting

After several simulations using the Simulated ABB 6 Arm you might observe a strange behavior with the arm (e.g.
arm not moving). You might then have to restart the system running in the RobotStudio station.
In order to restart the system running on RobotStudio do the following:
1. Stop running the VPL example.
2. Shut down the robot controller in RobotStudio:
Go to Offline tab of RobotStudio and click on Control Panel in Virtual Controller group and turn the knob to
Off position.
3. Start the robot controller in RobotStudio:
In the Control Panel turn the knob to On position.
4. Start the simulation:
Go to Simulation tab of RobotStudio and click on Play button in Simulation Control group.
5. Start again the VPL example

This should contain several sections such as User Guide / Tutorial Scenarios / examples. Special cases of the
product with examples.