ABB EGM (Externally Guided Motion)

The respository contains setup instructions and a simple C++ and RAPID program for testing EGM communication between a PC and ABB industrial robot.

• egm_hello_world: simple console program that connects and reads information off an ABB robot.
• egm_template: RAPID program that connects and runs EGMJoint moves.
• egm_server: console program for multi-robot EGM.

Tested On

• Windows 10/11
• RobotStudio 2024
• RobotWare 7

Setup Instructions (Windows 10/11)

These setup instructions explain how to build and prepare a C++ application that uses ABB's real-time control interface Externally Guided Motion [3124-1].

Skip this and double-click egm_hello_world\egm_hello_world.sln if you have Microsoft Visual Studio already installed.

Step 1: Setup C++ Environment

1. Download Microsoft Visual Studio (Community)
   • When prompted, choose the C++ desktop development workload, which includes essential features like the MSVC compiler and C++ tools.
2. Download and install Git from Git SCM.
   • Add Git to your PATH during installation.

Step 2: Install Google Protobuf using vcpkg

Install Microsoft's package manager vcpkg:

1. Clone vcpkg in your C: drive:

   cd C:\
   git clone https://github.com/microsoft/vcpkg

2. Run the bootstrap script:

   cd vcpkg
   .\bootstrap-vcpkg.bat

3. Integrate vcpkg system wide:

   .\vcpkg integrate install

4. Use vcpkg to install Google Protobuf:

   .\vcpkg install protobuf:x64-windows

Step 3: Configure Visual Studio Project for Protobuf

1. Create a new C++ Desktop Application.
2. Configure the project's Include and Library Directories:
   • Right-click on the project in the Solution Explorer and select Properties.
   • Navigate to VC++ Directories.
   • Set Include Directories and Library Directories to include paths from your vcpkg installation, typically:

     [vcpkg root]\installed\x64-windows\include
     [vcpkg root]\installed\x64-windows\lib
     

   • In the Linker settings, under Input, add the necessary lib files (e.g., libprotobuf.lib).

Step 4: Generate EGM Protobuf Files

The correct egm.proto for your RobotWare OS file can be found through ABB RobotStudio.

1. Download & Install RobotStudio.
2. When prompted, download the correct controller and RobotWare for your robot (e.g., Omnicore & RobotWare 7.12.0).
3. Find the egm.proto through the RobotStudio Add-Ins tab:
   • Right-click on the installed RobotWare version in the Add-Ins browser.
   • Select Open Package Folder.
   • Navigate to RobotPackages\RobotControl_<RW_Version>\utility\Template\EGM\egm.proto
4. Copy egm.proto to an easier location for protobuf:
   • Right-click File Explore and select Open in Terminal.

   cp egm.proto C:\vcpkg\packages\protobuf_x64-windows\tools\protobuf

5. Use protobuf's protoc tool to build the C++ source and header files:

   cd C:\vcpkg\packages\protobuf_x64-windows\tools\protobuf
   protoc --cpp_out=. egm.proto

6. This creates a .pb.h and .pb.cc files in that same location that you can copy & paste into your application folder.

EGM Setup (Omnicore & RW7)

The included RAPID program is configured to work with the default EGM settings on a virtual controller. You will need to update these settings if you want to fine-tune your EGM parameters or work on a real robot.

Example Settings

Motion	Communication

Useful Links

• Externally Guided Motion RW7 Application Manual