Robot Studio

RobotStudio
THE CITY UNIVERSITY OF NEW YORK
New York City College of Technology
Architectural Technology Department
Introduction
written by Siming Mei
April 3, 2016

2
This material is based upon work supported by the National Science Foundation
under Grant Numbers 1141234.
Any opinions, findings, and conclusions or recommendations expressed in this
material are those of the author(s) and do not necessarily reflect the views of the
National Science Foundation.

RobotStudio
3
Creating a Station in RobotStudio
When first launching RobotStudio (currently version
6.02), we will need to create a new Station. We
want to create a robot system which is, at its most
basic, a paired industrial robotic arm and robotic
controller.
+
ABB IRB 140
(Manipulator / Robotic Arm)
ABB IRc5 Compact
(Controller)
Fig. 1 - Robotic Arm & Controller

RobotStudio
4
Creating a Station in RobotStudio
After launching RobotStudio:
1. Click on New tab.
2. Select Solution with Station and Robot
Controller.
3. Enter the desired Solution Name.
4. Choose the folder path to store the solution.
• Note: use the ... icon (4.1) to activate
a pop up window to change the desired
folder path.
5. Choose the RobotWare version (currently
version 6.02).
6. Choose the Robot Model. (IRB 140 6kg
0.81m shoulde be chosen)
7. Press Create.
8. Wait until the Controller Status indicator turn
form red to green.
9. After the status indicator turn green, select
IRB 140 6kg 0.81m.
10. Press OK
Fig. 2 - Create New Station
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4 4.1
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10

RobotStudio
5
Import Custom Geometry
After launching RobotStudio, a model of the
ABB IRB 140 Robotic Arm will be added into the
workspace. To better visulalize the station setup,
custom geometries need to be imported to the
workspace.
RobotStudio recognizes files with .sat extension
(ACIS files) by default.
Fig. 3 - New Station

RobotStudio
6
User Interface
Main components
1. Ribbon and Tabs.
2. Left Vertical Tab Group (Layout,
Paths&Targets, Tags).
3. View Window / Workspace.
4. Right Vertical Tab Group (Documents).
5. Output Message Wiindow.
6. Status indicator
7. Navigation / Modeling aid tool bar.
Basic Mouse Navigation
Fig. 5 summarize some of the basic Mouse
Navigation.
Fig. 4 - User Interface
Fig. 5 - Basic Mouse Navigation
Mouse Action
Left Click Select
Right Click Context Menu
Shift+Ctrl+Left Button Orbit
Ctrl+Left Button Pan
Scroll Zoom In/Out
Middle Button + Drag Zoom In/Out
Ctrl+Right Button + Drag Zoom In/Out
Shift+Right Button + Drag
Zoom In to the selected
window area
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7

RobotStudio
7
Export Geometry From Rhino
In Rhino:
1. Select the model need to be exported.
2. Click on File tab at the top menu bar.
3. Select Export Selected.
Fig. 6 - Export Geometry in Rhino
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3

RobotStudio
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Export Geometry From Rhino (cont’d)
In the pop-up Export window
1. Enter the file name.
2. On the Save as type drop down option,
select ACIS(*.sat) file type.
3. Press Save.
4. On the SAT Exprot Option, accept
the Default option if the geometry to
be exported is solid geometry; Select
AutoCAD option if geometry to be exported
contains curve geometry.
5. Press OK.
Fig. 7 - Export Geometry in Rhino (cont’d)
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RobotStudio
9
Setup User Geometry and User Library
Folder
In order to import the custom geometry, it is good
to first setup the User Geometry and User Library
folder. All files with the proper file type will be easily
accessible and ready to be imported.
There are mainly three places to access the options
to setup the User Geometry and User Library folder.
1. On the Import Library tab, select
Locations.
2. On the Import Geometry tab, select
Locations.
3. On the Documents window, select
Locations.
On the Document Locations pop up window
4. Select User Library.
5. Click on Edit.
6. On the File System pop up window, change
the Path for User library.
• Note: use the ... icon (6.1) to activate
a pop up window to change the desired
folder path.
7. Press OK.
8. Repeat step 4-7 for setting up User
Geometry folder.
Fig. 8 - Setup User Geometry and Library Folder
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6.1
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RobotStudio
10
Import User Geometry
1. Move the ACIS(*.sat) file that was exported
from Rhino to the User Geometry folder.
2. On the Import Geometry tab, select User
Geometry, the ACIS(*.sat) file in the User
Geometry folder can be view here.
3. Click on the file and import the custom
geometry.
Fig. 9 - Import User Geometry
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2
3

RobotStudio
11
Moving the Geometry
Rotate
1. On the Left Vertical Tab Group under
the Layout tab, find the imported user
geometry. Right Click on the name of the
geometry to bring up the context menus.
2. Go to Position.
3. Select Rotate.
4. Same action can be achived by Right Click
on the imported user geometry on the View
Window.
Fig. 10 - Rotate
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2
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4

RobotStudio
12
Moving the Geometry
Rotate (cont’d)
1. Reference coordinate system (For the
purpose of this actio, Either the World or
Local coordinate system is appropriate).
2. Rotation angle.
2.1. World XYZ axises orientation related
to the current view (axises are color
coded: Red for X axis; Green for Y
axis; Blue for Z axis).
2.2. Local Origin with Local XYZ axises
orientation displayed related to the
current view (axises are color coded:
Red for X axis; Green for Y axis; Blue
for Z axis).
• Note: use 2.1 and 2.2 as reference when
setting the rotation angle.
3. Click on Apply to execute the rotation
action.
Fig. 11 - Rotate ( cont’d)
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2
3
2.1
2.2

