YuMi - gkgkgk1215/else GitHub Wiki

• Open Abb Driver: https://github.com/robotics/open_abb
• ROS Wiki: https://wiki.ros.org/abb_driver
• ROS Server Install Tutorial: https://wiki.ros.org/action/show/abb_driver/Tutorials?action=show&redirect=abb%2FTutorials
• AUTOLAB Wrapper: https://berkeleyautomation.github.io/yumipy/install/install.html#rapid-server-installation

• RobotStudio는 ABB 로봇을 프로그래밍하고 시뮬레이션할 수 있는 소프트웨어입니다. 가상 환경에서 로봇을 프로그래밍하고 테스트할 수 있어 실제 로봇을 조작하기 전에 오류를 줄이고 최적화할 수 있습니다.

• RobotWare is a family of controller software with powerful functions for controlling robots and peripheral equipment.

• Default Version of RobotWare is 6.15.07.00 in SurGLab (2025. 1.)

• IRC5는 ABB에서 만든 5세대 로봇 컨트롤러라고 함

• YuMi는 IRC5C 라는 Compact Version of IRC5를 사용하고 있음

• 기존 IRC5 컨트롤러보다 작고 경량화된 버전으로, 기능은 유사하지만 크기와 일부 성능 차이가 있음

• RAPID는 YuMi에 심을 수 있는 프로그래밍 언어라고 보면 됨.

• RAPID Server is a module that allows user to remotely control the ABB robot.

• There is other methods such as RWS(Robot Web Service), ROS2+FastDDS, OPC UA(open62541), but scripting RAPID is faster than others.

• If your controller allows EGM(Externally Guided Motion), it should be the best way for teleoperation with 1~10ms delay time.

It can be installed through Online Mode of RobotStudio.

To install the RAPID Server on the ABB YuMi:

1. Connect YuMi (XP23 Service Port) to your machine via an Ethernet cable

2. Set IP address (desktop for communication)

   IP address: 192.168.125.2

   Subnet mask: 255.255.255.0

   Default Gateway: 192.168.125.1

3. Download ABB Robot Studio (Only supports Windows):

https://new.abb.com/products/robotics/software-and-digital/downloads

4. In FlexPendant, Switch YuMi to Manual Mode

5. Open Robot Studio > Controller > Add Controller > Connect to Controller

6. Select the activated controller > OK > Log in as Default User

7. In the controller tree, Right click > Request Write Access > Grant Access at FlexPendant

8. Controller Tab > File Transfer

Copy all files in the abb_driver/rapid directory to a "ROS" subdirectory under the system's HOME directory (e.g. //HOME/ROS/*)

9. Create Tasks: Configuration > Controller > Task

NOTES:

The T_ROB1 motion task probably already exists on your controller.

If T_ROB1 has existing motion-control modules, you may need to rename the main() routine in ROS_Motion.mod to ROS_main(). In this case, set the Entry point for T_ROB1 task to ROS_main().

For multi-robot controllers, specify the desired robot (e.g. rob1) for each task

SEMISTATIC tasks will auto-start when controller is booted. They are visible, but cannot be easily seen for troubleshooting. For debug or development purposes, it may be desired to set both ROS_*Server tasks to Type=NORMAL.

10. Create Signals: Configuration > I/O System > Signal

11. Tie Signals to the System Outputs: Configuration > I/O System > System Output

12. Load Modules to Tasks: Configuration > Controller > Automatic Loading of Modules

13. Reboot the Controller

• Robot Studio > Connect Controller > Right Click > I-Restart (various options, I start is factory reset)

• If select factory reset, you will need to set up for the gripper: Menu > Smart Gripper > Activate Grippers

• After activating gripper, you will need to reboot the FlexPendant

• Release Emergency Stop button :)