Operating manual - Service Information System...Operating manual - Service Information System Author ABB Robotics Subject ABB Robotics user documentation Keywords robot controller

Operating manualService Information System

Trace back information:Workspace Main version a117Checked in 2015-08-31Skribenta version 4.6.081

Operating manualService Information System

RobotWare 6.02

Document ID: 3HAC050944-001Revision: A

© Copyright 2005, 2008-2015 ABB. All rights reserved.

The information in this manual is subject to change without notice and should notbe construed as a commitment by ABB. ABB assumes no responsibility for any errorsthat may appear in this manual.Except as may be expressly stated anywhere in this manual, nothing herein shall beconstrued as any kind of guarantee or warranty by ABB for losses, damages topersons or property, fitness for a specific purpose or the like.In no event shall ABB be liable for incidental or consequential damages arising fromuse of this manual and products described herein.This manual and parts thereof must not be reproduced or copied without ABB'swritten permission.Additional copies of this manual may be obtained from ABB.The original language for this publication is English. Any other languages that aresupplied have been translated from English.

© Copyright 2005, 2008-2015 ABB. All rights reserved.ABB AB

Robotics ProductsSe-721 68 Västerås

Sweden

Table of contents7Overview of this manual ...................................................................................................................

91 Introduction to Service Information System91.1 What is the Service Information System (SIS) .........................................................

101.2 SIS counters ....................................................................................................101.2.1 Calendar time .........................................................................................111.2.2 Operation time ........................................................................................121.2.3 Gearbox ................................................................................................

132 Running the Service Information System132.1 Using the SIS system .........................................................................................142.2 Setting the SIS parameters .................................................................................162.3 Reading the SIS logs .........................................................................................182.4 Safety shutdown messages .................................................................................

213 System parameters213.1 The SIS Parameters type and the SIS Single Parameters type ...................................223.2 Name ..............................................................................................................233.3 Operational Limit (h) ..........................................................................................243.4 Calendar Limit (years) ........................................................................................253.5 Operational Warning (%) .....................................................................................263.6 Calendar Warning (%) ........................................................................................273.7 Gearbox Warning (%) .........................................................................................283.8 Robot temperature (C), Single temperature (C) .......................................................293.9 Events as Warnings ...........................................................................................

31Index

Operating manual - Service Information System 53HAC050944-001 Revision: A


Table of contents

This page is intentionally left blank

Overview of this manualAbout this manual

This manual explains how to use the Service Information System (SIS).

UsageThis manual can be used during operation, installation, and maintenance. Forexample during installation when the service interval is set, or after maintenancewhen the duty time parameter is reset to zero (0).

Who should read this manual?This manual is intended for:

• Installation personnel.• Maintenance personnel.• Repair personnel.

PrerequisitesThe reader should:

• Be familiar with industrial robots and their terminology.• Be familiar with system parameters and how to configure them.

References

Document IDReference

3HAC050941-001Operating manual - IRC5 with FlexPendant

3HAC032104-001Operating manual - RobotStudio

3HAC020738-001Operating manual - Trouble shooting IRC5

3HAC050917-001Technical referencemanual - RAPID Instructions, Functionsand Data types

3HAC050948-001Technical reference manual - System parameters

Revisions

DescriptionRevision

Released with RobotWare 6.0.-

Released with RobotWare 6.02.• Removed section 2.4 Exporting the SIS data.

A



Overview of this manual

1 Introduction to Service Information System1.1 What is the Service Information System (SIS)

IntroductionService Information System (SIS) is a software function in the robot controller, thatsimplifies maintenance of the robot system. It supervises the operating time andmode of the robot, and alerts the operator when a maintenance activity is scheduled.Maintenance is scheduled by setting the system parameters of the type SISParameters, see System parameters on page 21, and Setting the SIS parameterson page 14.Service Information System also supervises the motors’ status on large robotsduring high load operations, see Safety shutdown messages on page 18.

Supervised functionsThe following counters are available:

Calendar timeCalendar time is used for robot service intervals, based on calendar time.

Operation timeOperation time is used for robot service intervals, based on operational time.

GearboxGearbox is used for estimating the service interval (remaining lifetime) of thegearbox. Each supervised gearbox has a time counter, based on the wear of theaxis and the work load on the robot. The number of supervised gearboxes on therobot are different for each model.