RobotStudio
13
Moving the Geometry
Place One Point
Place One Point is a method that move a geometry
from one point to the other.
2. Go to Position.
3. Go to Place
4. Select One Point.
5. Same action can be achived by Right Click
on the imported user geometry on the View
Window.
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2
3
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Fig. 12 - Place One Point

RobotStudio
14
Moving the Geometry
Place One Point (cont’d)
1. Reference coordinate system (For the
purpose of this action, World coordinate
system is used).
2. Coordinate for the From Point.
3. Cordinate for the To Point.
4. Navigation / Modeling Aid Tool bar.
5. Quick navigation action.
5.1. View All.
5.2. View Center.
6. Selection Level.
6.1. Curve Selection.
6.2. Surface Selection.
6.3. Body Selection.
6.4. Part Selection.
6.5. Group Selection
6.6. Mechanism Selection.
6.7. Target/Frame Selection.
6.8. Move Instruction Selection.
6.9. Path Selection.
7. Snap Mode.
7.1. Snap Object.
7.2. Snap Center.
7.3. Snap Mid.
7.4. Snap End.
7.5. Snap Edge.
7.6. Snap Gravity.
7.7. Snap Local Origin.
7.8. Snap Grid.
8. Measurement Aid.
8.1. Point to Point.
8.2. Angle.
8.3. Diameter.
8.4. Minimum Distance.
8.5. Keep Measurements.
9. Quick Simulation Action.
9.1. Play.
9.2. Stop.
10. Selection Level and Snap Mode can also
access from the bottom status indicator bar.
Fig. 15.
Fig. 13 - Place One Point (cont’d)
Fig. 14 - Navigation / Modeling Aid Tool Bar
Fig. 15 - Selection Level and Snap Mode fromBottom Status Indicator Bar
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2
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5.1
9.1 9.2
6.1 7.1 8.1
5.2 6.2 7.2 8.2
6.3 7.3 8.3
6.4 7.4 8.4
6.5 7.5 8.5
6.6 7.6
6.7 7.7
6.8 7.8
6.9
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9
6 7 8
10

RobotStudio
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Moving the Geometry
Place One Point (cont’d)
1. Selection Level set to Surface Selection
and Snap Mode set to Snag Mid .
2. Click on one of the three data entry fields
(the Red, Green and Blue box fields) for the
From Point coordinate to activate the field
entries.
3. Click on the mid point of the top surface
edge.
4. The three field for the From Point
coordinate will updated with the coordinate
from the point selected from step 3.
5. The To Point will be the world origin (0,0,0),
which is the base point of the Robot Arm.
6. Click Apply to execute the action.
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5
6
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RobotStudio
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Moving the Geometry
Set Position
2. Go to Position.
3. Select Set Position.
4. Reference coordinate system. For the
purpose of this action, Local coordinate
system is used.
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2 3
4

RobotStudio
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Moving the Geometry
Set Position (cont’d)
1. Set Reference coordinate system to be
Local.
2. Position XYZ as movement related to Local
coordinate system.
2.1. Local Origin with Local XYZ axises
orientation displayed related to the
current view (axises are color coded:
Red for X axis; Green for Y axis; Blue
for Z axis).
• Note: use 2.1 as reference when setting
the Position XYZ. Notice that the box
entry fields are also color coded the
same way as the XYZ axises in 2.1
(Red for movement along X axis; Green
for movement along Y axis; Blue for
movement along Z axis)
Fig. 18 - Set Position
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2
2.1
3

RobotStudio
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Save Geometry As Library File
Library file contains component that binds with
custom parameters (position, etc) which can
frequently be reused.
After the user geometry move to the desired
location, it can then be able to be saved as library
file for future usage.
2. Select Save as Library.
3. Navigate to the User Library folder.
4. Enter the file name.
5. The User Library can be access from the
TOP RIBBON > HOME > Import Library >
USER LIBRARY
Fig. 19 -Save Geometry As Library File
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RobotStudio
19
Create Custom Tool
Import Tool Geometry
1. Import the custom tool geometry from User
Geometry folder as base geometry.
2. Turn off the Robot Arm geometry to better
visualize the tool geometry.
3. On the Left Vertical Tab Group under the
Layout tab, find the Robot Arm. Right Click
on the name of the Robot Arm to bring up
the context menus.
4. Click on Visible to turn off the Robot Arm
geometry.
• Note: the same action can be achived by
hitting the keyboard shortcut V while the
right click context menu is on.
Fig. 20 - Import Tool Geometry
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2
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4
Notice that the
word Visible with
underscore at the
letter V indicates
that the keyborad
shortcut of the
underscored letter,
in this case V, is
available for this
action

