# How to control ABBs motor units in Robotstudio? **URL:** \ **Category:** RobotStudio\ **Created:** [March 28, 2019, 10:09am UTC](https://tech-community.robotics.abb.com/t/how-to-control-abbs-motor-units-in-robotstudio/8764 "2019-03-28T10:09:15Z")\ **Posts on this page:** 17\ **Page:** 1
**Author:** ![Dahniel](https://avatars.discourse-cdn.com/v4/letter/d/8edcca/32.png) [@Dahniel](https://tech-community.robotics.abb.com/u/Dahniel)\ **Post date:** [March 28, 2019, 10:09am UTC](https://tech-community.robotics.abb.com/t/how-to-control-abbs-motor-units-in-robotstudio/8764/1 "2019-03-28T10:09:15Z")
Hi! I’m doing a thesis where I will use an ABB motor unit, MU. In Robotstudio, RS, I would like to control the MUs speed, the degree and so on. So far I can only control the MU by making it a mechanical unit and then controlling the external axis by ordering the MU to turn a certain amount of degrees. I tried Independent movement such as IndAMove IndRMove, but I fail to make it work. This is the error message that I get: System1/RAPID/T\_ROB1/Module1(30,9): Option is missing(161): The instruction IndRMove requires the option Independent. 2019-03-27 17:37:45 General I did try to find information about Independent movement online, but none of the hits I got on google where working, they are all dead. Is there anyone out there that has some knowledge or hints about this? Best regards /Dahniel ---
**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\ **Post date:** [March 28, 2019, 2:43pm UTC](https://tech-community.robotics.abb.com/t/how-to-control-abbs-motor-units-in-robotstudio/8764/2 "2019-03-28T14:43:42Z")
Go back into your system with system builder, add the independent axis option. ---
**Author:** ![Dahniel](https://avatars.discourse-cdn.com/v4/letter/d/8edcca/32.png) [@Dahniel](https://tech-community.robotics.abb.com/u/Dahniel)\ **Post date:** [March 28, 2019, 2:48pm UTC](https://tech-community.robotics.abb.com/t/how-to-control-abbs-motor-units-in-robotstudio/8764/3 "2019-03-28T14:48:30Z")
Hi Lemster 🙂 I did this already (I think). Plesae see attached picture. ![image.jpg](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/1X/fcc8b3baa6e5b92144a54f21513b823b37f86828.jpeg) ---
**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\ **Post date:** [March 28, 2019, 8:11pm UTC](https://tech-community.robotics.abb.com/t/how-to-control-abbs-motor-units-in-robotstudio/8764/4 "2019-03-28T20:11:57Z")
No, not there, installation manager, system builder, or whichever is appropriate for your RW version. ---
**Author:** ![Dahniel](https://avatars.discourse-cdn.com/v4/letter/d/8edcca/32.png) [@Dahniel](https://tech-community.robotics.abb.com/u/Dahniel)\ **Post date:** [March 28, 2019, 10:29pm UTC](https://tech-community.robotics.abb.com/t/how-to-control-abbs-motor-units-in-robotstudio/8764/5 "2019-03-28T22:29:06Z")
Thank you for your reply, I am very grateful for your time and your patience. RS ask me for a "Controller Key which I don’t think I have. ![image.jpg](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/4/490a81c830893f7fbb73faa433f449be294e8bd9.jpeg) When I check the Virtual Key option, i can’t choose the RobotWare Version, it is just blank (see pic below). I assume I should browse to a certain folder in to be able to choose the RobotWare Version, but I can’t find the correct folder. C:\Program Files (x86)\ABB Industrial IT\Robotics IT\RobotStudio 6.08 and then what? ![image.jpg](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/3/30d13f56118867a59fcbb13b01f3c338d8235a1f.jpeg) ---
**Author:** ![Anders\_S](https://avatars.discourse-cdn.com/v4/letter/a/ce7236/32.png) [@Anders\_S](https://tech-community.robotics.abb.com/u/Anders_S)\ **Post date:** [March 29, 2019, 8:14am UTC](https://tech-community.robotics.abb.com/t/how-to-control-abbs-motor-units-in-robotstudio/8764/6 "2019-03-29T08:14:02Z")
Here should the media pools for RW 5 be installed: C:\Program Files (x86)\ABB Industrial IT\Robotics IT\MediaPool But probably is your system using RW 6.xx, and in that case should you use Installation Manager, not System Builder. ---
**Author:** ![Dahniel](https://avatars.discourse-cdn.com/v4/letter/d/8edcca/32.png) [@Dahniel](https://tech-community.robotics.abb.com/u/Dahniel)\ **Post date:** [March 29, 2019, 8:30am UTC](https://tech-community.robotics.abb.com/t/how-to-control-abbs-motor-units-in-robotstudio/8764/7 "2019-03-29T08:30:37Z")
Yes I realized that this morning. Thx!! I guess this is what you mean. ---