SIS event logs reported as warnings instead of errorsBy default SIS event logs are reported as errors, but it is also possible to have theSIS event logs reported as warnings instead of errors. The main difference is thatwarnings don’t take focus on the FlexPendant, and that they have a different icon.This will affect calendar time events, production time events, and gearbox events.For more information, see Events as Warnings on page 29.



1 Introduction to Service Information System1.1 What is the Service Information System (SIS)

1.2 SIS counters

1.2.1 Calendar time

DescriptionCalendar time is used for robot service intervals, based on calendar time. Thistimer can for example be used to schedule when it is time to change oil. Thisinformation is available in the maintenance schedule for the robot.When the calendar time limit for maintenance is reached, a message is stored inthe event log. How to access the event log is detailed in section Reading the SISlogs on page 16.

ComponentsThe following information is available about the calendar time in service routineServiceInfo.

Date when the counter was reset last time, that is, after last service.Prev Service

Elapsed time since the counter was reset the last time.Elapsed time

Date when next scheduled service is planned.Next Service

Remaining time to the next scheduled service date.Remaining time

10 Operating manual - Service Information System3HAC050944-001 Revision: A


1 Introduction to Service Information System1.2.1 Calendar time

1.2.2 Operation time

DescriptionOperation time is used for robot service intervals, based on operational time.Operation time uses the time that the MOTORS ON signal is active and the brakesare released. This timer can for example be used to schedule when it is time tochange oil. This information is available in the maintenance schedule for the robot.When the operation time limit for maintenance is reached, a message is stored inthe event log. How to access this is detailed in section Reading the SIS logs onpage 16.

ComponentsThe following information is available about the operation time in service routineServiceInfo.

The specified service interval until another service will be required.Service Interval

Operation time since the service interval was set the last time.Elapsed time

Remaining operation time until the time set in service interval hasexpired.

Remaining time



1 Introduction to Service Information System1.2.2 Operation time

1.2.3 Gearbox

DescriptionGearbox is used for estimating the service interval (remaining lifetime) of thegearbox. The estimate is based on used torque and speed (rpm). This informationcan be used as a guidance when planning gearbox replacement.When the estimated gearbox life is reached, a message is stored on the event log.How to access this is detailed in section Reading the SIS logs on page 16.

Note

The maximum estimated service interval is 40,000 hours.

ComponentsThe following information is available about the gearbox status in the service routingServiceInfo.

Service status for axis x, that is, the automatically calculated timeparameter has not been exceeded.

Joint x OK

The service interval for the axis in question has been reached.Joint x NOK

No service time parameter calculation available.Joint x N/AThis information is displayed when there is no supervision on gearboxx.

The following information is available for the gearbox time in the service routineServiceInfo.

The consumed time as a percentage of the total amount of time.Consumed time

Operation time for axis x since measurement began.Elapsed time

Remaining estimated time for axis x until the gearbox is planned tobe replaced.

Remaining time



1 Introduction to Service Information System1.2.3 Gearbox

2 Running the Service Information System2.1 Using the SIS system

IntroductionThis is a brief description of how to use the Service Information System (SIS).

Using the SIS systemUse this procedure to run the SIS system.

ReferenceAction

See Calendar time on page10, Opera-tion time on page 11 and Gearbox onpage 12.

Determine which SIS functions to use.1

Recommendations for expected com-ponent life and service intervals aredescribed in the Product manual, sec-tion Maintenance.

Define what values are adequate and suitablefor your application in your production environ-ment.

2

See Setting the SIS parameters onpage 14.

Enter these parameters in the system paramet-er configuration.

3

Run the robot in normal operation.4

See Resetting values on page 15.Reset the counter if a repair has been made,or if a counter for any other reason has beenrestarted.

5

See Reading the SIS logs on page 16.When a time limit is exceeded, a message isstored in the event log.

6

If the log containing the message is to beavailable from an external PC, or if the SISparameters are to be entered from an externalPC, a set of software tools are available to buildsuch an application.

7

See Safety shutdown messages onpage 18.

Some robots (for example IRB 4600, IRB 6640,and IRB 7600) can be programmed to givewarnings if the motors are overheated and needto be cooled down.