RobotStudio
20
Create Custom Tool (cont’d)
Create Frame at Tool Tip
Layout tab, find the tool geometry. Right
Click on the name of the tool to bring up the
context menu.
2. Click on Examine to zoom into the
geometry.
• Note: the same action can be achived by
hitting the keyboard shortcut E while the
right click context menu is on.
3. Set the Selection Level to be Surface
Selection.
4. Navigate closer to the tool tip, then Right
Click on the Top surface of the tool tip
to bring up the context menu, click on
Examine to further zoom into the top
surface of the tool tip.
5. Go to Top Ribbon > Modeling tab.
6. Go to Curve and select Line.
Selection, Snap Mode to be Snag End.
(the Red, Green and Blue box fields) for
the Start Point coordinate to activate the
field entries. Click on one of the end point
of the top surface. The three field for the
Start Point coordinate will updated with the
current selected coordinate.
the End Point coordinate to activate the
field entries. Click on one of the end point
of the top surface. The three field for the
End Point coordinate will updated with the
10. Click Create to execute the action to create
a reference line.
Fig. 21 - Create Frame at Tool Tip
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RobotStudio
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Create Frame at Tool Tip
1. Go to Top Ribbon > Home tab.
2. Go to Frame and select Create Frame.
3. Set the Selection Level to be Curve
Selection, Snap Mode to be Snag Mid.
Frame Position coordinate to activate the
field entries. Click on the mid point of the
reference line. The three field for the Frame
Position coordinate will updated with the
5. Click Create to execute the action to create
the Frame.
Fig. 22 - Create Frame at Tool Tip
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RobotStudio
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Create Tool Wizard
1. Go to Top Ribbon > Modeling tab.
2. Select Create Tool to launch the Create
Tool Wizard.
3. Enter the Tool Name.
4. Choose Use Existing and select the
imported tool geometry.
5. Enter the Mass for the tool.
6. Set the Selection Level to be Part
Selection, Snap Mode to be Snag Gravity.
Center of Gravity coordinate to activate
the field entries. Click on the tool geometry.
The three field for the Center of Gravity
coordinate will updated with the current
selected coordinate.
8. Click Next to proceed to the next step.
9. Enter the name for the TCP (Tool Center
Point).
10. Select the Frame created at the tool tip.
The position values will automatically
updated.
11. Click the -> button.
12. The name of the TCP will be display at the
TCP(s) window.
13. Click Done to finish the Create Tool
process.
Fig. 23 - Create Tool Wizard
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RobotStudio
23
Save Tool as Library File
After the Tool is created, it can then be able to be
saved as library file for future usage.
Layout tab, find the created tool. Right
context menus.
2. Select Save as Library.
Attach the Tool to the Robot Arm
Layout tab, find the created tool. Right
context menus.
4. Go to Attach to and select the name of the
Robot Arm.
5. On the pop-up Update position window,
select Yes to update the tool position.
• Note: This action can also be achived by
drag and drop the Tool onto the Robot
Arm.
Turn back on the visibility of the Robot Arm
Layout tab, find the Robot Arm. Right Click
on the name of the Robot Arm to bring up
the context menus.
7. Select Visible.
Fig. 24 - Save Tool as Library File
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6
2
5
Fig. 25 - Attach Tool to the Robot Arm
Fig. 26 - Turn on the visibility of the Robot Arm
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4

RobotStudio
24
Create Workobject
A Workobject is the coordinate system that is
used as the reference system when defining robot
targets. Usually, the origin of the workobject is a
point that can be easily defined, e.g.: the corner of
the paper pad, etc.
Right Hand Rule
Any RobotStudio coordinate system, including
that of the tool and workobject, can be understood
using the Right Hand Rule.
Create Workobject at the corner of the paper pad
2. Go to Other and select Create Workobject.
the Create Workobject window, enter the
name for the Workobject.
4. Go to User Frame > Frame by points.
5. Click on the drop down icon.
Fig. 27 - Right Hand Rule
Fig. 28 - Create Workobject
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RobotStudio
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Create Workobject
Create Workobject at the corner of the paper pad
(cont’d)
1. Choose Three-point method
Selection, Snap Mode to be Snag End.
First Point on X axis coordinate to activate
the field entries. Click on X1 as shown on
fig29.
• Note: X1 will be the origin of the
Workobject system.
4. Do the same procedure for select X2 for
Second point on X axis; Y for Point on Y
axis.
5. Select Accept after select the points. Notice
that the coordinates are updated as the
three pointed are being selected.
6. Select Create to finish the operation.
7. The Workobject system will show at the
X1 (origin).
Fig. 29 - Create Workobject (cont’d)
Fig. 30 - Create Workobject (cont’d)
2
X1
X2
Y
First Point on X axis
Second Point on X axis
Point on Y axis
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5 6
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RobotStudio
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Jogging
Teach Target
1. With the Robotic Arm at its Home position,
go to Top Ribbon > Home tab.
2. Select Teach Target.
3. The newly created Target will be appear
at the Left Vertical Tab Group under the
Paths&Targets tab > IRB_140_6kg_0.81m
(the current chosen Robotic Arm
system) > T_ROB1 (the current module)
>Workobjects & Targets > WobjPad (the
Workobject created from previous step) >
WobjPad_of.
Fig. 31 - Teach Target
2
1
4

RobotStudio
27
Jogging
Teach Target (cont’d)
1. Right click on the Target Name to bring up
the context menu.
2. Select Rename to change the name of the
target.
Fig. 32 - Teach Target (cont’d)
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2

RobotStudio
28
Jogging
Create Target
2. Go to Target and select Create Target.
Selection, Snap Mode to be Snag Center.
the Position coordinate to activate the field
entries. Click on the center of the paper
pad.
5. Select Create to create the target.
Fig. 33 - Create Target
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2
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5