**Author:** ![Anders\_S](https://avatars.discourse-cdn.com/v4/letter/a/ce7236/32.png) [@Anders\_S](https://tech-community.robotics.abb.com/u/Anders_S)\ **Post date:** [March 29, 2019, 8:46am UTC](https://tech-community.robotics.abb.com/t/how-to-control-abbs-motor-units-in-robotstudio/8764/8 "2019-03-29T08:46:48Z")
Yes, correct. ---
**Author:** ![Dahniel](https://avatars.discourse-cdn.com/v4/letter/d/8edcca/32.png) [@Dahniel](https://tech-community.robotics.abb.com/u/Dahniel)\ **Post date:** [March 29, 2019, 10:00am UTC](https://tech-community.robotics.abb.com/t/how-to-control-abbs-motor-units-in-robotstudio/8764/9 "2019-03-29T10:00:33Z")
Hi, I still have a problem. The following is my procedure. 1. Create empty station 2. ABB library: IRB140 and MU80 3. Installation manager 4. Create new system 5. Name the system, next 6. Add, Motor and GearUnits 6.08, OK, Next 7. Added Licence(s) RobotWare and MotorAndGearUnits, next 8. System options, check Independent axis Drive Modules, no changes Applications, no changes next 9. Confirmation, Apply 10. Install will update the controller with your selections and install Product(s) / License(s)., Yes 11. Error message popup: Unhandled exception was encountered. Object reference not set to an instance of an object. Do you want to Retry, else the application will be closed? What am I doing wrong? ---
**Author:** ![Anders\_S](https://avatars.discourse-cdn.com/v4/letter/a/ce7236/32.png) [@Anders\_S](https://tech-community.robotics.abb.com/u/Anders_S)\ **Post date:** [March 29, 2019, 12:24pm UTC](https://tech-community.robotics.abb.com/t/how-to-control-abbs-motor-units-in-robotstudio/8764/10 "2019-03-29T12:24:10Z")
Add these settings: ![image.jpg](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/6/65f41939f6f61645bffbfbeb2969c10d5cb541df.jpeg) //Anders ---
**Author:** ![Dahniel](https://avatars.discourse-cdn.com/v4/letter/d/8edcca/32.png) [@Dahniel](https://tech-community.robotics.abb.com/u/Dahniel)\ **Post date:** [March 29, 2019, 1:25pm UTC](https://tech-community.robotics.abb.com/t/how-to-control-abbs-motor-units-in-robotstudio/8764/11 "2019-03-29T13:25:00Z")
Thanks so much! Unfortunately, it’s still the same error message. ---
**Author:** ![Anders\_S](https://avatars.discourse-cdn.com/v4/letter/a/ce7236/32.png) [@Anders\_S](https://tech-community.robotics.abb.com/u/Anders_S)\ **Post date:** [March 29, 2019, 1:37pm UTC](https://tech-community.robotics.abb.com/t/how-to-control-abbs-motor-units-in-robotstudio/8764/12 "2019-03-29T13:37:04Z")
What version of RobotStudio do you have? ---
**Author:** ![Dahniel](https://avatars.discourse-cdn.com/v4/letter/d/8edcca/32.png) [@Dahniel](https://tech-community.robotics.abb.com/u/Dahniel)\ **Post date:** [March 29, 2019, 1:38pm UTC](https://tech-community.robotics.abb.com/t/how-to-control-abbs-motor-units-in-robotstudio/8764/13 "2019-03-29T13:38:55Z")
6.08 ---
**Author:** ![Dahniel](https://avatars.discourse-cdn.com/v4/letter/d/8edcca/32.png) [@Dahniel](https://tech-community.robotics.abb.com/u/Dahniel)\ **Post date:** [March 29, 2019, 2:14pm UTC](https://tech-community.robotics.abb.com/t/how-to-control-abbs-motor-units-in-robotstudio/8764/14 "2019-03-29T14:14:58Z")
For some reason I don’t get the error message any longer. 🙂 So now I created a system from Existing system. So far so good. But ofcourse I ran in to trouble when I simulated. ![image.jpg](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/e/ec21cfc05107a6a6e8aeb969f79448385f32703e.jpeg) ---
**Author:** ![Dahniel](https://avatars.discourse-cdn.com/v4/letter/d/8edcca/32.png) [@Dahniel](https://tech-community.robotics.abb.com/u/Dahniel)\ **Post date:** [March 29, 2019, 2:19pm UTC](https://tech-community.robotics.abb.com/t/how-to-control-abbs-motor-units-in-robotstudio/8764/15 "2019-03-29T14:19:39Z")
![image.jpg](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/6/6901ab6ca1b39a35d6fd9284f8cb3a42e20493b1.jpeg) ---
**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\ **Post date:** [March 29, 2019, 2:19pm UTC](https://tech-community.robotics.abb.com/t/how-to-control-abbs-motor-units-in-robotstudio/8764/16 "2019-03-29T14:19:47Z")
Go back into your configuration like you posted yesterday. ---
**Author:** ![Dahniel](https://avatars.discourse-cdn.com/v4/letter/d/8edcca/32.png) [@Dahniel](https://tech-community.robotics.abb.com/u/Dahniel)\ **Post date:** [March 29, 2019, 3:45pm UTC](https://tech-community.robotics.abb.com/t/how-to-control-abbs-motor-units-in-robotstudio/8764/17 "2019-03-29T15:45:10Z")
Thank you so much guys!!!