8



2 Running the Service Information System2.1 Using the SIS system

2.2 Setting the SIS parameters

IntroductionTo use the SIS system properly, a number of system parameters must be set. Thevalues can be be based on the maintenance schedule for the robot, but must beadapted by the operating organization as knowledge of the robot’s workingconditions are accumulated.Since the warnings are to be used for purposes defined by the user, ABB cannotgive any recommendations regarding their definitions.

Setting the SIS parametersUse this procedure to set the SIS system parameters.

ReferenceAction

Detailed in Operating manual - IRC5 withFlexPendant and Operating manual - Ro-botStudio.

Open the system parameters configurationon the FlexPendant (Control Panel), or inRobotStudio (Configuration Editor).

1

Select the topic Motion and then the typeSIS Parameters, or SIS Single Paramet-ers.

2

See detailed descriptions in chapter Sys-tem parameters on page 21.

Select the instance to define and edit thesystem parameters.

3

ExamplesThese examples show how the system parameters can be set.

Operational Limit (h)If the parameter is set to 2000, SIS will alert the operator after 2000 hours inoperation mode.

Operational Warning (%)If the parameter is set to 90, SIS will warn the operator after 1800 hours in operationmode. The total amount of hours is calculated from the percentage of OperationalLimit (h).2000*0.9=1800

Calendar Limit (years)If the parameter is set to 2, SIS will alert the operator after 2 years.

Calendar Warning (%)If the parameter is set to 50, SIS will warn the operator after 1 year. The total amountof years is calculated from a percentage of Calendar Limit (years).2*0.5=1

Gearbox warning (%)If the parameter is set to 90, SIS will alert the operator after 90% of the expectedservice interval of each gearbox.

Continues on next page14 Operating manual - Service Information System

3HAC050944-001 Revision: A© Copyright 2005, 2008-2015 ABB. All rights reserved.

2 Running the Service Information System2.2 Setting the SIS parameters

The robot system automatically detects and stores all required variables to calculatethe expected service interval of each gearbox. This is done by extrapolating datafrom earlier operation into a function of time, using a formula including:

• Input and output torque.• Gearbox spindle speed.• Ambient temperature.• Other variables.

Robot temperature (C) / Single temperature (C)This parameter defines the ambient temperature used to estimate the remaininggearbox lifetime.

Resetting valuesCounters can be reset at any time by running the service routine ServiceInfo fromthe FlexPendant, see Operating manual - IRC5 with FlexPendant.

Action

Start the Program Editor.1

Tap Debug and then tap Call Routine.2

Tap ServiceInfo to start the service routine.3

If there is more than one robot, tap ROB_x to select robot.4

Tap to select counter and then tap Reset.5



2 Running the Service Information System2.2 Setting the SIS parameters

Continued

2.3 Reading the SIS logs

IntroductionWhen a set counter value has been reached (for example the maximum allowedoperation time before service), a message is shown in the event log.

Access to logsThe event log can be viewed online from the FlexPendant and RobotStudio. Thisis described in Operating manual - IRC5 with FlexPendant and Operatingmanual - RobotStudio. See also Operating manual - Trouble shooting IRC5.

Duty TimeThe total duty time can be seen on the FlexPendant.On the ABB menu, tap System Info and then tap to expand Hardware devices,and continue through Mechanical units and ROB_1 to General SIS data.

Service interval exceededIf the service interval has exceeded the defined value, an error message (Serviceinterval exceeded!) is displayed.

No data availableIf no data is available for the defined value, a message (No data available!) isdisplayed when trying to show the data.

Available messagesThe following messages can be shown:

DescriptionSIS log messageCounter

X number of calendar days remain untilthe manually set calendar time limit ex-pires. How to set the limit is detailed insection Setting the SIS parameters onpage 14.

Service message: X calen-dar days to next service.

Calendar time

The manually set calendar time limit hasexpired. How to set the limit is detailedin section Setting the SIS parameters onpage 14.

Service message: Serviceis due! X calendar dayssince last service.

Calendar time

Proceed with the required service as de-tailed in the Product manual.

X number of operation hours remain untilthe manually set operation time limit ex-pires.How to set the limit is detailed insection Setting the SIS parameters onpage 14.

Service message:X production hours to nextservice.

Operation time

The manually set operation time limit hasexpired. How to set the limit is detailedin section Setting the SIS parameters onpage 14.

Service message: Serviceis due! X production hourssince last service.