RobotStudio
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Jogging
Create Target (cont’d)
1. Notice that there is a warning sign next to
the newly created target, that means the
target is not yet configurated.
2. Target defines the position and orientation
of the TCP (tool center point) while
programe the Robotic Arm movement (the
XYZ axises of the TCP will align with the
XYZ axises of the Target). There is no way
for the TCP to align with the target for the
current orientation as shown on Fig. 34. The
target needs to be rotated around the Y
axis (green axis) 180 degree.
the context menu.
4. Go to Modify Target.
5. Select Rotate.
Fig. 34 - Create Target (cont’d)
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RobotStudio
30
Jogging
1. Set the Reference coordinate system to
be Local.
2. Choose the rotation axis, in this case the Y
axis.
2.1. Target XYZ axises orientation related
to the current view (axises are color
coded: Red for X axis; Green for Y
axis; Blue for Z axis). Use this as
reference whiling choosing which axis
to be rotated around.
3. Set the rotation angle, in this case 180
degree.
5. Click Close to close the window.
6. Rename the Target.
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RobotStudio
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Jogging
the context menu.
2. Select Jump To Target.
3. The first time the robot jump to the target,
it will ask for the configuration of the robot
at the target. A good rule of thumb is to
select the configuration with the lowest sum
(usually the first option).
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3
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4

RobotStudio
32
Jogging
Freehand move - Jog Liner
2. Select Jog Liner under the FreeHand
section.
3. The selection level should automatically set
to Select Part. If not, set the selection level
to be Select Part.
4. Click on the tool, notice that a Handle is
added at the TCP (Tool Center Point). Use
the Handle to move the TCP up for about
100 mm.
5. Click on Teach Target to add a Target.
6. Rename the Target.
7. Repeat the procedure to create the other
Target further up. Rename the Target.
Fig. 38 - Jog Linear
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7

RobotStudio
33
Create Paths
Create Empty Path
2. Go to Path and select Empty Path.
3. The newly created Path will be appear at
the Left Vertical Tab Group under the
(the current chosen Robotic Arm system)
> T_ROB1 (the current module) >Paths &
Procedures.
4. Rename the Path.
Fig. 39 - Create Empty Path
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2
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4

RobotStudio
34
Create Paths (cont’d)
Add Targets to Path
1. Hold the Ctrl key on the keyboard and
multiselect the Targets needed to add to the
Path. Then right click on one of the name of
the selected targets to bring up the context
menu.
2. Go to Add to path.
3. Go to the name of the path that the targets
will be added to.
4. Select <First> to add the Targets to the
start of the path; Select <Last> to add the
targets to the end of the path.
5. The Targets with instruction Type will be
added to the path.
5.1. Move Type Symbol.
5.2. Motion Type
• MoveJ - Move Joint (Move the robot
by joint movement. MoveJ is used to
move the robot quickly from one point to
another when that movement does not
have to be in a straight line. Genellary,
the first move and the last move of the
robotic arm are recommended using
MoveJ)
• MoveL - Move linear
• MoveC - Move Circular
5.3. Target Name.
• MoveJ and MoveL will have one Target
defining the ToPoint (destination point).
• MoveC will have Two targets with
the first one defining the CirPoint
(the point between the start and the
destination point, which helps to define
the circle) and second one defining the
ToPoint(destination point)
6. The path is also represented graphically in
the view port, with the arrows indicate the
order and direction of the path.
Fig. 40 - Add Target to Path
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3 4
5
6
5.1 5.2 5.3
1

RobotStudio
35
Reorder the Path
1. Drag and drop the instruction to reorder the
path.
2. Notice that the path in the viewport is also
updated with the new order.
Edit Instruction
3. Right Click on the instruction to bring up the
context menu.
4. Select Edit Instruction.
Fig. 41 - Reorder the Path
Fig. 42 - Edit Instruction
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4
1 2

RobotStudio
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Edit Instruction
1. Change the Motion Type.
• Note: Change the Motion Type to Joint
for the first movement of the Robotic Arm.
2. Change the Speed.
3. Change the Zone.
• Zone defines how the TCP(Tool Center
Point) approaching the Target. Will
explain more later.
Fig. 43 - Edit Instruction (cont’d)
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2
3
4

RobotStudio
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Edit Instruction
1. Hold the Ctrl key on the keyboard and
multiselect the Instruction needed to be
edited. Then right click on one of the name
of the selected Instructions to bring up the
context menu.
2. Select Edit Instrution.
3. Change the Speed and Zone parametries.
4. Create a new emtry path for the exit path.
• Change the Motion Type of the last
movement to Joint.
Fig. 44 - Edit Instruction (cont’d)
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2
4
3

RobotStudio
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AutoPath
Import Curve Geometry for AutoPath
2. Go to Import Geometry > User Geometry
to import the custom curve geometry that is
put into the User Geometry folder.
3. Right click on the name of the newly
imported curve geometry to bring the
context menu.
4. Go to Position.
5. Go to Place and select One Point. Use the
Place One Point method to move the curve
geometry to the center of the paper pad.
Fig. 45 - Import Curve Geometry
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2
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5

RobotStudio
39
AutoPath
Selection, Snap Mode to be Snag Center.
2. The Primary Point - From will be the world
origin, no need to change.
Primary Point - To coordinate to activate
the field entries. Click on the center of the
paper pad.
4. Select Apply to execute the action.
5. Right Click on the name of the Robot Arm to
bring up the context menus.
6. Select Show Work Envelope.
Fig. 46 - Move Curve - Place One Point
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3
2
5
6
Fig. 47 - Show Work Envelope
4