Operation time




2 Running the Service Information System2.3 Reading the SIS logs

DescriptionSIS log messageCounter

X% of the gearbox hours remain until theestimated gearbox lifetime limit has ex-pired. How to set the limit is detailed inSetting the SIS parameters on page 14.

Service message:X% of the service intervalhas expired for gearbox x!

Gearbox time

The estimated gearbox lifetime limit hasexpired.

Service message: Gearboxx requires service!

Gearbox time




2 Running the Service Information System2.3 Reading the SIS logs

Continued

2.4 Safety shutdown messages

Duty factor warningThe safety shutdown is a warning and an error message used to protect largerobots (for example IRB 4600 and IRB 6640) from damaging the motors orgearboxes during high load operations. The warning/error is titled 50263 Dutyfactor warning.

UsageWhen robots work in high speed under heavy load for long periods of time, themotors and gearboxes will become hot. Letting the motors and gearboxes cooldown occasionally will prevent damaging them.The limit for how hard the motors and gearboxes can run depends on both torque,revolution, and also the ambient temperature. This can be simulated for aninstallation with the RobotStudio add-in Gearbox Heat Prediction Tool. The tooldoes not require a premium license.If the motors or gearboxes risk being overheated the system will warn that therobot needs to cool down. A warning message is sent to the log and after 30 minutesan error message is also sent to the log. An error handler can be used to takeadequate measures, for example turning off external equipment and moving therobot out of the working area.If the warning (50263 Duty factor warning) is displayed often but it is verified thatthe motors and gearboxes are not overheated, then changing the system parameterthat defines the ambient temperature (Robot temperature (C) or Single temperature(C)) can reduce the occurance.

CAUTION

If the error is ignored without letting the motor or gearbox cool down, then thelifetime of the motor or gearbox can be reduced.

ExamplesThese are examples of error handlers can be used. IError is used to order andenable an interrupt when an error occurs. Inside the TRAP function you programwhat actions to be done before the system is shut down.

WarningTRAP trap_name_warn

! Your actions

END TRAP

..

..

PROC main()

CONNECT errorint WITH trap_name_warn;

IError MOTION_ERR\Error Id := 263, TYPE_WARN, errorint;

..

..

END main



2 Running the Service Information System2.4 Safety shutdown messages

ErrorTRAP trap_name_error

! Your actions

END TRAP

..

..

PROC main()

CONNECT errorint WITH trap_name_error;

IError MOTION_ERR\Error Id := 263, TYPE_ERR, errorint;

..

..

END main

Related information

Further informationFor information about

Technical reference manual - RAPID Instructions,Functions and Data types

IError


TRAP


StopMove


StorePath

Robot temperature (C), Single temperature (C) onpage 28

Robot temperature (C) and Singletemperature (C)

Operating manual - RobotStudioGearbox Heat Predition Tool



2 Running the Service Information System2.4 Safety shutdown messages

Continued

3 System parameters3.1 The SIS Parameters type and the SIS Single Parameters type

OverviewThis section describes the typesSIS Parameters andSIS Single Parameterswhichbelong to the topicMotion. Each parameter of these types is described in a separateinformation topic in this section.

Cfg nameSIS_EXTERNALSIS_EXTERNAL_SINGLE

Type descriptionThe type SIS Parameters describes the service intervals and warning levels forthe robot. The service interval can be set in both production time and calendartime.The type SIS Single Parameters describes the service intervals and warning levelsfor external axes. The service interval can be set in both production time andcalendar time.The parameters for the types SIS Parameters and SIS Single Parameters areidentical in usage and allowed values. Therefore they are described together inthis manual.

LimitationsChanging the parameter values in SIS Single Parameters is only useful if you haveone or more external axes.

Related informationSee the product manual for the robot.



3 System parameters3.1 The SIS Parameters type and the SIS Single Parameters type

3.2 Name

ParentName belongs to the type SIS Parameters in the topic Motion.

Cfg namename

DescriptionName defines the SIS parameter name.

Allowed valuesA string with maximum 32 characters.



3 System parameters3.2 Name

3.3 Operational Limit (h)

ParentOperational Limit (h) belongs to the type SIS Parameters in the topic Motion.

Cfg nameprod_time_service_interval

DescriptionOperational Limit (h) describes the service interval measured in production time.