RobotStudio
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AutoPath
1. Choose to show Work Envelope for the
Robot Wrist or Active Tool.
2. Check both 2D Outline and 3D Outline for
better visualization.
3. Click on the name of the imported curve.
4. Click on the Freehand tool to activate the
Freehand Move tool.
5. Use the handles to move the curve
geometry within the work envelope.
1
2
Fig. 48 - Show Work Envelope
Fig. 49 - Move Curve Geometry - Freehand Move
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4
5

RobotStudio
41
AutoPath
2. Go to Path.
3. Select AutoPath.
In the AutoPath window:
4. Choose the Approximation Parameters. In
this case, Circular is chose.
5. Setup the Min. Distance and Max Radus
(activated only when Approximation
Parameters is set to Circular). In this case,
Min Distance is set to 1.00 mm, Max. Radus
is set to the default value 100000.00 mm.
6. Setup the Tolerance. In this case,
Tolerance is set to 0.05 mm.
• Note: step 5 and step 6 is the parameters
control how accurate the generated
targets and paths to represent the curve
geometry. Genellary, the smaller the
number, more targets will be generated
and more accurate the paths to represent
the actual curve geometry.
7. Set the Selection Level to be Curve
Selection, Snap Mode to be Snag Edge.
8. Click on the Edge of the curve to select the
curve.
• Note: Hole the Shift key to multi-select
curves.
7
1
2
3
4
5
6
8
Fig. 50 - AutoPath

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42
AutoPath
1. After seleting the curve geometry, wait
until RobotStudio to finish computing the
required target points.
2. Click on Create to finish the action.
(the current chosen Robotic Arm
system) > T_ROB1 (the current module)
>Workobjects & Targets > WobjPad (the
Workobject created from previous step) >
WobjPad_of.
(the current chosen Robotic Arm system)
> T_ROB1 (the current module) >Paths &
Procedures.
1
1
2
4
3
Fig. 51 - AutoPath (cont’d)
Fig. 52 - Newly Create Targets and Path

RobotStudio
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AutoPath
Turn off the visibility of the targets point for a
better visualization:
1. Click on the second Target. While holding
the Shift key, click on the last Target to
select all the Targets in between.
2. Right Click on one of the name of the
selected Targets to bring up the context
menu.
3. Go to View and select Visible to turn of the
visibility of the Targets.
4. Only the first Target on display in the
viewport after the action.
2
3
1
Note: First click on the
senond Target. While
holding the Shift key,
click on the last Target
to select all the Target
in between.
4
Fig. 53 - Turn Off the Visibility of the Targets

RobotStudio
44
AutoPath
Rotate Target to align the orientation with TCP
1. Right Click on the name of the first Target to
bring up the context menu.
2. Go to Modify Target.
3. Select Rotate.
4. The orientation of the Target need to be
aligned with TCP (Tool Center Point).
5. The Reference coordinate system should
be Local (default value).
6. Set the rotation axis to X-axis.
7. Enter rotation value. In this case, 180
degree.
9. Change the rotation axis to Z-axis.
10. Enter rotation value. In this case, -90
degree.
12. Click Close to close the window.
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2
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4
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10
6
9
8
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Fig. 54 - Rotate Target Orientation

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AutoPath
Copy and apply orientation of the Targets
2. Select Copy Orientation.
3. Multi-select the second Target to the last
Target, Right Click on on of the name of
the selected Target to bring up the context
menu.
4. Select Apply Orientation.
5. Notice that the orientations of all the Targets
are modified.
1
3
2
4
5
Fig. 55 - Copy and Apply Target Orientation

RobotStudio
46
AutoPath
Configurate Targets
2. Select Jump to Target.
3. Select the first configuration.
1
3
2
4
Fig. 56 - Target Configuration

RobotStudio
47
AutoPath
Configurate Targets
1. Right Click on the name of the newly
generated Path.
2. Go to Configurations and select Auto
Configuration.
3. Multi-Select all the Path steps. Right Click
on one of the name of the selected path
steps to bring up the context menu.
4. Select Edit Instruction.
5. Setup the Speed. In this case, v50.
6. Setup the Zone. In this case, fine.
1
2
4
5
6
3
Fig. 57 - Auto Configuration
Fig. 58 - Edit Instruction

RobotStudio
48
Main Procedure
Setup a main Procedure as the entry point for the
program.
Every RAPID program requires a procedure with
its name being main as the entry point to run the
program.
2. Go to Path and select Empty Path.
3. Rename the newly create path to main.
Notice that RobotStudio will automatically
recognize this procedure as the entry
point.
1
2
2
Fig. 59 - Create main Procedure

RobotStudio
49
Synchronize to RAPID
2. Go to Synchronize and select
Synchronize to RAPID.
3. In the pop up window, check all the option
for the Synchronize column.
4. Click OK to finish the action.
1
2
3
4
Fig. 60 - Synchronize to RAPID

RobotStudio
50
1. Go to Top Ribbon > RAPID tab.
2. The Synchronize RAPID code
corresponding to the paths & procedures
will be found at Left Vertical Tab
Group under the Controller tab >
IRB_140_6kg_0.81m (the current chosen
Robotic Arm system) > RAPID > T_ROB1
>Module 1.
3. Double Click on one of the name of the
Paths or Procedures, such as the main
procedure, to open the RAPID code.
1
2
3

RobotStudio
51
1. Right Click on the name (T_ROB1/
Module1)of the RAPID code tab to bring up
the context menu.
2. Select New Vertical Tab Group.
3. Now the viewport for the station setup and
the RAPID code can be seen side by side.
5. Select Check Program.
6. In the output message window, the line
indicates no errors should be expected.
1
2
3
4
5
6
Fig. 61 - New Vertical Tab Group
Fig. 62 - Check Program

RobotStudio
52
Simulating RAPID Program
1. Click on the Play button to start the
simulation.
2. RobotStudio will start the simulation and
execute the RAPID code line by line.
1
2
Fig. 63 - Simulating RAPID Program

RobotStudio
53
Save RAPID Program
Wait until the simulation is finish. If there is no
errors occur, the program is ready to be exported
and transfer to the controller using a flash drive.
2. Select Program.
3. Select Save Program As.
4. The exported RAPID program folder will
contain three (3) files.
Fig. 64 - Save RAPID Program
1
2
3
4

RobotStudio
54
Share Station and Solution Using
Package
RobotStudio Package file zips all the necessary
files that are required to run the Station and
Solution simulation, including user library and
user geometry, into a sigle file. It is use to transfer
the Station and Solution setup in RobotStudio
from one computer to another. It is also a correct
way to save the work-in-progress files if different
computers are used.
Save Package file
1. Go to Top Ribbon > File tab.
2. Select Share.
3. Select Pack and Go.
4. In the pop-up window, click Browse and
navigate to the desired folder location for
storing the package file.
5. Click OK to finish the action.
2
4
5
Fig. 65 - Create Package
1
3

RobotStudio
55
Share Station and Solution Using
Package
Unpack Package File
1. Go to Top Ribbon > File tab.
2. Select Share.
3. Select Unpack and Work.
4. In the pop-up window, click Browse and
navigate to the folder where the package
file is stored.
5. Click Browse and navigate to the desired
folder location for storing the unpack file.
6. Click Next to preceed.
7. Select the correct RobotWare version.
8. Click Next to preceed.
9. Click Finish to finish the action.
2
4
5
6
8 9
7
Fig. 66 - Unpack Package
3
1

RobotStudio
56
RAPID Programming Basic
General RAPID Syntax Rules:
Semicolon( ; )
The general rule is that each statement ends with
a semicolon ( ; ).
eg: Variable declaration:
VAR num length;
Assigning values:
area := length * width;
Most instruction calls:
MoveL p10,v1000,fine,tool0;
Exceptions
Some special instructions do not end with a
semicolon. Instead there are special keywords to
indicate where they end.
Example of instructions that do not end with
semicolon:
Instruction Keyword Terminating Keyword
IF ENDIF
FOR ENDFOR
WHILE ENDWHILE
PROC ENDPROC
MODULE ENDMODULE
Comments ( ! )
A line starting with ! will not be interpreted by the
robot controller. Use this to write comments about
the code.
Fig. 67 - Example of a Basic RAPID Program
MODULE Module1
CONST robtarget pHome:=[[369.934835843,300.012,621.40403256],[0.49999989,0,0.866025467,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget pStart:=[[230.000213825,299.99979157,447.292792199],[0.000000153,0,1,0],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget pApproach:=[[230.000085874,299.999791573,82.490119405],[0.000000157,0,1,0],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget Target_10:=[[181.121273138,300,0],[0,0.011744259,0.999931034,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
CONST robtarget Target_20:=...;
...
PROC pathApproach()
MoveJ pHome,v50,fine,penWObj:=WobjPad;
MoveL pStart,v50,fine,penWObj:=WobjPad;
MoveL pApproach,v50,fine,penWObj:=WobjPad;
ENDPROC
PROC pathExit()
MoveL pApproach,v50,fine,penWObj:=WobjPad;
MoveL pStart,v50,fine,penWObj:=WobjPad;
MoveJ pHome,v50,fine,penWObj:=WobjPad;
ENDPROC
PROC Path_10()
MoveL Target_10,v50,fine,penWObj:=WobjPad;
MoveC Target_20,Target_30,v50,fine,penWObj:=WobjPad;
MoveC Target_40,Target_50,v50,fine,penWObj:=WobjPad;
...
ENDPROC
PROC main()
pathApproach;
Path_10;
pathExit;
ENDPROC
ENDMODULE

RobotStudio
57
General RAPID Syntax Rules:
Capitalized Keywords
RAPID is not case sensitive, but it is
recommended that all reserved words (e.g. VAR,
PROC) are written in capital letters.
Indentations
To make the programming code easy to grasp,
use indentation. Everything inside a PROC
(between PROC and ENDPROC) should be
indented. Everything inside an IF-, FOR- or
WHILE-statement should be further indented.
Fig. 68 - RAPID Program Structure
RAPID
Program
Module1
(major component
of the RAPID
program, declared
with the keywork
MODULE , and
end with keyword
ENDMODULE.)
Module2
Procedure
(used as subprogram,
declared with the
keyword PROC, and
end with keyword
ENDPROC. Procedure
do not return a value
and are used in the
context of instruction.)
Function
(return a value of a
specific type and is
used as an argument
of an instruction.
Functions are used in
the context of
expression.)
Trap Routines
(provide a means
of responding to
interrupts)
Program Data
main
(entry point of a program,
note: RAPID program
will automatically starts
in the procedure named
main, and execute
the instructions line by
line. It is a must have
component. Executing
the RAPID program
means, in actual fact,
executing the main
procedure. The program
can include many
modules, but only one of
these will have a main
procedure.
procedure1
procedure2
constants
(represents a static value
and can only be assigned
a new value mannually.)
variables
(new value can be
assigned during program
execution.)
persistents
(persistents variable
remembers the last value
it was assigned, even
the program is stopped
and started from the
beginning again.)
Call
for
other
procedures