UsageThe service interval for production time, Operational Limit (h), for ABB robots isnormally set on delivery and should be changed if the value differs from themaintenance schedule in the product manual.When the Operational Limit (h) is reached, the FlexPendant displays a messagefrom the elog.If Operational Limit (h) is set to 0, the function is disabled.

Allowed valuesA value between 0 and 50,000 hours.



3 System parameters3.3 Operational Limit (h)

3.4 Calendar Limit (years)

ParentCalendar Limit (years) belongs to the type SIS Parameters in the topic Motion.

Cfg namecalender_time_service_interval

DescriptionCalendar Limit (years) defines the service interval in calendar time.

UsageThe service interval for calendar time, Calendar Limit (years), for ABB robots isnormally set on delivery and should be changed if the value differs from themaintenance schedule in the product manual.When the Calendar Limit (years) is reached, the FlexPendant displays a messagefrom the elog.If Calendar Limit (years) is set to 0, the function is disabled.

Allowed valuesA value between 0 and 20 years.



3 System parameters3.4 Calendar Limit (years)

3.5 Operational Warning (%)

ParentOperational Warning (%) belongs to the type SIS Parameters in the topic Motion.

Cfg nameprod_time_warning_level

DescriptionOperational Warning (%) defines when the warning before reached service levelfor production time should occur.

UsageThe value of Operational Warning (%) is a percentage of the Operational Limit (h).A higher number gives a shorter time between the warning and the reached servicelevel.If Operational Warning (%) is set to 0, the warning is disabled.

Allowed valuesA value between 0 and 100 %.

Related informationOperational Limit (h) on page 23.



3 System parameters3.5 Operational Warning (%)

3.6 Calendar Warning (%)

ParentCalendar Warning (%) belongs to the type SIS Parameters in the topic Motion.

Cfg namecalender_time_warning_level

DescriptionCalendar Warning (%) defines when the warning before reached service level forcalender time should occur.

UsageThe value of Calendar Warning (%) is a percentage of the Calendar Limit (years).A higher number gives a shorter time between the warning and the reached servicelevel.If Calendar Warning (%) is set to 0, the warning is disabled.

Allowed valuesA value between 0 and 100 %.

Related informationCalendar Limit (years) on page 24.



3 System parameters3.6 Calendar Warning (%)

3.7 Gearbox Warning (%)

ParentGearbox Warning (%) belongs to the type SIS Parameters in the topic Motion.

Cfg namegear_box_warning_level

DescriptionGearbox Warning (%) defines when the warning before reached service level forgearbox should occur.

UsageThe estimated gearbox service interval (remaining lifetime) is calculatedautomatically. The value of Gearbox Warning (%) is a percentage of the estimatedgearbox service interval. A higher number gives a shorter time between the warningand the reached service level.For an ABB robot using SIS, the value is typically set to 100.If Gearbox Warning (%) is set to 0, the warning is disabled.

Allowed valuesA value between 0 and 100%.



3 System parameters3.7 Gearbox Warning (%)

3.8 Robot temperature (C), Single temperature (C)

ParentRobot temperature (C) and Single temperature (C) belong to the type SISParameters, in the topic Motion.

Cfg nameambient_temperature

DescriptionRobot temperature (C) and Single temperature (C) defines the ambient temperature(°C).

UsageThe gearbox service interval (remaining lifetime) is calculated automatically, usingamong other things Robot temperature (C) or Single temperature (C). For an ABBrobot using SIS, the value is typically set to 50 and should be changed if the valuediffers from the value defined in the product manual.The temperature value can be changed to the actual temperature of the locationwhere the robot is used.

Allowed valuesA value between 35 and 50.If a value lower than 35 is defined, then 35 will be used.



3 System parameters3.8 Robot temperature (C), Single temperature (C)

3.9 Events as Warnings

ParentEvents as Warnings belongs to the type SIS Parameters in the topic Motion.

Cfg nameevents_as_warnings

DescriptionEvents as Warnings defines whether SIS event logs should be warnings insteadof errors.

UsageSet to Yes when you want the SIS event logs to be reported as warnings insteadof errors. The main difference is that warnings don’t take focus on the FlexPendant,and that they have a different icon. This will affect calendar time events, productiontime events, and gearbox events.

Allowed valuesYes or No.