RobotStudio
58
Basic RAPID Syntax:
robtarget
1. CONST - keyword to define a constant.
2. robtarget - data type of robtarget (robot
target), which is used to define the position
of the robot and additional axes.
3. Name of the robot target
4. “:=” is the syntax to assign values.
5. The position (x, y, z) of the TCP (tool center
point) in relation to the current work object
coordinate system. If no work object is
defined, the world coordinate system will be
used.
6. The orientation of the tool, expressed in the
form of a quaternion (q1, q2, q3, and q4).
7. The configuration of the robot (cf1, cf4, cf6
and cfx). It is defined in the form of the
current quarter revolution of axis 1 (cf1),
axis 4 (cf4), axis 6 (cf6). The first positive
quarter revolution 0 to 90° is defined as 0.
8. The position of the additional axes (up to 6
axes). The position is defined as follows for
each individual axis (eax_a, eax_b...eax_f):
• For rotating axes, the position is defined
as the rotation in degrees from the
calibration position.
• For linear axes, the position is defined as
the distance in mm from the calibration
position.
• The value 9E9 is defined for axes which
are not connected.
Fig. 69 - robtarget
Fig. 70 - Robot Configuration for cf1, cf4, cf6
Fig. 71 - Robot Configuration for cfx
CONST robtarget p15 := [ [600, 500, 200], [1,0,0,0], [0,0,0,0], [9E9,9E9,9E9,9E9,9E9,9E9] ];
CONST robtarget name := [ [x, y, z,] , [q1, q2, q3, q4 ] , [cf1, cf4, cf6, cfx] , [external axes] ];
1 2 3 4 5 6 7 8
x
-x
-y
y
0
1
2 3
0
t
o
9
0
°
9
0
°
t
o180°
1
8
0
°
t
o
2
7
0
°
2
7
0
°
t
o
3
6
0
°
x
-x
-y
y
-4
-3
-2 -1
-270°
t
o
-
3
6
0
°
-
1
8
0
°
t
o
-270°
-
9
0
°
t
o
-
1
8
0
°
0
t
o
-
9
0
°
(configuration)
(orientation)
(position)

RobotStudio
59
Basic RAPID Syntax:
Orientation
The orientation of a coordinate system (such
as that of a tool) is described by a rotational
matrix that describes the direction of the axes of
the coordinate system in relation to a reference
system (see Fig 72).
The rotated coordinate systems axes (x, y, z) are
normalized vectors (length of 1) which can be
expressed in the reference coordinate system as
follows:
x = (x1, x2, x3)
y = (y1, y2, y3)
z = (z1, z2, z3)
This means that the x-component of the x-vector
in the reference coordinate system will be x1, the
y-component will be x2, and so on.
These three vectors can be put together in a
matrix (a rotational matrix) where each of the
vectors form one of the columns (Fig 73).
A quaternion is just a more concise way to
describe this rotational matrix; the quaternions are
calculated based on the elements of the rotational
matrix (Fig 74).
Fig. 72 - Rotated Coordinate System Fig. 73 - Rotational Matrix
Fig. 74 - Quaternion Calculation
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ଶ
•‹‰“ʹൌ•‹‰ሺ›͵Ȃœʹሻ
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ඥ୷ଶି୶ଵି୸ଷାଵ
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ଶ
•‹‰“Ͷൌ•‹‰ሺšʹȂ›ͳሻ

ሺ‫ͳݍ‬ሻଶ
൅ ሺ‫ʹݍ‬ሻଶ
൅ ሺ‫͵ݍ‬ሻଶ
൅ሺ‫ݍ‬Ͷሻଶ
ൌ ͳ
(x1, x2, x3)
(z1, z2, z3)
(y1, y2, y3)
x z
y
x
y
z
Length = 1
x1 y1 z1
x2 y2 z2
x3 y3 z3
Reference
Coordinate
System
Rotated
Coordinate
System
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RobotStudio
60
Basic RAPID Instruction:
MoveL - Moves the Robot Linearly
MoveL is used to move the TCP (Tool Center
Point) linearly to a given destination.
Arguments of MoveL:
1. Keyword MoveL is used to start the MoveL
instruction.
1.1. [Conc] - Concurrent
2. Name of the ToPoint (the programmed
destination point of the robot and external
axes). It is defined as a robtarget (robot
target).
2.1. [ID] - Synchronization id.
3. Speed data of the TCP (Tool Center Point).
3.1. [V] - velocity
3.2. [T] - Time
4. Zone data of the movement. Zone data
describes the size of the generated corner
path.
4.1. [z] - Zone.
4.2. [Inpos] - In position.
5. The name of the Tool in use.
5.1. [WObj] - Work Object (coordinate
system). If omitted, World coordinate
system will be used.
5.2. [Corr] - Correction.
6. The instruction argument ends with a
semicolon ( ; ).
Fig. 75 - Arguments of MoveL
MoveL Target_10, v50, fine, pen WObj := WobjPad ;
MoveL [Conc] ToPoint [ID], Speed [V] [T], Zone [z] [Inpos], Tool [WObj] [Corr] ;
1
1.1 2.1 3.1 3.2 4.1 5.1
4.2 5.2
2 3 4 5 6
5.1
Legend:
Required Argument
Argument that can be omitted or can only be
used in a specific case, and usually is the
additional argument supporting the previous
required argument
• [Conc] - Concurrent difines whether subsequent instructions are executed while the robot is moving. The argument is usually
not used but can be used to avoid unwanted stops caused by overloaded CPU when using fly-by points. This is useful when the
programmed points are very close together at high speeds. The argument is also useful when, for example, communicating with
external equipment and synchronization between the external equipment and robot movement is not required.
• [ID] - Synchronization id. This argument must be used and only be used in a MultiMove System, if it is a coordinated synchronized
movement.
• [V] - velocity is used to specify the velocity of the TCP in mm/s directly in the instruction. It is then substituted for the corresponding
velocity specified in the speed data.
• [T] - Time is used to specify the total time in seconds during which the robot moves. It is then substituted for the corresponding
speed data.
• [z] - Zone is used to specify the position accuracy of the robot TCP directly in theinstruction. The length of the corner path is given in
mm, which is substituted for the corresponding zone specified in the zone data.
• [Inpos] - In Position is used to specify the convergence criteria for the position of the robot’s TCP in the stop point. The stop point
data substitutes the zone specified in the Zone parameter.
• [WObj] - Work Object (coordinate system) to which the robot position in the instruction is related. This argument can be omitted
and if so then the position is related to the world coordinate system.
• [Corr] - Correction is the correction data written to a corrections entry by the instruction CorrWrite will be added to the path and
destination position if this argument is present.

RobotStudio
61
Zone
Zone is used to specify how a position is to be
terminated, i.e. how close to the programmed
position the axes must be before moving towards
the next position.
A position (robtarget / ToPoint) can be
terminated either in the form of a Stop Point or a
Fly-by Point.
• Stop Point - A stop point means that the robot
and external axes must reach the specified
position (exact position) before program
execution continues with the next instruction.
Stop Point is defined with the zone = fine .
• Fly-by Point - A fly-by point means that the
programmed position is never attained. Instead,
the direction of motion is changed before the
position is reached. Two different zones (ranges)
can be defined for each position:
1. The zone for the TCP path.
2. The extended zone for reorientation of the
tool and for external axes.
Fig. 76 - Zone Corner Path
Fig. 77 - Extended Zone for Reorientation Fig. 78 - Predefined Zone Data
Start of TCP
Corner Path
End of TCP
Corner Path
Generated
Corner Path
Start of Reorientation
Towards Next Position
The Extended Zone
for Reorientation (mm)
Programmed Destination Position
(robtarget / ToPoint)
The Zone for
the TCP Path (mm)
P10
P20
The following figure shows three programmed positions, the last with different tool
orientation.
The following figure shows what program execution would look like if all positions
were stop points.
The following figure shows what program execution would look like if the middle
position was a fly-by point.
P10 P20 P30
P10 P20 P30
(P20 = Stop Point)
P10 P20 P30
(P20 = Fly-by Point)
Extended Zone
for Reorientation
Predefined Path Zone for Stop Point
fine
Predefined Path Zone for Fly-by Points
Name TCP path Orientation
z0 0.3 mm 0.3 mm
z1 1 mm 1 mm
z5 5 mm 8 mm
z10 10 mm 15 mm
z15 15 mm 23 mm
z20 20 mm 30 mm
z30 30 mm 45 mm
z40 40 mm 60 mm
z50 50 mm 75 mm
z60 60 mm 90 mm
z80 80 mm 120 mm
z100 100 mm 150 mm
z150 150 mm 225 mm
z200 200 mm 300 mm

RobotStudio
62
MoveJ - Moves the Robot by Joint Movement
MoveJ is used to move the robot quickly from one
point to another when that movement does not
have to be in a straight line.
Arguments of MoveJ:
1. Keyword MoveJ is used to start the MoveJ
instruction.
target).
3.1. [V] - velocity
3.2. [T] - Time
path
4.1. [z] - Zone.
semicolon ( ; ).
Fig. 79 - Arguments of MoveJ
MoveJ pHome, v50, z10, pen WObj := WobjPad ;
MoveJ [Conc] ToPoint [ID], Speed [V] [T], Zone [z] [Inpos], Tool [WObj] [Corr] ;
1
1.1 2.1 3.1 3.2 4.1 5.1
4.2 5.2
2 3 4 5 6
5.1
Legend:
Required Argument
required argument
movement.
speed data.

RobotStudio
63
MoveC - Moves the Robot circularly
MoveC is used to move theTCP (Tool Center
Point) circularly to a given destination. During
the movement the orientation normally remains
unchanged relative to the circle.
Arguments of MoveC:
1. Keyword MoveC is used to start the MoveJ
instruction.
2. Name of the CirPoint. The circle point is a
position on the circle between the start point
and the destination point. To obtain the best
accuracy it should be placed about halfway
between the start and destination points. It
is defined as a robtarget (robot target).
target).
4.1. [V] - velocity
4.2. [T] - Time
path
5.1. [z] - Zone.
semicolon ( ; ).
Fig. 80 - Arguments of MoveC
MoveC p10, p20, v50, fine, pen WObj := WobjPad ;
MoveC [Conc] CirPoint ToPoint [ID], Speed [V] [T], Zone [z] [Inpos], Tool [WObj] [Corr] ;
1
1.1 3.1 4.1 4.2 5.1 6.1
5.2 6.2
2 3 4 5 6 7
6.1
Legend:
Required Argument
required argument
movement.
speed data.
Start Point Circle Point
(robtarget / CirPoint)
Programmed Destination Point
(robtarget / ToPoint)
P20
P10

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