3 System parameters3.9 Events as Warnings

IndexAaccessing event logs, 16ambient_temperature, 28axis service status, 12

Ccalendar limit, 14Calendar Limit (years), 24calendar time, 10calendar warning, 14Calendar Warning (%), 26calender_time_service_interval, 24calender_time_warning_level, 26consumed time, gearbox service, 12

Ddate, 10Duty factor warning, 18duty time counter, 16

Eelapsed time, calendar time, 10elapsed time, gearbox service, 12elapsed time, operation time, 11error messages, 18event log, 16event log messages, 16events_as_warnings, 29Events as Warnings, 9, 29

Ggear_box_warning_level, 27gearbox counter, 12gearbox warning, 14Gearbox Warning (%), 27getting started, 13

Hhigh load, 18

Iinterval exceeded, 16

Jjoint service, 12

Mmotors on counter, 11

NName, 22next service, calendar time, 10no data, 16

Ooperational limit, 14Operational Limit (h), 23operational warning, 14Operational Warning (%), 25operation counter, 11

Pparameters, 14prev service, calendar time, 10prod_time_service_interval, 23prod_time_warning_level, 25

Rreading event logs, 16remaining time, calendar time, 10remaining time, gearbox service, 12remaining time, operation time, 11reset values, 15Robot temperature (C), 28

Ssafety shutdown, 18ServiceInfo, 15service interval, operation time, 11service routine, ServiceInfo, 15Single temperature (C), 28SIS, overview, 9SIS Parameters, 9, 13–14, 16–17SIS Parameters, type, 21SIS Single Parameters, 9, 13–14, 16–17SIS Single Parameters, type, 21start service routine, 15step by step, 13system parameters, 14

Uusing SIS, 13

Wwarnings, 18



Index

Contact us

ABB ABDiscrete Automation and MotionRoboticsS-721 68 VÄSTERÅS, SwedenTelephone +46 (0) 21 344 400

ABB AS, RoboticsDiscrete Automation and MotionNordlysvegen 7, N-4340 BRYNE, NorwayBox 265, N-4349 BRYNE, NorwayTelephone: +47 51489000

ABB Engineering (Shanghai) Ltd.No. 4528 Kangxin HingwayPuDong DistrictSHANGHAI 201319, ChinaTelephone: +86 21 6105 6666

www.abb.com/robotics

3HAC

0509

44-0

01,R

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en

Cover PageTable of contents1 Introduction to Service Information System1.1 What is the Service Information System (SIS)IntroductionSupervised functionsCalendar timeOperation timeGearbox

SIS event logs reported as warnings instead of errors

1.2 SIS counters1.2.1 Calendar timeDescriptionComponents

1.2.2 Operation timeDescriptionComponents

1.2.3 GearboxDescriptionComponents

2 Running the Service Information System2.1 Using the SIS systemIntroductionUsing the SIS system

2.2 Setting the SIS parametersIntroductionSetting the SIS parametersExamplesOperational Limit (h)Operational Warning (%)Calendar Limit (years)Calendar Warning (%)Gearbox warning (%)Robot temperature (C) / Single temperature (C)

Resetting values

2.3 Reading the SIS logsIntroductionAccess to logsDuty TimeService interval exceededNo data availableAvailable messages

2.4 Safety shutdown messagesDuty factor warningUsageExamplesWarningError

Related information

3 System parameters3.1 The SIS Parameters type and the SIS Single Parameters typeOverviewCfg nameType descriptionLimitationsRelated information

3.2 NameParentCfg nameDescriptionAllowed values

3.3 Operational Limit (h)ParentCfg nameDescriptionUsageAllowed values

3.4 Calendar Limit (years)ParentCfg nameDescriptionUsageAllowed values

3.5 Operational Warning (%)ParentCfg nameDescriptionUsageAllowed valuesRelated information

3.6 Calendar Warning (%)ParentCfg nameDescriptionUsageAllowed valuesRelated information

3.7 Gearbox Warning (%)ParentCfg nameDescriptionUsageAllowed values

3.8 Robot temperature (C), Single temperature (C)ParentCfg nameDescriptionUsageAllowed values

3.9 Events as WarningsParentCfg nameDescriptionUsageAllowed values

Index

Documents

Operating manual - Service Information System...Operating manual - Service Information System Author ABB Robotics Subject ABB Robotics user documentation Keywords robot controller